WO2023165604A1

WO2023165604A1 - Positioning calibration method and positioning calibration system

Info

Publication number: WO2023165604A1
Application number: PCT/CN2023/079571
Authority: WO
Inventors: 何明明; 朱磊
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2022-03-04
Filing date: 2023-03-03
Publication date: 2023-09-07
Also published as: CN116743848A

Abstract

Disclosed in the present invention are a positioning calibration method and a positioning calibration system, which are applied to a mobile robot. The method comprises: establishing a communication connection with a server; acquiring positioning information of a mobile robot, and sending the positioning information to the server at a first transmission frequency; according to the positioning information, determining a second transmission frequency at which the server sends information to the mobile robot, wherein different pieces of positioning information correspond to different second transmission frequencies; sending to the server the second transmission frequency and/or a mounting point corresponding to the second transmission frequency; and receiving correction information that is sent by the server at the second transmission frequency, and calibrating the positioning information of the mobile robot according to the correction information. In the present invention, the frequency at which a server sends correction information is determined by means of position information of a mobile robot, a data sending frequency is reduced when the signal quality is high, and the data sending frequency is increased when the signal quality is low, such that the efficiency of positioning calibration is improved, thereby effectively controlling the consumption of traffic.

Description

Positioning calibration method and positioning calibration system

technical field

The invention belongs to the technical field of mobile robots, and in particular relates to a positioning calibration method and a positioning calibration system.

Background technique

Network RTK (Network Real Time Kinematic, NRTK) technology is based on the continuously running reference station, combined with the data of multiple reference stations for error calculation and broadcast, to realize error correction at the user end, and to assist users to complete real-time high-precision position calculation Positioning Technology.

In the prior art, the mobile robot is positioned by NRTK technology, that is, the connection between the mobile robot and NRTK is established, and then the positioning technology is realized. However, in the prior art, when the NRTK server and the mobile robot are connected, the mobile robot receives correction information from the NRTK server. The frequency is fixed and cannot adapt to complex environments, and there is a problem of poor environmental adaptability.

Therefore, in view of the above technical problems, it is necessary to provide a positioning calibration method and a positioning calibration system.

Contents of the invention

The purpose of the present invention is to provide a positioning calibration method and a positioning calibration system.

In order to achieve the above object, the technical solution provided by an embodiment of the present invention is as follows:

A positioning calibration method applied to a mobile robot, the method comprising:

Establish a communication connection with the server;

Obtain its positioning information, and send the positioning information to the server at the first transmission frequency;

Determining a second transmission frequency for the server to send information to the mobile robot according to its positioning information, the second transmission frequency corresponding to the different positioning information is different;

sending the second transmission frequency and/or the mount point corresponding to the second transmission frequency to the server;

The correction information sent by the server at the second transmission frequency is received, and its positioning information is calibrated according to the correction information, and the correction information is calculated by the server according to the positioning information of the mobile robot.

Wherein, said determining the second transmission frequency for the server to send information to the mobile robot according to its positioning information includes:

If the signal quality value of the positioning signal corresponding to the positioning information is greater than or equal to the second transmission frequency corresponding to the signal quality threshold, if the signal quality value of the positioning signal corresponding to the positioning information is less than the second transmission frequency corresponding to the signal quality threshold;

Or, determine its position information in the signal map according to the positioning information;

Determine the second transmission frequency for the server to send information to the mobile robot according to its position information in the map, the signal map is different The second transmission frequencies corresponding to the location information are different.

In an embodiment, the signal map is configured to include a first area and a second area, the first signal quality of the first area is greater than the second signal quality of the second area, and the second transmission frequency corresponding to the second area Greater than the second transmission frequency corresponding to the first area; or, the second transmission frequency corresponding to the second area and the area within the preset distance outside the second area is greater than the second transmission frequency corresponding to the area within the preset distance inside the first area 2. Transmission frequency;

Or, the second transmission frequency corresponding to when the distance from the boundary of the signal map is less than or equal to the distance threshold is greater than the second transmission frequency corresponding to the distance from the boundary of the signal map greater than the distance threshold.

In one embodiment, the method also includes:

When the mobile robot moves from the first area to the second area and passes the boundary between the first area and the second area, or, the mobile robot moves from the first area to the second area and is a first preset distance from the outside of the second area , or, when the distance between the mobile robot and the boundary of the signal map is less than or equal to the first distance threshold, increase the second transmission frequency.

In one embodiment, the method also includes:

When the mobile robot moves from the second area to the first area and passes the boundary between the first area and the second area, or, the mobile robot moves from the second area to the first area and is a second preset distance from the outside of the second area , or, when the distance between the mobile robot and the boundary of the signal map is greater than a second distance threshold, reduce the second transmission frequency.

In one embodiment, the server is configured with multiple mount points;

Establish a communication connection with the server, including:

Send a connection request to the server, where the connection request includes domain name/IP information and port information;

Receive the resource table fed back by the server, the resource table includes the corresponding relationship between the mount point and the second transmission frequency, each mount point is configured with a unique second transmission frequency, and the second transmission frequency configured by different mount points different;

Send the connection information to the server, the connection information includes domain name/IP information, port information, verification information, selected mount point, after the server verification is successful, the mobile robot establishes a communication connection with the server;

Or, the self-mobile robot queries the resource table stored in it;

The connection information is sent to the server, and after the verification by the server is successful, the mobile robot establishes a communication connection with the server.

In one embodiment, the server is configured with a mount point;

Establish a communication connection with the server, including:

The mount point that receives the feedback from the server;

Send the connection information to the server, the connection information includes domain name/IP information, port information, verification information, and a determined second transmission frequency. After the server verification is successful, the mobile robot establishes a communication connection with the server.

In one embodiment, after determining the second transmission frequency for the server to send information to the mobile robot according to its location information in the signal map, the method further includes:

The mobile robot determines the new second pass of the information sent by the server to the mobile robot according to the change of its position information in the signal map. input frequency;

judging whether the new second transmission frequency is consistent with the previously determined second transmission frequency;

If not, send new connection information to the server. The new connection information includes domain name/IP information, port information, verification information, and a new second transmission frequency. After the server verification is successful, the mobile robot receives the server with the new second Correction information sent by transmission frequency.

The technical scheme provided by another embodiment of the present invention is as follows:

A positioning calibration method applied to a server, the method comprising:

receiving positioning information sent by the mobile robot at the first transmission frequency;

Obtaining a second transmission frequency at which the server sends information to the mobile robot determined by the mobile robot according to the acquired positioning information, and the second transmission frequencies corresponding to different positioning information are different;

Sending correction information to the mobile robot at a determined second transmission frequency, where the correction information is calculated by the server based on the positioning information of the mobile robot.

A positioning and calibration system, the system includes a mobile robot and a server, and the mobile robot establishes a communication connection with the server;

The mobile robot is used to obtain its positioning information, and send the positioning information to the server at a first transmission frequency; determine a second transmission frequency for the server to send information to the mobile robot according to the positioning information, and the different The second transmission frequency corresponding to the positioning information is different; the second transmission frequency and/or the mount point corresponding to the second transmission frequency are sent to the server; and, the positioning information is calibrated according to the correction information;

The server is configured to send the correction information to the mobile robot at the second transmission frequency.

Compared with the prior art, the present invention has the following advantages:

The present invention determines the frequency of sending correction information by the server through the position information of the mobile robot, reduces the data sending frequency when the signal quality is high, increases the data sending frequency when the signal quality is low, improves the positioning and calibration efficiency, and effectively controls the traffic consumption, making the mobile robot Can be adapted to a variety of environments, especially for areas with different environments.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments described in the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a schematic flow chart of a positioning calibration method in the present invention;

Fig. 2 is a schematic flow chart of another positioning calibration method in the present invention;

Fig. 3 is the module schematic diagram of positioning calibration system in the present invention;

4 is a schematic diagram of a mobile robot and a signal map in Embodiment 1 of the present invention;

5 is a schematic diagram of a mobile robot and a signal map in Embodiment 3 of the present invention;

Fig. 6 is a schematic diagram of a mobile robot and a signal map in Embodiment 4 of the present invention.

Detailed ways

The present invention will be described in detail below in conjunction with various embodiments shown in the drawings. However, these embodiments do not limit the present invention, and structural, method, or functional changes made by those skilled in the art according to these embodiments are included in the protection scope of the present invention.

The invention discloses a positioning calibration method applied to a mobile robot, which includes:

Establish a communication connection with the server;

Or, as shown in FIG. 1, determine its position information in the signal map according to the positioning information;

The second transmission frequency for the server to send information to the mobile robot is determined according to its position information in the map, and the second transmission frequency corresponding to different position information in the signal map is different. The invention also discloses a positioning calibration method applied to a server, which includes:

Correction information sent to the mobile robot at a determined second transmission frequency, where the correction information is calculated by the server based on the positioning information of the mobile robot.

Wherein, the acquisition of the second transmission frequency for the server to send information to the mobile robot determined by the mobile robot according to the acquired positioning information, the second transmission frequency corresponding to the different positioning information is different, including:

The server acquires the second transmission frequency for the mobile robot to send information to the mobile robot according to the signal quality value of the positioning signal corresponding to the positioning information, if the signal quality value of the positioning signal corresponding to the positioning information is greater than or equal to the signal quality threshold The corresponding second transmission frequency is less than the second transmission frequency corresponding to the signal quality value of the positioning signal corresponding to the positioning information if it is less than the signal quality threshold;

Or, as shown in FIG. 2, the server acquires the second transmission frequency for the server to send information to the mobile robot determined by the mobile robot according to its position information in the map, and the position information of the mobile robot in the signal map is determined by the According to the positioning information of the mobile robot The information is determined; the second transmission frequency corresponding to different location information in the signal map is different.

The invention also discloses a positioning calibration system, which includes a mobile robot and a server, and the mobile robot establishes a communication connection with the server;

The mobile robot is used to obtain its positioning information, and send the positioning information to the server at a first transmission frequency; determine a second transmission frequency for the server to send information to the mobile robot according to the positioning information, and the different The second transmission frequency corresponding to the positioning information is different; the second transmission frequency and/or the mount point corresponding to the second transmission frequency are sent to the server; and, the positioning information is calibrated according to the correction information; the server is used to The second transmission frequency sends correction information to the mobile robot.

Wherein, the second transmission frequency for the server to send information to the mobile robot is determined according to the positioning information, and the second transmission frequencies corresponding to different positioning information are different, including:

The mobile robot determines a second transmission frequency for the server to send information to the mobile robot according to the signal quality value of the positioning signal corresponding to the positioning information, if the signal quality value of the positioning signal corresponding to the positioning information is greater than or equal to signal The second transmission frequency corresponding to the quality threshold is lower than the second transmission frequency corresponding to the signal quality threshold if the signal quality value of the positioning signal corresponding to the positioning information is smaller than the signal quality threshold;

Wherein, the mobile robot walks in the working area and receives a positioning signal, obtains positioning information from the positioning signal, and can judge the signal quality of the positioning signal. The signal quality of the positioning signal is associated with the signal characteristic data, and the corresponding signal quality can be obtained according to the signal characteristic data (such as signal strength data, etc.).

Or, as shown in FIG. 3, determine its position information in the signal map according to the positioning information; determine the second transmission frequency for the server to send information to the mobile robot according to its position information in the map, and the signal map is different The second transmission frequencies corresponding to the location information are different.

The present invention will be further described below in conjunction with specific examples.

Example 1:

The calibration and positioning system in this embodiment is shown in Figure 3, and includes a mobile robot 10 and a server 20. The specific steps of the calibration and positioning method in this embodiment are as follows:

S1. The mobile robot 10 establishes a communication connection with the server 20 .

In this embodiment, the server is configured with multiple mount points (Mout points), and the steps for establishing a communication connection are as follows:

The mobile robot sends a connection request to the server, and the connection request includes domain name/IP information and port information;

The mobile robot receives the resource table fed back by the server. The resource table includes the correspondence between the mount point and the second transmission frequency. Each mount point is configured with a unique second transmission frequency. The second transmission frequency configured by different mount points different;

The mobile robot sends the connection information to the server. The connection information includes domain name/IP information, port information, verification information, and the selected mount point. After the server verification is successful, the mobile robot establishes a communication connection with the server.

In a specific example, the connection request includes domain name: www.AAA.com, ip: 116.112.xxx.xxx, and port: 8003, and the mobile robot sends the connection request to the server to request connection;

After the server receives the connection request, the resource table (RTCM32) is fed back to the mobile robot. The resource table includes the corresponding relationship between the mount point and the second transmission frequency. For example, the server 20 is configured with a first mount point and a second mount point. The first mount point and the second mount point correspond to different second transmission frequencies respectively. The second transmission frequency corresponding to the first mount point is 0.2Hz (the corresponding cycle is 5s), and the second transmission frequency corresponding to the second mount point The transmission frequency is 1Hz (corresponding period is 1s);

Finally, the mobile robot sends the connection information to the server. The connection information includes domain name: www.AAA.com, ip: 116.112.xxx.xxx, port: 8003, verification information: user name (admin) and password (password), selected mount point: for example, the first mount point or the second mount point, after the server verification is successful, the mobile robot establishes a communication connection with the server.

In other embodiments, the verification information is not limited to the user name and password, and any information that can be used by the server to verify the mobile robot falls within the protection scope of the present invention.

S2. Obtain its positioning information, and send the positioning information to the server at the first transmission frequency.

The mobile robot 10 is equipped with a positioning device, through which its positioning information can be obtained in real time, and the position information is sent to the server 20 at a first transmission frequency (rated transmission frequency).

S3. Determine its position information in the signal map according to the positioning information.

In the present invention, the mobile robot needs to establish a signal map, and configure different areas for the signal map according to different signal qualities.

Determine the map that the mobile robot is working on. The map can be pre-built by the mobile robot (for example, the mobile robot walks a circle), or imported by external data (such as mobile terminal, USB, the display screen of the machine, etc.), and then the mobile robot The position information of the mobile robot can be determined on the map through coordinate transformation or mapping.

What is recorded in the map may be the absolute coordinates of each location point relative to the earth, that is, the latitude and longitude, or what is recorded in the map may be the coordinates in the relative coordinate system XY, which is not limited.

For example, in this embodiment, the mobile robot walks around to construct the map. Firstly, the mobile robot needs to establish a communication connection with the server, and receive the correction information sent by the server at the rated second transmission frequency. Then, the mobile robot walks in the working area to build a map, and obtains its signal characteristic data in the map, obtains the corresponding signal quality according to the signal characteristic data (such as signal strength data, etc.), and finally configures the entire signal map according to the signal quality The first area and the second area, for example, configure the first area when the signal quality is greater than or equal to the signal quality threshold, and configure the second area when the signal quality is less than the signal quality threshold.

In other embodiments, after establishing the signal map, Mobile can also actively configure the first area and the second area according to preset conditions, such as configuring the area within the distance threshold (fixed distance or variable distance) from the boundary as the second area. The second area, and the remaining areas are configured as the first area.

It is worth noting that after the mobile robot establishes a communication connection with the server in this step, the server sends correction information at the rated second transmission frequency (usually a high-frequency frequency, such as 1 Hz), and the mobile robot can calibrate its own position after receiving the correction information , which can improve the accuracy of the map.

In other embodiments, the mobile robot does not need to build a signal map. When working, the mobile robot moves in the working area and obtains its positioning information in real time. According to the positioning information, the mobile robot determines in real time a second transmission frequency for sending information from the server to the mobile robot, and different positioning information corresponds to different second transmission frequencies.

Specifically, the mobile robot presets the signal quality threshold of the positioning signal, and compares the signal quality value of the positioning signal corresponding to the acquired positioning information with the signal quality threshold in real time; if the signal quality value of the positioning signal corresponding to the positioning information Greater than or equal to the signal quality threshold, the mobile robot is located in an area with a relatively good positioning signal, then it is determined that the second transmission frequency for the server to send information to the mobile robot is a lower frequency; if the signal quality value of the positioning signal corresponding to the positioning information If it is less than the signal quality threshold and the mobile robot is located in an area with relatively poor positioning signals, it is determined that the second transmission frequency for the server to send information to the mobile robot is a relatively high frequency.

As shown in FIG. 4 , the mobile robot 10 in this embodiment works in the map 30 , and there will be obstacles affecting the signal quality outside the map boundary, so the signal quality in the edge area of the map is lower than that in the central area. Certainly, in other embodiments, there may be obstacles affecting the signal quality inside the boundary of the map, which will also affect the surrounding signal quality, and no more examples are given here.

The map in the present invention is configured as a plurality of separately set areas, and the location information is the area where the mobile robot is located. As the map in this embodiment is configured by 30 as a first area 31 and a second area 32, the first area 31 is located in the middle area of the map 30, the second area 32 is located in the edge area of the map 30, and the signal of the first area 31 The quality is greater than the signal quality of the second area 32 .

By moving the robot in the above manner, its location information in the signal map can be determined according to its own location information.

S4. Determine a second transmission frequency for the server to send information to the mobile robot according to its location information on the map.

In this embodiment, the first area 31 corresponds to the first mounting point, and the second area 32 corresponds to the second mounting point. The mobile robot determines the second transmission frequency for the server to send information to the mobile robot according to its location information in the signal map. When the mobile robot is located in the first area 31, the mobile robot establishes a communication connection with the server through the first mount point, and correspondingly, the second transmission frequency for the server to send information to the mobile robot is 0.2 Hz; when the mobile robot is located in the second area Within 32, the mobile robot establishes a communication connection with the server through the second mount point, and correspondingly, the second transmission frequency for the server to send information to the mobile robot is 1 Hz.

Wherein, the mount point on the server can be named according to the second transmission frequency or the corresponding cycle, for example, the first mount point can be named RTCM32_1Hz or RTCM32_1s, and the second mount point can be named RTCM32_0.2Hz or RTCM32_5s.

S5. Send the mount point corresponding to the second transmission frequency to the server.

S6. Receive the correction information sent by the server at the second transmission frequency, and calibrate its positioning information according to the correction information. The correction information is calculated by the server according to the positioning information of the mobile robot.

The server in this embodiment is described by taking an NRTK server as an example, and it can also be an RTK server in other embodiments. Any server that can calculate and obtain correction information based on the position of a mobile robot falls within the protection scope of the present invention.

NRTK is an NRTK technology based on the national Beidou ground-based augmentation network. It can realize real-time centimeter-level coordinates by receiving the differential correction numbers provided by the differential broadcast platform and combining terminal satellite observations. The technology of calculating correction information based on NRTK already belongs to the prior art, and will not be repeated here.

The server can calculate the correction information (ie differential correction number) of the mobile robot based on technologies such as NRTK or RTK, and send the correction information to the mobile robot at the second transmission frequency determined in the preceding steps. For example, when the mobile robot is located in the first area 31, the second transmission frequency for the server to send information to the mobile robot is 0.2 Hz; when the mobile robot is located in the second area 32, the second transmission frequency for the server to send information to the mobile robot is 1Hz.

After the mobile robot receives the correction information, it can calibrate its positioning information according to the correction information, and then calibrate its position information on the map, thereby improving the positioning accuracy of the mobile robot. The specific process for the mobile robot to calibrate its own positioning information according to the correction information belongs to the prior art, and will not be repeated here.

The server in this embodiment is configured with multiple mount points, and the area where the mobile robot is located, the mount point, and the second transmission frequency are in a one-to-one correspondence, so when the mobile robot moves from one area to another , the second transmission frequency can be changed by switching the mount point.

In this embodiment, the switching of the second transmission frequency is performed on the boundary between the first area and the second area, for example, when the mobile robot moves from the first area to the second area, or when moving from the second area to the first area, The second transmission frequency is changed when the mobile robot is located at the boundary of the first area and the second area.

But in the actual working process, wrong switching may occur. For example, when the mobile robot passes the boundary between the first area and the second area when moving in the first area, the second transmission frequency will change, but in fact the second transmission frequency is not should be changed. Therefore, the mobile robot first needs to judge whether it is moving from the first area to the second area or from the second area to the first area according to its running route. When the line will switch between areas and reach the boundary between the first area and the second area, then switch the second transmission frequency.

During the working process, the mobile robot will judge whether the determined second transmission frequency is consistent with the second transmission frequency configured by the selected mount point;

If inconsistent, then disconnect the original communication connection with the server, and then establish a new communication connection with the server, so that the server sends the correction information at the second transmission frequency determined above;

If consistent, maintain the original communication connection with the server.

Further, the mobile robot can choose to store or not store the resource table. The resource table includes the corresponding relationship between the mount point and the second transmission frequency. Each mount point is configured with a unique second transmission frequency. Different mount points The configured second transmission frequency is different:

If a resource table is stored, then,

disconnecting the original communication connection with the server, and selecting a new mount point corresponding to the new second transmission frequency from the resource table;

Replace the mount point selected in the connection information with the new mount point;

Send the connection information to the server. The connection information includes domain name/IP information, port information, verification information, and a new mount point. After the server verification is successful, the mobile robot establishes a new communication connection with the server;

If no resource table is stored, then,

Disconnect the original communication connection with the server;

Send a connection request to the server, the connection request includes domain name/IP information and port information;

receiving the resource table fed back by the server, and selecting a new mount point corresponding to the new second transmission frequency from the resource table;

Send the connection information to the server. The connection information includes domain name/IP information, port information, verification information, and a new mount point. After the server verification is successful, the mobile robot establishes a new communication connection with the server.

For example, when the mobile robot is located in the first area 31, the mobile robot establishes a communication connection with the server through the first mount point, and the corresponding second transmission frequency is 0.2 Hz; when the mobile robot moves from the first area 31 to the second area 32 Afterwards, the communication connection between the first mounting point and the mobile robot is interrupted, and the mobile robot establishes a communication connection with the server through the second mounting point, and the corresponding second transmission frequency is 1 Hz.

It should be understood that, in other embodiments, one area may also correspond to multiple mount points, and each mount point corresponds to a second transmission frequency. For example, the first area may correspond to mount points a and b, and the second area may correspond to mount points c and d.

In this case, when the mobile robot is located in the first area 31, the mobile robot can randomly select mount point a or mount point b to establish a communication connection with the server; when the mobile robot is located in the second area 32, the mobile robot can randomly select Mount point c or mount point d establishes a communication connection with the server.

Of course, the selection of the mount point can also be selected not randomly, but according to the position of the mobile robot in the first area. For example, the first area can be divided into the first sub-area and the second sub-area. When the mobile robot When it is in the first sub-area, select mount point a, and when the mobile robot is in the second sub-area, select mount point b. The mount point can also be selected according to the distance between the mobile robot and the boundary of the first area. For example, when the distance between the mobile robot and the boundary of the first area is greater than or equal to the preset distance threshold, the mount point a is selected. When the distance between the mobile robot and the first area is When the distance of the area boundary is less than the preset distance threshold, mount point b is selected.

In addition, in this embodiment, the second transmission frequency of the mobile robot in the second area 32 is higher than the second transmission frequency in the first area 31 as an example. The second transmission frequency is between the outer boundary of the second area 32 and Cutting on the boundary line between the first area 31 and the second area 32 Change. In other embodiments, in order to improve the positioning accuracy of the mobile robot, the second region can be expanded. specifically:

When the mobile robot moves from the first area 31 to the second area 32 and is a first preset distance (such as 1m) from the outside of the second area 32, the second transmission frequency of the server sending information to the mobile robot is increased by 0.2 Hz increased to 1Hz;

When the mobile robot moves from the second area 32 to the first area 31 and is a second preset distance (such as 1m) from the outside of the second area 32, the second transmission frequency of the server sending information to the mobile robot is down-frequency, by 1Hz reduced to 0.2Hz.

It should be understood that the first preset distance and the second preset distance may be equal or set to different distances in both cases of frequency up and frequency down.

Example 2:

The positioning calibration method and system in this embodiment are similar to Embodiment 1, the difference is that in Embodiment 1, the server is configured with multiple mount points, and each mount point corresponds to a different second transmission frequency, while in this embodiment In the example, the server is only configured with one mounting point, the mobile robot can actively adjust the second transmission frequency, and the communication protocols of this embodiment and the first embodiment are compatible with each other.

The process of establishing a communication connection in this embodiment specifically includes:

Send the connection request to the server, the connection request includes domain name/IP information and port information;

A resource table that receives server feedback;

Send the connection information to the server. The connection information includes domain name/IP information, port information, verification information, and the determined second transmission frequency. After the server verification is successful, the mobile robot establishes a communication connection with the server.

When the position information of the mobile robot in the signal map or the positioning information obtained by the mobile robot changes, the adjustment steps of the second transmission frequency are as follows:

The mobile robot determines a new second transmission frequency for the server to send information to the mobile robot according to changes in its position information in the signal map or changes in the acquired positioning information;

If not, send new connection information to the server. The new connection information includes domain name/IP information, port information, verification information, and a new second transmission frequency. After the server verification is successful, the mobile robot receives the server with the new second Correction information sent by transmission frequency;

If they are consistent, the mobile robot receives the correction information sent by the server at the previously determined second transmission frequency.

For example, when the mobile robot is in the first area, the mobile robot controls the second transmission frequency corresponding to the mounting point to be 0.2 Hz; when the mobile robot is in the second area, the mobile robot controls the second transmission frequency corresponding to the mounting point to be 1 Hz. The mobile robot sends the specific second transmission frequency to the server, and the server sends correction information to the mobile robot according to the second transmission frequency after receiving it.

With such arrangement, when the mobile robot moves from the first area to the second area, the adjustment of the second transmission frequency can be realized without interrupting the communication connection between the server and the mobile robot.

Example 3:

The positioning calibration method and system in this embodiment are similar to those in Embodiments 1-2, the difference is that the signal maps in Embodiments 1-2 are configured as a plurality of separately set areas, and the location information is the location where the mobile robot is located. area, and the signal map in this embodiment does not need to be configured, and the location information of the mobile robot is the distance from the mobile robot to the border of the map.

As shown in Figure 5, the distance between the mobile robot and the map boundary is X, when X>X ₀ (X ₀ is the distance threshold, such as 5m), the control server The second transmission frequency between the control server and the mobile robot is 0.2Hz (corresponding period is 5s), and when X≤X ₀ , the second transmission frequency between the control server and the mobile robot is 1Hz (corresponding period is 1s).

Compared with Embodiments 1-2, this embodiment is only different in location information. One is the area where the mobile robot is located, and the other is the distance between the mobile robot and the map border. The rest of the positioning and calibration methods and systems are the same as those in Embodiments 1-2. Same, no more details here.

In this embodiment, the fixed threshold X ₀ is used as the preset distance threshold, and in other embodiments, a variable distance threshold can also be used, such as the distance threshold is f(x), according to X>f(x) or X≤f Different situations of (x) determine different second transmission frequencies.

Example 4:

In this embodiment, different distance thresholds can also be set according to the running direction of the mobile robot. For example, when the mobile robot is running in a central open area, when _X≤X1 ( _X1 is the first preset distance threshold, such as 4m ), the second transmission frequency between the control server and the mobile robot is 0.2Hz (the corresponding cycle is 5s), and when the mobile robot is running in the peripheral area, when X≥X ₂ (X ₂ is the second preset distance threshold, For example, 6m), the second transmission frequency between the control server and the mobile robot is 1 Hz (corresponding period is 1 s).

As shown in FIG. 6, the positioning calibration method in this embodiment is specifically:

1. Set multiple mount points in the server, and the time interval for sending correction information in each mount point is different (that is, the frequency of sending correction information is different);

2. The mowing robot enters the lawn to be mowed, obtains map information and identifies boundaries (lawn boundaries and obstacle boundaries);

3. The mowing robot connects to the server and obtains all resource tables, which include the correspondence between the mount point and the second transmission frequency;

4. The mowing robot judges whether it is currently in an open area or a shadow area according to the boundary information;

5. If the mowing robot is currently in an open area, select a low-frequency mount point; if the current area is a shaded area, select a high-frequency mount point;

6. The mowing robot mows the grass according to the planned route.

During robot mower operation:

If the mowing robot is walking in an open area, judge the distance between the current position and the boundary during the walking process of the mowing robot. When the distance is less than or equal to X ₁ , it thinks that it will enter the shadow area from the open area; the mowing robot disconnects the current For connection with the server, replace the mount point information with the high-frequency mount point in the connection information, reconnect to the server, and receive correction information according to the high-frequency time interval;

If the mowing robot is walking in the shaded area, judge the distance between the current position and the boundary during the walking process of the mowing robot. When the distance is greater than or equal to _X2 , it is considered that it has entered the open area from the shadowed open area; the mowing robot is disconnected For the current connection to the server, replace the mount point information with the low-frequency mount point in the connection information, reconnect to the server, and receive correction information at low-frequency time intervals.

Example 5:

The positioning calibration method in this embodiment is applied to the server, and the specific positioning calibration method is:

Obtaining the second transmission frequency for the server to send information to the mobile robot determined by the mobile robot according to its position information in the map, the position information of the mobile robot in the signal map is determined by the mobile robot according to the positioning information; the signal map is different The second transmission frequency corresponding to the position information of the different;

Correction information sent to the mobile robot at a determined second transmission frequency, the correction information is determined by the server according to the positioning of the mobile robot Information is calculated.

Similarly, in this embodiment, the server is configured with one or more mounting points, and the specific process of positioning and calibration is the same as that of Embodiments 1-4, and will not be repeated here.

It should be understood that, in the above embodiments, the location information of the mobile robot in the map is described by taking a specific example as an example. In other embodiments, the location information is not limited to the two areas configured in Embodiment 1, and can also be configured as more separate areas as required, and different areas correspond to different second transmission frequencies; or, the location information is not limited to the implementation For one preset distance threshold X ₀ in Example 4, multiple preset distance thresholds can also be set as required, and different distance ranges correspond to different second transmission frequencies.

As can be seen from the above technical solutions, the present invention has the following beneficial effects:

The invention determines the frequency of sending correction information by the server through the position information of the mobile robot, reduces the data sending frequency when the signal quality is high, increases the data sending frequency when the signal quality is low, improves the positioning calibration efficiency, and effectively controls traffic consumption.

It will be apparent to those skilled in the art that the invention is not limited to the details of the above-described exemplary embodiments, but that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Accordingly, the embodiments should be regarded in all points of view as exemplary and not restrictive, the scope of the invention being defined by the appended claims rather than the foregoing description, and it is therefore intended that the scope of the invention be defined by the appended claims rather than by the foregoing description. All changes within the meaning and range of equivalents of the elements are embraced in the present invention. Any reference sign in a claim should not be construed as limiting the claim concerned.

In addition, it should be understood that although the specification is described according to the embodiments, not each embodiment only includes an independent technical solution, and this description in the specification is only for clarity, and those skilled in the art should take the specification as a whole , the technical solutions in the various embodiments can also be properly combined to form other implementations that can be understood by those skilled in the art.

Claims

A positioning calibration method, characterized in that it is applied to a mobile robot, said method comprising:

Establish a communication connection with the server;

Obtain its positioning information, and send the positioning information to the server at the first transmission frequency;

determining a second transmission frequency for the server to send information to the mobile robot according to the positioning information, and the second transmission frequencies corresponding to the different positioning information are different;

sending the second transmission frequency and/or the mount point corresponding to the second transmission frequency to the server;

The correction information sent by the server at the second transmission frequency is received, and its positioning information is calibrated according to the correction information, and the correction information is calculated by the server according to the positioning information of the mobile robot.
The positioning calibration method according to claim 1, wherein said determining the second transmission frequency for the server to send information to the mobile robot according to its positioning information comprises:

If the signal quality value of the positioning signal corresponding to the positioning information is greater than or equal to the signal quality threshold, the second transmission frequency is smaller than if the signal quality value of the positioning signal corresponding to the positioning information is less than the second transmission frequency corresponding to the signal quality threshold.
The positioning calibration method according to claim 1, wherein said determining the second transmission frequency for the server to send information to the mobile robot according to its positioning information comprises:

determining its position information in the signal map according to the positioning information;

The second transmission frequency for the server to send information to the mobile robot is determined according to its position information in the map, and the second transmission frequency corresponding to different position information in the signal map is different.
The positioning calibration method according to claim 3, wherein the signal map is configured to include a first area and a second area, the first signal quality of the first area is greater than the second signal quality of the second area, so The second transmission frequency corresponding to the second area is greater than the second transmission frequency corresponding to the first area; or, the second transmission frequency corresponding to the second area and the area within the preset distance outside the second area is greater than the second transmission frequency inside the first area the second transmission frequency corresponding to the area within the preset distance range;

Or, the second transmission frequency corresponding to when the distance from the boundary of the signal map is less than or equal to the distance threshold is greater than the second transmission frequency corresponding to the distance from the boundary of the signal map greater than the distance threshold.
The positioning calibration method according to claim 4, wherein the method further comprises:

When the mobile robot moves from the first area to the second area and passes the boundary between the first area and the second area, or, the mobile robot moves from the first area to the second area and is a first preset distance from the outside of the second area , or, when the distance between the mobile robot and the boundary of the signal map is less than or equal to the first distance threshold, increase the second transmission frequency.
The positioning calibration method according to claim 4, wherein the method further comprises:

When the mobile robot moves from the second area to the first area and passes the boundary between the first area and the second area, or, the mobile robot moves from the second area to the first area and is a second preset distance from the outside of the second area , or, when the distance between the mobile robot and the boundary of the signal map is greater than a second distance threshold, reduce the second transmission frequency.
The positioning and calibration method according to any one of claims 3 to 6, wherein the server is configured with multiple mounting points;

Establish a communication connection with the server, including:

Send a connection request to the server, where the connection request includes domain name/IP information and port information;

receiving the resource table fed back by the server, the resource table including the corresponding relationship between the mount point and the second transmission frequency, each of the mount points is configured with a unique second transmission frequency, and different mount points The configured second transmission frequencies are different;

Send the connection information to the server, the connection information includes domain name/IP information, port information, verification information, selected mount point, after the server verification is successful, the mobile robot establishes a communication connection with the server ;or,

Querying the stored resource table;

The connection information is sent to the server, and after the verification by the server is successful, the mobile robot establishes a communication connection with the server.
The positioning and calibration method according to any one of claims 3 to 6, wherein the server is configured with a mounting point;

Establish a communication connection with the server, including:

Send a connection request to the server, where the connection request includes domain name/IP information and port information;

receiving the mount point fed back by the server;

Send connection information to the server, the connection information includes domain name/IP information, port information, verification information, and a determined second transmission frequency. After the server verification is successful, the mobile robot establishes a communication connection with the server .
The positioning calibration method according to claim 8, wherein after determining the second transmission frequency for the server to send information to the mobile robot according to its position information in the signal map, it also includes:

The mobile robot determines a new second transmission frequency for the server to send information to the mobile robot according to changes in its position information in the signal map;

judging whether the new second transmission frequency is consistent with the previously determined second transmission frequency;

If inconsistent, then send new connection information to the server, the new connection information includes domain name/IP information, port information, verification information, new second transmission frequency, after the server verification is successful, the mobile The robot receives the correction information sent by the server at the new second transmission frequency.
A positioning calibration method, characterized in that it is applied to a server, the method comprising:

receiving positioning information sent by the mobile robot at the first transmission frequency;

Obtaining a second transmission frequency at which the server sends information to the mobile robot determined by the mobile robot according to the acquired positioning information, and the second transmission frequencies corresponding to different positioning information are different;

Sending correction information to the mobile robot at a determined second transmission frequency, where the correction information is calculated by the server based on the positioning information of the mobile robot.
A positioning calibration system, characterized in that the system includes a mobile robot and a server, and the mobile robot establishes a communication connection with the server;

The mobile robot is used to obtain its positioning information, and send the positioning information to the server at a first transmission frequency; determine a second transmission frequency for the server to send information to the mobile robot according to the positioning information, the The second transmission frequency corresponding to different positioning information is different; sending the second transmission frequency and/or the mount point corresponding to the second transmission frequency to the server; and, calibrating its positioning information according to the correction information;

The server is configured to send the correction information to the mobile robot at the second transmission frequency.