WO2021135714A1 - Procédé et système de partage de station de base pour robots autonomes, et support de stockage - Google Patents

Procédé et système de partage de station de base pour robots autonomes, et support de stockage Download PDF

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Publication number
WO2021135714A1
WO2021135714A1 PCT/CN2020/130469 CN2020130469W WO2021135714A1 WO 2021135714 A1 WO2021135714 A1 WO 2021135714A1 CN 2020130469 W CN2020130469 W CN 2020130469W WO 2021135714 A1 WO2021135714 A1 WO 2021135714A1
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WIPO (PCT)
Prior art keywords
mobile station
differential
station
gateway
autonomous robot
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PCT/CN2020/130469
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English (en)
Chinese (zh)
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何明明
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苏州宝时得电动工具有限公司
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Publication of WO2021135714A1 publication Critical patent/WO2021135714A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0045—Transmission from base station to mobile station
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information

Definitions

  • This specification relates to the technical field of positioning of autonomous robots, and in particular to a method, system and storage medium for sharing a reference station of an autonomous robot.
  • Autonomous robots are robots that are equipped with various necessary sensors and controllers in their body, and can complete certain tasks independently without external human information input and control during operation, that is, autonomous The robot can move autonomously and perform tasks in the work area.
  • the autonomous robot is equipped with a satellite positioning and navigation device to locate and guide the movement of the autonomous robot in the working area.
  • a fixed reference station is usually set near the autonomous robot.
  • the reference station can receive satellite signals from the satellite positioning system and provide corresponding differential messages to the mobile station based on the satellite signals. (That is, the satellite positioning and navigation device configured on the autonomous robot).
  • the mobile station can correct the satellite signal received by itself according to the differential message, so as to improve the positioning and navigation accuracy of the autonomous robot.
  • This positioning method is usually also called differential positioning.
  • the purpose of the embodiments of this specification is to provide a method, system and storage medium for sharing a reference station of an autonomous robot, so as to reduce the cost of differential positioning of an autonomous robot.
  • an embodiment of this specification provides a reference station sharing system for an autonomous robot.
  • the system includes: a reference station configured at a fixed position around the first autonomous robot for receiving satellite signals and A differential message is output accordingly; a first mobile station, which is configured on the first autonomous robot, is used to receive the differential message, and perform differential positioning according to the differential message and the satellite signal received by itself; at least one first mobile station The second mobile station is configured on the corresponding second autonomous robot; the first gateway, which is configured on the side of the reference station, is used to multicast the differential message to the second mobile station in real time via the communication network, so as to facilitate all The second mobile station performs differential positioning; a second gateway, which is configured on the side of the first autonomous robot, is used to upload data to the user terminal of the first autonomous robot, and/or receive instructions sent by the user terminal ; At least one third gateway, which is configured on the side of the corresponding second autonomous robot, is used to receive the differential message from the communication network according to a preset receiving frequency, and provide
  • the embodiment of this specification also provides a base station sharing system for autonomous robots, the system includes:
  • the reference station which is configured at a fixed position around the first autonomous robot, is used to receive satellite signals and output differential messages accordingly;
  • a first mobile station which is configured on the first autonomous robot, and is configured to receive the differential message, and perform differential positioning according to the differential message and the satellite signal received by itself;
  • At least one second mobile station which is configured on the corresponding second autonomous robot
  • the first gateway which is configured on the side of the reference station, is used to provide the differential message to the second mobile station through a communication network, so that the second mobile station can perform differential positioning.
  • the embodiment of this specification also provides a method for sharing a reference station of an autonomous robot, including:
  • a reference station to receive satellite signals and output differential messages accordingly;
  • the reference station is configured at a fixed position around the first autonomous robot;
  • a first mobile station to receive the differential message, and perform differential positioning according to the differential message and satellite signals received by itself;
  • the first mobile station is configured on the first autonomous robot;
  • the first gateway is used to provide the differential message to at least one second mobile station, so that the second mobile station can perform differential positioning; the first gateway is configured on the side of the first autonomous robot, and the second mobile station The station is configured on the corresponding second autonomous robot.
  • the embodiment of this specification also provides a computer storage medium on which a computer program is stored, and the computer program is executed by a processor to realize the above-mentioned reference station sharing method.
  • the embodiments of this specification can provide differential messages to the first mobile station and at least one second mobile station through a reference station for these mobile stations to perform differential positioning.
  • the second mobile station since they can use the differential message provided by the reference station corresponding to the first mobile station to perform differential positioning, there is no need to build a reference station by themselves, which greatly reduces the differential positioning of the second mobile station. cost.
  • the base station maintainer because it shares its base station externally (that is, to one or more second mobile stations); in return, it can report to the user of the second mobile station Charge an appropriate sharing service fee, thereby also reducing the differential positioning cost of the first mobile station.
  • Figure 1 is a schematic structural diagram of a base station sharing system of an autonomous robot in some embodiments of this specification
  • FIG. 2 is a schematic diagram of the structure of the base station sharing system of the autonomous robot in some other embodiments of the specification;
  • Figure 3 is a schematic diagram of a plurality of second mobile stations receiving satellite signals in some embodiments of this specification
  • Fig. 4 is a flowchart of a method for sharing a base station of an autonomous robot in some embodiments of this specification.
  • the autonomous robot mentioned in this manual can move autonomously in the work area to automatically perform work tasks.
  • the autonomous robot may be, for example, a floor cleaning robot or a lawn care robot.
  • the ground cleaning robot may be, for example, an automatic sweeper, an automatic mopping machine, or an automatic snowplow, etc.
  • the grass care robot may be, for example, an intelligent lawn mower, an automatic watering machine, Automatic lawn care machines, etc.
  • the embodiments of this specification provide a base station sharing system for autonomous robots.
  • the base station sharing system of an autonomous robot may include a base station 10, a first mobile station 20, at least one second mobile station 60 and a first gateway 30.
  • the reference station 10 can be configured at a fixed position around the first autonomous robot (the position coordinates of the fixed position are known), and it can be used to receive satellite signals from the satellite positioning system 40 and output differential messages accordingly.
  • the first mobile station 20 may be configured on the first autonomous robot, and it may be used to receive the differential message, and perform differential positioning based on the differential message and the satellite signal received by itself.
  • the second mobile station 60 may be configured on the corresponding second autonomous robot.
  • the first gateway 30 may be configured on the side of the reference station 10, and it may be used to provide the differential message to the second mobile station 60 through a communication network, so that the second mobile station 60 can perform differential positioning. Similar to the first mobile station 20, the second mobile station 60 also needs to receive satellite signals from the satellite positioning system 40 (for example, as shown in FIG. 3) to perform differential positioning based on the differential message and the satellite signals received by itself.
  • the first autonomous robot configured with a mobile station is referred to as the first mobile station 20; similarly, the second mobile station 60 may refer to a mobile station configured with a mobile station.
  • the second autonomous robot is referred to as the first mobile station 20; similarly, the second mobile station 60 may refer to a mobile station configured with a mobile station. The second autonomous robot.
  • a reference station 10 can provide a differential message to the first mobile station 20 and at least one second mobile station 60 for these mobile stations to perform differential positioning.
  • a reference station 10 can provide a differential message to the first mobile station 20 and at least one second mobile station 60 for these mobile stations to perform differential positioning.
  • the second mobile station 60 since they can use the differential message provided by the reference station 10 corresponding to the first mobile station 20 to perform differential positioning, there is no need to build a reference station by themselves, which greatly reduces the number of second mobile stations. 60 differential positioning cost.
  • the base station maintainer Because he shares his base station 10 externally (that is, to one or more second mobile stations 60); in return, he can move to the second mobile station
  • the user of the station 60 charges an appropriate sharing service fee, thereby also reducing the differential positioning cost of the first mobile station 20.
  • the differential positioning mentioned in this specification may include, but is not limited to, position difference, pseudorange difference, pseudorange difference after carrier phase smoothing, and other carrier phase difference.
  • the differential positioning may use RTK (Real-time kinematic) carrier phase difference technology in carrier phase difference.
  • the above-mentioned differential positioning is based on the error between the mobile station (including the first mobile station 20 and the second mobile station 60) and the reference station 10 (such as satellite ephemeris error, satellite clock error, ionospheric error). Delay and multipath effects, etc.) are strongly similar to this basis. Therefore, as the distance between the mobile station and the reference station increases, the error similarity becomes worse and the positioning accuracy becomes lower and lower. Therefore, in order to help ensure positioning accuracy, the first mobile station 20, the second mobile station 60 and the reference station 10 can choose the same satellite positioning system, and the distance between the second mobile station 60 and the reference station 10 should be within a suitable distance range. Inside.
  • the first mobile station 20, the second mobile station 60, and the reference station 10 may all select the GPS satellite positioning system, and the distance between the second mobile station 60 and the reference station 10 does not exceed 10KM .
  • the satellite positioning system can also be Galileo satellite navigation system, Beidou satellite navigation system, or GLONASS; and the distance between the second mobile station 60 and the reference station 10 can also be determined according to actual conditions. There is no restriction on this.
  • the reference station 10 may be fixedly set at a position with a better satellite signal. Since the position coordinates of the position are known, the reference station 10 compares the observation value at the position (that is, the position coordinates calculated based on the received satellite signal) with the known value, so as to obtain the differential correction data.
  • the differential message output by the reference station 10 carries differential correction data (or called differential correction number) so that the first mobile station 20 and the second mobile station 60 can correct themselves based on the differential correction data.
  • the position coordinates obtained by calculating the satellite signal can improve the positioning accuracy.
  • the differential message output by the reference station 10 may be in RTCM (Radio Technical Commission for Maritime services) or CMR (Compact Measurement Record) format, etc., which is not limited in this specification.
  • the differential message obtained by the reference station 10 can be directly broadcast to the first mobile station 20 and the second mobile station 60 by means of a high-power digital transmission station or the like.
  • the first gateway 30 configured on the side of the reference station 10 is used to provide the differential message to the second communication network through a public communication network.
  • the mobile station 60 is a more economical and feasible option.
  • the communication network may be, for example, the Internet, a cloud network (such as Facebook Cloud, Amazon Web Services (Amazon Web Services), Microsoft Cloud, Google Cloud), or a mobile data network (such as GPRS (General Packet Radio Service, General Packet Radio Service)) )Wait.
  • a gateway is generally configured on the autonomous robot side for data transmission with the first autonomous robot.
  • the data transmission may include, for example, uploading data (such as status data, etc.) to the user terminal of the first autonomous robot through a gateway, and may also include receiving an instruction sent by the user terminal through the gateway. Therefore, if only from the perspective of cost reduction, the gateway can be used as the first gateway 30 (that is, the functions of the first gateway 30 and the second gateway 31 are implemented on one gateway device).
  • the base station 10, the first gateway 30, and the first mobile station 20 need to be networked and time-sharing, which easily leads to increased system complexity and difficulty in upgrading from the original system.
  • a gateway in order to reduce the complexity of the system and facilitate system upgrades, a gateway can be added on the side of the reference station maintainer as the first gateway 30 mentioned above; and the side of the reference station maintainer can be used as the first gateway 30.
  • Some gateways can be used as the second gateway 31 (for example, as shown in Figure 2) to continue to maintain the original function, that is, the second gateway 31 can upload data to the user terminal of the first autonomous robot, and/or receive the user The instructions sent by the end.
  • the user terminal may be a desktop computer, a tablet computer, a notebook computer, a smart phone, a digital assistant, a smart wearable device, and the like.
  • smart wearable devices may include smart bracelets, smart watches, smart glasses, smart helmets, and so on.
  • the client terminal is not limited to the above-mentioned electronic equipment with a certain entity, and it can also be software running in the above-mentioned electronic equipment.
  • the first gateway 30 provides the differential message to the second mobile station via a communication network, for example, it may include: the first gateway 30 communication network multicasts the differential message in real time To the second mobile station 60.
  • the system may further include at least one third gateway 50, which may be configured on the side of the corresponding second autonomous robot (that is, each second autonomous robot side may be configured with a third gateway 50). ); Through the third gateway 50, the second mobile station 60 can receive the differential message from the communication network according to a preset receiving strategy, so that the differential message can be obtained on demand.
  • the second mobile station 60 when the second mobile station 60 is in the working state, it can receive differential telegrams in real time through the communication network; in other states (such as standby state, charging state), the second mobile station 60 can reduce reception from the communication network.
  • the frequency of the differential message (not even receiving the differential message) to reduce overhead.
  • the receiving frequency of the differential message received from the communication network may be reduced from the original receiving once per second to once every 3 seconds.
  • the communication network generally needs to pay a communication service fee to receive the differential message. Under the premise of ensuring the positioning accuracy, this method of reducing the receiving frequency can help reduce the communication cost.
  • the wireless transmission protocol may be, for example, a radio frequency (RF) communication protocol, a Bluetooth communication protocol, a WIFI communication protocol, and so on. Since these wireless transmission protocols have stable performance and no additional communication service fees are generated, the implementation cost can be further reduced.
  • RF radio frequency
  • the first gateway 30, the second gateway 31, and the third gateway 50 may all be implemented based on general or dedicated gateway equipment.
  • the first gateway 30 may be implemented based on a router, a network switch, or the like.
  • this manual also provides a base station sharing method for autonomous robots.
  • the method for sharing a base station of an autonomous robot may include the following steps:
  • S42a Use a first mobile station to receive the differential message, and perform differential positioning according to the differential message and the satellite signal received by itself; the first mobile station is configured on the first autonomous robot.
  • S42b Use a first gateway to provide the differential message to at least one second mobile station, so that the second mobile station can perform differential positioning; the first gateway is configured on the side of the first autonomous robot, and the first The two mobile stations are configured on the corresponding second autonomous robot.
  • the second gateway is used to upload data to the user terminal of the first autonomous robot and/or receive instructions sent by the user terminal; the second gateway is configured on the side of the first autonomous robot.
  • the providing the differential message to the second mobile station through a communication network may include:
  • the differential message is multicast to the second mobile station in real time through the communication network.
  • At least one third gateway is used to receive the differential message from the communication network according to a preset receiving strategy and provide it to the corresponding second mobile station; the third gateway is configured on the side of the corresponding second autonomous robot.
  • the receiving the differential message from the communication network according to a preset receiving strategy includes:
  • the base station and the first mobile station, and the base station and the first gateway communicate through a wireless transmission protocol.
  • the second gateway and the first mobile station communicate with each other through a wireless transmission protocol.
  • the third gateway and the corresponding second mobile station communicate with each other through a wireless transmission protocol.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • the computing device includes at least one processor (CPU), input/output interface, network interface, and memory.
  • the memory may include non-permanent memory in a computer readable medium, random access memory (RAM) and/or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM). Memory is an example of computer readable media.
  • RAM random access memory
  • ROM read-only memory
  • flash RAM flash memory
  • Computer-readable media include permanent and non-permanent, removable and non-removable media, and information storage can be realized by any method or technology.
  • the information can be computer-readable instructions, data structures, program modules, or other data.
  • Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital versatile disc (DVD) or other optical storage, Magnetic cartridges, disk storage or other magnetic storage devices or any other non-transmission media can be used to store information that can be accessed by computing devices.
  • PRAM phase change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • ROM read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • flash memory or other memory technology
  • CD-ROM compact disc
  • this specification can be provided as a method, a system or a computer program product. Therefore, this specification may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this specification may take the form of a computer program product implemented on at least one computer-usable storage medium (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
  • a computer-usable storage medium including but not limited to disk storage, CD-ROM, optical storage, etc.
  • program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types.
  • This specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network.
  • program modules can be configured in local and remote computer storage media including storage devices.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

L'invention concerne un procédé et un système de partage de station de base pour des robots autonomes, et un support de stockage. Le système comprend : une station de référence (10) disposée au niveau d'un emplacement fixe dans un environnement ambiant d'un premier robot autonome et configurée pour recevoir un signal satellite et pour délivrer en sortie un message différentiel selon le signal satellite ; une première station mobile (20) disposée au niveau du premier robot autonome et configurée pour recevoir le message différentiel, et pour effectuer un positionnement différentiel selon le message différentiel et un signal satellite reçu par la première station mobile (20) elle-même ; au moins une deuxième station mobile (60) disposée au niveau d'un deuxième robot autonome correspondant ; et une première passerelle (30) disposée sur le côté de la station de référence (10) et configurée pour fournir, par le biais d'un réseau de communication, le message différentiel à la deuxième station mobile (60), de façon à permettre à la deuxième station mobile (60) d'effectuer un positionnement différentiel. Le procédé peut réduire les coûts de mise en œuvre d'un positionnement différentiel de robots autonomes.
PCT/CN2020/130469 2020-01-02 2020-11-20 Procédé et système de partage de station de base pour robots autonomes, et support de stockage WO2021135714A1 (fr)

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