WO2022042361A1 - Procédé et appareil de correction d'erreurs de positionnement, dispositif automoteur, et système - Google Patents

Procédé et appareil de correction d'erreurs de positionnement, dispositif automoteur, et système Download PDF

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Publication number
WO2022042361A1
WO2022042361A1 PCT/CN2021/112837 CN2021112837W WO2022042361A1 WO 2022042361 A1 WO2022042361 A1 WO 2022042361A1 CN 2021112837 W CN2021112837 W CN 2021112837W WO 2022042361 A1 WO2022042361 A1 WO 2022042361A1
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Prior art keywords
boundary
label
self
current
mobile device
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PCT/CN2021/112837
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English (en)
Chinese (zh)
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杨勇
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深圳市杉川机器人有限公司
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Publication of WO2022042361A1 publication Critical patent/WO2022042361A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • 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
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas

Definitions

  • the present invention relates to the technical field of automatic working equipment, and in particular, to a positioning error correction method, device, self-moving equipment and system for self-moving equipment.
  • a self-moving device when moving, it usually relies on an inertial detection unit to detect its heading angle, and calculates its mileage according to a mileage calculation unit.
  • the charging station can be used as the initial origin, and its position coordinates can be recorded in real time according to the heading angle and odometer during the driving process.
  • measurement errors inevitably occur, resulting in deviations in positioning from mobile devices. Therefore, how to perform more accurate error correction on the self-moving equipment and improve the operation accuracy of the self-moving equipment is an urgent problem to be solved in the current industry.
  • the present invention provides a positioning error correction method for a self-moving device, a positioning error correcting device for a self-moving device, a self-moving device, and a self-moving device or positioning device comprising the above
  • the automatic working system of the error correction device can correct the position of the self-moving equipment, effectively reduce the positioning deviation, and improve the positioning accuracy of the self-moving equipment.
  • the technical scheme adopted in the present invention includes:
  • the present invention provides a positioning error correction method for a self-moving device, comprising:
  • the current position and at least part of the coordinate sequence formed based on the coordinate positions recorded in real time during the driving process are corrected according to the positioning error.
  • the position coordinates of the boundary label are pre-stored, and the boundary label has unique identification information
  • the determining the first location information according to the detected location coordinates of the current boundary label includes: querying the stored boundary labels for the location coordinates of the boundary label corresponding to the identification information of the current boundary label; determining based on the queried location coordinates first location information.
  • the location coordinates of the detected boundary labels are recorded during the driving process, and a working area map of the automatic mobile device is constructed with a coordinate sequence formed by the recorded location coordinates of the boundary.
  • it also includes: calculating the error between the current position coordinates recorded from the mobile device to the terminal position and the actual coordinates of the terminal position;
  • the recorded coordinate positions of the boundary labels are corrected according to the errors.
  • the process of building the work area map of the automatic mobile device it also includes:
  • the actual mileage between the boundary label and the previous boundary label is obtained according to the boundary length between the pre-stored boundary labels
  • the correction includes:
  • the positioning point is corrected according to the correction offset.
  • the calibration includes:
  • the correction offsets of the positioning points are respectively determined, wherein the positioning points that are relatively close to the previous correction point among the included positioning points use a relatively small correction amplitude, and the sum of the correction amplitudes of all the positioning points is not equal. exceeds the positioning error.
  • the correcting the current position according to the positioning error includes:
  • the present invention provides a positioning error correction device for a self-moving device, comprising at least one processor and a memory for storing computer-executed instructions, which implements any one of the above-mentioned error correction methods when executing the instructions. A step of.
  • the present invention provides a self-moving device, comprising a boundary label detection unit, a positioning unit, and a correction unit,
  • the boundary label detection unit for detecting boundary labels
  • the positioning unit is used to determine the first position information according to the position coordinates of the detected current boundary label; also used to determine the positioning error according to the first position information and the calculated current position coordinates;
  • the correction unit is configured to correct the current position according to the positioning error.
  • the positioning unit is also used to pre-store the position coordinates of the boundary label, and the boundary label has unique identification information;
  • the positioning unit determining the first position information according to the detected position coordinates of the current boundary label includes: querying the stored boundary labels for the position coordinates of the boundary label corresponding to the identification information of the current boundary label; The first location information is determined.
  • the positioning unit determines the position coordinates of the pre-stored boundary labels in the following manner:
  • the location coordinates of the detected boundary labels are recorded during the driving process, and a working area map of the automatic mobile device is constructed with a coordinate sequence formed by the recorded location coordinates of the boundary.
  • the above-mentioned self-moving device further includes: a map correction module, configured to obtain and compare the current boundary label according to the boundary length between the pre-stored boundary labels when the current boundary label is detected in the process of constructing the working area map of the automatic mobile device. Actual mileage between the last boundary label; also used to calculate the recorded mileage between the current boundary label and the previous boundary label based on the recorded mileage; also used to calculate the actual mileage and the recorded mileage and the coordinate positions of the current boundary label and the previous boundary label are corrected according to the difference.
  • a map correction module configured to obtain and compare the current boundary label according to the boundary length between the pre-stored boundary labels when the current boundary label is detected in the process of constructing the working area map of the automatic mobile device. Actual mileage between the last boundary label; also used to calculate the recorded mileage between the current boundary label and the previous boundary label based on the recorded mileage; also used to calculate the actual mileage and the recorded mileage and the coordinate positions of the current boundary label and the previous boundary label are corrected according to the difference.
  • the above self-moving device further includes:
  • the regression path planning unit is used to calculate the distance L1 between the recharge position and any boundary label on the boundary line, and the distance L2 between the current self-mobile device and any boundary label, and obtain N groups (L1+L2) , N is the number of boundary labels; select the group with the minimum value of (L1+L2) from the N groups (L1+L2) as the optimal path for recharging.
  • the present invention provides an automatic working system, which includes a self-moving device, a supply station that provides driving energy for the self-moving device, and a boundary label with coordinate information preset within a preset range of the boundary line of the working area, wherein the
  • the self-moving device includes the self-moving device described in any one of the above, or the error correction device described above.
  • the method for correcting the positioning error of a self-mobile device and the self-mobile device can determine the positioning error according to the first position information determined by the position coordinates of the detected current boundary label and the current coordinates calculated from the mobile device, and then determine the positioning error according to the positioning method.
  • the error corrects the current position.
  • the self-moving device can calculate the positioning error of the current position according to the detected boundary label while working, and then realize the The positioning error realizes the correction of the current position, which improves the processing efficiency and correction accuracy of the error correction.
  • Fig. 1 is the overall structure schematic diagram of the automatic working system proposed by the present invention
  • Fig. 2 is the structural representation of the state of walking along the boundary of the self-moving device proposed by the present invention
  • Fig. 3 is the schematic diagram of the working area grid map of construction provided by the present invention.
  • FIG. 4 is a schematic flowchart of an embodiment of a method for establishing a work area map provided by the present invention
  • FIG. 5 is a schematic flowchart of an embodiment of a positioning error correction method provided by the present invention.
  • FIG. 6 is a schematic structural diagram of an embodiment of the self-mobile device provided by the present invention.
  • FIG. 7 is a schematic diagram of one of the optimal paths planned from the mobile device back to the charging station.
  • FIG. 8 is a schematic flowchart of an embodiment of the fast regression method provided by the present invention.
  • the automatic working system provided in an embodiment of the present invention includes a self-mobile device 10 and a charging station 5 (a kind of supply station).
  • the self-mobile device 10 can also store a work area map.
  • the working area can be defined by the boundary line 6 .
  • the self-mobile device 10 can walk and perform work tasks within the work area enclosed by the boundary line 6 .
  • the self-moving device 10 can be an automatic lawn mower. In other embodiments, the self-moving device 10 can also be an automatic cleaning device, an automatic watering device, an automatic snow blower, and other suitable unattended equipment. .
  • the charging station 5 is arranged on the boundary.
  • the boundary can be formed by a boundary line 6 connected to the charging station 5.
  • the boundary line 6 starts from the charging station 5, lays along the edge of the working area, surrounds the entire working area, and returns to the charging station to form a closed loop .
  • the boundary line 6 is provided with a boundary signal generator, which can generate a specific boundary signal and pass it to the boundary line, thereby generating a boundary signal around the boundary line, and the self-mobile device 10 can detect the boundary signal and identify the relative boundary line. position, such as judging whether the self-mobile device 10 is within the work area or outside the work area or on the boundary line 6 .
  • a plurality of boundary labels are arranged on the boundary line 6 at intervals, and the boundary labels may be an electronic label, which may have unique identification information, such as different identifications shown in 101 to 114 in FIG. 1 . border label.
  • Each boundary label can be preset with its location coordinates according to its location.
  • the position coordinates of the boundary tag may be absolute position information such as latitude and longitude, or relative position information based on a rectangular coordinate system, a polar coordinate system, a cylindrical coordinate system, or the like.
  • the position coordinates of the charging station 5 can be described as (x0, y0).
  • the self-moving device 10 includes a boundary line detection unit, as shown in 12 and 14 in FIG. 2, which can be used to detect boundary signals, an electronic label detection unit, as shown in 15 in the figure, and a positioning unit, as shown in FIG. 2 shown in 11.
  • 107 , 108 , and 109 are schematic boundary labels, respectively, and A and B are positions moved to by the mobile device 10 at different times.
  • the boundary line detection unit may include a boundary sensor for detecting boundary signals, such as an inductance, a Hall sensor, and the like.
  • one boundary sensor is arranged on the right side of the midline of the body of the self-moving device 10 , and the other is arranged on the left side of the midline of the body of the self-moving device 10 .
  • one of the boundary sensors is located outside the boundary line, and the other boundary sensor is located within the boundary line. Therefore, the boundary signals detected by the two boundary sensors have opposite polarities.
  • sexually controlled lawnmower walks along the border.
  • the self-moving device 10 may include an inertial measurement unit and an odometer for measuring mileage.
  • an inertial measurement unit can be used to measure the heading angle from the mobile device 10
  • an odometer can measure the rotational speed of the traveling wheels to calculate the distance traveled from the mobile device 10 .
  • the self-moving device 10 may further include a positioning unit.
  • the positioning unit may calculate the real-time position coordinates from the mobile device 10 according to the heading angle measured by the inertial measurement unit and the mileage measured by the odometer.
  • the self-mobile device 10 records the position coordinates of the travel path in real time, so as to obtain a set of position coordinate sequences of the travel path.
  • the location coordinates need to be storable in the positioning unit.
  • the positioning unit may include a storage module and a computing module.
  • the storage module can be used to store the position coordinate sequence measured in real time from the mobile device 10, and the calculation module can perform processing and operation on the position coordinate sequence.
  • the storage module and the computing module are connected in communication with each other.
  • the position coordinate error calculated by the positioning unit increases with time. Therefore, the positioning error will increase with time. magnify over time. If the position information is not corrected in the whole working process, the position coordinates of the self-mobile device 10 will be inaccurate, and the work efficiency of the self-mobile device 10 will be further affected.
  • the self-mobile device 10 walks and works in the work area, and the time required to completely cover the work area determines the coverage efficiency of the self-mobile device 10 .
  • the self-mobile device 10 can walk around the boundary line 6 to obtain the boundary information of the work area, and establish a map of the work area.
  • the recorded real-time location coordinates and stored maps identify the location of the self-mobile device 10 in the work area.
  • the automatic working system further includes a plurality of identifiable identifiable spaces arranged along the boundary of the working area.
  • the boundary labels 101-114 each boundary label can provide unique identification information, such as numbers or codes, and a plurality of uniquely identifiable boundary labels 101-114 can be arranged in sequence on the boundary or adjacent to the boundary.
  • the boundary of the work area is defined by the boundary line 6, and a plurality of identifiable boundary labels 101-114 are arranged at intervals along the boundary line 6, including the boundary labels 101-114 connected on the boundary line 6 or pre-distanced from the boundary line 6. Set along the boundary line 6 within the set range.
  • the border tag may be an RFID (Radio Frequency Identification) electronic tag.
  • the RFID electronic tag can be directly connected to the boundary line, or it can be attached to the ground nails that fix the boundary line.
  • the RFID electronic tag can be an unpowered RFID electronic tag, and of course can also include active and/or powered electronic tags.
  • the border tags can also have other forms, such as magnetic nails, ultrasonic modules or Wifi modules, and can be arranged and used in a combination of many different electronic tags.
  • the border labels are spaced at uniform intervals along the border line 6, that is, the border lines between adjacent border labels have the same length.
  • the length of the border between adjacent border labels is 1 meter, and of course, it may be 2 meters.
  • the boundary label is integrated on the boundary line 6 to form a whole with the boundary line 6 , so that the setting of the boundary label is completed when the boundary line 6 is laid, and no additional boundary label is required.
  • the boundary labels may be in a non-equidistant layout, wherein the length information of the boundary lines between the boundary labels is stored in the self-mobile device 10, and the self-mobile device 10 can retrieve the data when using the data.
  • the self-mobile device 10 is provided with a boundary label detection unit, which can identify a plurality of unique boundary labels.
  • the positioning unit pre-stores relative position relationship information of a plurality of unique boundary tags.
  • the relative positional relationship includes the length of the boundary line 6 between the boundary labels, which can be optionally the length information of the boundary line 6 between adjacent boundary labels, and/or the length of the boundary line 6 between each boundary label and the charging station 5 . Length information of boundary line 6.
  • the self-moving device 10 further includes a map building module for causing the self-moving device 10 to walk along the outer boundary of the work area for at least one circle.
  • the self-mobile device 10 provided by some embodiments of the present invention can correct the position coordinate sequence of the outer boundary of the working area by using the boundary labels pre-arranged at the outer boundary, so as to establish a working area map according to the corrected position coordinate sequence, which can reduce the measurement Or the risk of inaccurate map information creation caused by slippage or other environmental reasons, improve the accuracy of map creation of the work area.
  • the self-mobile device 10 further includes a map correction module for correcting the boundary position coordinate sequence recorded during the self-mobile device 10 walking around the outer boundary caused by the map establishment module.
  • the map correction module is set to take the length of the boundary line between the currently detected boundary label and the previous boundary label as the actual mileage of the self-mobile device walking along the boundary, and calculate the difference between the current boundary label and the current boundary label based on the mileage recorded by the odometer.
  • the recorded mileage between the previous boundary labels, the position coordinate sequence between the previous boundary label and the previous boundary label is corrected according to the difference between the actual mileage and the recorded mileage between the above two boundary labels, and the map is created.
  • the module builds a map of the working area according to the corrected boundary position coordinate sequence.
  • the length of the boundary line between two boundary labels be S
  • the number of the current boundary label is 108
  • the position is B
  • the number of the previous boundary label is 107
  • the position is A, that is, the actual distance traveled from the previous boundary label A to the next boundary label B from the mobile device 10 is a known length S.
  • the position coordinates of the detected boundary label 107 at A are recorded as (x1, y1).
  • the coordinates of point B measured by the positioning unit in real time are (x2, y2).
  • the number of boundary position coordinate sequences between position A and position B is N (ie, N anchor points), wherein the N anchor points include the coordinates of the boundary label 108 at position B, excluding the boundary at position A
  • N anchor points include the coordinates of the boundary label 108 at position B, excluding the boundary at position A
  • S1 ((x2, y2)-(x1, y1))
  • S-S1 ((x2, y2)-(x1, y1)
  • the mileage calculation error is S-S1.
  • the average correction offset of each positioning point is (S-S1)/N. Based on the corrected offset, the boundary position coordinate sequence between the boundary labels 107 to 108 may be recalculated to obtain a corrected boundary position coordinate sequence.
  • the self-mobile device 10 starts from an initial position on the boundary line 6 , takes the initial position as a starting point, and walks along the boundary line 6 until the terminal position.
  • the terminal position can be the initial position, but the invention does not exclude other embodiments, the terminal position is different from the initial walking position from the mobile device 10 condition.
  • the terminal position may be the initial position.
  • the map correction module compares the position coordinates measured by the positioning unit when returning to the initial position with the starting point coordinates, and corrects the boundary position coordinate sequence.
  • the initial position may be the position of any boundary label or the position where the charging station 5 is located, which is not limited here, as long as the self-mobile device 10 can identify the initial position.
  • the positioning unit stores the border length between the initial position and the first encountered border label on the walking path along the border
  • the map correction module is configured to use the detected first border label and the initial position.
  • the length of the boundary between the two is taken as the actual driving distance from the mobile device 10, and the position coordinate sequence between the current first boundary label and the initial position is corrected according to the above-mentioned correction method between adjacent boundary labels.
  • the difference between the boundary labels can also be obtained according to the stored boundary length between the boundary labels and the calculated mileage between the boundary labels actually driven, and then determine the boundary value according to the difference. label for correction.
  • the boundary labels described here may be adjacent boundary labels or non-adjacent boundary labels, and boundary labels may be obtained by excluding the initial position.
  • the actual mileage of the current boundary label 103 and the previous boundary label is 2.8 kilometers
  • the length of the boundary between the current boundary label 103 and the boundary label according to the stored record is 3 kilometers.
  • the difference between the mileage and the recorded mileage is 0.2 kilometers.
  • the positioning error can then be averaged to the positioning points of each sequence of position coordinates using the mean error.
  • the correction offset amount and the correction target can also be determined according to specific scenarios, for example, whether to offset the x-axis of the coordinates or the y-axis. shift.
  • the self-moving device 10 initially stops at the charging station 5, takes the charging station 5 as the initial position, and walks along the boundary line 6 starting from the charging station 5 as the origin. In the process of walking along the boundary line 6, the mileage and heading angle of the mobile device 10 are recorded in real time, the boundary position coordinate sequence information of the mobile device is calculated by the positioning unit, and finally returned to the charging station to complete a circle around the work area. walk.
  • the length of the boundary line between the first boundary label and the charging station 5 encountered by the mobile device when leaving the charging station 5 is also known. Let the length of the boundary line 6 between the boundary label and the charging station be M.
  • the mobile device 10 starts from the charging station 5, travels a mileage M, and detects the first boundary tag.
  • the positioning unit corrects the position coordinate sequence between the charging station 5 and the first boundary label according to the driving distance M and the driving distance recorded by the odometer, and corrects the boundary position coordinates between adjacent boundary labels according to the above embodiment. Sequence method for correction. In this way, each boundary label is used as a correction reference point, and the position correction is completed in turn, and the position correction is close to the starting point, and the correction is more accurate.
  • the lengths of the border lines between adjacent border labels can be set to be the same, that is to say, the actual driving of the self-mobile device 10 between two adjacent border labels during the process of walking along the border
  • the mileage is the same.
  • the self-mobile device 10 walks from one boundary label position to the next boundary label position, the mileage is equal to the length of the boundary line between the two boundary labels, and this length is stored in the self-mobile device 10 in advance.
  • the map correction module can correct the recorded boundary position coordinate sequence according to the determined known mileage.
  • a positioning point that is relatively close to the previous correction point among the positioning points may be used to use a relatively small correction Amplitude correction method.
  • different correction amplitude values or different weights may be set.
  • the calculation module of the self-mobile device 10 may further include a correction weight assignment module, which assigns different weight coefficients k according to the position coordinate sequence and the distance of the correction point B from near to far.
  • a correction weight assignment module which assigns different weight coefficients k according to the position coordinate sequence and the distance of the correction point B from near to far.
  • the position coordinates located near the calibration point B use a larger weight coefficient, and the measurement time is longer, and the position coordinates farther from the calibration point B use a smaller weight coefficient.
  • the weight coefficient k may be set to decrease stepwise as time advances, and of course, the weight coefficient k may also be set to linearly decrease with the advance of time of the position coordinate sequence. In another real-time example, the weight coefficient k may also be in the form of a decreasing curve.
  • the positioning unit is configured to correct the position coordinates recorded between the boundary label A (x1, y1) and the boundary label B (x2, y2) based on the positioning error obtained at the boundary label 108 at the positioning point B, and not The position coordinates before the boundary label A(x1, y1) are corrected again. That is to say, the positioning unit only corrects the position coordinates stored between the current boundary label and the previous boundary label based on the positioning error obtained by the current boundary label.
  • the boundary line coordinate sequence between adjacent boundary labels is corrected separately, and each is corrected once, so that the coordinate sequence of the boundary line is confirmed to be more accurate and the risk of overcorrection is reduced.
  • the positioning unit of the mobile device 10 corrects all the previously recorded position coordinate sequences, but adjusts the correction magnitude by assigning different weight coefficients k.
  • the self-mobile device assigns different weight coefficients k based on the near and far of the recorded sequence, and the correction amplitude thereof becomes smaller and smaller as time advances until it reaches zero. In this way, the correction range can be adjusted based on the weight coefficient k, and the adjustment can be flexibly adjusted according to the test results until the established map and the actual error are acceptable.
  • the mobile device 10 After the mobile device 10 walks around the boundary line, it returns to the charging station 5 .
  • the self-mobile device When the self-mobile device has confirmed that it has arrived at the charging station 5, its current position coordinates are compared with the initial position coordinates of the charging station, and the current position coordinate sequence is corrected with the initial position coordinates of the charging station 5 to complete the final correction.
  • P1 control the self-moving equipment to walk along the boundary from an initial position on the boundary of the work area, and record the position coordinates of the walking path in real time;
  • P2 form a boundary position coordinate sequence according to the boundary position coordinates recorded in real time
  • P6 Correct the boundary position coordinate sequence between the current boundary label and the previous boundary label according to the deviation between the actual mileage and the recorded mileage;
  • the positioning unit stores the current position coordinates of the real-time heading angle and real-time mileage detected by the inertial measurement unit into the calculation module to form a boundary position coordinate sequence.
  • each boundary label encountered is detected, and based on the length of the outer boundary between the pre-stored boundary label and the previous boundary label as the actual driving distance from the mobile device 10 between the two boundary labels, Calculate the recorded mileage between the current boundary label and the previous boundary label position according to the mileage recorded by the odometer, and use the difference between the actual mileage and the recorded mileage measured by the odometer to the boundary position coordinates between the two boundary labels sequence is corrected.
  • the work area map is established according to the corrected sequence of boundary position coordinates.
  • the position coordinates currently measured by the positioning unit are corrected to the starting point position coordinates of the initial position, and the boundary position coordinate sequence is corrected, so that the closed-loop outer boundary position coordinate sequence is obtained.
  • the solutions provided by the above embodiments can accurately establish a map of the work area, provide accurate work area information for subsequent planning and mowing, and help improve the accuracy of positioning and navigation based on the work area map by the mobile device 10. Thereby, the coverage efficiency is further improved.
  • the self-mobile device 10 also builds a grid map of the work area based on the accurately drawn map of the work area.
  • the grid map of the working area can be two sets of mutually perpendicular parallel lines with equal spacing in the established map, and the spacing between the two sets of parallel lines is the same.
  • the sub-grids are square, and the vertex position coordinate of each sub-grid is the intersection of two sets of parallel lines.
  • the self-mobile device 10 walks in the work area A, and the position coordinate sequence of the walking path recorded by the positioning unit, if a position coordinate sequence falls within one of the sub-grids, it is considered that the self-mobile device has covered the corresponding sub-grid. Work area area.
  • the position coordinates of the self-mobile device 10 can correspond to specific sub-grids, so the self-mobile device 10 can calculate the number and specific coordinate positions of the sub-grids of the map that it has covered, so as to prevent the uncovered sub-grids Target cutting in the work area to improve coverage efficiency.
  • the sub-working area is divided from the mobile device 10 according to the established map, and then the sub-working area is covered according to a predetermined logical sequence of walking. Dividing the sub-working areas can divide the original unregular map into relatively regular sub-working areas with smaller areas, and then cover them one by one. Meanwhile, the more regular sub-working areas are convenient for path planning from the mobile device 10 .
  • the work area is covered by a strip-shaped path from the mobile device 10 .
  • the self-mobile device 10 covers the work area according to the preset walking logic based on the planned mowing in the work area.
  • the positioning error increases due to time accumulation.
  • the computing module of the positioning unit in the self-mobile device 10 is further configured to trigger the self-mobile device 10 to relocate after the preset mileage has been traveled.
  • the storage module of the positioning unit stores the corrected and more accurate position coordinates of each border tag, and the self-mobile device 10 can accurately identify the exact coordinate position of the border tag after detecting a specific border tag.
  • the nearby boundary tags are automatically searched. Specifically, when the positioning unit triggers repositioning from the mobile device 10, the control unit controls the self-mobile device 10 to walk to the boundary line according to the boundary signal, walk along the boundary line until a boundary label is detected, and based on the position corresponding to the pre-stored boundary label The sequence of position information recorded by the coordinate correction.
  • the mobile device 10 is traveling from the charging station 5 .
  • Boundary labels can be detected while driving, and the step of finding boundary labels can be triggered at a predetermined time interval or a predetermined mileage from the last calibration point.
  • the computing module automatically triggers the automatic device to search for the boundary label. For example, after driving m miles from the last calibration point, a unique current boundary label is detected, the first position information is determined based on the position coordinates of the boundary label, and the first position information and the current position coordinates recorded by the current positioning unit are compared. A comparison is made to determine the positioning error. The current position can then be corrected based on the positioning error.
  • the first position information may be the position coordinates of the current boundary label, for example, the coordinates of the current position are directly corrected to the coordinate position of the current boundary label, or the position coordinates based on the current boundary label are corrected, changed, or transformed.
  • the correction of the current position may include changing the current position information recorded from the mobile device 10, or accepting or generating an instruction to move the position that the mobile device 10 wants to correct, or including correcting the current and previously recorded position information. Implementation of the correction.
  • the repositioning method for correcting the position coordinate sequence provided in this embodiment is the same as the direction of correcting the position coordinate sequence between adjacent border labels according to the border labels during the map building process provided by any of the above-mentioned embodiments. For the sake of brevity of description ,No longer.
  • Using the positioning error correction method described in any of the above real-time examples to correct the position coordinate sequence of the self-mobile device 10 can correct the over-path coordinate position of the work area covered by the self-mobile device 10 .
  • the self-mobile device 10 distinguishes the covered area and the to-be-covered area according to the corrected position coordinate sequence, which improves the accuracy of identifying the covered area, thereby enabling target coverage for the to-be-covered area and improving the coverage efficiency of the entire work area.
  • the self-moving device 10 may also trigger the step of repositioning after a certain time T has been traveled. And according to the steps described in the above embodiments, the nearby boundary lines and boundary labels are searched, and the recorded position sequence is corrected.
  • the self-mobile device 10 can automatically return to the charging station 5 and dock with it for charging.
  • the conventional self-mobile device 10 returns to the charging station 5 along the boundary line 6 .
  • the control unit controls the automatic lawn mower to first walk to the boundary line 6 according to the detection result of the boundary sensor, and then keep walking along the boundary line 6 until reaching the charging station 5 .
  • the return path can be planned by itself, and the shortest path back to the charging station can be calculated to save battery energy and time consumed during return charging (referred to as recharging) from the mobile device 10 . Therefore, in some embodiments, the self-mobile device 10 may further include:
  • a regression path planning unit for receiving a regression instruction and calculating the length L1 of the first regression path between the position coordinates of a plurality of identifiable boundary labels set at the outer boundary and the current position coordinates of the self-mobile device 10, and The second regression path length L2 between the corresponding boundary label and the recharge position is obtained, and N groups (L1+L2) are obtained, where N is the number of boundary labels; the value of (L1+L2) is selected from the N groups (L1+L2) A set of minimum values is used as the optimal path for recharging.
  • the first regression path includes the shortest path between the position coordinates of the mobile device 10 and any boundary label before the regression.
  • the straight line path between the position coordinates of the mobile device 10 before the return and any boundary label falls within the scope of the work area, then the first return path can be selected from the location where the mobile device 10 is located.
  • a straight-line path between the location coordinates and any of the boundary labels can be selected from the location where the mobile device 10 is located.
  • the second return path includes a distance L2 between the recharge position and any boundary label on the boundary.
  • the second return path includes the path trajectory of the boundary line 6 between any boundary label and the refill location.
  • the self-mobile device 10 may also include a control unit, which may be used to control the self-mobile device 10 to return to the charging station 5 from the position before the self-return according to the optimal return path. For example, after receiving a return instruction, the driving device and the steering device are controlled to make the mobile device 10 return to the charging station 5 and automatically connect to the charging interface for charging.
  • a control unit which may be used to control the self-mobile device 10 to return to the charging station 5 from the position before the self-return according to the optimal return path.
  • the driving device and the steering device are controlled to make the mobile device 10 return to the charging station 5 and automatically connect to the charging interface for charging.
  • the charging station 5 is arranged on the boundary line 6 .
  • the return path may include a path length L1 between the current position of the mobile device 10 and a certain boundary label on the boundary and a second return path L2 for the boundary label to return to the charging station 5 along the boundary line 6 , as shown in FIG. 7 .
  • the current position coordinates measured by the positioning unit are corrected to the position coordinates of the currently detected boundary label, and the second regression path is between the corrected position coordinates and the recharge position coordinates. shortest path.
  • the self-mobile device 10 when the self-mobile device 10 needs to return to the charging station, it may first search for an adjacent boundary line according to the boundary line signal. If the self-mobile device 10 is on the boundary line 6, it can walk along the boundary line 6 according to the recognition of the boundary line 6 until a boundary label is detected, read the coordinate position of the boundary label from the storage module, and select the shortest path based on the coordinate position Walk to the vicinity of charging station 5 and perform docking charging. If the self-mobile device 10 is in the work area map, the return path can be planned according to the shortest (L1+L2) mentioned above.
  • the self-mobile device 10 obtains the current relatively accurate position coordinates according to the encountered boundary tags, so as to navigate according to the accurate position coordinates according to the stored map, and walk to the position of the charging station 5, with a short return path and high return efficiency. Specifically, the straight line path between the position coordinates of the boundary label and the position coordinates of the charging station 5 is calculated. If the straight line path is located in the working area, directly return to the charging station along the straight line path, and when it is judged that it reaches the vicinity of the charging station 5, Continue to search for the boundary line 6 according to the boundary signal, and control the self-mobile device 10 to enter the charging station 5 along the boundary line 6 for docking charging.
  • the return path of each return charging is different, which reduces the risk of repeatedly rolling the lawn along the boundary to form wheel rails.
  • the return path is short, and the required return time is also shortened, realizing the rapid return to the charging station. 5 purposes.
  • the positioning unit corrects the currently measured position coordinates with the position coordinates of the boundary label, and according to the detected position coordinates
  • the difference between the position coordinates of the boundary tag and the position coordinates measured by the current positioning unit corrects at least part of the position coordinate sequence.
  • At least part of the position coordinate sequence can be selected as a position coordinate sequence between the current position and the last correction point.
  • F6 Control the self-mobile device to return to the charging station according to the return path with the smallest value of (L1+L2) as the optimal path for recharging.
  • FIG. 5 is a schematic flowchart of an embodiment of a positioning error correction method for a self-mobile device 10 provided in this specification.
  • FIG. 5 an embodiment of the method provided in this specification is shown in FIG. 5 and may include:
  • the self-mobile device 10 can detect boundary labels while working.
  • the self-moving device 10 can detect the heading angle according to the internal inertial detection unit, and calculate the mileage according to the odometer.
  • the current position coordinate information can be obtained by calculation according to the aforementioned heading angle, mileage, or other sensing and detection equipment.
  • the current location information can also be obtained in combination with GPS or Beidou positioning system.
  • the first position information can be the position coordinates of the current boundary label, for example, the coordinates of the current position are directly corrected to the coordinate position of the current boundary label, or the position coordinates based on the current boundary label are corrected, The first position information obtained after the change and transformation.
  • the current position of the self-mobile device 10 can be corrected.
  • the way of correcting the current position by using the positioning error includes, but is not limited to, the way described in any embodiment of this specification.
  • the self-mobile device 10 may pre-store the position coordinates of the boundary labels determined or corrected when the work area map is constructed. Therefore, in another embodiment of the method described in this specification, the position coordinates of the boundary label may be pre-stored, and the boundary label has unique identification information.
  • the determining the first location information according to the detected location coordinates of the current boundary label includes: querying the stored boundary labels for the location coordinates of the boundary label corresponding to the identification information of the current boundary label; The location coordinates determine the first location information.
  • boundary lines of the work area map can also be detected when working from the mobile device 10 .
  • the boundary line is a closed loop.
  • the boundary label may be preset on the boundary line or an electronic label with coordinate information within a preset range from the boundary line.
  • the position of the last positioning of the automated mobile device may be corrected based on the positioning error.
  • the coordinate sequence formed based on the coordinate positions recorded in real time during the driving process may also be corrected according to the positioning error.
  • the pre-stored location coordinates of the boundary labels can be obtained when building the work area map from the mobile device 10 . Therefore, in an embodiment of the method provided in this specification, the position coordinates of the pre-stored boundary labels can be determined in the following manner:
  • the location coordinates of the detected boundary labels are recorded during the driving process, and a working area map of the automatic mobile device is constructed with a coordinate sequence formed by the recorded location coordinates of the boundary.
  • the lawnmower can start from the charging station 5 , walk along the boundary line 6 for a circle, and finally return to the boundary line 6 .
  • the boundary label is detected to record its position coordinates, and a map of the working area is established based on the sequence of the position coordinates recorded during the walking process.
  • the coordinates returned to the charging station 5 are (x1, y1), while the actual origin coordinates of the charging station 5 are (0, 0), and all boundary coordinate sequences are corrected according to the error of these two points. Therefore, in another embodiment of the method, it also includes:
  • the recorded coordinate positions of the boundary labels are corrected according to the errors.
  • the self-mobile device 10 may perform positioning correction during the process of constructing the work area map, so as to improve the accuracy of the constructed work area map. Therefore, in another embodiment of the method, it also includes:
  • the actual mileage between the boundary label and the previous boundary label is obtained according to the boundary length between the pre-stored boundary labels
  • corrections described in this specification may include various implementations, such as the average error described above or according to the drift of the positioning error, different correction magnitudes may be assigned. Therefore, in another embodiment of the method provided in this specification, the correction may include:
  • the positioning point is corrected according to the correction offset.
  • the correction may include:
  • the correction offsets of the positioning points are respectively determined, wherein the positioning points that are relatively close to the previous correction point among the included positioning points use a relatively small correction amplitude, and the sum of the correction amplitudes of all the positioning points is not equal. exceeds the positioning error.
  • a group of the minimum value of (L1+L2) can be selected as the optimal recharge path according to the above-mentioned. Therefore, in another embodiment of the method, it may also include:
  • the present specification also provides a self-moving device 10 .
  • the self-mobile device 10 in one or more embodiments provided by the embodiments of this specification is described in the following embodiments. Since the implementation scheme and method for solving the problem from the mobile device 10 are similar, the specific implementation of the self-mobile device 10 in the embodiments of the present specification may refer to the implementation of the foregoing method, and the repetition will not be repeated.
  • the self-mobile device 10 described is implemented in software, but implementation based on hardware, or a combination of software and hardware is also a technical solution that can be implemented within the scope of the present invention.
  • FIG. 6 is a schematic diagram of a module structure of an embodiment of a self-moving device 10 provided in this specification.
  • the self-moving device 10 may include a boundary label detection unit, a positioning unit, and a correction unit 64, wherein ,
  • the boundary label detection unit 60 is used to detect boundary labels
  • the positioning unit 62 is used to determine the first position information according to the position coordinates of the detected current boundary label; it is also used to determine the positioning error according to the first position information and the calculated current position coordinates;
  • the correction unit 64 is configured to correct the current position according to the positioning error.
  • this specification provides another embodiment of the self-mobile device 10, the positioning unit 62 is further configured to pre-store the position coordinates of the boundary label, and the boundary label has unique identification information.
  • the positioning unit 62 determining the first position information according to the detected position coordinates of the current boundary label includes: querying the stored boundary labels for the position coordinates of the boundary label corresponding to the identification information of the current boundary label; The first location information is determined.
  • this specification provides another embodiment of the self-mobile device 10, wherein the positioning unit 62 stores the coordinate sequence formed by the coordinate positions recorded in real time during the driving process;
  • the correcting unit is further configured to correct the coordinate sequence stored by the positioning unit.
  • this specification provides another embodiment of the self-mobile device 10, the positioning unit 62 determines the position coordinates of the pre-stored boundary tags in the following manner:
  • the location coordinates of the detected boundary labels are recorded during the driving process, and a working area map of the automatic mobile device is constructed with a coordinate sequence formed by the recorded location coordinates of the boundary.
  • this specification provides another embodiment of the self-mobile device 10, which further includes:
  • the initial correction unit is used to calculate the error between the current position coordinates recorded from the mobile device 10 to the terminal position and the actual coordinates of the terminal position; and correct the recorded boundary coordinate position sequence according to the error.
  • this specification provides another embodiment of the self-mobile device 10, which further includes:
  • the map correction module is used to obtain the actual mileage between the previous boundary label and the previous boundary label according to the boundary length between the pre-stored boundary labels when the current boundary label is detected in the process of constructing the working area map of the automatic mobile device; and Used to calculate the recorded mileage between the current boundary label and the previous boundary label based on the recorded mileage; also used to calculate the difference between the actual mileage and the recorded mileage, according to the difference to the The coordinate positions of the current boundary label and the previous boundary label are corrected.
  • this specification provides another embodiment of the self-mobile device 10, the correction includes:
  • the positioning point is corrected according to the correction offset.
  • this specification provides another embodiment of the self-mobile device 10, the correction includes:
  • the correction offsets of the positioning points are respectively determined, wherein the positioning points that are relatively close to the previous correction point among the included positioning points use a relatively small correction amplitude, and the sum of the correction amplitudes of all the positioning points is not equal. exceeds the positioning error.
  • this specification provides another embodiment of the self-mobile device 10, wherein the correction unit 62 correcting the current position according to the positioning error includes:
  • this specification provides another embodiment of the self-mobile device 10, which further includes:
  • the boundary line detection unit is used to detect the boundary line surrounding the working area map of the mobile device 10, and the boundary line is a closed loop; wherein, the boundary label includes a preset on the boundary line or a preset distance from the boundary line An electronic label with coordinate information in the range.
  • the above-mentioned positioning error correction method or apparatus for the self-mobile device 10 may be implemented by a processor executing corresponding program instructions in a computer.
  • This specification also provides a positioning error correction device for the self-mobile device 10, which includes at least one processor and a memory for storing computer-executed instructions, which implements the steps described in any one of the method embodiments in this specification when executing the instructions. .
  • the above-mentioned method or apparatus can be used in various self-mobile devices 10 .
  • This specification provides a specific product device for implementing the above method or device.
  • the product device is an automatic lawn mower, which may include a drive device, a positioning processing device, and a label detection device, wherein,
  • the driving device drives the automatic lawn mower to travel;
  • the label detecting device is used to detect the signal sent by the boundary label;
  • the positioning processing device is used to implement the steps of the method described in any one of the embodiments of this specification.
  • an automatic working system which may include a self-moving device, a supply station that provides driving energy for the self-moving device, and a pre-set working system for the self-moving device.
  • a boundary label with coordinate information within a preset range of an area boundary line wherein the self-moving device includes the self-moving device described in any embodiment of this specification, or includes the error described in any embodiment of this specification.
  • Correction device or include the automatic lawn mower described in any one of the embodiments in this specification.
  • the aforementioned supply station may comprise the aforementioned charging station.
  • the supply station may also include oil, gas, steam, nuclear energy, or other energy supply stations such as graphene.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Manufacturing & Machinery (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Navigation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé de correction d'erreurs de positionnement pour un dispositif automoteur, comprenant : la détection d'une balise de délimitation (S2) ; la détermination de premières informations de position selon les coordonnées de position de la balise de délimitation courante détectée (S4) ; la détermination d'une erreur de positionnement selon les premières informations de position et les coordonnées de position courante calculées (S6) ; et la correction, selon l'erreur de positionnement, de la position courante et d'au moins une partie d'une séquence de coordonnées formée sur la base des positions de coordonnées enregistrées en temps réel pendant le déplacement (S8). L'invention concerne également un appareil de correction d'erreurs de positionnement, un dispositif de travail automatique et un système.
PCT/CN2021/112837 2020-08-26 2021-08-16 Procédé et appareil de correction d'erreurs de positionnement, dispositif automoteur, et système WO2022042361A1 (fr)

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