[go: up one dir, main page]

WO2018127209A1 - 自移动设备及其定位系统、定位方法和控制方法 - Google Patents

自移动设备及其定位系统、定位方法和控制方法 Download PDF

Info

Publication number
WO2018127209A1
WO2018127209A1 PCT/CN2018/071992 CN2018071992W WO2018127209A1 WO 2018127209 A1 WO2018127209 A1 WO 2018127209A1 CN 2018071992 W CN2018071992 W CN 2018071992W WO 2018127209 A1 WO2018127209 A1 WO 2018127209A1
Authority
WO
WIPO (PCT)
Prior art keywords
positioning
mobile device
self
beacon
direction angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2018/071992
Other languages
English (en)
French (fr)
Inventor
何明明
刘芳世
杨洲
邵勇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Positec Power Tools Suzhou Co Ltd
Original Assignee
Positec Power Tools Suzhou Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Positec Power Tools Suzhou Co Ltd filed Critical Positec Power Tools Suzhou Co Ltd
Priority to CN201880000849.5A priority Critical patent/CN108575095B/zh
Publication of WO2018127209A1 publication Critical patent/WO2018127209A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • 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
    • G05D1/60—Intended control result
    • G05D1/648—Performing a task within a working area or space, e.g. cleaning
    • G05D1/6484—Performing a task within a working area or space, e.g. cleaning by taking into account parameters or characteristics of the working area or space, e.g. size or shape
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/15—Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/20—Land use
    • G05D2107/23—Gardens or lawns
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/20—Acoustic signals, e.g. ultrasonic signals

Definitions

  • the invention relates to a self-mobile device, a self-mobile device positioning system, a self-mobile device positioning method, and a self-mobile device control method.
  • Household self-mobile devices such as automatic vacuum cleaners and automatic lawn mowers have become popular.
  • the self-mobile devices on the market lack precise positioning of themselves, which makes it impossible to implement functions such as wireless borders and path navigation.
  • the user needs to arrange a circle of boundary wires around the lawn in advance, which is troublesome; and the walking and cutting of the random or semi-random path in the lawn is more efficient.
  • Automated vacuum cleaners also require auxiliary positioning equipment to distinguish between different areas such as living room, kitchen, and bedroom.
  • the problem to be solved by the present invention is to provide a self-mobile device, a self-mobile device positioning system, a self-mobile device positioning method, and a self-moving device, which are suitable for a home scene and have high-precision self-positioning capability.
  • Device control method is to provide a self-mobile device, a self-mobile device positioning system, a self-mobile device positioning method, and a self-moving device, which are suitable for a home scene and have high-precision self-positioning capability.
  • a self-mobile device comprising: at least two positioning elements, the positioning element communicating with a positioning beacon to obtain a distance from a positioning beacon; and a control module configured to execute a preset program to acquire the self-mobile device Position parameter;
  • the preset program includes: acquiring a position parameter of the positioning beacon; acquiring a distance between the positioning component and the positioning beacon; a position parameter based on the positioning beacon, and a distance between the positioning component and the positioning beacon Calculating a position parameter of the self-moving device; the preset program further comprising: preset a spacing of the positioning component; and correcting a position parameter of the self-moving device based on a spacing of the positioning component.
  • the position parameter of the self-moving device includes coordinates of the positioning component, and the positioning component is corrected by comparing a pitch of the positioning component calculated based on coordinates of the positioning component, and a spacing of the preset positioning component The error of the coordinates.
  • the position parameter of the self-moving device includes a direction angle of the self-moving device
  • the preset program further includes: a direction angle of a line connecting any two of the positioning elements and a direction angle of the self-moving device An angle relationship; calculating a direction angle of the self-moving device by using coordinates of the two positioning elements and the angle relationship.
  • the positioning component communicates with at least three of the positioning beacons to obtain a distance from the positioning beacon.
  • the self-mobile device further includes an angle sensor for acquiring a direction angle of the self-moving device;
  • the preset program includes: presetting the direction angle of the connection between any two of the positioning components and the self-mobile device An angular relationship of the orientation angle; a direction angle obtained from the mobile device; a direction angle based on the self-mobile device, the angular relationship, a position parameter of the positioning beacon, and a distance between the two positioning components to the positioning beacon, Calculating the positional parameters of the self-mobile device.
  • the positioning component communicates with at least two of the positioning beacons to obtain a distance from the positioning beacon.
  • the angle sensor comprises an electronic compass.
  • the positioning component is an ultra-wideband positioning component
  • the positioning beacon is an ultra-wideband tag positioning module.
  • the positioning component is an ultrasonic positioning component
  • the positioning beacon is an ultrasonic positioning module
  • the self-mobile device is a self-mobile gardening device.
  • the invention has the beneficial effects that the positioning from the mobile device is accurate, and provides support for the subsequent implementation of the borderless line and the precise navigation.
  • the technical solution provided by the present invention to solve the prior art problem further includes: a self-mobile device positioning system, comprising the self-mobile device according to any one of the preceding claims, and the positioning beacon.
  • a charging station is provided for supplementing power from the mobile device, and one of the positioning beacons is located at the charging station.
  • the invention has the beneficial effects that the positioning from the mobile device is accurate, and provides support for the subsequent implementation of the borderless line and the precise navigation.
  • the technical solution provided by the present invention to solve the prior art problem further includes: a positioning method of the self-mobile device, comprising the steps of: controlling at least two positioning components disposed on the self-mobile device to communicate with the positioning beacon to obtain the positioning component and Positioning the distance of the beacon; obtaining a positional parameter of the positioning beacon; calculating a positional parameter of the self-moving device based on the distance between the positioning component and the positioning beacon, and the positional parameter of the positioning beacon; and further comprising the step of: presetting the spacing of the positioning component Correcting a positional parameter of the self-moving device based on a spacing of the positioning elements.
  • the position parameter of the self-moving device includes coordinates of the positioning component
  • the correcting the position parameter of the self-moving device includes the steps of: comparing a spacing of the positioning component calculated based on coordinates of the positioning component, and the preset The spacing of the positioning elements; the error of the coordinates of the positioning elements is corrected based on the comparison.
  • the position parameter of the self-moving device includes a direction angle of the self-moving device
  • the positioning method further includes the steps of: presetting the direction angle of the connection between any two of the positioning components and the direction angle of the self-moving device An angle relationship; calculating a direction angle of the self-moving device by using coordinates of the two positioning elements and the angle relationship.
  • the number of the positioning beacons is at least three.
  • the self-mobile device further includes an angle sensor for acquiring a direction angle of the self-moving device; and the positioning method includes the steps of: presetting the direction angle of the connection between any two of the positioning components and the self-mobile device An angular relationship of the orientation angle; a direction angle obtained from the mobile device; a direction angle based on the self-mobile device, the angular relationship, a position parameter of the positioning beacon, and a distance between the two positioning components to the positioning beacon, Calculating the positional parameters of the self-mobile device.
  • the number of the positioning beacons is at least two.
  • the angle sensor comprises an electronic compass.
  • the positioning component is an ultra-wideband positioning component
  • the positioning beacon is an ultra-wideband tag positioning module.
  • the positioning component is an ultrasonic positioning component
  • the positioning beacon is an ultrasonic positioning module
  • the self-mobile device is a self-mobile gardening device.
  • the invention has the beneficial effects that the positioning from the mobile device is accurate, and provides support for the subsequent implementation of the borderless line and the precise navigation.
  • the technical solution provided by the present invention to solve the prior art problem further includes: a method for controlling a self-mobile device, wherein the location parameter of the mobile device is obtained by using the positioning method according to any one of the preceding steps, comprising the steps of: S100: receiving a mobile instruction; S101: control the mobile device to move according to the movement instruction; S102: record a position parameter of the position moved by the mobile device; S103, and mark a movement track formed by the position moved by the mobile device as a boundary.
  • the invention has the beneficial effects that the self-mobile device working system without boundary lines is realized based on the accurate positioning data, which saves the wiring time of the user and makes the garden more beautiful.
  • the technical solution provided by the present invention to solve the prior art problem further includes: a method for controlling a self-mobile device, wherein the location parameter of the mobile device is obtained by using the positioning method according to any one of the preceding steps, including the steps of: S200, acquiring a map; S201 Based on the map, the positioning beacon recommendation placement point is calculated.
  • the invention has the beneficial effects that the location beacon arrangement of the mobile device positioning system is simpler and the positioning result is more reliable by automatically generating the beacon arrangement position based on the area map.
  • the technical solution provided by the present invention to solve the prior art problem further includes: a self-mobile device positioning system, comprising a self-mobile device and at least one positioning beacon, wherein the self-mobile device is provided with a positioning component and a control module, the positioning Communicating between the component and the positioning beacon to obtain a distance to the positioning beacon, wherein the self-mobile device is provided with at least two positioning components, and the control module calculates the distance from the at least two positioning components to the positioning beacon respectively. Location parameters from the mobile device.
  • the location parameter includes a direction angle from the mobile device.
  • the location parameter includes coordinates from the mobile device.
  • control module corrects the error of the distance according to the distance from the at least two positioning elements to the positioning beacon.
  • At least three positioning beacons are included.
  • two positioning beacons are included.
  • a positioning beacon is included, and the electronic compass is further provided on the mobile device.
  • a charging station is provided for supplementing power from the mobile device, and one of the positioning beacons is located at the charging station.
  • the positioning component is an ultra-wideband positioning component
  • the positioning beacon is an ultra-wideband tag positioning module.
  • the self-mobile device is a home device.
  • the invention has the beneficial effects that the positioning from the mobile device is accurate, and provides support for the subsequent implementation of the borderless line and the precise navigation.
  • FIG. 1 is a schematic diagram of a positioning system in accordance with an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of a positioning system according to another embodiment of the present invention.
  • FIG. 3 is a schematic diagram of a positioning system according to another embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a boundary generated by a positioning system according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a positioning system according to another embodiment of the present invention.
  • the self-moving device 1 is a household device, specifically a self-moving gardening device, such as an automatic lawn mower, an automatic snow sweeper, an automatic water sprinkler, etc.
  • the grass machine has a working area of lawn.
  • the automatic lawn mower includes a housing, a moving module, a task execution module, a control module, and an energy module, and the mobile module, the task execution module, the control module, and the energy module are installed in the housing.
  • the moving module includes a wheel set that is driven by a drive motor to drive the automatic mower to move.
  • the task execution module includes a cutting assembly mounted to the bottom of the housing and driven by the cutting motor to perform the mowing work.
  • the energy module includes a battery pack that provides power for the movement and operation of the automatic mower.
  • the control module includes a control circuit electrically connected with the mobile module, the task execution module, and the energy module, and controls the mobile module to drive the automatic mower to move, and controls the task execution module to perform the work task.
  • control module is configured to execute a preset program to obtain a position parameter of the automatic lawn mower.
  • control module includes a storage unit and a calculation unit, and the storage unit is configured to store a preset program, and the calculation unit can calculate the output parameter according to the preset algorithm according to the input parameter.
  • a charging station 3 that supplies supplementary power from the mobile device 1 is provided.
  • the positioning system from the mobile device 1 comprises a plurality of positioning beacons (Beacons), from which the positioning elements 7 and control modules are arranged.
  • the positioning element 7 is mounted to the housing.
  • the position of the positioning beacon 5 is known and fixed, and the positioning element 7 follows the movement from the mobile device 1.
  • the positioning element 7 acquires its own distance to the positioning beacon 5 by communicating with the positioning beacon 5.
  • the positioning beacon 5 and the positioning component 7 use UWB technology to perform position calculation, that is, the positioning component 7 is an ultra-wideband positioning component, or an ultra-wideband positioning tag, and the positioning beacon 5 is ultra-wideband. Label positioning module.
  • the positioning beacon 5 and the positioning element 7 perform position calculation using ultrasonic positioning technology, that is, the positioning element 7 is an ultrasonic sensor, and the positioning beacon 5 is an ultrasonic positioning module.
  • the positioning element 7 is an ultrasonic sensor
  • the positioning beacon 5 is an ultrasonic positioning module.
  • other positioning techniques are also possible, such as infrared, Bluetooth positioning, Zigbee, radio radar, laser, GPS, etc.
  • At least two positioning elements 7 are provided on the mobile device 1 and the control module calculates the positional parameters from the mobile device 1 based on the distance of the at least two positioning elements 7 to the positioning beacon 5, respectively.
  • the number of positioning beacons 5 is at least three, so that after the individual positioning elements 7 on the mobile device 1 respectively know the distance of each positioning beacon 5, they can calculate their own in the coordinate system. Absolute position. This calculation method is known and will not be described again here.
  • At least two positioning elements 7 are provided from the mobile device 1, and the positions of the two positioning elements 7 on the self-moving device 1 are known, so that the distance d between the two positioning elements 7 is also known. of.
  • the control module calculates the positional parameters from the mobile device 1 according to the distance from the at least two positioning elements 7 to the positioning beacon 5, respectively.
  • the positional parameters include coordinates and or angles, below Detailed introduction.
  • control module is configured to execute a preset program to obtain a position parameter from the mobile device 1;
  • preset program includes:
  • the preset program also includes:
  • the positional parameters from the mobile device 1 are corrected based on the spacing of the positioning elements 7.
  • the position parameter from the mobile device 1 includes the coordinates (xi, yi) of the positioning element 7, and the position parameter of the positioning beacon 5 includes the coordinates (Xj, Yj) of the positioning beacon 5.
  • the coordinates of the positioning component 7 and the positioning beacon 5 are two-dimensional coordinates, including latitude and longitude information. It can be understood that the coordinates of the positioning component 7 and the positioning beacon 5 can also be three-dimensional coordinates, and also include altitude information.
  • the charging station 3 can be selected to establish a coordinate system for the origin, and the coordinates of the positioning component 7 and the positioning beacon 5 are relative coordinates with respect to the charging station 3.
  • the mobile device 1 itself is provided with two positioning elements 7, and four positioning beacons 5 are arranged from the area in which the mobile device 1 is located.
  • the coordinates of the positioning element 7 and the orientation of the computer body are corrected by the mobile device 1 by the following steps.
  • the positioning component 7 communicates with the four positioning beacons 5, respectively, to obtain its own position coordinates.
  • the coordinates of the two positioning elements 7 are (x 1 , y 1 ), (x 2 , y 2 ), respectively.
  • the error of the coordinates of the positioning element 7 is corrected by comparing the pitch of the positioning element 7 calculated based on the coordinates based on the positioning element 7 with the pitch d of the predetermined positioning element 7.
  • the coordinates of the corrected positioning element 7 are:
  • control module corrects the error of the aforementioned distance according to the distance from the at least two positioning elements 7 to the positioning beacon 5, respectively, to obtain the coordinates of the self-moving device 1.
  • the positioning component 7 communicates with the positioning beacon 5 to obtain the distance from the positioning beacon 5, the measured positioning component 7 and the positioning beacon 5 are detected due to the time synchronization of the positioning component 7 and the positioning beacon 5, and the like. There is an error in the distance, so there is also an error in the coordinates of the calculated positioning element 7.
  • the pitch d of the positioning member 7 since the pitch d of the positioning member 7 is known, by comparing the pitch of the positioning member 7 calculated based on the coordinates of the positioning member 7 with the pitch d of the predetermined positioning member 7, it is possible to correct the positioning member 7 due to The coordinate error of the positioning element 7 caused by the distance error between the positioning beacons 5 makes the positioning of the self-moving device 1 more precise.
  • the two positioning elements 7 are respectively disposed at the front and the rear of the housing along the moving direction of the mobile device 1.
  • the two positioning elements 7 are arranged parallel to the direction of movement of the mobile device 1 , ie the direction of the line connecting the two positioning elements 7 coincides with the direction angle of the mobile device 1 .
  • the two positioning elements 7 are arranged along the longitudinal axis of the mobile device 1.
  • the distance between the two positioning elements 7 is greater than or equal to 60 cm, and the spacing of the positioning elements 7 is increased such that the correction of the coordinates of the positioning elements 7 by the spacing is more accurate.
  • the spacing of the two positioning elements 7 may also be greater than or equal to 55 cm, or 50 cm, or 40 cm, or 30 cm, and the like.
  • the two positioning elements 7 can also be arranged laterally on the housing, for example on the left and right sides of the longitudinal axis of the housing, respectively; or the connection of the two positioning elements 7 to the longitudinal axis of the housing. In the case of an acute angle, it is only necessary to satisfy the above-mentioned threshold value of the distance between the positioning elements 7. In order to increase the spacing of the positioning elements 7 as much as possible, it is also possible to position the two positioning elements 7 in diagonally opposite positions of the housing, the distance between the two positioning elements 7 being greater than or equal to 70 cm.
  • control module can calculate the orientation or the direction angle of the mobile device 1.
  • the specific method is as follows:
  • the direction angle of the connection of the two positioning elements 7 is the direction angle from the mobile device 1. Therefore, the ⁇ is calculated by the above preset algorithm, that is, the direction angle of the mobile device 1 can be obtained. It can be understood that when the direction angle of the connection of the two positioning elements 7 is at an angle from the orientation of the mobile device 1, since the angle is known, after the ⁇ is calculated by the above preset algorithm, only The direction angle from the mobile device 1 can be obtained by a simple operation. That is, the preset program includes:
  • the direction angle of the mobile device 1 is calculated using the coordinates of the two positioning elements 7 and the angular relationship.
  • the main components of the self-moving device and its positioning system are similar to those of the previous embodiment.
  • the difference is that the number of positioning beacons 5 is only two.
  • a direction angle judging device such as an electronic compass 13 or an angle sensor.
  • the preset procedure for obtaining the location parameter of the mobile device 1 includes:
  • the positions (X 1 , Y 1 ) and (X 2 , Y 2 ) of the two positioning beacons 5 are known, and the distance between the two positioning beacons 5 to the two positioning elements 7 is known.
  • r 11 , r 12 , r 21 , r 22 is known.
  • the number of positioning beacons 5 can be reduced. On the one hand, the positioning cost is reduced. On the other hand, since the positioning beacon 5 needs to be powered, the setting is troublesome, and reducing the number of positioning beacons 5 can simplify the installation and bring convenience to the user.
  • the main components of the self-moving device and its positioning system are similar to those of the previous embodiment.
  • the difference is that there is only one number of positioning beacons 5, and in addition to having two or more positioning elements 7 on the mobile device 1, there is also a direction angle judging means such as an electronic compass 13.
  • the mobile device 1 calculates its own positional parameters, including coordinates and direction angles, by the following steps.
  • the positions (x b1 , y b1 ) and (x b2 , y b2 ) of the two positioning beacons 5 are known, and the distance between the two positioning beacons 5 to the two positioning elements 7 is known.
  • the mobile device 1 calculates its own positional parameters, including coordinates and direction angles, by the following steps.
  • the calculation process of the least squares method also achieves an error of correcting the distance values acquired by the two positioning elements 7.
  • the embodiment of the invention further provides a positioning method of the self-mobile device, comprising the steps of:
  • the precise positional parameters are the key basic data, and the mobile device 1 can implement various functions according to the positional parameters, such as map generation, path planning, regression charging, and the like.
  • a boundary map is generated by the following steps.
  • the self-mobile device 1 first enters the boundary setting mode before performing the following steps.
  • the mobile command comes from the smart terminal 11 held by the user, such as a smart phone, a tablet computer, and the like.
  • the move command can also come from a dedicated remote control.
  • the user transmits a movement instruction to the self-mobile device 1 by means of visual monitoring, using the smart terminal 11 or the remote controller, and controls the movement from the mobile device 1 along the boundary 9 of the work area designed by the user.
  • the control module controls the movement from the mobile device 1 according to the movement instruction according to the movement instruction.
  • the moving track is marked as a boundary.
  • the control module can store all the moving tracks into the storage unit and mark the boundary; the control module can also set a specific preset condition, for example, the moving track forms a closed After the ring, the moving track is marked as a boundary.
  • the positioning system automatically generates a recommended positioning beacon placement point based on the entered map information.
  • the positioning system of the embodiment includes a positioning beacon layout module, which may be located on the mobile device 1 or in the form of an application program, such as a mobile phone, a computer, or a tablet computer. Can be a cloud computing program. In the present embodiment, there may be only one positioning element 7 from the mobile device 1.
  • the location beacon layout module enters a map of the area from which the mobile device 1 is required to work.
  • the map information is directly obtained from an online map information provider such as Baidu map and Google map, and the user can directly define the work area in the online map and send it to the positioning beacon layout module.
  • the positioning beacon layout module automatically generates a positioning beacon layout scheme according to the size, shape, obstacle position of the working area, and the signal coverage of the single positioning beacon, including the number and location of the positioning beacon.
  • the resulting positioning beacon layout scheme satisfies the preset signal coverage requirement, for example, the signal coverage of the working area reaches 99%.
  • one positioning beacon 5 is located on the charging station 3, so that the positioning of the positioning beacon 5 is more convenient, and the positioning information during recharging is more accurate.
  • the location beacon 5 may be located within, outside, or on the boundary without affecting the implementation of the present invention.
  • the present invention is not limited to the specific embodiment structures, and the structures and methods based on the inventive concept are all within the scope of the present invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

一种自移动设备（1），包括：至少两个定位元件（7），定位元件（7）与定位信标（5）通信，以获取与定位信标（5）的距离；控制模块，被配置为执行预设程序，以获取自移动设备（1）的位置参数；预设程序包括：获取定位信标（5）的位置参数；获取自移动设备（1）与定位信标（5）的距离；基于定位信标（5）的位置参数、以及定位元件（7）与定位信标（5）的距离，计算自移动设备（1）的位置参数；预设程序还包括：预设定位元件（7）的间距；基于定位元件（7）的间距，校正自移动设备（1）的位置参数。本发明的有益效果是：自移动设备（1）定位准确，为无边界线及精准导航的实现提供支撑。

Description

自移动设备及其定位系统、定位方法和控制方法 技术领域
本发明涉及一种自移动设备，一种自移动设备定位系统，一种自移动设备定位方法，以及一种自移动设备控制方法。
背景技术
自动吸尘器、自动割草机等家用自移动设备已逐渐普及。然而，市面上的自移动设备缺乏对自身的精准定位，导致无法实现无线边界、路径导航等功能。例如，在使用自动割草机之前，用户需要预先在草坪的周围布置一圈边界电线，比较麻烦；并且在草坪中多采用随机或半随机路径行走和切割，工作效率较低。而自动吸尘器也需要辅助的定位设备，才能区分客厅、厨房、卧室等不同的区域。
发明内容
为克服现有技术的缺陷，本发明所要解决的问题是提供一种适用于家用场景的，具有高精度自定位能力的自移动设备、自移动设备定位系统、自移动设备定位方法、以及自移动设备控制方法。
本发明解决现有技术问题提供的技术方案是：
一种自移动设备，包括：至少两个定位元件，所述定位元件与定位信标通信，以获取与定位信标的距离；控制模块，被配置为执行预设程序，以获取所述自移动设备的位置参数；所述预设程序包括：获取所述定位信标的位置参数；获取所述定位元件与定位信标的距离；基于所述定位信标的位置参数、以及所述定位元件与定位信标的距离，计算自移动设备的位置参数；所述预设程序还包括：预设所述定位元件的间距；基于所述定位元件的间距，校正所述自移动设备的位置参数。
进一步的，所述自移动设备的位置参数包括定位元件的坐标，通过比较基于所述定位元件的坐标计算得到的定位元件的间距，和所述预设的定位元件的间距，校正所述定位元件的坐标的误差。
进一步的，所述自移动设备的位置参数包括自移动设备的方向角，所述预设程序还包括：预设任两个所述定位元件的连线的方向角与自移动设备的方向角的角度关系；利用所述两个定位元件的坐标、以及所述角度关系，计算所述自移动设备的方向角。
进一步的，所述定位元件与至少3个所述定位信标通信，以获取与定位信标的距离。
进一步的，所述自移动设备还包括角度传感器，用于获取自移动设备的方向角；所述预设程序包括：预设任两个所述定位元件的连线的方向角与自移动设备的方向角的角度关系；获取自移动设备的方向角；基于所述自移动设备的方向角、所述角度关系、所述定位信标的位置参数、以及所述两个定位元件到定位信标的距离，计算所述自移动设备的位置参数。
进一步的，所述定位元件与至少2个所述定位信标通信，以获取与定位信标的距离。
进一步的，所述角度传感器包括电子罗盘。
进一步的，所述定位元件为超宽带定位元件，所述定位信标为超宽带标签定位模块。
进一步的，所述定位元件为超声波定位元件，所述定位信标为超声波定位模块。
进一步的，所述自移动设备为自移动园艺设备。
与现有技术相比，本发明的有益效果是：自移动设备定位准确，为后续的无边界线及精准导航的实现提供支撑。
本发明解决现有技术问题提供的技术方案还包括：一种自移动设备定位系统，包括前述任一项所述的自移动设备，以及所述定位信标。
进一步的，还包括供自移动设备补充电能的充电站，一个所述定位信标位于所述充电站。
与现有技术相比，本发明的有益效果是：自移动设备定位准确，为后续的无边界线及精准导航的实现提供支撑。
本发明解决现有技术问题提供的技术方案还包括：一种自移动设备的定位方法，包括步骤：控制设于自移动设备上的至少两个定位元件与定位信标通信，以获取定位元件与定位信标的距离；获取定位信标的位置参数；基于所述定位元件与定位信标的距离、以及所述定位信标的位置参数，计算自移动设备的位置参数；还包括步骤：预设定位元件的间距；基于所述定位元件的间距，校正所述自移动设备的位置参数。
进一步的，所述自移动设备的位置参数包括定位元件的坐标，所述校正自移动设备的位置参数包括步骤：比较基于所述定位元件的坐标计算得到的 定位元件的间距，和所述预设的定位元件的间距；基于比较结果校正所述定位元件的坐标的误差。
进一步的，所述自移动设备的位置参数包括自移动设备的方向角，所述定位方法还包括步骤：预设任两个所述定位元件的连线的方向角与自移动设备的方向角的角度关系；利用所述两个定位元件的坐标、以及所述角度关系，计算所述自移动设备的方向角。
进一步的，所述定位信标的个数至少为3个。
进一步的，所述自移动设备还包括角度传感器，用于获取自移动设备的方向角；所述定位方法包括步骤：预设任两个所述定位元件的连线的方向角与自移动设备的方向角的角度关系；获取自移动设备的方向角；基于所述自移动设备的方向角、所述角度关系、所述定位信标的位置参数、以及所述两个定位元件到定位信标的距离，计算所述自移动设备的位置参数。
进一步的，所述定位信标的个数至少为2个。
进一步的，所述角度传感器包括电子罗盘。
进一步的，所述定位元件为超宽带定位元件，所述定位信标为超宽带标签定位模块。
进一步的，所述定位元件为超声波定位元件，所述定位信标为超声波定位模块。
进一步的，所述自移动设备为自移动园艺设备。
与现有技术相比，本发明的有益效果是：自移动设备定位准确，为后续的无边界线及精准导航的实现提供支撑。
本发明解决现有技术问题提供的技术方案还包括：一种自移动设备的控制方法，利用上述任一项所述的定位方法获取自移动设备的位置参数，包括步骤：S100、接收移动指令；S101、控制自移动设备按照移动指令移动；S102、记录自移动设备移动经过的位置的位置参数；S103、将所述自移动设备移动经过的位置形成的移动轨迹标定为边界。
与现有技术相比，本发明的有益效果是：基于准确的定位数据实现了无需边界线的自移动设备工作系统，节省了用户的布线时间且使得花园更加美观。
本发明解决现有技术问题提供的技术方案还包括：一种自移动设备的控制方法，利用上述任一项所述的定位方法获取自移动设备的位置参数，包括 步骤：S200、获取地图；S201、基于地图，计算得到定位信标推荐布置点。
与现有技术相比，本发明的有益效果是：通过基于区域地图自动生成信标布置位置，自移动设备定位系统的定位信标布置更加简单、且定位结果更加可靠。
本发明解决现有技术问题提供的技术方案还包括：一种自移动设备定位系统，包括自移动设备和至少一个定位信标，所述自移动设备上设置有定位元件和控制模块，所述定位元件和定位信标之间通信以获取到定位信标的距离，所述自移动设备上设有至少两个定位元件，所述控制模块根据所述至少两个定位元件分别到定位信标的距离，计算自移动设备的位置参数。
进一步的，所述位置参数包括自移动设备的方向角。
进一步的，所述位置参数包括自移动设备的坐标。
进一步的，所述控制模块根据所述至少两个定位元件分别到定位信标的距离，校正所述距离的误差。
进一步的，包括至少三个定位信标。
进一步的，包括两个定位信标。
进一步的，包括一个定位信标，所述自移动设备上还设有电子罗盘。
进一步的，还包括供自移动设备补充电能的充电站，一个所述定位信标位于所述充电站。
进一步的，所述定位元件为超宽带定位元件，所述定位信标为超宽带标签定位模块。
进一步的，所述自移动设备为家用设备。
与现有技术相比，本发明的有益效果是：自移动设备定位准确，为后续的无边界线及精准导航的实现提供支撑。
附图说明
以上所述的本发明的目的、技术方案以及有益效果可以通过下面附图实现：
图1是本发明一实施例的定位系统示意图。
图2是本发明另一实施例的定位系统示意图。
图3是本发明另一实施例的定位系统示意图。
图4是本发明一实施例的定位系统生成边界的示意图。
图5是本发明另一实施例的定位系统示意图。
具体实施方式
如图1，本发明一实施例中，自移动设备1为家用设备，具体为自移动园艺设备，例如自动割草机、自动扫雪机、自动洒水机等，本实施例中具体为自动割草机，其工作区域为草坪。
本实施例中，自动割草机包括壳体、移动模块、任务执行模块、控制模块和能源模块，移动模块、任务执行模块、控制模块和能源模块安装于壳体。移动模块包括轮组，由驱动马达驱动以带动自动割草机移动。任务执行模块包括切割组件，安装于壳体底部，由切割马达驱动以旋转执行割草工作。能源模块包括电池包，为自动割草机的移动和工作提供电能。控制模块包括控制电路，与移动模块、任务执行模块、能源模块电连接，控制移动模块带动自动割草机移动，并控制任务执行模块执行工作任务。本实施例中，控制模块被配置为执行预设程序，以获取自动割草机的位置参数。具体的，控制模块包括存储单元和计算单元，存储单元能够存储预设程序，计算单元能够根据输入参数，按照预设算法计算得到输出参数。
本实施例中，为自移动设备1提供补充电能的充电站3。
自移动设备1定位系统包括多个定位信标(Beacon)，自移动设备1上设有定位元件7和控制模块。具体的，定位元件7安装于壳体。定位信标5的位置已知且是固定的，定位元件7跟随自移动设备1移动。定位元件7通过和定位信标5通信，获取自身到该定位信标5的距离。本实施例中，定位信标5和定位元件7采用超宽带标签定位(UWB)技术进行位置计算，即定位元件7为超宽带定位元件，或称超宽带定位标签，定位信标5为超宽带标签定位模块。在另一个实施例中，定位信标5和定位元件7采用超声波定位技术进行位置计算，即定位元件7为超声波传感器，定位信标5为超声波定位模块。然而，其他的定位技术也是可行的，如红外、蓝牙定位、Zigbee、无线电雷达、激光、GPS等。
自移动设备1上设有至少两个定位元件7，所述控制模块根据所述至少两个定位元件7分别到定位信标5的距离，计算自移动设备1的位置参数。
本实施例中，定位信标5的个数至少为三个，这样，自移动设备1上的单个定位元件7分别获知每个定位信标5的距离之后，就能够计算自身在坐标系中的绝对位置。该计算方法为已知的，在此不再赘述。
本实施例中，自移动设备1上设置有至少两个定位元件7，且两个定位 元件7在自移动设备1上的位置已知，从而两个定位元件7之间的距离d也是已知的。通过设置两个或以上的定位元件7，控制模块根据所述至少两个定位元件7分别到定位信标5的距离，计算自移动设备1的位置参数，位置参数包括坐标和或方向角，以下详细介绍。
本实施例中，控制模块被配置为执行预设程序，以获取自移动设备1的位置参数；预设程序包括：
获取定位信标5的位置参数；
获取定位元件7与定位信标5的距离；
基于定位信标5的位置参数、以及定位元件7与定位信标5的距离，计算自移动设备1的位置参数；
预设程序还包括：
预设定位元件7的间距；
基于定位元件7的间距，校正自移动设备1的位置参数。
本实施例中，自移动设备1的位置参数包括定位元件7的坐标(xi,yi)，定位信标5的位置参数包括定位信标5的坐标(Xj,Yj)。本实施例中，定位元件7和定位信标5的坐标为二维坐标，包括经纬度信息，可以理解的是，定位元件7和定位信标5的坐标也可以是三维坐标，还包括海拔信息。本实施例中，可以选择例如充电站3为原点建立坐标系，定位元件7和定位信标5的坐标为相对于充电站3的相对坐标。
如图1，自移动设备1自身设置有两个定位元件7，自移动设备1所在的区域布置有四个定位信标5。
自移动设备1通过以下步骤校正定位元件7的坐标及计算机身朝向。
S11、定位元件7分别和四个定位信标5通信，获得自身的位置坐标。两个定位元件7的坐标分别为(x 1,y 1)、(x 2,y 2)。
S12、根据如下公式，对定位元件7的坐标进行反馈修正。
Figure PCTCN2018071992-appb-000001
Figure PCTCN2018071992-appb-000002
即，通过比较基于基于定位元件7的坐标计算得到的定位元件7的间距， 和预设的定位元件7的间距d，校正定位元件7的坐标的误差。
修正后的定位元件7的坐标分别为：
Figure PCTCN2018071992-appb-000003
和
Figure PCTCN2018071992-appb-000004
Figure PCTCN2018071992-appb-000005
Figure PCTCN2018071992-appb-000006
即控制模块根据至少两个定位元件7分别到定位信标5的距离，校正前述距离的误差，以获得所述自移动设备1的坐标。
定位元件7与定位信标5通信，以获取与定位信标5的距离的过程中，由于定位元件7与定位信标5的时间同步等原因，测得的定位元件7与定位信标5的距离存在误差，因此计算得到的定位元件7的坐标也存在误差。本实施例中，由于定位元件7的间距d已知，通过比较基于定位元件7的坐标计算得到的定位元件7的间距，和预设的定位元件7的间距d，能够修正由于定位元件7与定位信标5之间的距离误差引起的定位元件7的坐标误差，使得对自移动设备1的定位更精准。
本实施例中，两个定位元件7分别设置于壳体的沿自移动设备1移动方向的前部和后部。具体的，两个定位元件7平行于自移动设备1的移动方向设置，即两个定位元件7的连线的方向角与自移动设备1的方向角一致。具体的，两个定位元件7沿自移动设备1的纵轴线设置。本实施例中，两个定位元件7的间距大于等于60cm，增大定位元件7的间距使得通过间距对定位元件7的坐标的校正更加准确。在其他实施例中，两个定位元件7的间距也可以大于等于55cm，或50cm，或40cm,或30cm等。在其他实施例中，两个定位元件7也可以在壳体上横向设置，例如分别设置于壳体纵轴线的左侧和右侧；或者使两个定位元件7的连线与壳体纵轴线呈一锐角夹角，只需满足定位元件7的间距大于等于上述阈值即可。为了尽可能增大定位元件7的间距，还可以使两个定位元件7位于壳体的斜对角位置，两个定位元件7的间距大于等于70cm。
S13、基于上述修正后的两个定位元件7的坐标，控制模块能够计算出自移动设备1的朝向或者说方向角。具体方式如下：
Figure PCTCN2018071992-appb-000007
本实施例中，两个定位元件7的连线的方向角即为自移动设备1的方向角，因此通过上述预设算法计算得到θ，即能得到自移动设备1的方向角。可以理解的是，当两个定位元件7的连线的方向角与自移动设备1的朝向存在一夹角时，由于该夹角是已知的，通过上述预设算法计算得到θ后，只需通过简单的运算便能得到自移动设备1的方向角。即，预设程序包括：
预设任两个定位元件7的连线的方向角与自移动设备1的方向角的角度关系；
利用所述两个定位元件7的坐标、以及所述角度关系，计算自移动设备1的方向角。
需要指出，上述的算法和公式仅仅是示例性的，在该定位系统设置两个定位元件7和三个及以上定位信标5的基础上，两个定位元件7的坐标、以及两个定位元件7之间的距离已知，基于这些数据，也可以采用业界已知的其他算法校正定位元件7的坐标位置以及计算自移动设备1的朝向。还需要指出，在本发明的其他实施例中，也可以取消掉S12的位置校正步骤或者S13的朝向计算步骤的其中之一，例如，取消步骤S12，直接通过原始的定位元件7坐标计算自移动设备1朝向；或者，取消步骤S13，仅仅利用两个定位元件7的坐标进行最终的定位位置校正。
以下参照图5介绍本发明的另一实施例。在本实施例中，自移动设备及其定位系统的主要构成和前述实施例类似。差异在于，定位信标5的数量仅有两个，自移动设备1上除了具有两个或以上定位元件7，还具有电子罗盘13等方向角判断装置，或称角度传感器。本实施例中，获取自移动设备1的位置参数的预设程序包括：
预设任两个所述定位元件7的连线的方向角与自移动设备1的方向角的角度关系；
获取自移动设备1的方向角；
基于所述自移动设备1的方向角、所述角度关系、所述定位信标5的位置参数、以及所述两个定位元件7到定位信标5的距离，计算所述自移动设备1的位置参数。
在本实施例中，已知两个定位信标5的位置(X 1,Y 1)和(X 2,Y 2)，且已知两个定位信标5分别到两个定位元件7的距离r 11,r 12,r 21,r 22。基于此，自移动设备1通过如下步骤计算自身的位置参数。
S21、解方程组，得到两个定位元件7的位置坐标(x 1,y 1)和(x 2,y 2)。
(X 1-x 1) 2+(Y 1-y 1) 2＝r 11 2
(X 2-x 1) 2+(Y 2-y 1) 2＝r 12 2
(X 1-x 2) 2+(Y 1-y 2) 2＝r 21 2
(X 2-x 2) 2+(Y 2-y 2) 2＝r 22 2
(y 2-y 1)＝tan(θ)·(x 2-x 1)
S22、基于定位元件7的间距d，校正自移动设备1的位置参数。具体算法与前述实施例中类似，不再赘述。基于本实施例的已知数据，也可以采用业界已知的其他算法校正自移动设备1的位置参数。
本实施例中，通过在自移动设备1上设置两个以上定位元件7，并安装电子罗盘13，能够减少定位信标5的数量。一方面降低了定位成本，另一方面由于定位信标5需供电，设置麻烦，减少定位信标5的数量能够简化安装，给用户带来方便。
以下参照图2介绍本发明的另一实施例。在本实施例中，自移动设备及其定位系统的主要构成和前述实施例类似。差异在于，定位信标5的数量仅有一个，自移动设备1上除了具有两个或以上定位元件7，还具有电子罗盘13等方向角判断装置。自移动设备1通过如下步骤计算自身的位置参数，具体包括坐标和方向角。
S31、计算定位元件7和定位信标5的连线在坐标系中的角度，例如该连线和坐标系X轴之间的夹角。本实施例中，为了简化描述，示例性的，第一个定位元件7的角度θ即为电子罗盘13测得的角度。另一个定位元件7的角度为θ 2。
具体的，基于两个定位元件7到定位信标5的距离为r 1和r 2，r 1和r 2结合d可以解三角形求得夹角θ 1，可以求得θ 2＝180°-(θ 1-θ)。
S32、基于第一个定位元件7的角度，获得其坐标数据：
x 2＝x 1+d·cos(θ)
y 2＝y 1+d·sin(θ)
S33、基于第二个定位元件7的角度，获得其坐标数据：
x 1＝x b1+r 1·cos(θ 2)
y 1＝y b1+r 1·sin(θ 2)
以下参照图3介绍本发明的另一实施例。在本实施例中，自移动设备及 其定位系统的主要构成和前述实施例类似。差异在于，定位信标5的数量仅有两个。
在本实施例中，已知两个定位信标5的位置(x b1,y b1)和(x b2,y b2)，且已知两个定位信标5分别到两个定位元件7的距离r 11,r 12,r 21,r 22。基于此，自移动设备1通过如下步骤计算自身的位置参数，具体包括坐标和方向角。
S41、基于最小二乘法，计算两个定位元件7的坐标。
(x b1-x 1) 2+(y b1-y 1) 2＝r 11 2
(x b2-x 1) 2+(y b2-y 1) 2＝r 12 2
(x b1-x 2) 2+(y b1-y 21) 2＝r 21 2
(x b2-x 2) 2+(y b2-y 2) 2＝r 22 2
(x 2-x 1) 2+(y 2-y 1) 2＝d 2
求解方程，得到两个定位元件7的位置坐标(x 1,y 1)和(x 2,y 2)；
需要指出，在本步骤中，最小二乘法的计算过程同时也实现了校正两个定位元件7获取的距离值的误差。
S42、根据两个定位元件7的坐标，计算自移动设备1的方向角或者说朝向：
Figure PCTCN2018071992-appb-000008
基于本实施例的已知数据，也可以采用业界已知的其他算法校正定位元件7的坐标位置以及计算自移动设备1的方向角。
本发明实施例还提供一种自移动设备的定位方法，包括步骤：
S001，控制设于自移动设备1上的至少两个定位元件7与定位信标5通信，以获取定位元件7与定位信标5的距离；
S002，获取定位信标5的位置参数；
S003，基于所述定位元件7与定位信标5的距离、以及所述定位信标5的位置参数，计算自移动设备1的位置参数；还包括步骤：
S004，预设定位元件7的间距；
S005，基于所述定位元件7的间距，校正所述自移动设备1的位置参数。
本发明实施例的定位方法的具体步骤具有与上述实施例中的自移动设备及其定位系统相对应的特征，并能够实现相对应的有益效果，在此不再赘述。
精确的位置参数是关键的基础数据，自移动设备1可以根据位置参数实 现各种功能，如地图生成，路径规划，回归充电等等。
上述实施例中，参照图4，通过如下步骤生成边界地图。在执行如下步骤之前，自移动设备1首先进入边界设定模式。
S100，自移动设备1接收移动指令。移动指令来自于用户持有的智能终端11，如智能手机，平板电脑等。移动指令也可来自于专用的遥控器。用户通过目视监控的方式，使用智能终端11或者遥控器，向自移动设备1发送移动指令，控制自移动设备1沿着用户设计的工作区域的边界9移动。
S101，控制模块基于移动指令，控制自移动设备1按照移动指令移动。
S102，记录自移动设备1的移动轨迹，或者说记录自移动设备1移动经过的位置的位置参数。具体的，自移动设备1在移动过程中，通过前述的定位系统/定位方法不断计算自身的坐标，控制模块记录移动过程中的各个坐标点并连成移动轨迹。
S103，将移动轨迹标定为边界。具体的，控制模块可以在用户发送一个边界沿行完成的信号后，将全部移动轨迹存储到储存单元中并标定为边界；控制模块也可设定特定的预设条件，例如移动轨迹形成一个闭合环后，将移动轨迹标定为边界。
在本发明的另一实施例中，定位系统根据录入的地图信息，自动生成推荐的定位信标布置点。本实施例的定位系统中，包括一定位信标布局模块，该模块可以位于自移动设备1上，也可以应用程序的形式布置于用户的智能设备11，如手机、电脑、平板电脑中，还可以为云端计算程序。在本实施例中，自移动设备1可仅有一个定位元件7。
S200、获取地图。定位信标布局模块录入自移动设备1所需工作的区域的地图。在一种方案中，地图信息直接从百度地图、谷歌地图等在线地图信息提供商中获取，用户可直接在在线地图中圈定工作区域并发送给定位信标布局模块。
S201、基于地图，计算得到定位信标推荐布置点。定位信标布局模块根据工作区域的大小，形状，障碍物位置，以及单个定位信标的信号覆盖范围，自动生成定位信标布局方案，包括定位信标的个数以及位置等。最终生成的定位信标布局方案满足预设的信号覆盖率要求，例如工作区域的信号覆盖率达到99％。
可以理解的是，在上述实施例中，定位信标5或定位元件7的坐标若采 用三维坐标，则获取自移动设备1的位置参数，定位信标5的最少数量应相应增加一个，以获得足够距离参数来解算。
上述各个实施例中，优选的，一个定位信标5位于前述的充电站3上，这样定位信标5的布置更加方便，且回归充电时的定位信息更加准确。
上述各个实施例中，定位信标5可以位于边界内、边界外或者边界上，不影响本发明的实施。
本发明不局限于所举的具体实施例结构，基于本发明构思的结构和方法均属于本发明保护范围。

Claims (24)

  1. 一种自移动设备，包括：
    至少两个定位元件，所述定位元件与定位信标通信，以获取与定位信标的距离；
    控制模块，被配置为执行预设程序，以获取所述自移动设备的位置参数；
    所述预设程序包括：
    获取所述定位信标的位置参数；
    获取所述定位元件与定位信标的距离；
    基于所述定位信标的位置参数、以及所述定位元件与定位信标的距离，
    计算自移动设备的位置参数；其特征在于，
    所述预设程序还包括：
    预设所述定位元件的间距；
    基于所述定位元件的间距，校正所述自移动设备的位置参数。
  2. 根据权利要求1所述的自移动设备，其特征在于，所述自移动设备的位置参数包括定位元件的坐标，通过比较基于所述定位元件的坐标计算得到的定位元件的间距，和所述预设的定位元件的间距，校正所述定位元件的坐标的误差。
  3. 根据权利要求2所述的自移动设备，其特征在于，所述自移动设备的位置参数包括自移动设备的方向角，所述预设程序还包括：
    预设任两个所述定位元件的连线的方向角与自移动设备的方向角的角度关系；
    利用所述两个定位元件的坐标、以及所述角度关系，计算所述自移动设备的方向角。
  4. 根据权利要求1所述的自移动设备，其特征在于，所述定位元件与至少3个所述定位信标通信，以获取与定位信标的距离。
  5. 根据权利要求1所述的自移动设备，其特征在于，所述自移动设备还包括角度传感器，用于获取自移动设备的方向角；所述预设程序包括：
    预设任两个所述定位元件的连线的方向角与自移动设备的方向角的角度关系；
    获取自移动设备的方向角；
    基于所述自移动设备的方向角、所述角度关系、所述定位信标的位置参 数、以及所述两个定位元件到定位信标的距离，计算所述自移动设备的位置参数。
  6. 根据权利要求5所述的自移动设备，其特征在于，所述定位元件与至少2个所述定位信标通信，以获取与定位信标的距离。
  7. 根据权利要求5所述的自移动设备，其特征在于，所述角度传感器包括电子罗盘。
  8. 根据权利要求1所述的自移动设备，其特征在于，所述定位元件为超宽带定位元件，所述定位信标为超宽带标签定位模块。
  9. 根据权利要求1所述的自移动设备，其特征在于，所述定位元件为超声波定位元件，所述定位信标为超声波定位模块。
  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移动园艺设备。
  11. 一种自移动设备定位系统，包括前述任一项所述的自移动设备，以及所述定位信标。
  12. 根据权利要求11所述的自移动设备定位系统，其特征在于，还包括供自移动设备补充电能的充电站，一个所述定位信标位于所述充电站。
  13. 一种自移动设备的定位方法，包括步骤：
    控制设于自移动设备上的至少两个定位元件与定位信标通信，以获取定位元件与定位信标的距离；
    获取定位信标的位置参数；
    基于所述定位元件与定位信标的距离、以及所述定位信标的位置参数，计算自移动设备的位置参数；其特征在于，还包括步骤：
    预设定位元件的间距；
    基于所述定位元件的间距，校正所述自移动设备的位置参数。
  14. 根据权利要求13所述的定位方法，其特征在于，所述自移动设备的位置参数包括定位元件的坐标，所述校正自移动设备的位置参数包括步骤：
    比较基于所述定位元件的坐标计算得到的定位元件的间距，和所述预设的定位元件的间距；
    基于比较结果校正所述定位元件的坐标的误差。
  15. 根据权利要求14所述的定位方法，其特征在于，所述自移动设备的位置参数包括自移动设备的方向角，所述定位方法还包括步骤：
    预设任两个所述定位元件的连线的方向角与自移动设备的方向角的角度关系；
    利用所述两个定位元件的坐标、以及所述角度关系，计算所述自移动设备的方向角。
  16. 根据权利要求13所述的定位方法，其特征在于，所述定位信标的个数至少为3个。
  17. 根据权利要求13所述的定位方法，其特征在于，所述自移动设备还包括角度传感器，用于获取自移动设备的方向角；所述定位方法包括步骤：
    预设任两个所述定位元件的连线的方向角与自移动设备的方向角的角度关系；
    获取自移动设备的方向角；
    基于所述自移动设备的方向角、所述角度关系、所述定位信标的位置参数、以及所述两个定位元件到定位信标的距离，计算所述自移动设备的位置参数。
  18. 根据权利要求17所述的定位方法，其特征在于，所述定位信标的个数至少为2个。
  19. 根据权利要求17所述的定位方法，其特征在于，所述角度传感器包括电子罗盘。
  20. 根据权利要求13所述的定位方法，其特征在于，所述定位元件为超宽带定位元件，所述定位信标为超宽带标签定位模块。
  21. 根据权利要求13所述的定位方法，其特征在于，所述定位元件为超声波定位元件，所述定位信标为超声波定位模块。
  22. 根据权利要求13所述的定位方法，其特征在于，所述自移动设备为自移动园艺设备。
  23. 一种自移动设备的控制方法，利用如权利要求13-22任一项所述的定位方法获取自移动设备的位置参数，其特征在于，包括步骤：
    S100、接收移动指令；
    S101、控制自移动设备按照移动指令移动；
    S102、记录自移动设备移动经过的位置的位置参数；
    S103、将所述自移动设备移动经过的位置形成的移动轨迹标定为边界。
  24. 一种自移动设备的控制方法，利用如权利要求13-22任一项所述的定位方 法获取自移动设备的位置参数，其特征在于，包括步骤：
    S200、获取地图；
    S201、基于地图，计算得到定位信标推荐布置点。
PCT/CN2018/071992 2017-01-09 2018-01-09 自移动设备及其定位系统、定位方法和控制方法 Ceased WO2018127209A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201880000849.5A CN108575095B (zh) 2017-01-09 2018-01-09 自移动设备及其定位系统、定位方法和控制方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710012382 2017-01-09
CN201710012382.3 2017-01-09

Publications (1)

Publication Number Publication Date
WO2018127209A1 true WO2018127209A1 (zh) 2018-07-12

Family

ID=62789087

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2018/071992 Ceased WO2018127209A1 (zh) 2017-01-09 2018-01-09 自移动设备及其定位系统、定位方法和控制方法

Country Status (2)

Country Link
CN (1) CN108575095B (zh)
WO (1) WO2018127209A1 (zh)

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110062460A (zh) * 2019-05-27 2019-07-26 北京雅讯东方科技有限公司 室内定位系统及方法
WO2020026125A1 (en) * 2018-07-30 2020-02-06 7hugs Labs SAS Charging station for tracked mobile object
EP3699715B1 (en) 2017-11-16 2022-01-05 Nanjing Chervon Industry Co., Ltd. Intelligent lawn mowing system
CN113899376A (zh) * 2020-07-06 2022-01-07 苏州宝时得电动工具有限公司 自移动设备地图生成方法、系统和自动工作系统
CN114666723A (zh) * 2020-12-04 2022-06-24 通用汽车环球科技运作有限责任公司 用于使用超宽带（uwb）信号的移动平台定位的系统和方法
CN114815820A (zh) * 2022-04-18 2022-07-29 电子科技大学 一种基于自适应滤波的智能体小车线性路径规划方法
CN115150646A (zh) * 2021-03-31 2022-10-04 华为技术有限公司 一种显示第二电子设备控制窗口的方法及第一电子设备
CN116268720A (zh) * 2023-02-13 2023-06-23 艺唯科技股份有限公司 带交互功能的奖牌
US12296694B2 (en) 2021-03-10 2025-05-13 Techtronic Cordless Gp Lawnmowers
US12369509B2 (en) 2022-07-19 2025-07-29 Techtronic Cordless Gp Display for controlling robotic tool
US12425197B2 (en) 2022-07-29 2025-09-23 Techtronic Cordless Gp Generation of a cryptography key for a robotic garden tool
US12443180B2 (en) 2021-11-10 2025-10-14 Techtronic Cordless Gp Robotic lawn mowers
US12472611B2 (en) 2022-05-31 2025-11-18 Techtronic Cordless Gp Peg driver
US12510892B2 (en) 2022-04-28 2025-12-30 Techtronic Cordless Gp Creation of a virtual boundary for a robotic garden tool

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111487961A (zh) * 2020-03-27 2020-08-04 宁波市德霖机械有限公司 行走装置工作范围控制方法、系统、智能终端及存储介质
CN114111780B (zh) * 2020-08-26 2025-05-09 深圳市杉川机器人有限公司 一种定位误差校正方法、装置、自移动设备及系统

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101285878A (zh) * 2008-06-04 2008-10-15 中国海洋大学 一种无线传感器网络的垂直相交定位算法
CN102121827A (zh) * 2010-11-29 2011-07-13 浙江亚特电器有限公司 一种移动机器人定位系统及其定位方法
CN203125524U (zh) * 2013-03-08 2013-08-14 科沃斯机器人科技(苏州)有限公司 自移动机器人激光引导行走作业系统
CN104236521A (zh) * 2013-06-14 2014-12-24 科沃斯机器人科技(苏州)有限公司 用于自移动机器人的线激光测距方法
US20160315723A1 (en) * 2015-04-27 2016-10-27 Aplix Ip Holdings Corporation Information-processing system, terminal device, and processing method thereof
CN106291464A (zh) * 2015-05-21 2017-01-04 金宝电子工业股份有限公司 灯标装置的自动识别方法

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101017199B (zh) * 2007-03-09 2012-07-18 汪秉文 基于无线传感器网络的集装箱定位的方法、系统
WO2009086495A2 (en) * 2007-12-28 2009-07-09 Sam Stathis Robotic arm for accurate positioning in three-dimensional space, measurement of three-dimensional coordinates, and remote tooling operations in three-dimensional space
CN102331792A (zh) * 2011-06-24 2012-01-25 天津市亚安科技电子有限公司 一种控制云台预置位的方法及系统
TWI439834B (zh) * 2011-12-29 2014-06-01 Ind Tech Res Inst 移動平台之導航方法與系統
CN104280024B (zh) * 2013-07-05 2017-04-19 中国科学院沈阳自动化研究所 一种深水机器人组合导航装置和方法
CN105115498B (zh) * 2015-09-30 2019-01-01 长沙开山斧智能科技有限公司 一种机器人定位导航系统及其导航方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101285878A (zh) * 2008-06-04 2008-10-15 中国海洋大学 一种无线传感器网络的垂直相交定位算法
CN102121827A (zh) * 2010-11-29 2011-07-13 浙江亚特电器有限公司 一种移动机器人定位系统及其定位方法
CN203125524U (zh) * 2013-03-08 2013-08-14 科沃斯机器人科技(苏州)有限公司 自移动机器人激光引导行走作业系统
CN104236521A (zh) * 2013-06-14 2014-12-24 科沃斯机器人科技(苏州)有限公司 用于自移动机器人的线激光测距方法
US20160315723A1 (en) * 2015-04-27 2016-10-27 Aplix Ip Holdings Corporation Information-processing system, terminal device, and processing method thereof
CN106291464A (zh) * 2015-05-21 2017-01-04 金宝电子工业股份有限公司 灯标装置的自动识别方法

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3699715B1 (en) 2017-11-16 2022-01-05 Nanjing Chervon Industry Co., Ltd. Intelligent lawn mowing system
WO2020026125A1 (en) * 2018-07-30 2020-02-06 7hugs Labs SAS Charging station for tracked mobile object
US10821848B2 (en) 2018-07-30 2020-11-03 7hugs Labs SAS Charging station for tracked mobile object
CN113196350A (zh) * 2018-07-30 2021-07-30 七哈格斯实验室公司 被跟踪移动物体的充电站
CN113196350B (zh) * 2018-07-30 2023-11-10 七哈格斯实验室公司 被跟踪移动物体的充电站
US11524597B2 (en) 2018-07-30 2022-12-13 7hugs Labs SAS Charging station for tracked mobile object
CN110062460A (zh) * 2019-05-27 2019-07-26 北京雅讯东方科技有限公司 室内定位系统及方法
CN113899376B (zh) * 2020-07-06 2023-10-20 苏州宝时得电动工具有限公司 自移动设备地图生成方法、系统和自动工作系统
CN113899376A (zh) * 2020-07-06 2022-01-07 苏州宝时得电动工具有限公司 自移动设备地图生成方法、系统和自动工作系统
CN114666723A (zh) * 2020-12-04 2022-06-24 通用汽车环球科技运作有限责任公司 用于使用超宽带（uwb）信号的移动平台定位的系统和方法
US12296694B2 (en) 2021-03-10 2025-05-13 Techtronic Cordless Gp Lawnmowers
CN115150646A (zh) * 2021-03-31 2022-10-04 华为技术有限公司 一种显示第二电子设备控制窗口的方法及第一电子设备
CN115150646B (zh) * 2021-03-31 2024-06-11 华为技术有限公司 一种显示第二电子设备控制窗口的方法及第一电子设备
US12443180B2 (en) 2021-11-10 2025-10-14 Techtronic Cordless Gp Robotic lawn mowers
CN114815820B (zh) * 2022-04-18 2023-10-03 电子科技大学 一种基于自适应滤波的智能体小车线性路径规划方法
CN114815820A (zh) * 2022-04-18 2022-07-29 电子科技大学 一种基于自适应滤波的智能体小车线性路径规划方法
US12510892B2 (en) 2022-04-28 2025-12-30 Techtronic Cordless Gp Creation of a virtual boundary for a robotic garden tool
US12472611B2 (en) 2022-05-31 2025-11-18 Techtronic Cordless Gp Peg driver
US12369509B2 (en) 2022-07-19 2025-07-29 Techtronic Cordless Gp Display for controlling robotic tool
US12425197B2 (en) 2022-07-29 2025-09-23 Techtronic Cordless Gp Generation of a cryptography key for a robotic garden tool
CN116268720A (zh) * 2023-02-13 2023-06-23 艺唯科技股份有限公司 带交互功能的奖牌

Also Published As

Publication number Publication date
CN108575095B (zh) 2021-10-15
CN108575095A (zh) 2018-09-25

Similar Documents

Publication Publication Date Title
CN108575095B (zh) 自移动设备及其定位系统、定位方法和控制方法
US12524011B2 (en) Robotic mower, and control method thereof
US11266067B2 (en) Moving robot, method for controlling moving robot, and moving robot system
US11561554B2 (en) Self-moving device, working system, automatic scheduling method and method for calculating area
CN108226965B (zh) 自移动设备的定位故障处理方法、装置和电子设备
US11126193B2 (en) Automatic beacon position determination
US20190049984A1 (en) Automatic Working System and Control Method Thereof
US20130041526A1 (en) Robotic Lawn Mower with Network Sensors
US20170127608A1 (en) Autonomous Work Device
CN105823478A (zh) 一种自主避障导航信息共享和使用方法
EP3695701B1 (en) Robotic vehicle for boundaries determination
EP4017248A1 (en) Improved operation for a robotic work tool
CN207373179U (zh) 一种用于slam及导航的机器人控制系统
EP4206849B1 (en) Autonomous mobile gardening device and method for controlling same
CN111090284B (zh) 自行走设备返回基站的方法及自行走设备
EP3761141B1 (en) Method for mapping a working area of a mobile device
CN115237112A (zh) 一种智能割草机及其路径规划方法
CN104898551B (zh) 全自动割草机器人的双视觉自定位系统
CN119756328A (zh) 一种对目标区域建图的方法及相关装置
WO2022088313A1 (zh) 机器人自动充电方法、系统，机器人及存储介质
WO2024051733A1 (zh) 自移动机器人的控制系统、建图方法、进停靠站方法和出停靠站方法
CN112099487B (zh) 基于ros的地图构建与同时定位方法
CN114935932B (zh) 割草机视觉回站方法及系统
CN116009580A (zh) 一种基于无人机的茶园茶树喷药管理方法和系统
CN120295305A (zh) 自移动式机器人的自动回充方法及装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18736308

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 18736308

Country of ref document: EP

Kind code of ref document: A1