WO2022042362A1 - 一种自移动设备及系统及建立工作区域地图的方法 - Google Patents

一种自移动设备及系统及建立工作区域地图的方法 Download PDF

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Publication number
WO2022042362A1
WO2022042362A1 PCT/CN2021/112838 CN2021112838W WO2022042362A1 WO 2022042362 A1 WO2022042362 A1 WO 2022042362A1 CN 2021112838 W CN2021112838 W CN 2021112838W WO 2022042362 A1 WO2022042362 A1 WO 2022042362A1
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Prior art keywords
boundary
self
label
mobile device
moving device
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PCT/CN2021/112838
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English (en)
French (fr)
Inventor
杨勇
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深圳市杉川机器人有限公司
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Publication of WO2022042362A1 publication Critical patent/WO2022042362A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • 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
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal

Definitions

  • the invention relates to the technical field of automatic working equipment, in particular to a self-moving equipment and a method for establishing a working area map.
  • the self-mobile device moves and performs tasks autonomously in the work area.
  • the self-mobile device needs to walk around the boundary of the work area, and obtain the boundary position of the work area by recording the coordinates of the boundary position in real time.
  • a sequence of coordinates to build a map of the work area due to calculation and measurement errors, the accuracy of its position coordinates drifts with the mileage and travel time, resulting in inaccurate boundary position coordinates obtained, which in turn results in an inaccurate map of the established work area.
  • the present invention provides a self-mobile device and a method for constructing a working area map of the self-mobile device.
  • the technical solutions provided by the present invention include:
  • the present invention provides a self-moving device for autonomously walking and performing work tasks in a work area, the self-moving device comprising:
  • a boundary label detection unit for identifying a plurality of uniquely identifiable boundary labels spaced along the boundary of the work area
  • a positioning unit used to obtain the current position coordinates of the self-moving device, and generate a position coordinate sequence of the walking path of the self-moving device, the positioning unit is also used to record the boundary label detected by the boundary label detection unit Corresponding position coordinates, and pre-stored border lengths between adjacent border labels;
  • a map establishment module configured to cause the self-moving device to walk along the boundary of the work area, and form the work according to the position coordinates recorded by the positioning unit during the self-moving device walking along the boundary The coordinate sequence of the boundary position of the area;
  • 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 map of the working area of the mobile device;
  • the map correction module is configured to correct the coordinate positions of the current boundary label and the previous boundary label according to the difference between the actual driving distance and the recorded driving distance;
  • the map establishment module establishes the working area map according to the corrected boundary position coordinate sequence.
  • the starting point position of the self-mobile device is an identifiable initial position on the boundary
  • the map building module is used for causing the self-mobile device to start from the initial position to surround the boundary of the work area, and finally return to the initial position.
  • the initial position is the position where the charging station on the boundary is located
  • the map building module is used to induce the self-mobile device to start from the charging station around the boundary of the working area, and finally return to the charging station.
  • the map establishment module is used to cause the self-mobile device to start from the initial position and walk along the boundary, and the map correction module measures according to the positioning unit when returning to the initial position.
  • the deviation of the current position coordinates and the origin coordinates corrects the boundary position coordinate sequence.
  • the positioning unit stores the border length between the initial position and the adjacent first border label
  • the map correction module obtains the actual driving distance between the initial position and the first boundary label according to the length of the boundary between the pre-stored boundary label and the initial position mileage;
  • the position coordinate sequence between the current first boundary label and the initial position is corrected according to the deviation between the actual driving distance and the recorded driving distance.
  • the map correction module uses a relatively small correction amplitude for the positioning point in the boundary position coordinate sequence that is relatively close to the previous boundary label according to the difference value.
  • the working area is surrounded by a boundary line laid along the boundary of the working area, and the boundary label is arranged along the boundary line.
  • border lines between adjacent border labels have the same length.
  • the border label is an electronic label.
  • the self-moving device is an automatic lawn mower.
  • the present invention provides a method for establishing a work area map using the above-mentioned self-mobile device, the method comprising:
  • Control the self-mobile device to walk along the boundary from an initial position on the boundary of the working area, and record the position coordinates of the walking path in real time;
  • 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
  • a work area map from the mobile device is constructed according to the corrected sequence of boundary position coordinates.
  • the initial position of the self-moving device is the position of the charging station set on the boundary.
  • the working area is surrounded by a boundary line laid along the boundary of the working area, and the boundary label is arranged along the boundary line.
  • the boundary is corrected according to the deviation between the coordinates of the current position measured by the positioning unit when returning to the initial position and the coordinates of the initial position recorded at the time of departure.
  • a sequence of location coordinates is
  • the automatic mobile device and the method for establishing its working area map provided by the present invention can correct the obtained boundary position coordinates, thereby effectively reducing the positioning error in the process of establishing the working area map and improving the accuracy of the established working area map.
  • 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 longitude and latitude, or may be 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, and an electronic label detection unit, as shown in 15 in the figure, and a positioning unit, as shown in FIG. Shown in 11 of 2.
  • 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 through 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 number of Risk of inaccurate map creation due to measurement or slippage or other environmental reasons, improving 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 present invention does not exclude other embodiments, the terminal position is different from the initial walking position from the mobile device 10 Case.
  • 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 pre-stored in the self-mobile device 10 .
  • 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 walking logic sequence. 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 calculation 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 fast 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 devices.
  • 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 position coordinates of the detected boundary labels are recorded, and a working area map of the automatic mobile device is constructed with a coordinate sequence formed by the recorded position 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 position coordinates of the detected boundary labels are recorded, and a working area map of the automatic mobile device is constructed with a coordinate sequence formed by the recorded position 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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Abstract

一种自移动设备，以及一种建立工作区域地图的方法，其中自移动设备包括：边界标签检测单元、定位单元、地图建立模块，用于引发自移动设备沿工作区域的边界行走，并根据定位单元记录的位置坐标形成工作区域的边界位置坐标序列；还包括地图校正模块，检测到当前边界标签时，根据预先存储的边界标签之间的边界长度得到与上一个边界标签之间的实际行驶里程；地图校正模块用于根据实际行驶里程与记录行驶里程的差值对当前边界标签与上一个边界标签的坐标位置进行校正。

Description

一种自移动设备及系统及建立工作区域地图的方法
相关申请的交叉引用
本申请要求了申请日为2020年8月26日，申请号为202010867065.1，发明名称为“一种自移动设备及系统及建立工作区域地图的方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及自动工作设备技术领域，尤其涉及一种自移动设备及建立工作区域地图的方法。
背景技术
自移动设备在工作区域内自主移动和执行作业任务，在初始的步骤中，自移动设备为了获取工作区域的信息，需要围绕工作区域的边界行走，通过实时记录边界位置坐标得到工作区域的边界位置坐标序列，并以此建立工作区域的地图。然而，由于计算和测量误差，其位置坐标的精度随着行驶里程和行驶时间发生漂移，导致获取的边界位置坐标不准确，进而导致建立的工作区域地图不够准确。
发明内容
针对上述技术中存在的不足之处，本发明提供了一种自移动设备以及构建自移动设备工作区域地图的方法。
为解决上述技术问题，本发明提供的技术方案包括：
第一方面，本发明提供了一种自移动设备，用于在工作区域内自主行走和执行作业任务，所述自移动设备包括：
边界标签检测单元，用于识别沿所述工作区域的边界间隔布置的多个唯一可识别的边界标签；
定位单元，用于获取所述自移动设备当前位置坐标，并生成所述自移动设备行走路径的位置坐标序列，所述定位单元还用于记录所述边界标签检测单元检测到的所述边界标签对应的位置坐标，以及预先存储相邻的边界标签之间的边界长度；
地图建立模块，用于引发所述自移动设备沿所述工作区域的所述边界行走，并根据所述定位单元记录的所述自移动设备沿所述边界行走过程中的位置坐标形成所述工作区域的边界位置坐标序列；
地图校正模块，用于在构建自移动设备的工作区域的地图过程中，检测到当前边界标签时，根据预先存储的边界标签之间的边界长度得到与上一个边界标签之间的实际行驶里程；
基于记录的行驶里程计算当前边界标签与上一个边界标签之间的记录行驶里程；
所述地图校正模块用于根据所述实际行驶里程与所述记录行驶里程的差值对所述当前边界标签与所述上一个边界标签的坐标位置进行校正；
所述地图建立模块根据校正后的所述边界位置坐标序列建立所述工作区域地图。
可选的，在构建所述自移动设备的工作区域的地图过程中，所述自移动设备的起点位置为所述边界上一可识别的初始位置；
地图建立模块用于引发所述自移动设备从所述初始位置出发围绕工作区域的边界，最终返回至所述初始位置。
可选的，所述初始位置为所述边界上的充电站所处的位置；
地图建立模块用于引发所述自移动设备从所述充电站出发围绕工作区域的边界，最终返回至所述充电站。
可选的，所述地图建立模块用于引发所述自移动设备以所述初始位置作为原点出发，沿所述边界行走，所述地图校正模块根据返回至所述初始位置时所述定位单元测量的当前位置坐标与所述原点坐标的偏差校正所述边界位置坐标序列。
可选的，所述定位单元存储有所述初始位置与相邻的第一个所述边界标签之间的边界长度；
检测到第一个所述边界标签时，所述地图校正模块根据预先存储的边界标签与所述初始位置之间的边界长度得到所述初始位置与第一个所述边界标签之间的实际行驶里程；
基于记录的行驶里程计算当前边界标签与所述初始位置之间的记录行驶里程；
根据所述实际行驶里程与所述记录行驶里程的偏差对当前第一个所述边界标签与所述初始位置之间的位置坐标序列进行校正。
可选的，所述地图校正模块根据所述差值对所述边界位置坐标序列中相对靠近上一个所述边界标签的定位点使用相对较小的校正幅度。
可选的，所述工作区域由沿着所述工作区域的边界铺设的边界线围设，所述边界标签沿着所述边界线设置。
可选的，相邻的所述边界标签之间的边界线长度相同。
可选的，所述边界标签为电子标签。
可选的，所述自移动设备为自动割草机。
第二方面，本发明提供了一种利用上述所述的自移动设备建立工作区域地图的方法，所述方法包括：
控制自移动设备自工作区域的边界上的一初始位置沿边界行走，实时记录行走路径的位置坐标；
根据实时记录的边界位置坐标形成边界位置坐标序列；
在沿边界行走过程中，检测边界标签；
检测到当前边界标签时，根据预先存储的边界标签之间的边界长度得到与上一个边界标签之间的实际行驶里程；
基于记录的行驶里程计算当前边界标签与上一个边界标签位置之间的记录行驶里程；
根据所述实际行驶里程与所述记录行驶里程的偏差对两个所述边界标签之间的边界位置坐标序列进行校正；
根据校正后的所述边界位置坐标序列构建自移动设备的工作区域地图。
可选的，所述自移动设备的初始位置为设置在所述边界上的充电站所处的位置。
可选的，所述工作区域由沿着所述工作区域的边界铺设的边界线围设，所述边界标签沿着所述边界线设置。
可选的，在沿边界行走返回至所述初始位置后，根据返回至所述初始位置时所述定位单元测量的当前位置坐标与出发时记录的所述初始位置的坐标的偏差校正所述边界位置坐标序列。
本发明提供的自动移动设备及建立其工作区域地图的方法，可以对获取的边界位置坐标进行校正，从而有效降低建立工作区域地图过程中的定位误差，提高建立的工作区域地图的准确性。
附图说明
为了更清楚地说明本发明的实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些 实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。其中：
图1是本发明提出的自动工作系统的整体结构示意图；
图2是本发明提出的自移动设备的沿边界行走状态的结构示意图；
图3是本发明提供的构建的工作区域格栅地图的示意图；
图4是本发明提供的建立工作区域地图的方法的一个实施例流程示意图；
图5本发明提供的定位误差校正方法的一个实施例流程示意图；
图6是本发明提供的所述自移动设备的一个实施例结构示意图；
图7是一个自移动设备回归充电站规划最优路径的其中一条路径示意图；
图8是本发明提供的快速回归方法的一个实施例流程示意图。
具体实施方式
为使本发明的上述目的、特征和优点能够更为明显易懂，下面结合附图，对本发明的具体实施方式做详细的说明。可以理解的是，此处所描述的具体实施例仅用于解释本发明，而非对本发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与本发明相关的部分而非全部结构。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。
本发明中的术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、系统、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”以及类似的表述只是为了说明的目的。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本发明的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
如图1及图2所示，本发明的一实施例中提供的自动工作系统，包括自移动设备10、充电站5(一种供给站)，自移动设备10还可以存储工作区域地图。工作区域可以由边界线6围成确定。自移动设备10可以在边界线6围成的工作区域内行走和执行作业任务。
一个具体实施例场景中，自移动设备10可以为自动割草机，在其他实施例中，自移动设备10也可以为自动清洁设备、自动浇灌设备、自动扫雪机等适合无人值守的设备。
如图1所示，充电站5设置在边界上。具体而言，边界可以由连接在充电站5上的边界线6形成，边界线6由充电站5起始，沿着工作区域的边缘铺设，围绕整个工作区域之后，返回至充电站形成闭合回路。边界线6上设置有边界信号发生器，能够产生特定的边界信号并将其通到边界线上，由此边界线周围产生边界信号，自移动设备10能够检测到该边界信号从而识别相对边界线的位置，比如判断自移动设备10是在工作区域内还是位于工作区域之外或者跨边界线6上。
本说明书的一些实施例中，在边界线6上间隔设置有多个边界标签，边界标签可以是一种电子标签，可以具有唯一的标识信息，如图1中的101～114所示的不同标识的边界标签。每个边界标签可根据其所在位置预先设置其位置坐标。边界标签的位置坐标可以是例如经纬度等的绝对位置信息，也可以是基于直角坐标系、极坐标系、柱面坐标系等的相对位置信息。为便于描述，本说明书的一些实施例以直角二维坐标系进行示例描述，如充电站5的位置坐标可以描述为(x0，y0)。
请参见图2，自移动设备10包括边界线检测单元，如图2中12、14所示，可以用于检测边界信号，以及电子标签检测单元，如图中15所示，定位单元，如图2中11所示。图2中，107、108、109分别为示意的边界标签，A和B是自移动设备10在不同时刻移动到的位置。具体而言，边界线检测单元可以包括用于检测边界信号的边界传感器，如电感，霍尔传感器等。一般的，边界传感器至少包括两个，且边界传感器可以采用间隔设置。如一个边界传感器设置在自移动设备10机体中线右侧，另一个设置在自移动设备10机体中线的左侧。沿边界线行走时，其中一个边界传感器位于边界线外，其中另一个边界传感器位于边界线内，因此，两个边界传感 器检测的边界信号极性相反，自移动设备10根据两个边界传感器的信号极性控制割草机沿着边界沿行走。
本说明书的一些实施例中，自移动设备10可以包括惯性测量单元和用于测量行驶里程的里程计。例如，惯性测量单元可以用于测量自移动设备10的航向角，里程计能够测量行走轮的转速从而计算自移动设备10行驶过的里程。
本说明书的一些实施例中，自移动设备10还可以包括定位单元。定位单元可以根据惯性测量单元测量的航向角和里程计测量的里程，计算自移动设备10的实时位置坐标。在自移动设备10行驶过程中，自移动设备10实时记录其行驶路径的位置坐标，从而得到一组行驶路径的位置坐标序列。该位置坐标需要可以存储在所述定位单元中。
定位单元可以包括存储模块和计算模块。存储模块可以用于存储自移动设备10实时测量得到的位置坐标序列，计算模块可以对该位置坐标序列进行处理运算。存储模块和计算模块相互通信连接。
可以理解的，由于惯性测量单元测量的自移动设备10的航向角的测量偏差，随着行驶里程增加，定位单元计算的位置坐标误差随着时间越来越大，因此，定位误差会随着时间推移而放大。若在整个工作过程中对位置信息不进行校正，导致自移动设备10的位置坐标不准确，进一步影响自移动设备10的工作效率。
自移动设备10在工作区域内行走工作，完成全部覆盖工作区域所需要的时间决定了自移动设备10的覆盖效率。自移动设备10全部覆盖工作区域所需的时间越少，工作效率越高，其所消耗的能量越少。为了提高自移动设备10的覆盖效率，在开始工作之前，自移动设备10可以沿边界线6行走一圈，获取工作区域的边界信息，建立工作区域的地图，在后续的行走覆盖工作中根据定位单元记录的实时的位置坐标和存储的地图，识别自移动设备10在工作区域的位置。
然而，自移动设备10在沿边界行走过程中，一方面，由于惯性测量单元的累积误差，行驶距离越远则记录的坐标信息与实际偏差越大，导致位置信息不准确；另一方面，由于行走轮打滑或空转等原因，导致里程计算误差，最终建立的工作区域地图信息不准确，进一步对自移动设备10覆盖效率造成不利影响。
对此，本说明书的另一些实施方案中，为了进一步提高自移动设备10的建立工作区域地图的准确性，参见图1，自动工作系统还包括沿着工作区域的边界间隔布置的多个可识别的边界标签101-114，每个边界标签可提供唯一确定的识别信息，例如数字或代码，多个唯一可识别的边界标签101-114可以按顺序依次布置在边界 上或者临近边界布置。在一实施例中，工作区域的边界由边界线6界定，多个可识别的边界标签101-114沿边界线6间隔布置，包括边界标签101-114连接在边界线6上或距边界线6预设范围内沿着边界线6设置。具体的一个实施方式中，所述边界标签可以为RFID(Radio Frequency Identification)电子标签。RFID电子标签可以直接连接在边界线上，也可以附着在固定边界线的地钉上。RFID电子标签可以为不供电的RFID电子标签，当然也可以包括主动的和/或供电的电子标签。边界标签也可以有其他形式，例如磁钉、超声波模块或者Wifi模块，并且可以以多种不同电子标签的组合方式布置使用。
可选的，边界标签沿着边界线6以均匀的间隔隔开，即相邻的边界标签之间的边界线长度相同。例如，相邻的边界标签之间边界长度均为1米，当然也可以是2米。在一实施例中，边界标签集成在边界线6上，与边界线6形成一个整体，如此，在铺设边界线6的同时就完成了边界标签的设置，无需额外的设置边界标签。在另一些实施例中，边界标签可以是非等间距布局，其中边界标签相互之间的边界线长度信息存储在自移动设备10中，自移动设备10使用该数据时可以调取获知即可。
自移动设备10上设置有边界标签检测单元，能够识别多个唯一的边界标签。定位单元预先存储有多个唯一的边界标签的相对位置关系信息。具体的，相对位置关系包括边界标签相互之间的边界线6的长度，可选为相邻边界标签之间的边界线6的长度信息，和/或每个边界标签与充电站5之间的边界线6的长度信息。
自移动设备10还包括地图建立模块，用于引发自移动设备10沿工作区域的外边界行走至少一圈，定位单元实时记录自移动设备沿外边界行走过程中的位置坐标，并形成工作区域的边界位置坐标序列；同时，定位单元记录边界标签检测单元检测到的边界标签所对应的位置坐标。
本发明的一些实施例提供的自移动设备10，可以通过预先布置在外边界处的边界标签来校正工作区域外边界的位置坐标序列，从而根据校正后的位置坐标序列建立工作区域地图，能够降低由于测量或打滑或其他环境原因导致的地图信息建立不准确的风险，提高工作区域地图建立的精确度。
在一实施例中，自移动设备10还包括地图校正模块，用于对地图建立模块引发的自移动设备10围绕外边界行走过程中记录的边界位置坐标序列进行校正。具体的，地图校正模块设置为以当前检测的边界标签与上一个边界标签之间的边界线长度作为沿边界行走的自移动设备的实际行驶里程，基于里程计记录的行驶里程计算当前边界标签与上一个边界标签之间的记录行驶里程，根据上述两边界标签之间的实际 行驶里程与记录的行驶里程的差值对前边界标签与上一个边界标签之间的位置坐标序列进行校正，地图建立模块根据校正后的边界位置坐标序列建立工作区域地图。
具体的一个建立工作区域地图的实施示例中，参见图2，设其中两个边界标签之间的边界线长度为S，当前边界标签编号为108，位置为B，上一个边界标签编号为107，位置为A，即自移动设备10由上一个边界标签A处行走到下一个边界标签B处的实际行驶里程为已知长度S。自移动设备10在沿边界线6行走过程中，记录检测到的A处的边界标签107的位置坐标为(x1，y1)。继续沿边界线6行走，检测到B处的边界标签108，此时定位单元实时测量的B点的坐标为(x2，y2)。假设，位置A与位置B之间的边界位置坐标序列的数量为N(即N个定位点)，其中，N个定位点包括位置B处的边界标签108的坐标，不包括位置A处的边界标签107的坐标，里程计测量的位置A与位置B之间的里程为S1＝((x2，y2)-(x1，y1))，则里程计算误差为S-S1。若采用将所述里程计算误差平均到每一个边界位置坐标里，则平均每个定位点的校正偏移量为(S-S1)/N。基于校正偏移量可以重新计算边界标签107到108之间的边界位置坐标序列，得到校正后的边界位置坐标序列。
在沿边界行走步骤中，参见图4，自移动设备10从位于边界线6上的一初始位置出发，以该初始位置为起点，沿着边界线6行走，直到终端位置。在边界线封闭的工作区域地图中，一般的，所述的终端位置可以为初始位置，但本发明不排除其他的实施方式中，所述的终端位置与自移动设备10初始行走的位置不相同的情况。在本实施例中，所述的终端位置可以为所述的初始位置。进一步的，地图校正模块将返回至初始位置时定位单元测量的位置坐标与起点坐标进行比较，校正边界位置坐标序列。该初始位置可以是任一边界标签的位置，也可以是充电站5所在的位置，在此不作限定，只要自移动设备10能够识别该初始位置即可。
一些实施例中，定位单元存储有初始位置与沿边界行走路径上的第一个遇到的边界标签之间的边界长度，地图校正模块设置为以检测到的第一个边界标签与初始位置之间的边界长度作为自移动设备10的实际行驶里程，按照上述相邻边界标签之间的校正方法校正当前第一个边界标签与初始位置之间的位置坐标序列。当然，其他的实施例中，也可以根据存储的边界标签之间的边界长度和实际行驶的计算得到的边界标签之间的里程来得到边界标签之间的差值，然后根据该差值对边界标签进行校正。这里所述的边界标签可以是相邻的边界标签，也可以为不相邻的边界标签，边界标签可以为不包括初始位置得到边界标签。例如根据航向角和里程得到当前边界标签103与上一个边界标签的实际行驶里程为2.8公里，而根据存储记录的当前 边界标签103与边界标签之间的边界长度为3公里，那么由此可知实际行驶里程与所述记录行驶里程的差值为0.2公里。进一步的可以根据差值0.2公里对其记录的101个位置坐标序列进行校正，可以计算得到每个位置坐标序列的偏移量为0.2/(101-1)＝0.002公里。然后可以采用平均误差将定位误差平均到每一个位置坐标序列的定位点。当然，上述实施例仅仅是示意性的，实际的校正处理中，还可以根据具体的场景来确定校正偏移量和校正目标等，例如是对坐标的x轴进行偏移还是对y轴进行偏移。
以自动割草机为具体自移动设备的一个实施例中，自移动设备10初始停靠在充电站5，以充电站5作为初始位置，以其为原点出发沿着边界线6行走一圈。在沿边界线6行走过程中，实时记录自移动设备10的行驶里程和航向角，通过定位单元计算自移动设备行走的边界位置坐标序列信息，并最终返回至充电站，完成围绕工作区域一圈的行走。自移动设备在离开充电站5遇到的第一个边界标签与充电站5之间的边界线长度也是已知的，设该边界标签与充电站之间的边界线6的长度为M，自移动设备10以充电站5为起点出发，行驶里程M，检测到第一个边界标签。定位单元根据行驶里程M和里程计记录的行驶里程，校正充电站5与该第一个边界标签之间的位置坐标序列，按照上实施例所述的校正相邻边界标签之间的边界位置坐标序列的方法进行校正。如此，每个边界标签均作为一个校正参考点，依次完成位置矫正，且位置校正靠近起点，校正更准确。
本说明书提供的一个实施例中，可以设置相邻边界标签之间的边界线长度均相同，也就是说自移动设备10在沿边界行走过程中在相邻的两个边界标签之间的实际行驶里程相同。在自移动设备10从一个边界标签位置行走至下一个边界标签位置，其行驶里程等于两边界标签之间的边界线长度，而这个长度是预先存储在自移动设备10内的。地图校正模块能够根据该确定已知的行驶里程校正记录的边界位置坐标序列。
可以理解的，由于测量的位置坐标随着时间推移导致累积误差越来越大，因此，距离该校正点的越远的位置坐标其位置误差越小，即越靠近上一个校正点其定位误差越小，如若采用同样的幅度来矫正所有的位置坐标序列，难免会导致位置坐标矫正不准确。为了进一步提高校正精度，本说明书的其他一些实施例中，在确定每个所述定位点的校正偏移量时，可以采用定位点中相对靠近上一个校正点的定位点使用相对较小的校正幅度的校正方式。具体的实现方式上可以采用设置不同的校正幅度值或者不同的权重。例如一个实施中，自移动设备10的计算模块还可以包括矫正 权重分配模块，该矫正权重分配模块根据位置坐标序列与校正点B的里程由近及远分配不同的权重系数k。具体的，位于校正点B临近的位置坐标，采用较大的权重系数，测量时间较久远，距离校正点B较远的位置坐标采用较小的权重系数。可选的，该权重系数k的设置可以是随着时间的前推而呈阶梯性递减，当然也可以设置成该权重系数k随着位置坐标序列时间的前推而呈线性递减。在另外一实时例中，权重系数k还可以呈曲线递减的形式。
一些实施例中，定位单元设置为基于边界标签108定位点B处得到的定位误差对边界标签A(x1，y1)和边界标签B(x2，y2)之间记录的位置坐标进行矫正，而不会对边界标签A(x1，y1)之前的位置坐标再次进行矫正。也就是说，定位单元基于当前边界标签得到的定位误差仅对该当前的边界标签与上一个边界标签之间存储的位置坐标进行矫正。相邻的边界标签之间的边界线坐标序列分断校正，且分别矫正一次，如此确认边界线的坐标序列更准确，降低了过矫正的风险。
在另一些实施例中，自移动设备10的定位单元对之前记录的所有位置坐标序列都进行校正，但是通过分配不同的权重系数k来调整矫正幅度。具体的，如前任一实施例所述，自移动设备基于记录的序列的由近及远分配不同的权重系数k，其校正幅度随着时间的前推越来越小，直到为零。如此，基于权重系数k能够调整矫正幅度，灵活的根据测试结果调整，直到建立的地图与实际误差可接受。
自移动设备10沿边界线行走一圈之后，返回充电站5。当自移动设备已经确认到达充电站5，其当前的位置坐标与充电站的初始位置坐标进行比较，并以充电站5的初始位置坐标校正当前位置坐标序列，完成最后一步的校正。根据计算模块存储经过校正后的边界线坐标位置绘制工作区域的地图。如此，绘制的地图是经过校正过的，能够得到相对实际工作区域更加准确的地图。
下面详细介绍自移动设备10建立工作区域地图的方法步骤，具体参见流程图4。
P1:控制自移动设备自工作区域的边界上的一初始位置沿边界行走，实时记录行走路径的位置坐标；
P2:根据实时记录的边界位置坐标形成边界位置坐标序列；
P3:在沿边界行走过程中，检测边界标签；
P4:检测到当前边界标签时，根据预先存储的边界标签之间的边界长度得到与上一个边界标签之间的实际行驶里程；
P5:基于记录的行驶里程计算当前边界标签与上一个边界标签位置之间的记录行驶里程；
P6:根据实际行驶里程与记录行驶里程的偏差对当前边界标签与上一个边界标签之间的边界位置坐标序列进行校正；
P7:根据校正后的所述边界位置坐标序列构建自移动设备的工作区域地图。
可以理解地，上述P1-P7的步骤之间还可能包括其他的中间步骤，上述步骤顺序并不能局限的理解为紧邻的步骤顺序，当然，在P1步骤前或者P7步骤后可能还包括进一步的在前步骤或在后步骤，只要不存在矛盾即可。
在一实施例中所提供的方法中，自移动设备10以外边界上的一初始位置作为原点出发，沿着外边界行走，并实时记录行走路径的位置坐标，得到边界位置坐标序列。具体的，自移动设备10初始位置为充电站5，边界线由充电站5起始，并终止于充电站5，自移动设备10以充电站5为原点，顺时针或者逆时针沿着边界线行走，定位单元根据惯性测量单元检测的实时的航向角和实时里程当前的位置坐标，并将其存储至计算模块，形成边界位置坐标序列。
在绕边界行走过程中检测遇到的每一个边界标签，并基于预先储存的边界标签与上一个边界标签之间的外边界长度作为两个边界标签之间的自移动设备10的实际行驶里程，根据里程计记录的行驶里程计算当前边界标签与上一个边界标签位置之间的记录行驶里程，将实际行驶里程与里程计测量的记录行驶里程的差值对两个边界标签之间的边界位置坐标序列进行校正。
自移动设备10返回至初始位置，根据校正后的所述边界位置坐标序列建立所述工作区域地图。
进一步的，自移动设备回归到初始位置后，将定位单元当前测量的位置坐标校正为该初始位置的起点位置坐标，并对边界位置坐标序列进行校正，如此，得到闭环的外边界位置坐标序列。
上述实施例提供的方案，可以准确的建立工作区域的地图，为后续的规划割草提供了准确的工作区域信息，有助于提高自移动设备10基于工作区域地图的定位和导航的准确性，从而进一步提高覆盖效率。
在一实施例中，自移动设备10还基于准确绘制的工作区域的地图建立工作区域栅格地图。具体的，参见图3，工作区域栅格地图可以是以建立的地图的作等间距的两组相互垂直的平行线，两组平行线之间的间距相同，如此画出的栅格地图的每个子栅格为正方形，每个子栅格的顶点位置坐标为两组平行线的交点。自移动设备10在工作区域A内行走，定位单元记录的行走路径的位置坐标序列，如果一个位置坐标序列落入其中一个子栅格内，则认为自移动设备已经覆盖了该子栅格对应的工 作区域面积。如此，自移动设备10行走的位置坐标都能对应到具体的子栅格，因此自移动设备10能够计算出其已经覆盖的地图的子栅格的数量和具体坐标位置，从而对还没有覆盖的工作区域进行目标切割，提高覆盖效率。
在其中一可选的实施例中，自移动设备10以建立的地图划分子工作区域，然后按照预定的行走逻辑顺序覆盖子工作区域。划分子工作区域能够将原本不够规则的地图划分成较规则的面积较小的子工作区域，然后逐一覆盖，同时较规则的子工作区域方便自移动设备10路径规划。可选的，自移动设备10以条状路径覆盖工作区域。
在建立工作区域的地图完成之后，自移动设备10基于在工作区域内进行规划式割草，按照预设的行走逻辑覆盖工作区域，在行驶过程中，由于时间累积导致定位误差增加。为了防止工作过程中自移动设备10定位误差太大，导致的定位不准甚至失效。在其中一实时例中，自移动设备10中的定位单元的计算模块还设置成当行驶了预设里程后触发自移动设备10重新定位。具体的，定位单元的存储模块内存储有每个边界标签的经过校正的较准确的位置坐标，自移动设备10在检测到特定的边界标签之后能够准确的识别出该边界标签的准确坐标位置。当自移动设备10行驶了预设里程m后，自动寻找附近的边界标签。具体的，当定位单元触发自移动设备10重新定位，控制单元根据边界信号控制自移动设备10行走至边界线处，沿边界线行走直到检测到一个边界标签，并基于预先存储的边界标签对应的位置坐标校正记录的位置信息序列。
具体的，自移动设备10在从充电站5出发行驶。可以在行驶的过程中检测边界标签，并在距上一个校正点间隔预定时间或预定里程时触发寻找边界标签的步骤。在一个实施例中，若在正常作业任务过程中，距离检到上一个校正点行驶了预定的时间或预定里程，计算模块自动触发自动设备寻找边界标签。如在距上一个校正点行驶了m里程后，检测到一个唯一的当前边界标签，基于该边界标签的位置坐标确定出第一位置信息，将第一位置信息与当前定位单元记录的当前位置坐标进行比较，确定出定位误差。然后可以基于定位误差对当前位置进行校正。其中，所述的第一位置信息可以是当前边界标签的位置坐标，例如直接将当前位置的坐标校正至当前边界标签的坐标位置，也可以为基于当前边界标签的位置坐标经过修正、变化、变换后得到的第一位置信息。所述的对当前位置进行校正，可以包括更改自移动设备10记录的当前位置信息，或者接受或产生使自移动设备10想校正后的位置移动的指令，或者包括对当前以及之前记录的位置信息进行校正的实施方式。
本实施例所提供的重新定位的对位置坐标序列进行校正的方法与上述任意实施例所提供的建立地图过程中根据边界标签校正相邻边界标签之间的位置坐标序列的方向相同，为了描述简洁，不再赘述。
采用上述任一实时例所述的定位误差校正方法校正自移动设备10的位置坐标序列，能够对自移动设备10覆盖过的工作区域的过路径坐标位置进行校正。自移动设备10根据矫正过后的位置坐标序列区分已覆盖区域和待覆盖区域，提高了识别已覆盖区域的准确度，从而能够针对待覆盖区域进行目标覆盖，提高整个工作区域的覆盖效率。
在另一实施例中，自移动设备10也可以在行驶了特定时间T之后触发重新定位的步骤。并按照上述实施例所述的步骤寻找附近的边界线和边界标签，对记录的位置序列进行校正。
在电量不足等情况下，自移动设备10可自动返回充电站5，并与其对接充电。传统的自移动设备10沿边界线6返回充电站5。在需要返回充电站时，控制单元根据边界传感器的检测结果，控制自动割草机首先行走到达边界线6，然后保持沿边界线6行走直到到达充电站5。本说明书提供的一些实施例中，可以自行规划回归路径，计算出回到充电站的最短路径，以节约自移动设备10回归充电(简称回充)时消耗的电池能量和时间。因此，一些实施例中，自移动设备10还可以包括：
回归路径规划单元，用于接收回归指令并计算设置在外边界处的多个可识别的边界标签的位置坐标与当前所述自移动设备10的位置坐标之间的第一回归路径的长度L1，以及相应边界标签与回充位置之间的第二回归路径长度L2，得到N组(L1+L2)，N为边界标签的数量；从N组(L1+L2)中选择(L1+L2)的值最小值的一组作为回充最优路径。
在一实施例中，第一回归路径包括回归前自移动设备10的位置坐标与任一边界标签之间的最短路径。在一种实施场景下，回归前自移动设备10所处的位置坐标与任一边界标签之间的直线路径落在工作区域范围内，则第一回归路径可选为自移动设备10所处的位置坐标与任一边界标签之间的直线路径。
在一实施例中，第二回归路径，包括回充位置与任一边界标签在边界上的距离L2。当边界由边界线6界定的情况下，第二回归路径包括任一边界标签与回充位置之间的边界线6的路径轨迹。
当然，自移动设备10还可以包括控制单元，可以用于控制自移动设备10按照最优回归路径自回归前所处的位置回归至充电站5。例如接收回归指令，控制驱动装置和转向装置使自移动设备10回到充电站5自动对接充电接口后进行充电。
具体的一个实施例示例中，充电站5设置在边界线6上。回归路径可以包括自移动设备10当前位置与边界上某个边界标签之间的路径长度L1和该边界标签沿边界线6回归充电站5的第二回归路径L2，如图7所示。
在一实施例中，自移动设备10回归过程中，将定位单元测量的当前位置坐标校正为当前检测到的边界标签的位置坐标，第二回归路径为校正后的位置坐标至回充位置坐标的最短路径。
这样，当有N个边界标签时，对于每个边界标签，由对应的第一回归路径和第二回归路径，此时还有N组(L1+L2)。那么，此时，可以从N组(L1+L2)中选择(L1+L2)的值最小值的一组作为回充最优路径。
在一实施例中，自移动设备10需要回归充电站时，可以先根据边界线信号寻找临近的边界线。若自移动设备10在边界线6上，可以根据识别到边界线6时沿边界线6行走，直到检测到一个边界标签，从存储模块中读取边界标签的坐标位置，基于该坐标位置选择最短路径行走至充电站5附近，执行对接充电。若自移动设备10在工作区域地图内，则可以根据上述最短的(L1+L2)规划回归路径。如此，自移动设备10根据遇到的边界标签获知当前较准确的位置坐标，从而根据该准确的位置坐标根据存储的地图进行导航，行走至充电站5位置处，回归路径短，回归效率高。具体的，计算该边界标签的位置坐标与充电站5的位置坐标之间的直线路径，若该直线路径位于工作区域内，直接沿着该直线路径回归充电站，在判断到达充电站5附近，继续根据边界信号寻找边界线6，控制自移动设备10沿着边界线6进入充电站5对接充电。如此，每次回归充电的回归路径不相同，降低了沿边界回归对草坪的多次碾压形成轮轨的风险，同时回归路径较短，所需的回归时间也缩短，实现了快速回归充电站5的目的。
当然，在一些实施例中，在回归过程中，当自移动设备10行走到边界线处，检测到边界标签，定位单元以该边界标签的位置坐标校正当前测量的位置坐标，且根据检测到的边界标签的位置坐标与当前定位单元测量的位置坐标的差值，校正至少部分位置坐标序列。其中至少部分位置坐标序列可选为当前位置与上一个校正点之间的位置坐标序列。
下面介绍自移动设备10快速回归充电站的方法，具体如下：
F2:检测自移动设备是否需要回归至充电站；
F4:当自移动设备需要回归至充电站时，计算沿边界布置的多个可识别的边界标签的位置坐标与当前移动自设备的位置坐标之间的第一回归路径的长度L1，以及相应边界标签与充电站之间的第二回归路径长度L2；
F6:控制自移动设备按照(L1+L2)的值最小的回归路径作为回充最优路径返回至充电站。
基于前述所述的自移动设备10的工作区域地图构建、当前位置校正、存储的位置坐标序列校正、边界标签位置(边界标签的位置坐标序列)校正、回归路径规划等实施方案内容的介绍，本说明书提供一种用于自移动设备10的定位误差校正方法。下面以一个具体的自动割草机的实施场景对本说明书实施方案进行说明。具体的，图5是本说明书提供的一个用于自移动设备10的定位误差校正方法实施例的流程示意图。虽然本说明书提供了如下述实施例或附图所示的方法操作步骤或装置、系统结构等，但基于常规或者无需创造性的劳动在所述方法或装置中可以包括更多或者部分合并后更少的操作步骤或模块单元。在逻辑性上不存在必要因果关系的步骤或结构中，这些步骤的执行顺序或装置的模块结构不限于本说明书实施例或附图所示的执行顺序或结构。所述的方法或系统结构的在实际中的装置、服务器、系统或终端产品应用时，可以按照实施例或者附图所示的方法或模块结构进行顺序执行或者并行执行(例如并行处理器或者多线程处理的环境、甚至包括分布式处理、服务器集群、结合云计算或区块链技术的实施环境)。
当然，下述实施例的描述并不对基于本说明书实施例得到的其它可扩展技术方案构成限制。具体的，本说明书提供的所述方法的一种实施例如图5所示，可以包括：
S2：检测边界标签；
S4：根据检测到的当前边界标签的位置坐标确定第一位置信息；
S6：根据所述第一位置信息与计算得到的当前位置坐标确定定位误差；
S8：根据所述定位误差对当前位置进行校正。
自移动设备10可以在作业的同时检测边界标签。自移动设备10可以根据内部的惯性检测单元检测航向角、根据里程计计算行驶里程。本说明书实施例中可以根据前述航向角、行驶里程或者其他感应和检测设备等计算得到当前位置坐标信息。例如，一些实施例中，也可以结合GPS或北斗定位系统获得当前位置信息。如前所述，所述的第一位置信息可以是当前边界标签的位置坐标，例如直接将当前位置的 坐标校正至当前边界标签的坐标位置，也可以为基于当前边界标签的位置坐标经过修正、变化、变换后得到的第一位置信息。
获得定位误差后，可以对自移动设备10的当前位置进行校正。利用定位误差对当前位置进行校正的方式包括但不限于本说明书任意实施例所描述的方式。
基于前述描述可知，自移动设备10可以预先存储工作区域地图构建时确定或校正的边界标签的位置坐标。因此，本说明书所述方法的另一个实施例中，可以预先存储有边界标签的位置坐标，所述边界标签有唯一的标识信息。
相应的，所述根据检测到的当前边界标签的位置坐标确定第一位置信息包括：在存储的边界标签中查询与所述当前边界标签的标识信息对应的边界标签的位置坐标；基于查询到的位置坐标确定第一位置信息。
自移动设备10工作时也可以检测工作区域地图的边界线。一般的，所述边界线为闭合回路。本说明书的一个实施例中，所述边界标签可以预先设置在边界线上或距离边界线预设范围内带有坐标信息的电子标签。
一些实施例中，可以基于定位误差对自动移动设备最后一次定位的位置进行校正。本说明书提供的所述方法的一个实施例中，还可以根据所述定位误差对基于行驶过程中实时记录的坐标位置形成的坐标序列进行校正。
如前所述，预先存储的边界标签的位置坐标可以在构建自移动设备10的工作区域地图时得到。因此，本说明书提供的所述方法的一个实施例中，可以通过以下方式确定预先存储的边界标签的位置坐标：
自移动设备10从起点位置开始沿预设边界线向终端位置行驶；
行使过程中记录检测到边界标签的位置坐标，并以记录的边界的位置坐标形成的坐标序列构建自动移动设备的工作区域地图。
在本实施构建工作区域地图的过程中，割草机可以从充电站5出发，沿着边界线6行走一圈，最终回到边界线6。行走过程检测到边界标签记录其位置坐标，以行走过程中记录的位置坐标序列建立工作区域地图。回到充电站5的坐标为(x1，y1)，而充电站5实际为原点坐标为(0，0)，根据这两个点的误差对所有边界坐标序列进行校正。因此，所述方法的另一个实施例中，还包括：
计算自移动设备10行驶至终端位置所记录的当前位置坐标与所述终端位置实际坐标的误差；
根据所述误差对记录的边界标签的坐标位置进行校正。
另一个实施例中，自移动设备10可以在构建工作区域地图的过程中进行定位校正，提高构建的工作区域地图的准确性。因此，所述方法的另一个实施例中，还包括：
检测到当前边界标签时，根据预先存储的边界标签之间的边界长度得到与上一个边界标签之间的实际行驶里程；
基于记录的行驶里程计算当前边界标签与上一个边界标签之间的记录行驶里程；
计算所述实际行驶里程与所述记录行驶里程的差值，根据所述差值对所述当前边界标签与所述上一个边界标签的坐标位置进行校正。
本说明书中所述的校正可以包括多种实施方式，如前述所述的平均误差或根据定位误差的漂移，可以分配不同的校正幅度。因此，本说明书提供的所述方法的另一个实施例中，所述校正可以包括：
确定当前位置距离上一个校正点所包含的定位点个数N；
将所述定位误差除以N，得到单个定位点的校正偏移量；
根据所述校正偏移量对所述定位点进行校正。
如前所述，另一个实施中，所述校正可以包括：
确定当前位置距离上一个校正点所包含的定位点个数N；
分别确定所述定位点的校正偏移量，其中，所述所包含的定位点中相对靠近所述上一个校正点的定位点使用相对较小的校正幅度，所有定位点的校正幅度之和不超过定位误差。
当移动设备需要回充时，可以根据前述所述的选择(L1+L2)的值最小值的一组作为回充最优路径。因此，所述方法的另一个实施例中，还可以包括：
计算回充位置与任一边界标签在边界线6上的距离L1，以及当前自移动设备10与所述任一边界标签之间的距离L2，得到N组(L1+L2)，N为边界标签的数量；
从N组(L1+L2)中选择(L1+L2)的值最小值的一组作为回充最优路径。
本说明书中上述方法的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其它实施例的不同之处。相关之处参见方法实施例的部分说明即可。具体的可以根据前述相关实施例示例的描述的可以实现技术方案，在此不做逐个实施例实现方案的赘述。
基于上述所述的用于自移动设备10的定位误差校正方法，本说明书还提供一种自移动设备10。基于同一创新构思，本说明书实施例提供的一个或多个实施例中的自移动设备10如下面的实施例所述。由于自移动设备10解决问题的实现方案与方 法相似，因此本说明书实施例具体的自移动设备10的实施可以参见前述方法的实施，重复之处不再赘述。所描述的自移动设备10包括以软件来实现，但是基于硬件，或者软件和硬件的组合的实现也是属于本发明实施范围内可以实现的技术方案。
具体地，图6是本说明书提供的一种自移动设备10实施例的模块结构示意图，如图6所示，所述自移动设备10可以包括边界标签检测单元、定位单元、校正单元64，其中，
所述边界标签检测单元60，用于检测边界标签；
所述定位单元62，用于根据检测到的当前边界标签的位置坐标确定第一位置信息；还用于根据所述第一位置信息与计算得到的当前位置坐标确定定位误差；
所述校正单元64，用于根据所述定位误差对当前位置进行校正。
基于前述方法实施例描述，本说明书提供所述自移动设备10的另一个实施例中，所述定位单元62还用于预先存储边界标签的位置坐标，所述边界标签有唯一的标识信息。
相应的，定位单元62根据检测到的当前边界标签的位置坐标确定第一位置信息包括：在存储的边界标签中查询与当前边界标签的标识信息对应的边界标签的位置坐标；基于查询到位置坐标确定第一位置信息。
基于前述方法实施例描述，本说明书提供所述自移动设备10的另一个实施例中，所述定位单元62存储行驶过程中实时记录的坐标位置形成的坐标序列；
所述校正单元还用于对所述定位单元存储的坐标序列进行校正。
基于前述方法实施例描述，本说明书提供所述自移动设备10的另一个实施例中，所述定位单元62通过以下方式确定预先存储的边界标签的位置坐标：
自移动设备10从起点位置开始沿预设边界线6向终端位置行驶；
行使过程中记录检测到边界标签的位置坐标，并以记录的边界的位置坐标形成的坐标序列构建自动移动设备的工作区域地图。
基于前述方法实施例描述，本说明书提供所述自移动设备10的另一个实施例中，还包括：
初始校正单元，用于计算自移动设备10行驶至终端位置所记录的当前位置坐标与所述终端位置实际坐标的误差；根据所述误差对记录的边界的坐标位置序列进行校正。
基于前述方法实施例描述，本说明书提供所述自移动设备10的另一个实施例中，还包括：
地图校正模块，用于在构建自动移动设备的工作区域地图过程中，检测到当前边界标签时，根据预先存储的边界标签之间的边界长度得到与上一个边界标签之间的实际行驶里程；还用于基于记录的行驶里程计算当前边界标签与上一个边界标签之间的记录行驶里程；还用于计算所述实际行驶里程与所述记录行驶里程的差值，根据所述差值对所述当前边界标签与所述上一个边界标签的坐标位置进行校正。
基于前述方法实施例描述，本说明书提供所述自移动设备10的另一个实施例中，所述校正包括：
确定当前位置距离上一个校正点所包含的定位点个数N；
将所述定位误差除以N，得到单个定位点的校正偏移量；
根据所述校正偏移量对所述定位点进行校正。
基于前述方法实施例描述，本说明书提供所述自移动设备10的另一个实施例中，所述校正包括：
确定当前位置距离上一个校正点所包含的定位点个数N；
分别确定所述定位点的校正偏移量，其中，所述所包含的定位点中相对靠近所述上一个校正点的定位点使用相对较小的校正幅度，所有定位点的校正幅度之和不超过定位误差。
基于前述方法实施例描述，本说明书提供所述自移动设备10的另一个实施例中，所述校正单元62根据所述定位误差对当前位置进行校正包括：
将当前位置的坐标校正至当前边界标签的坐标位置。
基于前述方法实施例描述，本说明书提供所述自移动设备10的另一个实施例中，还包括：
边界线检测单元，用于检测围设所述自移动设备10工作区域地图的边界线，所述边界线为闭合回路；其中，所述边界标签包括预先设置在边界线上或距离边界线预设范围内带有坐标信息的电子标签。
本说明书实施例提供的上述用于自移动设备10的定位误差校正方法或装置可以在计算机中由处理器执行相应的程序指令来实现。本说明书还提供一种用于自移动设备10的定位误差校正装置，包括至少一个处理器以及存储计算机执行指令的存储器，所述处理执行指令时实现本说明书中任意一个方法实施例所述的步骤。
上述说是的方法或装置可以用于多种自移动设备10中。本说明书提供一种具体的实现上述方法或装置的产品设备，所述产品设备为自动割草机，可以包括驱动装置、定位处理装置、标签检测装置，其中，
所述驱动装置驱使自动割草机行驶；标签检测装置用于检测边界标签发出的信号；所述定位处理装置用于实现本说明书中任意一个实施例所述方法的步骤。
需要说明的，上述所述的装置、自移动设备根据方法实施例的描述还可以包括其它的实施方式，具体的实现方式可以参照相关方法实施例的描述，在此不作一一赘述。
基于前述所述的方法、装置、自移动设备的实施例描述，本说明书还提供一种自动工作系统，可以包括自移动设备、为所述自移动设备提供驱动能源的供给站、预先设置在工作区域边界线预设范围内带有坐标信息的边界标签，其中，所述自移动设备包括本说明书中任意一个实施例所述的自移动设备，或者包括本说明书中任意一个实施例所述的误差校正装置，或者包括本说明书中任意一个实施例所述的自动割草机。
上述所述的供给站可以包括前述的充电站。在其他的实施场景或者基于未来技术发展，所述的供给站也可以包括油、气、汽、核能源，或者石墨烯等其他能源提供站。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (14)

  1. 一种自移动设备，用于在工作区域内自主行走和执行作业任务，其特征在于，所述自移动设备包括：
    边界标签检测单元，用于识别沿所述工作区域的边界间隔布置的多个唯一可识别的边界标签；
    定位单元，用于获取所述自移动设备当前位置坐标，并生成所述自移动设备行走路径的位置坐标序列，所述定位单元还用于记录所述边界标签检测单元检测到的所述边界标签对应的位置坐标，以及预先存储相邻的边界标签之间的边界长度；
    地图建立模块，用于引发所述自移动设备沿所述工作区域的所述边界行走，并根据所述定位单元记录的所述自移动设备沿所述边界行走过程中的位置坐标形成所述工作区域的边界位置坐标序列；
    地图校正模块，用于在构建自移动设备的工作区域的地图过程中，检测到当前边界标签时，根据预先存储的边界标签之间的边界长度得到与上一个边界标签之间的实际行驶里程；
    基于记录的行驶里程计算当前边界标签与上一个边界标签之间的记录行驶里程；
    所述地图校正模块用于根据所述实际行驶里程与所述记录行驶里程的差值对所述当前边界标签与所述上一个边界标签的坐标位置进行校正；
    所述地图建立模块根据校正后的所述边界位置坐标序列建立所述工作区域地图。
  2. 根据权利要求1所述的自移动设备，其特征在于，在构建所述自移动设备的工作区域的地图过程中，所述自移动设备的起点位置为所述边界上一可识别的初始位置；
    地图建立模块用于引发所述自移动设备从所述初始位置出发围绕工作区域的边界，最终返回至所述初始位置。
  3. 根据权利要求2所述的自移动设备，其特征在于，所述初始位置为所述边界上的充电站所处的位置；
    地图建立模块用于引发所述自移动设备从所述充电站出发围绕工作区域的边界，最终返回至所述充电站。
  4. 根据权利要求2所述的自移动设备，其特征在于，
    所述地图建立模块用于引发所述自移动设备以所述初始位置作为原点出发，沿所述边界行走，所述地图校正模块根据返回至所述初始位置时所述定位单元测量的当前位置坐标与所述原点坐标的偏差校正所述边界位置坐标序列。
  5. 根据权利要求2所述的自移动设备，其特征在于，所述定位单元存储有所述初始位置与相邻的第一个所述边界标签之间的边界长度；
    检测到第一个所述边界标签时，所述地图校正模块根据预先存储的边界标签与所述初始位置之间的边界长度得到所述初始位置与第一个所述边界标签之间的实际行驶里程；
    基于记录的行驶里程计算当前边界标签与所述初始位置之间的记录行驶里程；
    根据所述实际行驶里程与所述记录行驶里程的偏差对当前第一个所述边界标签与所述初始位置之间的位置坐标序列进行校正。
  6. 根据权利要求1所述的自移动设备，其特征在于，所述地图校正模块根据所述差值对所述边界位置坐标序列中相对靠近上一个所述边界标签的定位点使用相对较小的校正幅度。
  7. 根据权利要求1所述的自移动设备，其特征在于，所述工作区域由沿着所述工作区域的边界铺设的边界线围设，所述边界标签沿着所述边界线设置。
  8. 根据权利要求7所述的自移动设备，其特征在于，相邻的所述边界标签之间的边界线长度相同。
  9. 根据权利要求1所述的自移动设备，其特征在于，所述边界标签为电子标签。
  10. 根据权利要求1所述的自移动设备，其特征在于，所述自移动设备为自动割草机。
  11. 一种利用权利要求1-10任意一项所述的自移动设备建立工作区域地图的方法，其特征在于，所述方法包括：
    控制自移动设备自工作区域的边界上的一初始位置沿边界行走，实时记录行走路径的位置坐标；
    根据实时记录的边界位置坐标形成边界位置坐标序列；
    在沿边界行走过程中，检测边界标签；
    检测到当前边界标签时，根据预先存储的边界标签之间的边界长度得到与上一个边界标签之间的实际行驶里程；
    基于记录的行驶里程计算当前边界标签与上一个边界标签位置之间的记录行驶里程；
    根据所述实际行驶里程与所述记录行驶里程的偏差对两个所述边界标签之间的边界位置坐标序列进行校正；
    根据校正后的所述边界位置坐标序列构建自移动设备的工作区域地图。
  12. 根据权利要求11所述的方法，其特征在于，所述自移动设备的初始位置为设置在所述边界上的充电站所处的位置。
  13. 根据权利要求11所述的方法，其特征在于，所述工作区域由沿着所述工作区域的边界铺设的边界线围设，所述边界标签沿着所述边界线设置。
  14. 根据权利要求11所述的方法，其特征在于，在沿边界行走返回至所述初始位置后，根据返回至所述初始位置时所述定位单元测量的当前位置坐标与出发时记录的所述初始位置的坐标的偏差校正所述边界位置坐标序列。
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