WO2021058030A1

WO2021058030A1 - Self-moving device and control method therefor, and automatic working system

Info

Publication number: WO2021058030A1
Application number: PCT/CN2020/118898
Authority: WO
Inventors: 何明明
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2019-09-29
Filing date: 2020-09-29
Publication date: 2021-04-01
Also published as: CN112578780A

Abstract

A self-moving device and a control method therefor. The method comprises: obtaining boundary information of a boundary information domain on a working region map (S101); controlling a self-moving device having accumulated positioning error to move on the boundary after completion of position calibration at a positioning calibration point, and perform boundary region processing work (S102); and obtaining an accumulated error measurement value or a positioning quality value of the self-moving device after the self-moving device leaves the positioning calibration point, and when the accumulated error measurement value reaches a set accumulated error threshold or the positioning quality value reaches a set positioning quality threshold, controlling the self-moving device to stop the boundary region processing work (S103). For a positioning mode having accumulated error, the self-moving device and the control method therefor can make full use of a time period having the highest positioning accuracy after the self-moving device starts to process a boundary region first, thereby improving the boundary region processing efficiency and effect.

Description

Self-moving equipment and its control method and automatic working system

This application claims the priority of the Chinese patent application whose application date is September 29, 2019 and the application number is 201910930499.9, the entire content of which is incorporated into this application by reference.

Technical field

The present invention relates to a self-mobile device, and in particular, to a control method of a self-mobile device, a self-mobile device adopting the control method, an automatic working system, a computer-readable storage medium, a computer program product, and an electronic device.

Background technique

With the continuous advancement of computer technology and artificial intelligence technology, autonomous walking equipment similar to intelligent robots has begun to slowly enter people's lives. Samsung, Electrolux and other companies have developed fully automatic vacuum cleaners and have already put them on the market. This kind of fully automatic vacuum cleaner is usually small in size, integrated with environmental sensors, self-driving system, dust collection system, battery and charging system. It can cruise indoors without manual control, and automatically return to the charging station when the energy is low, docking and charging. Then continue to cruise and vacuum. At the same time, companies such as Haskovana have developed similar smart lawn mowers, which can automatically mow and charge the user's lawn without user intervention. Since this automatic mowing system does not need to invest in management after it is set up once, it frees users from boring and time-consuming housework such as cleaning and lawn maintenance, so it is very popular.

Existing automatic lawn mowers are generally used in large working areas, such as 1,000 square meters. In conventional automatic lawn mower positioning, two systems of base station and receiving station are required. The purpose of the base station is to provide real-time observations of some satellites of the receiving station. The receiving station uses its own observation values to calculate positioning data using RTK technology. High-precision positioning is achieved through data differential correction, and the position coordinates of the automatic lawn mower are obtained. This technology can achieve stable, long-term high-precision absolute positioning. The base station can be a self-built base station or a shared base station. However, no matter what kind of base station is used, for home users, the base station needs to be purchased and installed, which is costly and difficult.

If you abandon the physical base station and use the virtual base station, there will be accumulated errors. Considering the accumulated error in the positioning process of the automatic lawn mower, prevent the automatic lawn mower from moving out of the boundary. Generally, the moving boundary of the automatic lawn mower is higher than the actual boundary It will reduce a certain distance inward, so the cumulative positioning error of the automatic lawn mower itself makes the mowing effect at the boundary unsatisfactory.

Therefore, it is necessary to improve the border mowing method of the automatic lawn mower using the virtual base station to improve the mowing efficiency and the mowing effect at the border.

Summary of the invention

In view of the shortcomings in the prior art, the present invention provides a method for realizing self-mobile equipment control under the condition of using virtual base stations for positioning and self-mobile equipment using the control method to solve the cumulative error caused by the use of virtual base stations. The problem of unsatisfactory boundary processing effect.

The present invention provides a control method for self-mobile equipment, which includes the steps:

S101: Obtain boundary information on the work area map;

S102: Control the self-moving device with accumulated positioning error to move on the boundary after completing position calibration at a positioning calibration point, and perform boundary area processing work;

S103: Obtain the cumulative error measurement value or the positioning quality value after the mobile device leaves the positioning calibration point, and control the self-movement when the cumulative error measurement value reaches the set cumulative error threshold or the positioning quality value reaches the set positioning quality threshold The device stops processing the boundary area, wherein the cumulative error measurement value is the value of the time since the mobile device left the positioning calibration point, or the value of the movement distance since the mobile device left the positioning calibration point, wherein the position of the positioning calibration point It is the position of the charging station or the position with fixed coordinates set in the working area;

After the step of controlling the mobile device to stop the processing of the boundary area, the method further includes the following steps:

Determine whether the mobile device has completed the preset boundary processing path. If yes, end the boundary area processing work; otherwise, repeat steps S102 to S103. The length of the preset boundary processing path is proportional to the processing width of the boundary area processing work. , The boundary information includes a mapping boundary and a maximum inner boundary, and the processing width range of the boundary region processing work is the distance between the mapping boundary and the maximum inner boundary, or the boundary information includes distinguishing the working area and the maximum inner boundary. The boundary line of the non-working area, the processing width range of the boundary area processing work is 70cm-90cm from the boundary line to the working area, and the processing width of the boundary area processing work is the set safety distance and setting The sum of cumulative error thresholds;

Before repeating steps S102 to S103, it also includes:

S301: Determine whether there is a waiting area in the mobile device, if yes, perform S302 to S304, otherwise, repeat steps S102 to S103;

S302: Control the mobile device to return to the waiting area for work;

S303: Determine whether the self-mobile device satisfies the preset condition of returning to a positioning calibration point position, if so, execute S304, otherwise, control the self-mobile device to continue working;

S304: Control the mobile device to return to a positioning calibration point.

S101: Obtain boundary information on the work area map;

S103: Obtain the cumulative error measurement value or the positioning quality value after the mobile device leaves the positioning calibration point, and control the self-movement when the cumulative error measurement value reaches the set cumulative error threshold or the positioning quality value reaches the set positioning quality threshold The equipment stops processing the boundary area.

Further, the cumulative error measurement value is the value of time since the mobile device left the positioning calibration point, or the value of the moving distance since the mobile device left the positioning calibration point.

Further, the position of the positioning calibration point is a charging station position or a position with fixed coordinates set in a working area.

Further, after the step of controlling the mobile device to stop the processing of the boundary area, the method further includes the following steps:

It is determined whether the mobile device has completed the preset task, if so, the boundary area processing work is ended; otherwise, steps S102 to S103 are repeated.

Further, the preset task is: completing the preset boundary processing path from the mobile device.

Further, the length of the preset boundary processing path is proportional to the processing width of the boundary area processing work.

Further, the boundary information includes a mapping boundary and a maximum inner boundary, and the processing width range of the boundary region processing task is the distance between the mapping boundary and the maximum inner boundary.

Further, the boundary information includes a boundary dividing line that distinguishes a working area from a non-working area, and the processing width of the boundary area processing work ranges from 70 cm to 90 cm from the boundary dividing line to the working area.

Further, the processing width of the boundary area processing task is the sum of the set safety distance and the set cumulative error threshold.

Further, before repeating steps S102 to S103, the method further includes:

S302: Control the mobile device to return to the waiting area for work;

S304: Control the mobile device to return to a positioning calibration point.

The present invention also provides a self-moving device, which includes:

case;

The moving module is used to drive the housing to move;

Task execution module, used to perform work tasks;

A control module, which is electrically connected to the mobile module and the task execution module, controls the mobile module to drive the mobile device to move, and controls the task execution module to perform work tasks;

The self-moving device further includes:

A boundary information acquisition module for acquiring boundary information, the control module controls the mobile device to move on the boundary after leaving the positioning calibration point after completing calibration at a positioning calibration point, and processing the boundary area;

A cumulative error measurement value acquisition module, configured to obtain a cumulative error measurement value, and the control module controls the mobile device to stop the boundary area processing work when the cumulative error measurement value reaches a set cumulative error threshold;

The positioning quality value acquisition module is used to acquire the positioning quality value, and the control module controls the mobile device to stop the boundary area processing work when the positioning quality value reaches the set positioning quality threshold.

Further, the self-moving device includes:

The boundary processing judgment module is used to judge whether the self-mobile device has completed the preset task.

Further, the processing width of the boundary area processing task is the sum of the set safety distance and the set cumulative error threshold of the mobile device.

Further, the self-moving device includes:

The working area judging module is used to judge whether the self-mobile device has a working area, and when there is a working area, the control module controls the self-mobile device to stop the boundary area processing work and then return to the working area to work;

The regression judgment module is used to judge whether the self-mobile device satisfies the preset condition of returning to a positioning calibration point, and when the preset condition of returning to a positioning calibration point is satisfied, the control module controls the self-mobile device to return to a positioning from the working area Calibration point.

The present invention also provides an automatic working system, which includes:

As the above-mentioned self-moving device, it moves and works within a limited work area.

The present invention also provides a computer-readable storage medium on which a computer program is stored, and when the computer program instructions are executed by a computing device, the computer program instructions are operable to execute the above-mentioned control method of a mobile device.

The present invention also provides a computer program product. When the instructions in the computer program product are executed by a processor, the above-mentioned self-mobile device control method is executed.

The present invention also provides an electronic device, including:

Memory for storing computer executable instructions; and

The processor is configured to execute computer-executable instructions stored in the memory to execute the control method of the self-mobile device as described above.

Compared with the prior art, the present invention can make full use of the time period when the positioning accuracy is highest since the mobile device starts to process the boundary first, improve the efficiency of boundary processing and the effect of boundary processing, and solve the problem of unsatisfactory boundary processing caused by accumulated errors. problem.

Description of the drawings

The technical problems, technical solutions, and beneficial effects solved by the present invention described above can be clearly obtained through the following detailed description of the preferred specific embodiments that can implement the present invention, together with the description of the accompanying drawings.

The same reference numerals and symbols in the drawings and the specification are used to represent the same or equivalent elements.

Fig. 1 is a schematic diagram of an automatic working system in an embodiment of the present invention.

Fig. 2 is a schematic diagram of working in a working area when the self-mobile device is a smart lawn mower in an embodiment of the present invention.

Fig. 3 is a schematic diagram of an automatic working system including two sub-working areas in an embodiment of the present invention.

Fig. 4 is a schematic diagram of a simulation of boundary processing of a self-mobile device with accumulated positioning errors.

Fig. 5 is a schematic flowchart of the control method of a mobile device according to the present invention.

Fig. 6 is a schematic flow chart of a positioning method from a mobile device according to the present invention.

FIG. 7 is a schematic flowchart of a method for obtaining a reference positioning signal when the mobile device includes multiple reference positioning signals according to the present invention.

FIG. 8 is a schematic diagram of the movement path of the first behavior logic in the control method of the self-mobile device of the present invention.

FIG. 9 is a schematic diagram of the movement path of the second behavior logic in the control method of the self-mobile device of the present invention.

FIG. 10 is a schematic flow diagram of a single complete boundary processing in the first behavior logic in the control method of the self-mobile device of the present invention.

FIG. 11 is a schematic flowchart of the complete boundary processing of N circumferential movement paths in the first behavior logic in the control method of the self-mobile device of the present invention.

FIG. 12 is a schematic diagram of a complete boundary processing movement path of N circumferential movement paths in the method for controlling a self-moving device of the present invention.

FIG. 13 is a schematic flowchart of a single complete boundary processing in the second type of behavior logic in the control method of the self-mobile device of the present invention.

FIG. 14 is a schematic flowchart of the complete boundary processing of N circumferential movement paths in the second behavior logic in the control method of the self-mobile device of the present invention.

Fig. 15 is a schematic diagram of the structure of a mobile device of the present invention.

Fig. 16 is a schematic structural diagram of a positioning structure used in a mobile device of the present invention.

FIG. 17 is a schematic block diagram of an electronic device according to an embodiment of the present invention.

among them,

100. Automatic working system 1. Automatic lawn mower 2. Charging station

3. Housing 4. Housing 5. Mobile module

6. Lawn 7. Task execution module 8. Boundary

9. Mobile station 9.1. Map boundary 902, Buffer boundary

903. Largest inner boundary 904. Actual trajectory 21. Boundary information acquisition module

22. Signal acquisition module 23. Mobile information acquisition module 24. Solution processing module

25. Location determination module 600, electronic equipment 610, processor

620, memory 630, input device 640, output device

detailed description

The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary, and are only used to explain the present invention, but should not be understood as limiting the present invention. On the contrary, the embodiments of the present invention include all changes, modifications and equivalents falling within the scope of the spirit and connotation of the appended claims.

In the description of the following embodiments, "error data" refers to an error message obtained after analyzing two sets of satellite signals with a common number of satellites, and the error message is used for subsequent positioning of the mobile device. "Error evaluation" refers to the evaluation of the accuracy of the location information of the self-mobile device during the movement of the self-mobile device, analysis of the accuracy or error rate of the positioning, and error evaluation to avoid the self-mobile device from following the wrong direction. Keep moving. "Border" not only refers to the boundary between the work area and the non-work area, such as the boundary between the lawn and the lawn, but also refers to the boundary between the workable area and the non-workable area formed around obstacles in the work area, such as Obstacles can be trees, islands, etc. in the lawn. "Boundary information" refers to information that characterizes the boundary features, such as the location of the boundary, which is helpful to the mobile device. "Border area processing work" refers to the activities of processing the boundary, which can include mowing, cleaning, watering, snow removal, etc.

Fig. 1 is a schematic diagram of an automatic working system 100 according to a first embodiment of the present invention. As shown in FIG. 1, the automatic working system 100 in the embodiment of the present invention includes a self-moving device. Self-mobile devices can move and work within the work area defined by the map. In this embodiment, the self-moving equipment is an automatic lawn mower 1. In other embodiments, the self-moving equipment may also be equipment suitable for unattended operation, such as automatic cleaning equipment, automatic watering equipment, and automatic snowplow.

As shown in Fig. 2, the automatic lawn mower 1 includes a housing 3, a mobile module 5, a task execution module 7, an energy module, a control module, and the like. The working place of the automatic lawn mower 1 is the lawn 6. Among them, the moving module 5 includes a crawler belt or a wheel set, which is driven by a driving motor to drive the automatic lawn mower 1 to move. The task execution module 7 includes a cutting assembly, which is installed at the bottom of the housing 3 and is driven by a cutting motor to rotate and perform the mowing work. The energy module includes a battery pack (not shown) to provide electrical energy for the movement and operation of the automatic lawn mower 1. The control module is electrically connected to the mobile module 5, the task execution module 7 and the energy module, controls the mobile module to drive the automatic lawn mower 1 to move, and controls the task execution module to perform work tasks.

As shown in FIG. 3, the automatic working system is used to work in a predetermined working area. In one embodiment, the working area includes at least two mutually separated sub-working areas, namely, area C and area D. A boundary 8 is formed between the working area and the non-working area, and there may be obstacles in the working area, such as trees, pits, etc.

As shown in FIG. 1, the automatic working system 100 further includes a charging station 2 for supplying electric power to the automatic lawn mower 1. The charging station 2 can be set in an open place beside the house 4. The charging station 2 can also be located in the work area or on the boundary of the work area. In this embodiment, the automatic working system 100 includes a navigation module for outputting the current position of the automatic lawn mower. Specifically, the navigation module includes a mobile station 9.

The mobile station 9 is electrically connected with the control module to store and process the satellite signals obtained by the automatic lawn mower 1, so that the automatic lawn mower 1 can move and work in the working area. In this embodiment, the mobile station 9 is used to receive satellite signals, and the satellite signals include satellite angles, clocks, and so on. The satellite signal can be a GPS signal, Galileo, Beidou, etc., or several signals can be used at the same time. Specifically, in this embodiment, the satellite signal is a differential GPS (DGPS) signal.

While the navigation module outputs position information, it can also output the accuracy level of the positioning signal. The automatic lawn mower 1 can also determine the current positioning state according to the position information output by the navigation module, and output a positioning state indication. The basis for judging the quality of the location information output by the navigation module can be the number of satellites that the navigation module can receive signals, or the positioning status indicator, or the accuracy factor, or a combination of multiple factors, setting the importance weight to obtain the location information quality . The quality of the location information output by the navigation module can be evaluated by the navigation module itself for error, and the control module can obtain the evaluation result, or the control module can use the output of the navigation module for error evaluation to obtain the evaluation result.

In this embodiment, the automatic lawn mower 1 further includes at least one position sensor, which is electrically connected to the control module, and detects features related to the position of the automatic lawn mower 1. Position sensors can include cameras, radars, capacitive sensors, inertial navigation sensors, and so on. In this embodiment, the position sensor is an inertial navigation sensor. The inertial navigation sensor may include an accelerometer, an odometer, a compass, a gyroscope, a posture detection sensor, etc., to detect the speed, acceleration, and driving direction of the mobile device. In this embodiment, when the quality of the location information output by the navigation module does not meet the preset condition, the control module at least partly determines the current location of the automatic lawn mower 1 based on the output of the location sensor. Specifically, the position information output by the navigation module and the output of the position sensor can be fused to obtain the current position of the automatic lawn mower. Taking the inertial navigation sensor as an example, if the inertial navigation sensor is continuously used for navigation, the error of the output of the inertial navigation sensor will accumulate over time, resulting in a decrease in the accuracy of the output position information. Therefore, when the quality of the position information output by the navigation module meets the preset condition, the output of the satellite navigation device is used to correct the output of the position sensor, so that the position sensor can maintain a high-precision output.

Therefore, in this embodiment, when the mobile station 9 is working, it can only use GPS positioning signals for navigation, or use GPS positioning signals and inertial navigation data fusion processing positioning signals for navigation, or when the GPS signal is weak , You can also use only inertial navigation data to navigate. The mobile station 9 may also include an indicator (not shown) to output an indication of whether the differential GPS signal of the current position is good.

In this embodiment, the mobile station 9 is detachably connected to the housing 3 of the automatic lawn mower 1. The mobile station 9 includes a first interface (not shown) connected to the housing of the automatic lawn mower 1. When the automatic lawn mower 1 is working, the mobile station 9 is installed on the housing 3 of the automatic lawn mower 1. When the mobile station 9 is connected to the housing 3 of the automatic lawn mower 1, it can realize the electrical connection with the control module of the automatic lawn mower 1. The mobile station 9 outputs the current position coordinates of the automatic lawn mower 1, and the control module according to the automatic cutting The current position of the lawn mower 1 controls the movement and work of the automatic lawn mower 1. Or, the mobile station outputs a control command to the control module according to the current position coordinates. It should be noted that, in the embodiment of the present invention, the mobile station 9 includes an independent power supply module (not shown in the figure). When the mobile station 9 is separated from the housing 3 of the automatic lawn mower 1, it can work independently. In other embodiments, the mobile station 9 and the housing 3 of the automatic lawn mower 1 may be non-detachable connection. If it is positioned during the operation of the mobile device, the mobile station 9 and the housing 3 of the automatic lawn mower 1 3 Whether it is detachable does not affect the positioning.

The mobile station 9 obtains error data by using the reference positioning signal before the current positioning signal and obtains the current position information based on the error data and the position information processing of the reference positioning signal. It does not use a self-built base station or a shared base station to receive it in real time at the current moment. The satellite signal is processed to obtain current location information, so self-built base stations or shared base stations can be eliminated, which simplifies user installation and greatly reduces costs.

In this embodiment, the positioning method of a self-mobile device without a self-built base station or a shared base station is configured as a positioning apparatus of the self-mobile device for illustration.

The positioning device of the mobile device in this embodiment may be set in the server, or may also be set in the mobile station, which is not limited in the embodiment of the present application.

Among them, the electronic device is, for example, a personal computer (PC), a cloud device or a mobile device, and the mobile device is, for example, a smart phone or a tablet computer.

It should be noted that the execution subject of the embodiments of the present application may be, for example, a server or a central processing unit (CPU) in an electronic device in hardware, and may be, for example, a server or background management in an electronic device in software. Service, there is no restriction on this.

Self-built base stations or shared base stations can provide real-time satellite signals for positioning to self-mobile devices as reference positioning signals. In this positioning method, the positioning error is considered to be a constant value or the error difference is relatively small from the perspective of the satellite signal. However, the present invention uses a virtual base station, that is, does not set any self-built base station or shared base station that can obtain real-time satellite signals, and only uses the satellite signal obtained at a certain time point at a certain positioning calibration point as the reference positioning signal for subsequent positioning. For example, the satellite signal obtained before the departure of the mobile device is used as the reference positioning signal for subsequent positioning. This kind of positioning method accumulates with time, the positioning error is a cumulative error, and the error will gradually become larger, that is, with the accumulation of time, if you only use positioning navigation for positioning without using other positioning equipment, the positioning will become more and more inaccurate . Therefore, the self-mobile device will set an error evaluation. When the error exceeds the set error threshold, the self-mobile device will be controlled to return to the positioning calibration point to re-acquire the satellite signal of the positioning calibration point. The satellite signal is a new positioning signal. The reference positioning signal.

As shown in Figure 4, the automatic lawn mower 1 has a mapping boundary 901 acquired by mapping. The boundary can be obtained by a user's hand-held navigation device walking around the boundary of the working area. Generally, the positioning error (which may be accumulated positioning The error can also be a constant positioning error). In order to prevent the automatic lawn mower 1 from moving out of the actual boundary, a buffer with the self-built map boundary 901 reduced inward by a certain distance is set, and the boundary formed by reducing a certain distance inward is Buffer boundary 902, but the automatic lawn mower 1 has a positioning error. Combined with the positioning error, it has a maximum inner boundary 903. The maximum inner boundary 903 is the innermost position of the automatic lawn mower 1 when it moves along the boundary. In the presence of errors, eventually the automatic lawn mower 1 will walk along the boundary as a result of the actual trajectory 904. For positioning with cumulative errors, the error will be more obvious, which will make the boundary processing results unsatisfactory. In other words, there will be too much grass on the border that has not been processed.

Fig. 5 is a schematic flowchart of a control method from a mobile device of the present invention. As shown in FIG. 5, the control method of the self-mobile device includes step S101 to step S104.

Step S101: Obtain boundary information on the work area map.

Wherein, the boundary information may be obtained from a map of the working area stored in the mobile device, and the boundary in the map may be obtained by positioning the user's handheld navigation device walking around the boundary of the working area.

Step S102: Control the self-moving device with accumulated positioning error to move on the boundary after completing position calibration at a positioning calibration point, and perform boundary area processing.

Among them, if a positioning calibration point is completed and the position calibration is completed, the positioning calibration point is moved to the boundary.

Step S103: Obtain the cumulative error measurement value or the positioning quality value after the mobile device leaves the positioning calibration point. When the cumulative error measurement value reaches the set cumulative error threshold or the positioning quality value reaches the set positioning quality threshold, control the self The mobile device stops processing the boundary area.

For a working environment where no physical base station is installed, there is always a positioning error in the mobile device during the movement, and as the mobile device continues to move, the positioning error will accumulate over time, eventually forming a cumulative positioning error, and with time The accumulated positioning error will become larger and larger as time goes by.

In the present invention, the mobile device does not use a physical base station for positioning, but uses a virtual base station for positioning. The virtual base station is not an actual base station. Instead, a special point is selected as the positioning calibration point, and the positioning calibration point is used as a base station. The position of the virtual base station is the set positioning calibration point position, that is, the aforementioned positioning calibration Point position, so the reference positioning signal is obtained from the mobile device directly from the satellite instead of being obtained in real time through the physical base station. In the embodiment of the present invention, the position of the positioning calibration point is the position of the charging station or the position with fixed coordinates set in the working area. The positioning method using a virtual base station is as follows: the current positioning signal obtained from the mobile device during the movement, the reference positioning signal from the mobile device before the current positioning signal, and the position information of the reference positioning signal are used to determine the current position information .

The cumulative error measurement value is the value of time since the mobile device left the positioning calibration point, or the value of the moving distance since the mobile device left the positioning calibration point. That is, the cumulative error measurement value can be time data or distance data. The corresponding cumulative error threshold is a time threshold or a distance threshold. The following further describes the solutions for the two cumulative error measurement values and the corresponding cumulative error threshold.

When the cumulative error measurement value is time data of movement from the mobile device, the cumulative error threshold value is a time threshold value. Therefore, for step S103, the cumulative error measurement value obtained during the movement of the mobile device, when the cumulative error measurement value reaches the set cumulative error threshold, controlling the mobile device to stop the processing of the boundary area, which specifically includes:

Obtained from the time value A1 when the mobile device moves from the position of the self-positioning calibration point to the boundary position;

The time value A2 obtained from the mobile device moving along the boundary;

When the sum of the time value A1 and the time value A2 reaches the set time threshold, control the mobile device to stop the boundary area processing.

When the cumulative error measurement value is distance data, the cumulative error threshold value is a distance threshold value. Therefore, for step S103, the cumulative error measurement value obtained during the movement of the mobile device, when the cumulative error measurement value reaches the set cumulative error threshold, controlling the mobile device to stop the boundary area processing work includes:

The distance value B1 obtained from the mobile device's self-positioning calibration point position to the boundary position;

The distance value B2 obtained from the mobile device moving along the boundary;

When the sum of the distance value B1 and the distance value B2 reaches the set distance threshold, the mobile device is controlled to stop the boundary area processing.

The positioning quality value in step S103 specifically includes the following steps:

Acquire current position information after the mobile device starts from the position of the self-positioning calibration point;

Determine whether the quality of the current location information meets the preset positioning quality threshold;

If the preset positioning quality threshold is not met, control the mobile device to stop processing the boundary area.

For the positioning method with accumulated error, the error in the initial time period after the mobile device leaves from the positioning calibration point is relatively small, so the positioning accuracy is high. The control method of the self-moving device of the present invention makes full use of the self-moving The boundary is processed first in the time period with the highest positioning accuracy after the device is set off, which improves the efficiency of boundary processing and the effect of boundary processing, and solves the problem of unsatisfactory boundary processing caused by accumulated errors.

As shown in Figure 6, in the above step S103, if the cumulative error threshold is the positioning quality threshold, it is necessary to compare the positioning quality information during the movement of the self-mobile device with the set positioning quality threshold to determine whether the self-mobile device is To meet the positioning quality threshold requirements, at the same time, when the mobile device is moving, whether it is processing the boundary area or the working area, it needs to determine the position, so the method for determining the position of the mobile device based on the virtual base station specifically includes the steps S201 to step S203.

Step 201: Acquire the current positioning signal from the mobile device during the movement, and the reference positioning signal from the mobile device before the current positioning signal.

Among them, the self-moving device may be, for example, the mobile station 9 or the self-moving device itself with the mobile station 9 installed, and there is no restriction on this.

Wherein, for the embodiment where the boundary processing is performed, the current positioning signal may be the current positioning signal during the operation of the mobile device. For the embodiment that uses positioning technology to construct a map, the current positioning signal may also be the current positioning signal in the process of generating the map. The generated map can be used as the working area of the mobile device, and there is no restriction on this. It is understandable that the way of generating the map can be, for example, the user encircles the working area of the mobile device on the Google map, the mobile station 9 is integrated with the mobile device, and the mobile device is the mobile device. The self-moving device runs a circle along the work area. For example, if the self-moving device is an automatic lawn mower, the user can push the automatic lawn mower to run, and the user remotely controls the operation of the automatic lawn mower, and the automatic lawn mower follows the trajectory of the user's movement. There are no restrictions on the automatic operation of the automatic lawn mower, etc.

In one embodiment, the mobile station 9 is separated from the automatic lawn mower, and the mobile device is the mobile station 9. The user holds the mobile station 9 and runs a circle along the work area, and generates a map based on the positioning signal data collected during the operation of the mobile station 9.

Wherein, the reference positioning signal is directly collected from a satellite by a mobile device, rather than a synchronous satellite signal transmitted by a self-built base station or a shared base station. There can be one or more reference positioning signals.

The reference positioning signal can be obtained in two ways. The first is to directly use the satellite signal obtained at the position of the positioning calibration point as the reference positioning signal; the second is to first use the satellite signal received at the latest time before the current time as the reference positioning signal. Solution processing, if the solution condition is not met, continue to select the satellite signal received at a previous moment as the reference positioning signal for solution processing, and so on until the satellite signal that meets the solution condition is obtained as the reference positioning signal.

The second method for obtaining a reference positioning signal will be described in further detail below.

In order to obtain the initial first reference positioning signal, before the step of obtaining the current positioning signal from the mobile device during the movement and the reference positioning signal from the mobile device before the current positioning signal, the method further includes the step of determining the positioning calibration point The reference coordinates of the position; the positioning signal obtained from the mobile device at the position of the positioning calibration point, the positioning signal is used as the first reference positioning signal. As described above, the position of the positioning calibration point is the position of the charging station or the position with fixed coordinates set in the working area.

For the identification of the position of the positioning calibration point, if the positioning calibration point is a charging station, it can be directly recognized through the charging docking that the mobile device has reached the positioning calibration point, and the reference positioning signal of the positioning calibration point position can be obtained. The positioning of the calibration point can be confirmed by setting the marking signal, such as magnetic field or image, etc.

The self-mobile device is described as the automatic lawn mower 1. When the reference positioning signal includes one, the reference positioning signal can be selected to obtain the satellite signal of the positioning calibration point at the preset positioning calibration point. For the automatic lawn mower 1, the position of the positioning calibration point here is the position of the charging station or the position with fixed coordinates set in the working area. For other self-mobile devices that do not need to set up a charging station in the work area or outdoors, the selected positioning calibration point with fixed reference coordinates or an object or stopping point with fixed coordinates is used as the positioning calibration point. In the embodiment of the present invention, taking the automatic lawn mower as an example, the charging station or the positioning calibration point with fixed reference coordinates is used as the virtual base station point, because the charging station or the positioning calibration point with fixed reference coordinates can be regarded as a non-compliance. The physical location will change, so the charging station or the positioning calibration point with fixed reference coordinates is used as a virtual base station point. For the charging station, because the automatic lawn mower 1 starts from the charging station every time, and will eventually connect to the charging station, it can be considered that the charging station is a physical location that will not change, so the charging station is regarded as a Virtual base station point. Before the automatic lawn mower 1 works, it saves the satellite signal received at the current charging station position as virtual base station data in the mobile station 9 as a reference positioning signal. For the positioning calibration point with fixed reference coordinates, similarly, when the automatic lawn mower 1 passes the positioning calibration point, the satellite signal received at the position of the positioning calibration point at that time is stored in the mobile station 9 as virtual base station data. As a reference positioning signal.

Take the mobile device as the automatic lawn mower 1. When the reference positioning signal includes multiple reference positioning signals, the first reference positioning signal is obtained by acquiring the satellite signal of the positioning calibration point at the preset positioning calibration point, and the other reference positioning signals are automatic The satellite signal of the specific position obtained by the lawn mower 1 during the movement is stored and obtained, that is, the satellite signal obtained and stored within the moving range of the automatic lawn mower 1 before the current position.

As shown in FIG. 7, when the reference positioning signal includes multiple reference positioning signals, the method for obtaining the reference positioning signal includes:

S301: Select the acquired satellite signal at the latest time before the current positioning signal as the reference positioning signal;

S302: Determine whether the selected reference positioning signal meets the solution condition;

S303: If the selected reference positioning signal satisfies the solution condition, use the reference positioning signal as the reference positioning signal for the subsequent solution processing; if the selected reference positioning signal does not meet the solution condition, select the satellite signal at the previous most recent time As a reference positioning signal, and repeat step S302;

S304: Repeat step S303 until a reference positioning signal that meets the solution condition is obtained.

Wherein, the solution condition is: the number of shared satellites reaches a set threshold for the number of solution satellites. further. Alternatively, the solution condition is: the number of shared satellites reaches the set threshold for the number of resolved satellites, and the signal quality of the satellite signals reaches the set signal-to-noise ratio threshold. It can be seen from the above description that the mobile device preferentially selects the reference positioning signal that is closest in time and meets the solution requirements for solution processing.

In this embodiment, it is required that the charging station or the positioning calibration point with fixed reference coordinates is preferably set in a relatively open environment to receive relatively good satellite signals. The above-mentioned virtual base station data may be the obtained original satellite signal or the processed satellite signal. Whether it is the original satellite signal or the processed satellite signal, it will not affect the subsequent signal processing.

Taking the mobile device as the mobile station 9 for description, when the reference positioning signal includes one, the reference positioning signal can be selected to obtain the satellite signal of the positioning calibration point at the preset positioning calibration point. For the automatic lawn mower 1, the position of the positioning calibration point here is the position of the charging station or the position with fixed coordinates set in the working area. For other self-mobile devices that do not need to set up a charging station in the work area or outdoors, the selected positioning calibration point with fixed reference coordinates or an object or stopping point with fixed coordinates is used as the positioning calibration point. In the embodiment of the present invention, taking the charging station as an example, the user starts from the charging station and saves the satellite signal received at the current charging station location as virtual base station data in the mobile station 9 as a reference positioning signal. For the positioning calibration point with fixed reference coordinates, similarly, the user starts from the positioning calibration point and saves the satellite signal received at the position of the positioning calibration point as virtual base station data in the mobile station 9 as a reference positioning signal .

Take the mobile device as the mobile station 9 for description. When the reference positioning signal includes multiple reference positioning signals, the first reference positioning signal is obtained by acquiring the satellite signal of the positioning calibration point at the preset positioning calibration point, and the other reference positioning signals are the user's handheld mobile The satellite signal of the specific position obtained during the movement of the station 9 is stored and obtained, that is, the satellite signal obtained and stored within the moving range of the mobile station 9 before the current position.

When the user is traveling, the user can directly walk to the position of the positioning calibration point and use the position coordinates of the positioning calibration point as the current position coordinates, which can improve the positioning accuracy and thus the accuracy of the generated map.

Step 202: Perform calculation processing on the reference positioning signal and the current positioning signal to obtain error data, and the reference positioning signal subjected to the calculation processing and the current positioning signal have a common satellite signal.

Wherein, when the reference positioning signal and the current positioning signal do not have a shared satellite signal, the solution processing cannot be performed. As the mobile device moves, if the shared satellite signal is still not available under preset conditions, Since the mobile device needs to return to the positioning calibration point to obtain a new reference positioning signal. If the self-mobile device is a self-mobile device, the self-mobile device can return to the positioning calibration point position by itself. If the self-mobile device is a mobile station 9, the user needs to be reminded to return to the positioning calibration point. The way to remind the user can be alarm or shutdown, etc. . The preset condition may be the preset time when the shared satellite is lost or the time when the solution cannot be performed.

In order to have a better positioning effect, a threshold for the number of satellites to be solved is preset. For the case where there is only one reference positioning signal, when the number of shared satellites reaches the set threshold of the number of resolved satellites, the reference positioning signal and the current positioning signal are subjected to calculation processing. When the number of shared satellites does not reach the set threshold for solving satellites, as the mobile device moves, if the shared satellite signal is still not available under preset conditions, the mobile device returns to the positioning calibration point to obtain a new one. Reference positioning signal. The number of satellites to be solved is at least 7-8. If the number of satellites is too small, it will not be possible to perform the calculation process to obtain position information. Of course, the number of satellites can not be too many. increase. In one embodiment, the number of satellites to be solved is 13-14, the number of satellites in this range meets the requirements of the solution, and the computing power supported by hardware and software of general mobile devices can solve satellite computing without high cost. .

For the situation where there are multiple reference positioning signals, the reference positioning signal selected for the solution processing is the satellite signal obtained before the current time and the closest to the current time, and the reference positioning signal with a large number of shared satellites is preferentially selected for the solution processing . Specifically, when the number of shared satellites between the selected reference positioning signal at the time closest to the current time and the satellite signal at the current time reaches the set threshold for the number of resolved satellites, the reference positioning signal and all satellites The current positioning signal is solved for processing. On the contrary, if it does not reach the set threshold of the number of solved satellites, other reference positioning signals before the time are selected for the analysis of the number of shared satellites, until the number of solved satellites is reached. The threshold value of the reference positioning signal exists, and then the solution is processed. If the self-mobile device still cannot obtain the shared satellite signal under the preset conditions, the self-mobile device returns to the positioning calibration point to obtain a new reference positioning signal. After the mobile device goes out to work, the satellite signal received by the mobile station 9 in real time and the reference positioning signal received by the virtual base station (that is, the charging station or the positioning calibration point with fixed reference coordinates) are processed to obtain a high-precision Positioning data. After returning to the positioning calibration point, the stored satellite signal of the virtual base station is cleared, and the satellite signal of the virtual base station at that time will be recorded as the reference positioning signal until the next work.

The solution condition is: the number of shared satellites reaches a set threshold for the number of solution satellites. In addition, in addition to the requirement of the number of satellites, the signal quality of the satellite signal itself also needs to meet certain requirements, so the further calculation conditions are: the number of shared satellites reaches the set threshold of the number of satellites to be resolved, and the signal of the satellite signal The quality reaches the set signal-to-noise ratio threshold.

Step 203: According to the error data and the position information of the reference positioning signal, the current position information obtained from the mobile device is processed.

Since the ionosphere, environment, etc. still change slowly, the positioning accuracy will slowly decrease after the mobile device has been working for a long time. Therefore, it is necessary to have an error assessment of the positioning accuracy, which can be judged based on information such as geographic location, positioning working time, and actual time at that time. Therefore, the control method of the self-mobile device further includes: performing error evaluation on the current position information of the self-mobile device obtained by processing; and, when the error evaluation result meets the error condition, returning from the mobile device to the positioning calibration point to re-acquire the initial The reference positioning signal. When returning to the positioning calibration point from the mobile device to re-acquire the initial reference positioning signal, all non-current positioning signals saved from the mobile device are cleared. The position of the positioning calibration point is the position of the charging station or the positioning calibration point with fixed reference coordinates set in the working area of the mobile device. The error condition is: the working time of the mobile device reaches the set total working time threshold. The error condition may also be: the selected reference positioning signal does not meet the solution condition, where the solution condition is: the number of shared satellites reaches a set threshold for the number of resolved satellites. Further, the solution condition is that the number of shared satellites reaches the set threshold for the number of resolved satellites, and the signal quality of the satellite signals reaches the set signal-to-noise ratio threshold.

Generally speaking, the method of setting the error condition can be set by the following method. If the self-mobile device is a self-mobile device, the method of setting the error threshold can be: the time range value of the self-mobile device leaving the positioning calibration point, The reference positioning signal and the time range value for which the current positioning signal cannot be resolved, the specified working time range value, and the time range value for losing the shared satellite. If the mobile device is the mobile station 9, the method for setting the error threshold may be: the time range value for which the reference positioning signal and the current positioning signal cannot be resolved, the time range value for discarding the shared satellite, and so on.

In order to improve the working efficiency and positioning accuracy of the self-mobile device, in one embodiment, a plurality of positioning calibration points with fixed reference coordinates are provided in the working area of the self-mobile device, and a plurality of the positioning calibration points There are known fixed reference coordinates between each other. When the self-mobile device moves to the position of the positioning calibration point, the self-mobile device uses the position information of the positioning calibration point as the current position information. For example, positioning calibration point A and positioning calibration point B shown in Figure 1 and Figure 3, when the mobile device moves to the position of the positioning calibration point, the mobile device will use the position information of the positioning calibration point as the current position information. Correct the position coordinates of the mobile device. These marks can use RFID, Hall sensors, etc., by manually or automatically marking the fixed positioning calibration points to obtain a fixed reference coordinate (for example, if the charging station is (0, 0) point, physical positioning calibration The point is the (x, y) point), and each time the mobile device walks to these physical positioning calibration points, the coordinates of the physical positioning calibration point are directly used as the current coordinates.

When the user's home is relatively large, a map of the work area can be constructed from the mobile device, and work efficiency can be improved by optimizing the partitioning method. The specific implementation step is to divide the working area into multiple sub-areas. The working mode of each area is: before the mobile device works, the current positioning calibration point, such as the satellite signal received at the charging station position, is stored as virtual base station data in the mobile device. In station 9, all satellite signals received during the work process are saved after the mobile device goes out to work. All satellite signals can be used as virtual base station data for calculation and use. By combining the current satellite signals received by the mobile station 9 in real time and the virtual The base station data (including the satellite signal at the charging station and other satellite signals received and stored before the current time in the working process) is processed to obtain a high-precision positioning data. After the work is completed, return to the charging station to revise the virtual base station data, and then work in the next area. When working in any sub-area, error evaluation can be carried out in real time. When the area of the sub-region is still large, multiple positioning calibration points with fixed reference coordinates can also be set to correct the data to obtain higher-precision positioning data.

The present invention obtains the error data by using the reference positioning signal before the current positioning signal and obtains the current position information based on the error data and the position information processing of the reference positioning signal, and does not use the self-built base station or the shared base station received in real time at the current moment. Satellite signals are processed to obtain current position information, so based on the present invention, self-built base stations or shared base stations can be eliminated, user installation is simplified, and costs are greatly reduced.

Based on the foregoing description of multiple reference positioning signals, the present invention, before step 101, that is, before the step of obtaining boundary information on the work area map, further includes the following steps:

Determine the reference coordinates of the positioning calibration point;

The positioning signal obtained from the mobile device at the position of the positioning calibration point is used as the first reference positioning signal.

Based on the foregoing description of the single reference positioning signal, the present invention, before step 101, that is, before the step of obtaining boundary information on the work area map, further includes the following steps:

The reference coordinates of the position of the positioning calibration point are determined, the reference positioning signal is a positioning signal for positioning the position of the calibration point, and the position information of the reference positioning signal is the reference coordinate.

The invention uses the time period with the highest positioning accuracy to process the boundary from the mobile device, and when the processing is finished and prepares to stop the processing of the boundary area, it has two different subsequent behavior logics. The two different behavior logics reflect two different boundary processing. method.

The first kind of behavior logic is: the mobile device processes the boundary separately, which can be performed after the processing of the work area is finished, or before the processing of the work area starts. The specific logic of this behavior is to stop the boundary from the mobile device. After the area processing work, the mobile device directly returns to the position of the positioning calibration point to obtain the reference positioning signal, and then returns to the last terminated boundary position to continue moving and processing the boundary, and then repeat the relevant cumulative error threshold judgment and stop the boundary area Processing the work steps, and so on until the final completion of a complete boundary processing. As shown in Figure 8, the self-mobile device can start from the positioning calibration point position A, move toward the boundary to reach the P1 position of the boundary. The P1 position is the first cutting starting point, and move a distance along the boundary to the P2 position. At this time, it is judged to accumulate When the error measurement value reaches the set cumulative error threshold, the mobile device stops moving and returns to the positioning calibration point position A from the P2 position to obtain the reference positioning signal again. The P2 position is the first cutting end point and the second cutting start point, and it moves automatically. After reacquiring the reference positioning signal, the device re-starts from the positioning calibration point position A, returns to the P2 position and continues to move along the boundary to the P3 position. At this time, when the cumulative error measurement value reaches the set cumulative error threshold, the mobile device stops moving and Return to the positioning calibration point position A to obtain the reference positioning signal again. The P3 position is the second cutting end point and the third cutting start point. In this way, it loops until the mobile device completes a complete boundary processing.

The second kind of behavior logic is that the mobile device performs boundary processing during the work process, and each time the mobile device starts from the positioning calibration point position, it will first use the time period with the highest positioning accuracy to process the boundary, and then return to the work area for routine The work of this cycle continues until the final completion of a complete boundary processing. The different behavior logics are described below in conjunction with the drawings. As shown in Figure 9, the self-mobile device can start from the positioning calibration point position A and move towards the boundary to reach the F1 position of the boundary. The F1 position is the first cutting starting point, and move a certain distance along the boundary to the F2 position. At this time, it is judged to accumulate When the error measurement value reaches the set cumulative error threshold, since the mobile device stops moving and is closest to the working area H2 from the F2 position (the working area H1 is closer to the F2 position, but belongs to the working area that has been processed). At the F3 position of the working area H2, the working area H2 will be processed according to the working logic starting from the F3 position. When the self-mobile device meets the preset conditions for returning to the positioning calibration point position, control the self-mobile device to return to the positioning calibration point position A to re-acquire With reference to the positioning signal, in this embodiment, the mobile device completes the processing of the working area H2, and returns to the positioning calibration point position A from the end point F4 of the processing. After the mobile device returns to the positioning calibration point position A, when it is judged to be self-moving When the equipment has not completed a complete boundary processing, re-acquire the reference positioning signal at the positioning calibration point position A, move toward the boundary and reach the F2 position, and then continue to move along the boundary and process the boundary. When the cumulative error measurement value is judged When the set cumulative error threshold is reached, the self-mobile device stops moving, and at the same time, it is judged whether there is a waiting area, if there is a movement toward the waiting area, if not, the self-mobile device returns to the positioning calibration point position A to obtain the reference positioning signal again. Then continue to return to the end position of the boundary just now to continue boundary processing, and loop in this way until the mobile device completes a complete boundary processing.

As shown in FIG. 10, FIG. 10 is a schematic diagram of the first behavior logic after the boundary region processing is stopped. After the step of controlling the mobile device to stop the processing of the boundary area, the method further includes step S401 to step S406.

S401: Determine whether the mobile device has completed the preset task, if yes, execute S406, otherwise, execute S402.

In one embodiment, the preset task is: completing the preset boundary processing path from the mobile device. As shown in FIG. 4, the self-mobile device has a mapping boundary 901 and a maximum inner boundary 903. Before processing the boundary area from the mobile device, the area between the mapping boundary 901 and the maximum inner boundary 903 will be routed. In one embodiment, the result of the route planning is a spiral path. The mapping boundary 901 gradually shrinks in the direction of the maximum inner boundary 903, and the spiral radius gradually decreases, or gradually expands from the maximum inner boundary 903 toward the mapping boundary 901, and the spiral radius gradually becomes larger. This processing method can ensure the maximum Border area processing. The preset boundary processing path is determined according to the cutting width of the mobile device and the processing width of the boundary area processing work. The cutting width is the width of the cutter head, and the processing width of the boundary area processing is the distance between the mapping boundary 901 and the maximum inner boundary 903. In special cases, if the processing width of the boundary area processing work is less than the cutting width, then the mobile device performs a circumferential movement around the boundary. But in general, the processing width of the boundary area processing work is larger than the cutting width, so the moving path of the self-mobile device is set to a spiral shape, so from the perspective of the path, the self-mobile device seems to go around the boundary N circles, but the N The circles are not concentric circles, but continuous spirals.

In another embodiment, the boundary information includes a boundary dividing line that distinguishes a working area from a non-working area, and the processing width of the boundary area processing work ranges from 70 cm to 90 cm from the boundary dividing line to the working area. In another embodiment, the processing width of the boundary area processing task is the sum of the set safety distance and the set cumulative error threshold.

S402: Control the mobile device to return to the position of the positioning calibration point to re-acquire the reference positioning signal for positioning.

The position of the positioning calibration point is the position of the charging station or the positioning calibration point with fixed reference coordinates set in the working area of the mobile device. The self-mobile device can return to the position of the positioning calibration point closest to the current position according to the current position.

S403: Control the self-locating calibration point position of the self-mobile device to start again in the direction of the boundary and move to the position of the last termination point, and then continue to move along the boundary.

The last end point position is the departure position from the mobile device that stopped the boundary area processing work recently. This position is not necessarily a position that exactly matches the position, as long as it is within 1 meter of the last end point position. The position of the last end point.

S404: Acquire a cumulative error measurement value during the moving process after the mobile device starts again.

Since the mobile device leaves the position of the positioning calibration point, it will continue to record the cumulative error measurement value in the movement process after departure, and the cumulative error measurement value can make the quality of the aforementioned time, distance or location information.

S405: Determine whether the cumulative error measurement value reaches the set cumulative error threshold, if so, control the mobile device to stop the boundary area processing work and execute S401; otherwise, control the mobile device to continue to move along the boundary.

S406: End the boundary area processing task.

After finishing the work task in the boundary area, the self-mobile device can continue to the work area for regular work, or return to the charging station position or locate the calibration point position and wait for the next work.

As shown in FIG. 11, in another embodiment, the preset task is: completing the preset boundary processing path from the mobile device. The boundary area processing path can be a circumferential movement path around the boundary set based on the mapping boundary 901 and the maximum inner boundary 903. In order to achieve a better boundary processing effect, it is based on the mapping boundary 901 and the maximum inner boundary 903. The relationship between the distance and the cutting width can be set with multiple circumferential moving paths. The multiple circumferential moving paths may have overlapping areas. Of course, the optimal solution is to have different moving paths as much as possible. This setting can ensure that the boundary The treatment effect of the area.

Set multiple circumferential movement paths, that is, after the mobile device completes the preset task, continue to perform boundary processing of N circumferential movement paths in the same step, N≥1, combined with different cutter head cutting widths, in one embodiment In another embodiment, N=4. In another embodiment, N=5. There is a processing overlap area between the boundary processing of the N circumferential movement paths. For the boundary processing of the N circumferential movement paths, each time the mobile device starts from the positioning calibration point to the starting position point on the boundary, the direction may be different. For example, the direction of the boundary starting point during the first boundary processing is different from that of the second boundary processing. The direction of the starting point of the boundary is different during boundary processing. In order to achieve a better boundary processing effect, the boundary processing of the N circumferential movement paths, each time the mobile device starts from the positioning calibration point to the starting position on the boundary is at least partially different, for example, the first boundary processing The position of the boundary starting point is different from that of the second boundary processing. If it is assumed that the first boundary processing forms the first circle and the second boundary processing forms the second circle, it is considered that at least part of the points in the same direction The position is different, that is, the distance from the point in the same direction on the first circle and the second circle to the position of the positioning calibration point is different.

As shown in FIG. 12, in FIG. 12, it is shown that N=3, and the boundary processing of the circumferential movement path is formed by the mobile device working at different positions on the boundary. The mobile device can preset the processing times threshold, and when it is learned from the mobile device that the predetermined processing times threshold has been reached, the boundary area processing task is ended.

As shown in FIG. 11, specifically, after the step of stopping the processing of the boundary area from the mobile device, it further includes step S501 to step S506.

S501: Determine whether the self-mobile device has completed boundary processing of N circumferential movement paths, if yes, execute S506, otherwise, execute S502.

There may be a processing overlap area in the boundary processing of the completed N circumferential movement paths.

S502: Control the mobile device to return to the position of the positioning calibration point to re-acquire the reference positioning signal for positioning.

The position of the positioning calibration point is the position of the charging station or the position with fixed coordinates set in the working area. The self-mobile device can return to the position of the positioning calibration point closest to the current position according to the current position.

S503: Control the self-moving device to start again in the direction of the boundary from the position of the self-locating calibration point and move to the position of the last termination point, and then continue to move along the boundary.

S504: Acquire a cumulative error measurement value during the movement process since the mobile device starts again.

S505: Determine whether the cumulative error measurement value reaches the set cumulative error threshold, if so, control the mobile device to stop the boundary area processing work and execute S501; otherwise, control the mobile device to continue to move along the boundary.

S506: End the boundary area processing task.

In the above-mentioned boundary processing of the N circumferential movement paths, a certain direction is taken as the starting point. For the end point of the same direction, the self-mobile device is located at different positions on the boundary in the same direction as far as possible, that is, the self-mobile device is in different circumferences. In the boundary processing of the moving path, they are located at different positions of the boundary in the same direction. This setting can ensure that the boundary positions in the same direction can be processed to the maximum extent, thereby improving the processing effect of the entire boundary. In the boundary processing of N circumferential movement paths, the starting point direction on the boundary of the boundary processing of each circumferential movement path can also be different, that is, N boundary processing can have N boundary starting movement directions and N Regardless of the selection of the starting working position of the boundary, there is a processing overlap area between the N boundary processings.

As shown in FIG. 13, FIG. 13 is a schematic diagram of the second behavior logic after the boundary region processing is stopped. After the step of controlling the mobile device to stop the processing of the boundary area, step 601 to step S609 are further included.

S601: Determine whether the self-mobile device has an area to be worked, if yes, execute S602, otherwise, execute S604.

If there is a work area, the self-mobile device can return to the nearest work area for work.

S602: Control the mobile device to return to the waiting area for work.

S603: Determine whether the self-mobile device satisfies the preset condition for returning to the position of the positioning calibration point, if yes, execute S604; otherwise, control the self-mobile device to continue working.

The preset condition for returning to the position of the positioning calibration point is that the mobile device has completed the work in the working area or the power of the mobile device is insufficient or the error evaluation result indicates that the positioning error is large. It is necessary to reposition the calibration point position to obtain a new positioning reference Positioning signal.

S604: Control the self-mobile device to return to the positioning calibration point.

The self-mobile device can return to the position of the positioning calibration point closest to the current position according to the current position.

S605: Determine whether the self-mobile device has completed the preset task, if yes, execute S609, otherwise, execute S606.

In one embodiment, the preset task is: completing the preset boundary processing path from the mobile device. As shown in FIG. 4, the self-mobile device has a mapping boundary 901 and a maximum inner boundary 903. Before processing the boundary area from the mobile device, the area between the mapping boundary 901 and the maximum inner boundary 903 will be routed. In one embodiment, the result of the route planning is a spiral path. The mapping boundary 901 gradually shrinks in the direction of the maximum inner boundary 903, and the spiral radius gradually decreases, or gradually expands from the maximum inner boundary 903 toward the mapping boundary 901, and the spiral radius gradually becomes larger. This processing method can ensure the maximum Border area processing. The preset boundary processing path is determined according to the cutting width of the mobile device and the processing width of the boundary area processing work. The cutting width is the width of the cutter head, and the processing width of the boundary area processing is the distance between the mapping boundary 901 and the maximum inner boundary 903. In a special case, if the processing width of the boundary area processing work is less than the cutting width, the mobile device performs a circumferential movement around the boundary. But in general, the processing width of the boundary area processing work is larger than the cutting width, so the movement path of the self-mobile device is set to a spiral shape, so from the path, the self-mobile device seems to go around the boundary N circles, but the N The circles are not concentric circles, but continuous spirals.

S606: Control the mobile device to re-acquire the reference positioning signal for positioning the position of the positioning calibration point.

S607: Control the self-positioning calibration point position of the self-moving device to start again in the direction of the boundary and move to the position of the last termination point, and then continue to move along the boundary.

S608: Acquire the cumulative error measurement value in the moving process after the mobile device starts again, and determine whether the cumulative error measurement value reaches the set cumulative error threshold, and if so, control the mobile device to stop the boundary area processing work and execute 601, otherwise, Control the self-mobile device to continue to move along the boundary.

S609: End the boundary area processing task.

After finishing the work task in the boundary area, the self-mobile device can return to the charging station position or locate the calibration point position and wait for the next work. If the working area is divided into multiple working sub-areas, the self-mobile device can continue Go to other sub-areas to be worked for regular work.

As shown in FIG. 14, in another embodiment, the preset task is: completing the preset boundary processing path from the mobile device. The boundary area processing path can be a circumferential movement path around the boundary set based on the mapping boundary 901 and the maximum inner boundary 903. In order to achieve a better boundary processing effect, it is based on the mapping boundary 901 and the maximum inner boundary 903. The relationship between the distance and the cutting width can be set with multiple circumferential moving paths. The multiple circumferential moving paths may have overlapping areas. Of course, the optimal solution is to have different moving paths as much as possible. This setting can ensure that the boundary The treatment effect of the area.

Set multiple circumferential movement paths, that is, after the mobile device completes the preset task, continue to perform boundary processing of N circumferential movement paths in the same step, N≥1, combined with different cutter head cutting widths, in one embodiment In another embodiment, N=4. In another embodiment, N=5. There is a processing overlap area between the boundary processing of the N circumferential movement paths. For the boundary processing of the N circumferential movement paths, each time the mobile device starts from the positioning calibration point to the starting position point on the boundary, the direction may be different. For example, the direction of the boundary starting point during the first boundary processing is different from the second The direction of the starting point of the boundary is different during boundary processing. In order to achieve a better boundary processing effect, the boundary processing of the N circumferential movement paths, each time the mobile device starts from the positioning calibration point to the starting position on the boundary is at least partially different, for example, the first boundary processing The position of the boundary starting point is different from that of the second boundary processing. If it is assumed that the first boundary processing forms the first circle and the second boundary processing forms the second circle, it is considered that at least part of the points in the same direction The position is different, that is, the distance from the point in the same direction on the first circle and the second circle to the position of the positioning calibration point is different.

Specifically, after the step of stopping the processing of the boundary area from the mobile device, it further includes step S701 to step S709.

S701: Determine whether the self-mobile device has an area to work, if yes, execute S702, otherwise, execute S704.

S702: Control the mobile device to return to the waiting area for work.

S703: Determine whether the self-mobile device meets the preset condition of returning to the position of the positioning calibration point, if yes, execute S704, otherwise, control the self-mobile device to continue working.

S704: Control the self-mobile device to return to the positioning calibration point.

S705: Determine whether the self-mobile device has completed the boundary processing of the N circumferential movement paths, if yes, execute S709, otherwise, execute S706.

S706: Control the mobile device to re-acquire the reference positioning signal for positioning the position of the positioning calibration point.

S707: Control the self-positioning calibration point position of the self-moving device to start again in the direction of the boundary and move to the position of the last termination point, and then continue to move along the boundary.

S708: Acquire the cumulative error measurement value in the moving process after the mobile device starts again, and determine whether the cumulative error measurement value reaches the set cumulative error threshold, if so, control the mobile device to stop the boundary area processing work and execute 701, otherwise, Control the self-mobile device to continue to move along the boundary.

S709: End the boundary area processing task.

After finishing the work task in the boundary area, the self-mobile device can return to the position of the positioning calibration point and wait for the next work. If the work area is divided into multiple working sub-areas, the self-mobile device can continue to other waiting work The sub-area performs routine work.

As shown in Figure 14, in the above-mentioned boundary processing of the N circumferential movement paths, a certain direction is used as the starting point. For the end point in the same direction, the mobile device should be located at different positions on the boundary in the same direction as much as possible, that is, The mobile device is located at different positions of the boundary in the same direction in the boundary processing of different circumferential movement paths. This configuration can ensure that the boundary position in the same direction can be processed to the maximum extent, thereby improving the processing effect of the entire boundary. In the boundary processing of N circumferential movement paths, the starting point direction on the boundary of the boundary processing of each circumferential movement path can also be different, that is, N boundary processing can have N boundary starting movement directions and N Regardless of the selection of the starting working position of the boundary, there is a processing overlap area between the N boundary processings.

Fig. 15 is a schematic structural diagram of a self-moving device according to an embodiment of the present invention. As shown in Figure 15, the self-mobile device also includes:

The boundary information acquisition module 21, the control module controls the mobile device to move from the position of the calibration point to the boundary acquired by the boundary information acquisition module and move along the acquired boundary.

The signal acquisition module 22 is configured to acquire the current positioning signal from the mobile device during the movement, and the reference positioning signal from the mobile device before the current positioning signal is used to determine the current position information.

The mobile information acquisition module 23 further includes a cumulative error measurement value acquisition module and a positioning quality value acquisition module. The cumulative error measurement value acquisition module is used to obtain the cumulative error measurement value. The control module controls the mobile device to stop the boundary area processing when the cumulative error measurement value reaches the set cumulative error threshold. The positioning quality value acquisition module is used to acquire the positioning quality value, and the control module controls the mobile device to stop the boundary area processing work when the positioning quality value reaches the set positioning quality threshold.

The reference positioning signal is directly collected from the mobile device from the satellite.

In one embodiment, the cumulative error measurement value acquisition module may be used to acquire time data from the movement of the mobile device, the cumulative error threshold is a time threshold, and the control module determines whether the time value acquired by the movement information acquisition module reaches a set value. If the time value reaches the set time threshold value, control the mobile device to stop the processing of the boundary area.

In one embodiment, the cumulative error measurement value acquisition module is used to acquire distance data from the movement of the mobile device, the cumulative error threshold is a distance threshold, and the control module determines whether the distance value acquired by the movement information acquisition module reaches a set value. The distance threshold, if the distance value reaches the set distance threshold, the mobile device is controlled to stop the processing of the boundary area.

In an embodiment, the self-mobile device further includes a boundary processing judgment module, a work area judgment module, and a regression judgment module. The boundary processing judgment module is used to judge whether the self-mobile device has completed the boundary processing of N circumferential movement paths, N≥1, and when the boundary processing of the N circumferential movement paths has not been completed, the control module controls the self-moving The device leaves the boundary and returns to the position of the positioning calibration point to re-acquire the reference positioning signal for positioning. When N>2, after the mobile device completes the task of processing the boundary area of a circumferential movement path, it continues to perform the boundary processing of N circumferential movement paths in the same step, N≥1, combined with different cutting widths of the cutter head In one embodiment, N=4, in another embodiment, N=5. There is a processing overlap area between the boundary processing of the N circumferential movement paths. For the boundary processing of the N circumferential movement paths, each time the mobile device starts from the positioning calibration point to the starting position point on the boundary, the direction may be different. For example, the direction of the boundary starting point during the first boundary processing is different from the second The direction of the starting point of the boundary is different during boundary processing. In order to achieve a better boundary processing effect, the boundary processing of the N circumferential movement paths, each time the mobile device starts from the positioning calibration point to the starting position on the boundary is at least partially different, for example, the first boundary processing The position of the boundary starting point is different from that of the second boundary processing. If it is assumed that the first boundary processing forms the first circle and the second boundary processing forms the second circle, it is considered that at least part of the points in the same direction The position is different, that is, the distance from the point in the same direction on the first circle and the second circle to the position of the positioning calibration point is different

The number of circumferential movement paths can be preset from the mobile device, and when it is learned from the mobile device that the preset circumferential movement path number threshold has been reached, the boundary area processing task is ended. The working area judgment module is used to judge whether the self-mobile device has a working area, and when there is a working area, the control module controls the self-mobile device to leave the boundary and return to the working area to work. The regression judgment module is used to judge whether the self-mobile device meets the preset condition of returning to the position of the positioning calibration point, and when the preset condition of returning to the position of the positioning calibration point is satisfied, the control module controls the self-mobile device to return to the position from the working area Calibration point location.

After the step of controlling the self-mobile device to stop the boundary area processing work, the self-mobile device has at least two behavior logics under the control of the control module, and the two behavior logics are based on the boundary processing judgment module to determine that the self-mobile device has not completed For the complete boundary processing of N circumferential movement paths, the two behavior logics are specifically as follows.

The first behavior logic: after the step of controlling the self-mobile device to stop the processing of the boundary area, the boundary processing judgment module judges that the self-mobile device has not completed the complete boundary processing of the N circumferential movement paths, and the control module controls the self-movement The device returns to the position of the positioning calibration point to re-acquire the reference positioning signal for positioning. Then, the control module controls the self-positioning calibration point position of the mobile device to start again in the direction of the boundary and move to the position of the last termination point, and then continue to move along the boundary. The control module determines whether the cumulative error measurement value obtained after the mobile information acquisition module starts again reaches the set cumulative error threshold, and if the cumulative error measurement reaches the set cumulative error threshold, it controls the mobile device to stop the boundary area processing work again , And carry out the process cycle.

The second kind of behavior logic: after the step of controlling the self-mobile device to stop the boundary area processing work, the working area judgment module judges that the self-mobile device has an area to be worked, and the control module controls the self-mobile device to return to the working area for work, The control module determines whether the mobile device meets the preset condition for returning to the position of the positioning calibration point. If the preset condition is satisfied, the control module controls the mobile device to return to the position of the positioning calibration point to re-acquire the reference positioning signal for positioning, and boundary processing The judging module judges that the mobile device has not completed the complete boundary processing of the N circumferential movement paths, and the control module controls the self-positioning calibration point position of the self-mobile device to start again in the boundary direction and move to the last termination point position and continue along Border movement, the control module judges whether the cumulative error measurement value obtained after the movement information acquisition module starts again reaches the set cumulative error threshold, and if the cumulative error measurement value reaches the set cumulative error threshold, control the mobile device to stop the boundary Area processing work, and the process cycle.

As shown in FIG. 16, in order to be able to use the reference positioning signal to locate the self-mobile device, in addition to the signal acquisition module 22, the self-mobile device also includes:

The solution processing module 24 is configured to perform solution processing on the reference positioning signal and the current positioning signal to obtain error data, and the reference positioning signal subjected to the solution processing and the current positioning signal have a common satellite signal.

The position determining module 25 is configured to determine the current position information of the mobile device according to the error data and the position information of the reference positioning signal.

The self-mobile device further includes: a positioning calibration point position determination module for determining the reference coordinates of the positioning calibration point position, the signal acquisition module 22 acquires the positioning signal from the mobile device at the positioning calibration point position, and uses the positioning signal as The first reference positioning signal. The position of the positioning calibration point is the position of the charging station or the positioning calibration point with fixed reference coordinates set in the working area of the mobile device.

The self-mobile device includes: a solution condition determination module, the solution condition determination module is used to determine whether the selected reference positioning signal satisfies the solution condition; if the selected reference positioning signal meets the solution condition, the reference The positioning signal is used as the reference positioning signal for the subsequent calculation processing; if the selected reference positioning signal does not meet the calculation conditions, the satellite signal at the nearest time is selected as the reference positioning signal and repeatedly judge whether the selected reference positioning signal meets the calculation conditions , Repeat this step until the reference positioning signal that meets the calculation conditions is obtained. The solution condition is: the number of shared satellites reaches the set threshold for the number of resolved satellites, and further, the solution condition is: the number of shared satellites reaches the set threshold for the number of resolved satellites, and the signal quality of the satellite signal reaches Set the signal-to-noise ratio threshold.

It can be known from the foregoing that the reference positioning signal and the current positioning signal that are subjected to the solution processing have a common satellite signal. When the number of shared satellites reaches the set threshold for the number of resolved satellites, the reference positioning signal and the current positioning signal are resolved.

The self-mobile device further includes an error evaluation module configured to: perform error evaluation on the current position information of the self-mobile device obtained by processing; and when the error evaluation result meets the error condition, return to the positioning calibration from the mobile device Click to reacquire the initial reference positioning signal. The position of the positioning calibration point is the position of the charging station or the position with fixed coordinates set in the working area. The error condition is: the working time of the mobile device reaches the set total working time threshold. The error condition may also be: the selected reference positioning signal does not satisfy the solution condition. Wherein, the solution condition is: the number of shared satellites reaches the set threshold of the number of resolved satellites, and further, the solution condition is: the number of shared satellites reaches the set threshold of the number of resolved satellites, and the signal of the satellite signal The quality reaches the set signal-to-noise ratio threshold.

A plurality of positioning calibration points are arranged in the working area of the self-mobile device, and the plurality of positioning calibration points have known fixed reference coordinates among each other. When the self-mobile device moves to the position of the positioning calibration point, the self-moving The device uses the position information of the positioning calibration point as the current position information.

When returning to the positioning calibration point from the mobile device to re-acquire the initial reference positioning signal, all non-current positioning signals saved from the mobile device are cleared.

The self-moving device further includes:

A signal strength determination module for determining whether the signal strength of the satellite signal is less than a predetermined threshold; and

The position determining module is configured to determine the position information of the self-mobile device in combination with a positioning sensor in response to the signal strength of the satellite signal being less than a predetermined threshold. The positioning sensor includes an inertial navigation device, or a lidar, or a carrierless communication device.

A computer-readable storage medium has computer program instructions stored thereon, and when the computer program instructions are executed by a processor, the processor executes the steps in the method for controlling a mobile device described above in this specification.

The computer-readable storage medium may adopt any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the above, for example. More specific examples (non-exhaustive list) of readable storage media include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable Type programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.

In order to implement the above-mentioned embodiments, the present invention also provides a computer program product. When instructions in the computer program product are executed by a processor, a method for controlling a mobile device is executed, the method comprising:

Obtain the boundary information of the working area;

Control the self-positioning calibration point position of the mobile device to start in the direction of the boundary and move along the boundary;

The current positioning signal obtained from the mobile device during the movement, the reference positioning signal from the mobile device before the current positioning signal, and the position information of the reference positioning signal are used to determine the current position information;

The cumulative error measurement value obtained from the mobile device in the moving process, when the cumulative error measurement value reaches the set cumulative error threshold, the mobile device is controlled to stop the boundary area processing work.

A computer program product includes computer program instructions that, when run by a processor, cause the processor to execute the steps in the "method for controlling a self-mobile device" mentioned in this specification.

The computer program product may use any combination of one or more programming languages to write program codes for performing the operations of the embodiments of the present application. The programming languages include object-oriented programming languages, such as Java, C++, etc. , Also includes conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computing device, partly on the user's device, executed as an independent software package, partly on the user's computing device and partly executed on the remote computing device, or entirely on the remote computing device or server Executed on.

In order to implement the foregoing embodiments, the present invention also provides an electronic device, which includes:

Memory for storing computer executable instructions; and

The processor is configured to execute computer-executable instructions stored in the memory to execute a method for controlling a mobile device, the method comprising:

Obtain the boundary information of the working area;

The electronic device may be an electronic device integrated in a mobile station of a self-mobile device, or a stand-alone device independent of the mobile station, and the stand-alone device can communicate with the mobile station to realize the self-mobile device according to an embodiment of the present invention的控制方法。 Control methods.

As shown in FIG. 17, the electronic device 600 includes one or more processors 610 and a memory 620.

The processor 610 may be a central processing unit (CPU) or other form of processing unit with data processing capability and/or instruction execution capability, and may control other components in the electronic device 600 to perform desired functions.

The memory 620 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include random access memory (RAM) and/or cache memory (cache), for example. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 610 may run the program instructions to implement the positioning fault alarm of the mobile device according to the various embodiments of the present invention described above. Methods and/or other desired functions. The computer-readable storage medium may also store various contents such as the position data of the antenna, the installation position of the antenna relative to the mobile device, and the like.

In an example, the electronic device 600 may further include: an input device 630 and an output device 640, and these components are interconnected by a bus system and/or other forms of connection mechanisms (not shown).

For example, the input device 630 may be used to receive user input.

The output device 640 can directly output various information to the outside, or control the mobile station to send signals.

Of course, for simplification, only some of the components related to the present application in the electronic device 600 are shown in FIG. 17, and components such as buses, input/output interfaces, etc. are omitted. In addition, the electronic device 600 may also include any other appropriate components according to specific application conditions.

It should be understood that each part of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if it is implemented by hardware, as in another embodiment, it can be implemented by any one or a combination of the following technologies known in the art: Discrete logic circuits, application-specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.

In addition, the functional units in the various embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units may be integrated into one module. The above-mentioned integrated modules can be implemented in the form of hardware or software function modules. If the integrated module is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

Although only a few embodiments of the present invention are described and illustrated in this specification, those skilled in the art should easily foresee other means or structures for performing the functions described herein/or obtaining the structures described herein, each such Changes or modifications are deemed to be within the scope of the present invention.

Claims

A method for controlling a self-mobile device, which is characterized in that it comprises the steps:

S101: Obtain boundary information on the work area map;

S102: Control the self-moving device with accumulated positioning error to move on the boundary after completing position calibration at a positioning calibration point, and perform boundary area processing work;

S103: Obtain the cumulative error measurement value or the positioning quality value after the mobile device leaves the positioning calibration point, and control the self-movement when the cumulative error measurement value reaches the set cumulative error threshold or the positioning quality value reaches the set positioning quality threshold The device stops processing the boundary area, wherein the cumulative error measurement value is the value of the time since the mobile device left the positioning calibration point, or the value of the movement distance since the mobile device left the positioning calibration point, wherein the position of the positioning calibration point It is the position of the charging station or the position with fixed coordinates set in the working area;

After the step of controlling the mobile device to stop the processing of the boundary area, the method further includes the following steps:

Determine whether the mobile device has completed the preset boundary processing path. If yes, end the boundary area processing work; otherwise, repeat steps S102 to S103. The length of the preset boundary processing path is proportional to the processing width of the boundary area processing work. , The boundary information includes a mapping boundary and a maximum inner boundary, and the processing width range of the boundary region processing work is the distance between the mapping boundary and the maximum inner boundary, or the boundary information includes distinguishing the working area and the maximum inner boundary. The boundary line of the non-working area, the processing width range of the boundary area processing work is 70cm-90cm from the boundary line to the working area, and the processing width of the boundary area processing work is the set safety distance and setting The sum of cumulative error thresholds;

Before repeating steps S102 to S103, it also includes:

S301: Determine whether there is a waiting area in the mobile device, if yes, perform S302 to S304, otherwise, repeat steps S102 to S103;

S302: Control the mobile device to return to the waiting area for work;

S303: Determine whether the self-mobile device satisfies the preset condition of returning to a positioning calibration point position, if so, execute S304, otherwise, control the self-mobile device to continue working;

S304: Control the mobile device to return to a positioning calibration point.
A method for controlling a self-mobile device, which is characterized in that it comprises the steps:

S101: Obtain boundary information on the work area map;

S102: Control the self-moving device with accumulated positioning error to move on the boundary after completing position calibration at a positioning calibration point, and perform boundary area processing work;

S103: Obtain the cumulative error measurement value or the positioning quality value after the mobile device leaves the positioning calibration point, and control the self-movement when the cumulative error measurement value reaches the set cumulative error threshold or the positioning quality value reaches the set positioning quality threshold The equipment stops processing the boundary area.
The method for controlling a self-mobile device according to claim 2, wherein the cumulative error measurement value is a time value since the mobile device leaves the positioning calibration point, or a moving distance value since the mobile device leaves the positioning calibration point .
The control method of a self-moving device according to claim 2, wherein the position of the positioning calibration point is a charging station position or a position with fixed coordinates set in a working area.
The method for controlling a self-mobile device according to claim 2, wherein after the step of controlling the self-mobile device to stop the processing of the boundary area, the method further comprises the step of:

It is judged whether the mobile device has completed the preset task, if so, the boundary area processing work is ended; otherwise, steps S102 to S103 are repeated.
The method for controlling a self-mobile device according to claim 5, wherein the preset task is: completing a preset boundary processing path by the mobile device.
The control method of the self-mobile device according to claim 6, wherein the length of the preset boundary processing path is proportional to the processing width of the boundary area processing work.
The control method of the self-mobile device according to claim 7, wherein the boundary information includes a mapping boundary and a maximum inner boundary, and the processing width range of the boundary region processing work is the mapping boundary and the maximum inner boundary. The distance between the borders.
The control method of a self-mobile device according to claim 7, wherein the boundary information includes a boundary dividing line that distinguishes a working area from a non-working area, and the processing width range of the processing work of the boundary area is a self-bounding dividing line Facing 70cm-90cm in the working area.
7. The control method of a self-mobile device according to claim 7, wherein the processing width of the boundary area processing task is the sum of the set safety distance and the set cumulative error threshold.
The method for controlling a self-mobile device according to claim 5, characterized in that, before repeating steps S102 to S103, the method further comprises:

S301: Determine whether there is a waiting area in the mobile device, if yes, perform S302 to S304, otherwise, repeat steps S102 to S103;

S302: Control the mobile device to return to the waiting area for work;

S303: Determine whether the self-mobile device satisfies the preset condition of returning to a positioning calibration point position, if so, execute S304, otherwise, control the self-mobile device to continue working;

S304: Control the mobile device to return to a positioning calibration point.
A self-moving device, which includes:

case;

The moving module is used to drive the housing to move;

Task execution module, used to perform work tasks;

A control module, which is electrically connected to the mobile module and the task execution module, controls the mobile module to drive the mobile device to move, and controls the task execution module to perform work tasks;

It is characterized in that, the self-moving device further includes:

A boundary information acquisition module for acquiring boundary information, the control module controls the mobile device to move on the boundary after leaving the positioning calibration point after completing calibration at a positioning calibration point, and processing the boundary area;

A cumulative error measurement value acquisition module, configured to obtain a cumulative error measurement value, and the control module controls the mobile device to stop the boundary area processing work when the cumulative error measurement value reaches a set cumulative error threshold;

The positioning quality value acquisition module is used to acquire the positioning quality value, and the control module controls the mobile device to stop the boundary area processing work when the positioning quality value reaches the set positioning quality threshold.
The self-moving device according to claim 12, wherein the cumulative error measurement value is a time value since the mobile device leaves the positioning calibration point, or a moving distance value since the mobile device leaves the positioning calibration point.
The self-moving device according to claim 12, wherein the position of the positioning calibration point is a position of a charging station or a position with fixed coordinates set in a working area.
The self-moving device according to claim 12, wherein the self-moving device comprises:

The boundary processing judgment module is used to judge whether the self-mobile device has completed the preset task.
The self-moving device according to claim 15, wherein the preset task is: completing a preset boundary processing path from the mobile device.
The self-moving device according to claim 16, wherein the length of the preset boundary processing path is proportional to the processing width of the boundary area processing work.
The self-mobile device according to claim 17, wherein the boundary information includes a mapping boundary and a maximum inner boundary, and the processing width of the boundary region processing work is between the mapping boundary and the maximum inner boundary the distance.
The self-moving device according to claim 17, wherein the boundary information includes a boundary dividing line that distinguishes a working area from a non-working area, and the processing width of the processing work of the boundary area is from the boundary dividing line to the working area 70cm-90cm inside.
The self-moving device according to claim 17, wherein the processing width of the boundary area processing task is the sum of a set safety distance and a set cumulative error threshold of the self-moving device.
The self-moving device according to claim 12, wherein the self-moving device comprises:

The working area judging module is used to judge whether the self-mobile device has a working area, and when there is a working area, the control module controls the self-mobile device to stop the boundary area processing work and then return to the working area to work;

The regression judgment module is used to judge whether the self-mobile device satisfies the preset condition of returning to a positioning calibration point, and when the preset condition of returning to a positioning calibration point is satisfied, the control module controls the self-mobile device to return to a positioning from the working area Calibration point.
An automatic working system, characterized in that it comprises:

The self-moving device according to any one of claims 12 to 21, which moves and works within a limited working area.
A computer-readable storage medium with a computer program stored thereon, characterized in that, when the computer program instructions are executed by a computing device, they are operable to execute the self-moving device according to any one of claims 1 to 11 The control method of the equipment.
A computer program product, characterized in that, when the instructions in the computer program product are executed by a processor, the method for controlling a self-mobile device according to any one of claims 1 to 11 is executed.
An electronic device, characterized in that it comprises:

Memory for storing computer executable instructions; and

The processor is configured to execute computer-executable instructions stored in the memory to execute the method for controlling a self-mobile device according to any one of claims 1 to 11.