CN116400698A

CN116400698A - Positioning method, device, storage medium and electronic equipment of movable device

Info

Publication number: CN116400698A
Application number: CN202310384219.5A
Authority: CN
Inventors: 周渤; 胡俊; 张磊; 王磊; 张佳
Original assignee: Renjie Intelligent Technology Co ltd
Current assignee: Renjie Intelligent Technology Co ltd
Priority date: 2023-04-06
Filing date: 2023-04-06
Publication date: 2023-07-07

Abstract

The application discloses a positioning method, device, storage medium and electronic equipment of a movable device. Wherein, the method includes: sensing the first magnetic field strength at different positions in the target physical space where the movable device is located through the magnetic induction unit, where multiple external magnetic field sources are set; obtaining the first magnetic field strength and the first distance Functional relationship, wherein the first distance is the straight-line distance between the movable device and each external magnetic field source; during the movement of the movable device in the target physical space, the second magnetic field intensity sensed by the magnetic induction unit at the time of receiving the target; based on the functional relationship A second distance corresponding to the second magnetic field strength is determined, and a target position of the movable device at the target moment is determined based on the second distance. The present application solves the technical problem that the positioning data acquired by the mobile device and the movement data are deviated due to the large influence of the magnetic objects distributed in the physical space on the magnetic sensor.

Description

Positioning method and device of movable device, storage medium and electronic equipment

Technical Field

The present invention relates to the field of mobile devices, and in particular, to a positioning method and device for a mobile device, a storage medium, and an electronic apparatus.

Background

Environmental awareness is one of the important modules in an autonomous navigation system of a mobile robot, and research results of related algorithms are different. The motion behavior of the mobile robot is determined by an autonomous navigation system, the autonomous navigation system mainly comprises four modules, namely a sensing module, a planning module, a control module and a positioning module, the sensing module is a bridge for connecting the robot with the environment, the main idea is to use various environment sensing sensors to acquire the original data of the surrounding environment of the robot, the target characteristics are extracted through a sensing algorithm, and the final aim is to enable the robot to determine the position in the environment.

The magnetometer detects geomagnetic field intensities in different directions in a physical space, and usually uses the data to carry out algorithm correction on the encoder and the inertial sensor for attitude control or estimation. In practical application, magnetic objects distributed in the physical space have a larger influence on the magnetic induction sensor, when the magnetometer is used, the magnetic objects need to be isolated and protected, and if no corresponding measures are taken, the movable device can acquire positioning data and have deviation in movement data.

In view of the above problems, no effective solution has been proposed at present.

Disclosure of Invention

The embodiment of the application provides a positioning method and device of a movable device, a storage medium and electronic equipment, which at least solve the technical problems that the movable device acquires positioning data and the movement data have deviation due to the fact that magnetic objects distributed in a physical space have larger influence on a magnetic sensor.

According to an aspect of the embodiments of the present application, there is provided a positioning method of a movable apparatus provided with a magnetic induction unit, the method including: sensing first magnetic field intensities at different positions in a target physical space where the movable device is located through a magnetic induction unit, wherein a plurality of external magnetic field sources are arranged in the target physical space for providing magnetic fields; acquiring a functional relation between the first magnetic field strength and a first distance, wherein the first distance is a linear distance between the movable device and each external magnetic field source; the movable device receives the second magnetic field intensity sensed by the magnetic induction unit at the target moment in the process of moving the target physical space; and determining a second distance corresponding to the second magnetic field intensity based on the functional relation, and determining the target position of the movable device at the target moment based on the second distance.

Optionally, the method further comprises: acquiring the external magnetic field intensity corresponding to each external magnetic field source under the condition that the external magnetic field intensity corresponding to the magnetic field provided by the external magnetic field source is determined to be known and the external magnetic field intensity is different; comparing the first magnetic field intensity with the external magnetic field intensity, and determining the target position of the movable device at the target moment according to the comparison result.

Optionally, determining the target position of the movable device at the target moment according to the comparison result includes: determining an external magnetic field source with the external magnetic field intensity corresponding to the first magnetic field intensity in the plurality of external magnetic field sources as a target external magnetic field source; the location of the target external magnetic field source is determined as the target location.

Optionally, determining the target position of the movable device at the target moment based on the second distance includes: determining planar coordinates of the movable device in the target physical space based on the second distance; and acquiring a yaw angle corresponding to the movable device at the target moment, and acquiring a target position based on the plane coordinates and the yaw angle.

Optionally, the body of the movable device is provided with electromagnetic induction coils at different positions, and after determining the target position of the movable device at the target time based on the second distance, the method further comprises: under the condition that the target position is at the edge position of the target physical space, determining a first electromagnetic induction coil close to the edge position in the body, and controlling the first electromagnetic induction coil and an external magnetic field source to generate a repulsive field so as to be used for being far away from the edge position; or determining a second electromagnetic induction coil far away from the edge position in the body, and controlling the second electromagnetic induction coil and an external magnetic field source to generate a gravitational field for being far away from the edge position.

Optionally, after determining the target position of the movable device at the target time based on the second distance, the method further comprises: a first motion state of the movable device is acquired, wherein the first motion state comprises one of: a climbing state and a downhill state; under the condition that the first motion state is a climbing state, controlling the electromagnetic induction coil and an external magnetic field source to form forward traction force, wherein the forward traction force is used for assisting forward acceleration of the movable device; and under the condition that the first motion state is a downhill state, controlling the electromagnetic induction coil and the external magnetic field source to form a reverse traction force, wherein the reverse traction force is used for assisting the movable device to accelerate reversely.

Optionally, after determining the target position of the movable device at the target time based on the second distance, the method further comprises: acquiring the moving direction of the movable device in a continuous period; controlling the electromagnetic induction coil and an external magnetic field source to form forward traction force when the target position is within a preset area range in the process of indicating the movable device to turn in the moving direction, so as to assist the movable device to finish turning; and in the process of indicating the movable device to be turned in the moving direction, controlling the electromagnetic induction coil and the external magnetic field source to form reverse traction force for assisting the movable device to rotate in the reverse direction of the magnetic attraction force direction under the condition that the target position is out of the preset area range.

Optionally, the method further comprises: after the movable device is controlled to generate initial movement speed, the movable device is controlled to move in the target physical space based on electromagnetic induction phenomena of the electromagnetic induction coil and an external magnetic field source.

Optionally, the external magnetic field source is a cylindrical magnetic field source, and acquiring the functional relationship between the first magnetic field strength and the first distance at a plurality of different positions in the target physical space includes: acquiring an initial fitting equation of the magnetic induction intensity corresponding to the cylindrical magnetic field source, wherein the initial fitting equation is used for indicating the functional relation between the magnetic induction intensity corresponding to the cylindrical magnetic field source and the height of the cylinder and the distance from the axis of the cylinder; and acquiring the actual magnetic field intensity detected at different distances under the magnetic induction intensities corresponding to the cylinder magnetic field sources with different sizes, constructing a higher-order equation corresponding to an initial fitting equation according to the detection result, and determining the higher-order equation as a functional relation.

According to another aspect of embodiments of the present application, there is also provided a movable apparatus including: the magnetic control unit is used for acquiring the functional relation between the first magnetic field intensity and the first distance of the movable device at a plurality of different positions in the target physical space, receiving the second magnetic field intensity sensed by the magnetic induction unit when the movable device is at the target moment in the moving process of the target physical space, determining the second distance corresponding to the second magnetic field intensity based on the functional relation, and determining the target position of the movable device at the target moment based on the second distance, wherein a plurality of external magnetic field sources are arranged in the target physical space and used for providing magnetic fields, and the first distance is the linear distance between the movable device and each external magnetic field source; the magnetic induction unit is used for detecting the second magnetic field intensity corresponding to the movable device when the movable device is at the target moment in the process of moving the target physical space; wherein, the magnetic induction unit and the magnetic control unit are arranged by adopting a layered isolation method.

According to another aspect of the embodiments of the present application, there is also provided a positioning device of a movable device provided with a magnetic induction unit, including: the induction module is used for inducing first magnetic field intensities at different positions in a target physical space where the movable device is located through the magnetic induction unit, and a plurality of external magnetic field sources are arranged in the target physical space and used for providing magnetic fields; the acquisition module is used for acquiring a functional relation between the first magnetic field intensity and a first distance, wherein the first distance is a linear distance between the movable device and each external magnetic field source; the receiving module is used for receiving the second magnetic field intensity sensed by the magnetic induction unit at the target moment in the process that the movable device moves in the target physical space; and the determining module is used for determining a second distance corresponding to the second magnetic field intensity based on the functional relation and determining the target position of the movable device at the target moment based on the second distance.

Optionally, the movable device comprises: and a cleaning robot configured to determine a target area with the target position as an origin and a predetermined length as a radius after determining a target position of the movable device at a target time based on the second distance, and to control the cleaning robot to clean a surface in the target area.

According to another aspect of the embodiments of the present application, there is also provided a nonvolatile storage medium including: the storage medium includes a stored program, wherein the program, when run, controls the device in which the storage medium resides to perform any one of the positioning methods of the removable device.

According to another aspect of the embodiments of the present application, there is also provided an electronic device, including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute instructions to implement any of the methods of positioning a mobile device.

In the embodiment of the application, magnetic field sources are arranged in a physical space, a mode of realizing robot positioning and auxiliary motion control by using magnetic field sensing and magnetic force is adopted, first magnetic field intensities at different positions in a target physical space where a movable device is positioned are sensed through a magnetic induction unit, and a plurality of external magnetic field sources are arranged in the target physical space; acquiring a functional relation between the first magnetic field strength and the first distance; the movable device receives the second magnetic field intensity sensed by the magnetic induction unit at the target moment in the process of moving the target physical space; the second distance corresponding to the second magnetic field intensity is determined based on the functional relation, and the target position of the movable device at the target moment is determined based on the second distance, so that the purpose of reducing the positioning error of the robot is achieved, the technical effects of improving the deviation correcting capability, the edge anti-dropping capability, the designated position steering capability and the large-inclination ground grabbing capability of the robot during edge running are achieved, and the technical problems that the movable device acquires positioning data and the movable data have deviation due to the fact that magnetic objects distributed in a physical space have larger influence on a magnetic sensor are solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

FIG. 1 is a flow chart of a method for positioning a mobile device according to an embodiment of the present application;

FIG. 2 is a schematic illustration of a robot traveling along an edge according to an embodiment of the present application;

FIG. 3 is a schematic illustration of a forward acceleration of a robot according to an embodiment of the present application;

FIG. 4 is a schematic illustration of a reverse deceleration of a robot according to an embodiment of the present application;

FIG. 5 is a schematic illustration of a robotic homeotropic steering according to an embodiment of the present application;

FIG. 6 is a schematic illustration of a robotic reverse-potential steering according to an embodiment of the present application;

FIG. 7 is a schematic view of a robotic vehicle body according to an embodiment of the application;

FIG. 8a is a schematic illustration of a robot longitudinal layering separation according to an embodiment of the present application;

FIG. 8b is a schematic illustration of a robot lateral stratification isolation according to an embodiment of the present application;

FIG. 9 is a schematic view of a robot anti-drop according to an embodiment of the present application;

FIG. 10 is a schematic illustration of a lateral movement of a robot according to an embodiment of the present application;

FIG. 11a is a schematic illustration of a robot position according to an embodiment of the present application;

FIG. 11b is a schematic illustration of a robotic movement according to an embodiment of the present application;

FIG. 12 is a logic block diagram of a magnetic force sensing module according to an embodiment of the present application;

FIG. 13 is a schematic diagram of a magnetic force switching control flow according to an embodiment of the present application;

FIG. 14 is a schematic view of a mobile device according to an embodiment of the present application;

FIG. 15 is a schematic view of a positioning device of a mobile device according to an embodiment of the present application;

fig. 16 is a schematic block diagram of an example electronic device 1600 in accordance with an embodiment of the present application.

Detailed Description

In order to make the present application solution better understood by those skilled in the art, the following description will be made in detail and with reference to the accompanying drawings in the embodiments of the present application, it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

According to embodiments of the present application, there is provided an embodiment of a method of positioning a movable device, it being noted that the steps shown in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowcharts, in some cases the steps shown or described may be performed in an order different from that herein.

Fig. 1 is a positioning method of a mobile device according to an embodiment of the present application, as shown in fig. 1, the method includes the following steps:

step S102, sensing first magnetic field intensities at different positions in a target physical space where a movable device is located through a magnetic induction unit, wherein a plurality of external magnetic field sources are arranged in the target physical space for providing magnetic fields;

through the technical scheme provided in the step S102, the magnetic induction unit can be used to induce the first magnetic field intensity at different positions in the target physical space where the movable device is located, it should be noted that the external magnetic field source is a magnetic field source (i.e., the external magnetic field source) specifically set locally in the target physical space, and therefore, the local magnetic induction intensity of the magnetic field source is far greater than the magnetic induction intensity of geomagnetism.

Optionally, the magnetic induction unit is disposed on the movable device body, for example, may be disposed in front of or behind the movable device, and in order to obtain the magnetic induction strength more accurately, in some embodiments of the present application, the magnetic induction unit may be disposed at a centroid position on the movable device.

Optionally, the magnetic induction unit includes, but is not limited to: magnetometers (i.e. magnetic sensors), it being understood that magnetic induction is a vector, magnetometers that can only be used for measuring the magnitude of magnetic field strength are scalar magnetometers that can measure the magnitude of magnetic field strength in a specific direction, and vector magnetometers are preferred in this application because of the need to sense the magnetic field strength in different directions.

It should be noted that the above movable device includes, but is not limited to: vehicles, robots, and various mobile devices. For example, the robot may be a cleaning robot, a factory inspection robot, or the like.

Step S104, obtaining a functional relation between the first magnetic field intensity and a first distance, wherein the first distance is a linear distance between the movable device and each external magnetic field source;

it should be noted that the above functional relationship may be a functional relationship comprehensively determined according to a plurality of experiments, where the functional relationship may be at least used to quantify a gradient relationship between a magnetic field strength and a distance (a linear distance between the movable device and the external magnetic field source).

Step S106, the movable device receives the second magnetic field intensity sensed by the magnetic induction unit at the target moment in the process of moving the target physical space;

in the technical scheme provided in the step S106, the magnetic field strength of the movable device at a certain moment in the process of moving in real time can be obtained.

For example, when the cleaning robot moves from the point a to the point B in the room at the corresponding time 1, the magnetic field intensity at the time 1 can be obtained in real time through the above technical scheme.

Step S108, determining a second distance corresponding to the second magnetic field intensity based on the functional relation, and determining the target position of the movable device at the target moment based on the second distance.

Through the technical scheme provided in the step S108, the target position of the movable device at the target moment can be positioned through the predetermined functional relationship and the second magnetic field intensity determined in the step S, so as to realize global positioning in the target physical space. It is easy to note that, since the functional relationship between the magnetic field strength and the distance is obtained in advance, in the technical solutions of step S102 to step S108 of the present application, the external magnetic field strength corresponding to the magnetic field provided by the external magnetic field source is known or unknown, and the technical solutions of the present application are all applicable.

It can be appreciated that in order to improve the environmental perception capability of the robot, in the above technical scheme of the application, the magnetometer, the proximity switch, the laser radar, the camera and the GPS can be combined for use, so that the possible defects of other sensors can be overcome, and the accuracy of global positioning of the magnetometer can be improved.

It should be noted that, the technical scheme in this application can be applied to clean photovoltaic module, can understand that above-mentioned movable device can be for cleaning the robot, and above-mentioned target physical space is photovoltaic module in the photovoltaic square matrix.

In the embodiment of the application, magnetic field sources are rearranged in a physical space, a mode of realizing robot positioning and auxiliary motion control by using magnetic field sensing and magnetic force is adopted, first magnetic field intensities at different positions in a target physical space where a movable device is positioned are sensed through a magnetic induction unit, and a plurality of external magnetic field sources are arranged in the target physical space; acquiring a functional relation between the first magnetic field strength and the first distance; the movable device receives the second magnetic field intensity sensed by the magnetic induction unit at the target moment in the process of moving the target physical space; the second distance corresponding to the second magnetic field intensity is determined based on the functional relation, and the target position of the movable device at the target moment is determined based on the second distance, so that the purpose of reducing the positioning error of the robot is achieved, and the accurate positioning is achieved, so that the technical effects of the correction capability, the edge anti-drop capability, the designated position steering capability and the large inclination angle ground grabbing capability of the robot along the edge are indirectly improved, and the technical problems that the movable device acquires positioning data and the movable data have deviation due to the fact that magnetic objects distributed in a physical space have larger influence on a magnetic sensor are solved.

It should be noted that the setting conditions of the plurality of external magnetic field sources can be divided into two cases: the first case where the external magnetic field strengths of the magnetic fields provided by the plurality of external magnetic field sources are the same, and the second case where the external magnetic field strengths of the magnetic fields provided by the plurality of external magnetic field sources are different; it is easy to note that in the case where the external magnetic field strengths of the magnetic fields supplied from the plurality of external magnetic field sources are all the same, the range of the magnetic field coverage of each of the plurality of external magnetic field sources is the same, and in the case where the external magnetic field strengths of the magnetic fields supplied from the plurality of external magnetic field sources are different, the range of the magnetic field coverage of each of the plurality of external magnetic field sources is different, wherein the larger the magnetic field strength supplied from the external magnetic field sources is, the larger the range of the coverage is.

It will be appreciated that, in the magnetic fields provided by the plurality of external magnetic field sources, if the external magnetic field strengths are the same, the range covered by the magnetic field of each external magnetic field source is the same; if the external magnetic field strength is different, the coverage range of the magnetic field of each external magnetic field source is different. It should be noted that, when the external magnetic field strengths of the magnetic fields provided by the plurality of external magnetic field sources are all the same, the setting positions of the external magnetic field sources may be set at fixed distances each time, and when the magnetic field strength is calculated, the magnetic field strength may be a superposition between the plurality of positions; in the case where the external magnetic field strengths of the magnetic fields supplied from the plurality of external magnetic field sources are different, detection can be performed at specific positions while only one magnetic field source is induced (the magnetic field strengths of the other magnetic field sources are isolated) because each external magnetic field source has a different magnetic field coverage range.

In the above embodiment, the magnetic field strength corresponding to the magnetic field provided by the external magnetic field source may be unknown (i.e. the magnetic field strength corresponding to each external magnetic field source is not acquired in advance), which is considered that if the magnetic field source is locally arranged in the movable device each time, the time is wasted in determining the magnetic field strength corresponding to the magnetic field provided by each magnetic field source, and thus, in other alternative embodiments of the present application, for example, the movable device has a smaller moving range, and the number of external magnetic field sources provided is smaller, the magnetic field strength corresponding to the external magnetic field source may be determined in advance, and then the position of the vehicle is reversely deduced by the movable device (for example, the trolley) from the magnetic field strength (magnetic induction strength) sensed at a certain position, it is required to relate the magnetic field strength to the position one by one, for example, the position point a, the position point B, the position point C, and the magnetic field strength of the external magnetic field source provided by the external magnetic field source are H respectively, because the position is reversely deduced based on the magnetic field strength ₁ 、H ₂ 、H ₃ The corresponding trolley can sense that the corresponding magnetic induction intensity is b respectively ₁ 、b ₂ 、b ₃ That is, in the case where it is determined that the magnetic field strength corresponding to the magnetic field provided by the external magnetic field source is known and the external magnetic field strength provided by each of the plurality of external magnetic field sources is different, the external magnetic field strength corresponding to each of the external magnetic field sources may be obtained; comparing the first magnetic field intensity with the external magnetic field intensity, and determining the target position of the movable device at the target moment according to the comparison result.

As an alternative embodiment, determining the target position of the movable apparatus at the target time according to the comparison result includes: determining a plurality of external magnetic field sourcesThe external magnetic field source with the middle external magnetic field strength corresponding to the first magnetic field strength is a target external magnetic field source; the location of the target external magnetic field source is determined as the target location. For example, when the trolley moves to a certain place, the magnetic field strength sensed by the magnetic field meter is b ₃ It can be determined that the external magnetic field source provides an external magnetic field having a strength H ₃ And further determining that the current moment of the trolley is at the point C.

In some optional embodiments of the present application, in the solution of step S108, determining, based on the second distance, a target position where the movable device is located at the target moment includes: determining planar coordinates of the movable device in the target physical space based on the second distance; and acquiring a yaw angle corresponding to the movable device at the target moment, and acquiring a target position based on the plane coordinates and the yaw angle. I.e. the position of the movable device can be determined from the angle and distance of the deviation in the direction.

In order to improve the deviation rectifying capability, the edge falling preventing capability, the ground grabbing capability and the like of the edge running of the movable device (such as a robot), in an exemplary embodiment of the application, electromagnetic induction coils are arranged at different positions of the body of the movable device, and the electromagnetic induction coils can generate corresponding magnetic fields according to the change of the environment in which the movable device is located.

Optionally, in the case that the target position is at an edge position of the target physical space, determining a first electromagnetic induction coil in the body, which is close to the edge position, and controlling the first electromagnetic induction coil and an external magnetic field source to generate a repulsive field for being away from the edge position; or determining a second electromagnetic induction coil far away from the edge position in the body, and controlling the second electromagnetic induction coil and an external magnetic field source to generate a gravitational field so as to be used for being far away from the edge position.

As another alternative embodiment, the first electromagnetic induction coil and the external magnetic field source may be controlled to generate a repulsive field at the same time, and the second electromagnetic induction coil and the external magnetic field source may be controlled to generate a gravitational field for being away from the edge position.

For example, fig. 2 is a schematic diagram of a robot running along the edge according to an embodiment of the present application, as shown in fig. 2, when the robot runs along the edge, and when the course angle deviates from the preset threshold range, the magnetic control unit controls the area corresponding to the robot, so that the robot and the edge of the photovoltaic module generate a gravitational field, and performs motion correction on the robot.

In some optional embodiments of the present application, in an application scenario where a movable device (e.g. a robot) climbs or descends at a large inclination angle, in order to avoid rolling of the movable device, a ground grabbing capability of the movable device (e.g. may be improved by: a climbing state and a downhill state; under the condition that the first motion state is a climbing state, controlling the electromagnetic induction coil and an external magnetic field source to form forward traction force, wherein the forward traction force is used for assisting forward acceleration of the movable device; and under the condition that the first motion state is a downhill state, controlling the electromagnetic induction coil and the external magnetic field source to form a reverse traction force, wherein the reverse traction force is used for assisting the movable device to accelerate reversely. It is easy to note that under a large inclination angle scene, for example, a gradient is greater than 40 degrees, if the ground grabbing capability of the robot is poor, rollover, rolling and the like are easy to occur, so that the manner of controlling the electromagnetic induction coil and the external magnetic field source to form reverse traction force and further assisting the robot in accelerating reversely can be avoided, and rollover, rolling and the like caused by too high downhill speed of the robot can be avoided.

Alternatively, the robot in the embodiment of the present application may be a cleaning robot, which may clean a photovoltaic array located in an outdoor environment, for example, clean a photovoltaic module in the photovoltaic array.

For example, fig. 3 is a schematic diagram of forward acceleration of a robot according to an embodiment of the present application, as shown in fig. 3, when the robot is climbing a slope, the magnetic control unit assists the robot to accelerate forward, so that the robot climbs a slope when cleaning a photovoltaic module.

For example, fig. 4 is a schematic diagram of reverse deceleration of a robot according to an embodiment of the present application, as shown in fig. 4, when the robot runs downhill, the magnetron unit assists the robot to accelerate reversely, so that the robot descends while cleaning the photovoltaic module.

In some alternative embodiments of the present application, the steering capability of the movable device (e.g., a robot) at a specified position may be improved by, in particular, acquiring the moving direction of the movable device in a continuous period; controlling the electromagnetic induction coil and an external magnetic field source to form forward traction force when the target position is within a preset area range in the process of indicating the movable device to turn in the moving direction, so as to assist the movable device to finish turning; and in the process of indicating the movable device to be turned in the moving direction, controlling the electromagnetic induction coil and the external magnetic field source to form reverse traction force for assisting the movable device to rotate in the reverse direction of the magnetic attraction force direction under the condition that the target position is out of the preset area range. It should be noted that the predetermined area may be a certain designated position, for example, within 3 seconds, when it is detected that the robot is performing the steering operation and is at the designated position, the electromagnetic induction coil and the external magnetic field source are controlled to form a traction force to assist the robot in completing the steering.

For example, fig. 5 is a schematic diagram of a robot steering in a homeotropic manner according to an embodiment of the present application, as shown in fig. 5, when the robot steers in situ, the robot is assisted by the magnetic control unit to steer in a homeotropic manner when the positioning coordinates are within a preset threshold (i.e. within a preset area).

For example, fig. 6 is a schematic diagram of reverse steering of a robot according to an embodiment of the present application, as shown in fig. 6, when the positioning coordinates are greater than a set threshold (outside a preset area range) during in-situ steering of the robot, the magnetic control unit is used to assist the robot to correct the direction along the reverse direction of the falling or dislocation.

As an alternative embodiment, the movable apparatus (robot) may be controlled to move according to an electromagnetic induction phenomenon, specifically, after the movable apparatus generates an initial movement speed, the movable apparatus is controlled to move in a target physical space based on the electromagnetic induction phenomenon of the electromagnetic induction coil and an external magnetic field source. It can be appreciated that, with the above embodiment, after the robot is driven, the power output of the power device of the robot can be turned off or reduced (for example, when the robot is driven by electric energy, the power source can be turned off), and the movement of the robot is controlled based on the electromagnetic induction phenomenon, so as to achieve the purpose of saving the energy consumption of the robot.

In an exemplary embodiment of the present application, the external magnetic field source is a cylindrical magnetic field source, and obtaining a functional relationship between a first magnetic field strength and a first distance at a plurality of different positions in a target physical space includes: acquiring an initial fitting equation of the magnetic induction intensity corresponding to the cylindrical magnetic field source, wherein the initial fitting equation is used for indicating the functional relation between the magnetic induction intensity corresponding to the cylindrical magnetic field source and the height of the cylinder and the distance from the axis of the cylinder; and acquiring the actual magnetic field intensity detected at different distances under the magnetic induction intensities corresponding to the cylinder magnetic field sources with different sizes, constructing a higher-order equation corresponding to an initial fitting equation according to the detection result, and determining the higher-order equation as a functional relation.

Alternatively, the above functional relationship may be determined by:

1. and determining a course angle of the robot during operation according to the geomagnetic intensity:

the pitch angle pitch and the roll angle roll in the navigation direction are calculated through acceleration, the geomagnetic intensity, the pitch angle and the roll angle are combined, the equilibrium motion state is assumed, the ellipsoid method is utilized to fit parameters and normalize to obtain a theoretical yaw angle yaw, and the calculation formula is as follows:

2. determining a distance value according to the positioning coordinate value:

2.1, according to the magnetic induction intensity of the cylinder body is B ₀ X is the distance on the axis, L is the height of the cylinder, and the magnetic induction intensity at the position of the distance X is used as an initial fitting equation, and the calculation formula is as follows:

B(x)＝B ₀ *L*L/[(2x+L)*(2x+L)]；

2.2, fitting the actual error equation of the magnetic induction intensity by statistics (to the 3 rd power of the distance, B ₁ (x) Or the power of 4B ₂ (x) Introducing parameter factors) to obtain an actual magnetic induction strength and distance relation as a final quantization equation, wherein the calculation formula is as follows:

B_real(x)＝K ₀ *B(x)+K ₁ *B ₁ (x)+K ₂ *B ₂ (x) (formula 1);

it should be noted that the K coefficient may be a constant value, or other practical coupling factors may be introduced, such as heading angle offset, where X is not the distance on the axis, but a straight line distance to the magnetic source.

2.3, according to the original ampere law: h x l=n x I (formula 2);

it should be noted that H is the magnetic field strength in the absence of vacuum (i.e., in an ideal state, the material in the space is not considered, only the magnetic field source and the current are considered, and the strength of the actual magnetic field is ignored), L is the length of the ampere loop, I is the current strength, and N is the number of turns of the coil.

Actual magnetic field strength b=μ×h (formula 3);

mu is magnetic permeability.

The specific parameters (i.e. number of turns of coil, current) needed inside the magnetron unit are obtained by correlating equation 3 with equation 1 and equation 2.

And 2.4, after the local magnetic field intensity (namely the magnetic source is constant) is determined, the distance from the magnetic source in each direction is calculated according to the formula 1, and the coordinate value required by actual positioning is obtained.

Fig. 7 is a schematic view of a robot body according to an embodiment of the present application, as shown in fig. 7, a magnetic control unit (i.e., a magnetic field control unit) is provided in the robot body, and an electromagnetic induction coil is provided at the periphery of the robot body, i.e., in each of the positions of the periphery 1 to 8 of the body, and the magnetic control unit is used to control the magnetic field intensity, magnetism, activation or not of the electromagnetic induction coil at each of the positions.

In order to reduce mutual interference between the magnetic induction unit and the magnetic control unit, in the embodiment of the present application, a layered isolation manner may be used to reduce interference between the magnetic induction unit and the magnetic control unit, and fig. 8a is a schematic diagram of longitudinal layered isolation of a robot according to an embodiment of the present application, as shown in fig. 8a, in a robot body, the magnetic induction unit and the magnetic control unit may use a longitudinal layered isolation manner to reduce interference between the magnetic induction unit and the magnetic control unit.

Fig. 8b is a schematic diagram of a lateral layered isolation of a robot according to an embodiment of the present application, as shown in fig. 8b, in a robot body, a lateral layered isolation manner may be used for a magnetic induction unit and a magnetic control unit, so as to reduce interference between the magnetic induction unit and the magnetic control unit.

It should be noted that at least 1 induction meter is provided in the robot body for sensing the surrounding magnetic field intensity and geomagnetic intensity by the robot; at least 1 set of electromagnetic induction switching modules are arranged in the robot body, namely coil windings are arranged in different areas of the robot body so as to be used for switching magnetic field force according to requirements.

Fig. 9 is a schematic view of a robot anti-drop scene according to an embodiment of the application, as shown in fig. 9, when the robot is running along the edge, and when the positioning coordinates are detected at the edge of the photovoltaic module or an external sensor, the magnetic control unit assists the robot to be far away from the edge of the photovoltaic module, that is, the robot can be immediately and actively stopped.

Fig. 10 is a schematic view of a lateral movement of a robot according to an embodiment of the present application, as shown in fig. 10, in which a magnetic control unit assists the robot in balancing gravity components when the robot is laterally operated, so that the robot is laterally operated when cleaning a photovoltaic module.

As shown in fig. 11a and 11b, the walking power of the robot can be moved by a magnetic principle, and the driving force is provided for the robot by using an electromagnetic induction phenomenon after the initial movement speed is generated by the magnetic control unit of the robot.

FIG. 12 is a logic block diagram of a magnetic force sensing module, as shown in FIG. 12, according to an embodiment of the present application, the block diagram comprising:

(1) At least 1 magnetic induction meter is arranged on the body of the robot for sensing the surrounding magnetic field intensity and geomagnetic intensity; at least arranging 1 external magnetic field source in the use scene;

(2) And calculating the global positioning of the robot by a statistical quantization and differential complementation method.

It is easy to notice that the magnetic force sensing is realized in the mode, the positioning precision of the robot can be improved, and the universality of the robot can be improved by the controllable magnetic field source.

In order to facilitate a better understanding of the technical solutions of the present application, a specific embodiment will now be described.

Fig. 13 is a schematic diagram of a magnetic force switching control flow according to an embodiment of the present application, as shown in fig. 13, the flow includes:

(1) The magnetic induction unit detects the magnetic field intensity (namely the second magnetic field intensity) of the robot at the target moment when the robot moves in the physical space, determines the distance (namely the second distance) according to the magnetic field intensity, and determines the target position of the robot at the target moment based on the distance;

(2) Detecting a course angle in real time when the robot moves to a target position;

(3) And analyzing the range of the course angle, the positioning coordinates and the state of an external sensor, and changing the magnetism of different areas of the robot body by the magnetic control unit according to the analysis result so as to assist the robot in running.

Specifically, when the robot runs along the edge, the magnetic control unit controls the region corresponding to the robot (namely, far away from the edge) under the condition that the course angle deviates from the preset threshold range, so that the robot and the edge generate a gravitational field, and the robot is subjected to motion correction.

Specifically, when the robot operates along the edge, the magnetic control unit assists the robot to keep away from the photovoltaic assembly edge, namely, the robot actively stops or turns when the positioning coordinates are at the photovoltaic assembly edge or the photovoltaic assembly edge is detected by an external sensor.

Specifically, when the robot turns in situ, under the condition that the positioning coordinates are within a preset threshold value, the magnetic control unit is used for assisting the robot to turn in a homeopathic manner; when the positioning coordinates are larger than the set threshold value, the magnetic control unit is used for assisting the robot to correct the direction along the reverse direction of the falling or dislocation.

It is easy to note that, this application adopts and arranges the magnetic field source in the physical space, utilizes magnetic field perception and magnetic force to realize the mode of robot location and auxiliary motion control, has following beneficial effect: (1) robot positioning errors are reduced; (2) The correction capability, the edge-reaching anti-drop capability, the designated position steering capability and the large inclination angle ground grabbing capability of the robot in edge-along operation are improved; (3) The motion stability of the robot and the applicable scene range are improved.

Fig. 14 is a schematic structural view of a movable apparatus according to an embodiment of the present application, as shown in fig. 14, the apparatus includes:

the magnetic control unit 140 is configured to obtain a functional relationship between a first magnetic field strength and a first distance of the movable device at a plurality of different positions in the target physical space, and receive a second magnetic field strength sensed by the magnetic induction unit when the movable device is at a target time in a process of moving the target physical space, determine a second distance corresponding to the second magnetic field strength based on the functional relationship, and determine a target position of the movable device at the target time based on the second distance, where a plurality of external magnetic field sources are provided in the target physical space for providing magnetic fields, and the first distance is a linear distance between the movable device and each external magnetic field source;

a magnetic induction unit 142, configured to detect a second magnetic field intensity corresponding to the movable apparatus when at the target moment in the process of moving the target physical space; wherein, the magnetic induction unit and the magnetic control unit are arranged by adopting a layered isolation method.

In the device, a magnetic control unit 140 is configured to obtain a functional relationship between a first magnetic field strength and a first distance of a movable device at a plurality of different positions in a target physical space, and receive a second magnetic field strength sensed by a magnetic induction unit when the movable device is at a target time in a process of moving the target physical space, determine a second distance corresponding to the second magnetic field strength based on the functional relationship, and determine a target position of the movable device at the target time based on the second distance, where a plurality of external magnetic field sources are provided in the target physical space for providing magnetic fields, and the first distance is a linear distance between the movable device and each external magnetic field source; a magnetic induction unit 142, configured to detect a second magnetic field intensity corresponding to the movable apparatus when at the target moment in the process of moving the target physical space; the magnetic induction units and the magnetic control units are distributed by adopting a layered isolation method, so that the purpose of reducing the positioning error of the robot is achieved, the technical effects of improving the deviation correcting capability, the falling-preventing capability, the designated position steering capability and the large inclination angle ground grabbing capability of the robot during edge operation are achieved, and the technical problems that the movable device acquires positioning data and the movable data have deviation due to the fact that magnetic objects distributed in a physical space have larger influence on the magnetic induction sensors are solved.

Fig. 15 is a schematic structural view of a positioning device of a movable device according to an embodiment of the present application, as shown in fig. 15, the device includes:

the sensing module 150 is configured to sense, through the magnetic induction unit, first magnetic field strengths at different positions in a target physical space where the movable device is located, where a plurality of external magnetic field sources are disposed for providing magnetic fields;

an obtaining module 152, configured to obtain a functional relationship between a first magnetic field strength and a first distance, where the first distance is a linear distance between the movable device and each external magnetic field source;

a receiving module 154, configured to receive the second magnetic field strength sensed by the magnetic induction unit at the target moment in a process that the movable apparatus moves in the target physical space;

a determining module 156 is configured to determine a second distance corresponding to the second magnetic field strength based on the functional relationship, and determine a target position of the movable device at the target time based on the second distance.

In the device, an induction module 150 is used for inducing first magnetic field intensity at different positions in a target physical space where the movable device is located through a magnetic induction unit, and a plurality of external magnetic field sources are arranged in the target physical space for providing magnetic fields; an obtaining module 152, configured to obtain a functional relationship between a first magnetic field strength and a first distance, where the first distance is a linear distance between the movable device and each external magnetic field source; a receiving module 154, configured to receive the second magnetic field strength sensed by the magnetic induction unit at the target moment in a process that the movable apparatus moves in the target physical space; the determining module 156 is configured to determine a second distance corresponding to the second magnetic field strength based on the functional relationship, determine a target position of the movable device at the target moment based on the second distance, and achieve the purpose of reducing a positioning error of the robot, thereby achieving the technical effects of improving a deviation rectifying capability, an edge anti-drop capability, a designated position steering capability and a large inclination angle ground grabbing capability of the robot along the edge, and further solving the technical problems that the movable device acquires positioning data and the movement data have deviation due to a large influence of magnetic objects distributed in a physical space on the magnetic sensor.

Alternatively, the movable device may be a cleaning robot, and after determining the target position of the movable device at the target time based on the second distance, the target area may be determined with the target position as an origin and the predetermined length as a radius, and the cleaning robot may be controlled to clean the surface in the target area. Taking a cleaning photovoltaic module as an example, when the cleaning robot moves to a certain position on the photovoltaic module, the cleaning robot can take the position as an origin and take a preset length as a radius to make a circle, and then control the cleaning robot to clean the surface in the circular area on the photovoltaic module.

According to another aspect of the embodiments of the present application, there is further provided a non-volatile storage medium, where the non-volatile storage medium includes a stored program, and when the program runs, the apparatus in which the non-volatile storage medium is controlled to execute the positioning method of any one of the removable devices.

Specifically, the storage medium is configured to store program instructions for the following functions, and implement the following functions:

sensing first magnetic field intensities at different positions in a target physical space where the movable device is located through a magnetic induction unit, wherein a plurality of external magnetic field sources are arranged in the target physical space; acquiring a functional relation between the first magnetic field strength and a first distance, wherein the first distance is a linear distance between the movable device and each external magnetic field source; the movable device receives the second magnetic field intensity sensed by the magnetic induction unit at the target moment in the process of moving the target physical space; and determining a second distance corresponding to the second magnetic field intensity based on the functional relation, and determining the target position of the movable device at the target moment based on the second distance.

Alternatively, in the present embodiment, the storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

In an exemplary embodiment of the present application, a computer program product is also provided, comprising a computer program which, when executed by a processor, implements a positioning method of any of the above-mentioned movable devices.

Optionally, the computer program may, when executed by a processor, implement the steps of:

There is provided, according to an embodiment of the present application, an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of positioning a mobile device according to any one of the preceding claims.

Optionally, the electronic device may further include a transmission device and an input/output device, where the transmission device is connected to the processor, and the input device is connected to the processor.

Fig. 16 is a schematic block diagram of an example electronic device 1600 in accordance with an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the application described and/or claimed herein.

As shown in fig. 16, the apparatus 1600 includes a computing unit 1601 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM) 1602 or a computer program loaded from a storage unit 1608 into a Random Access Memory (RAM) 1603. In RAM 1603, various programs and data required for operation of device 1600 may also be stored. The computing unit 1601, ROM 1602, and RAM 1603 are connected to each other by a bus 1604. An input/output (I/O) interface 1605 is also connected to the bus 1604.

Various components in device 1600 are connected to I/O interface 1605, including: an input unit 1606 such as a keyboard, a mouse, and the like; an output unit 1607 such as various types of displays, speakers, and the like; a storage unit 1608, such as a magnetic disk, an optical disk, or the like; and a communication unit 1609, such as a network card, modem, wireless communication transceiver, or the like. Communication unit 1609 allows device 1600 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks.

The computing unit 1601 may be a variety of general purpose and/or special purpose processing components with processing and computing capabilities. Some examples of computing unit 1601 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 1601 performs the various methods and processes described above, e.g., a positioning method of a movable device. For example, in some embodiments, the positioning method of the removable device may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as the storage unit 1608. In some embodiments, some or all of the computer programs may be loaded and/or installed onto device 1600 via ROM 1602 and/or communication unit 1609. When the computer program is loaded into RAM 1603 and executed by computing unit 1601, one or more steps of the positioning method of the movable apparatus described above can be performed. Alternatively, in other embodiments, the computing unit 1601 may be configured to perform the positioning method of the movable device by any other suitable means (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for carrying out methods of the present application may be written in any combination of one or more programming languages. These program code may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus such that the program code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this application, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), and the internet.

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.

In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed technology content may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application and are intended to be comprehended within the scope of the present application.

Claims

1. A positioning method for a movable device, characterized in that the movable device is provided with a magnetic induction unit, and the method comprises:

Sensing the first magnetic field strength at different positions in the target physical space where the movable device is located by the magnetic sensing unit, the target physical space is provided with a plurality of external magnetic field sources for providing a magnetic field;

Obtaining a functional relationship between the first magnetic field strength and a first distance, wherein the first distance is a linear distance between the movable device and each external magnetic field source;

The movable device receives the second magnetic field intensity sensed by the magnetic induction unit at the target moment during the movement of the target physical space;

A second distance corresponding to the second magnetic field strength is determined based on the functional relationship, and a target position of the movable device at the target moment is determined based on the second distance.

2. The method according to claim 1, characterized in that the method further comprises:

When it is determined that the external magnetic field strengths corresponding to the magnetic fields provided by the external magnetic field sources are known and the respective external magnetic field strengths are different, acquiring the external magnetic field strengths corresponding to the respective external magnetic field sources;

Comparing the first magnetic field strength with the external magnetic field strength, and determining the target position of the movable device at the target time according to the comparison result.

3. The method according to claim 2, wherein determining the target position of the movable device at the target moment according to the comparison result comprises:

Determine the external magnetic field source whose external magnetic field strength corresponds to the first magnetic field strength among the plurality of external magnetic field sources as the target external magnetic field source;

The position where the target external magnetic field source is located is determined as the target position.

4. The positioning method according to claim 1, wherein determining the target position of the movable device at the target moment based on the second distance comprises:

determining planar coordinates of the movable device in the target physical space based on the second distance;

A yaw angle corresponding to the target moment of the movable device is obtained, and the target position is obtained based on the plane coordinates and the yaw angle.

5. The positioning method according to claim 1, characterized in that electromagnetic induction coils are provided at different positions of the body of the movable device, and when the target time of the movable device is determined based on the second distance After the target position is located, the method also includes:

When the target position is at the edge of the target physical space, determine the first electromagnetic induction coil in the body close to the edge position, and control the generation of the first electromagnetic induction coil and the external magnetic field source a repulsive field for a position away from said edge; or

Determining a second electromagnetic induction coil in the body far away from the edge position, and controlling the second electromagnetic induction coil and the external magnetic field source to generate a gravitational field for moving away from the edge position.

6. The positioning method according to claim 5, wherein after determining the target position of the movable device at the target time based on the second distance, the method further comprises:

Obtaining a first motion state of the movable device, wherein the first motion state includes one of the following: climbing state, descending state;

When the first motion state is the climbing state, control the electromagnetic induction coil and the external magnetic field source to form a positive traction force, wherein the positive traction force is used to assist the movable device to move forward to accelerate;

When the first motion state is the downhill state, the electromagnetic induction coil is controlled to form a reverse traction force with the external magnetic field source, wherein the reverse traction force is used to assist the movable device to reverse to accelerate.

7. The positioning method according to claim 5, wherein after determining the target position of the movable device at the target moment based on the second distance, the method further comprises:

obtaining the direction of movement of the movable device over successive periods of time;

When the moving direction indicates that the movable device is turning, if the target position is within a preset area, controlling the electromagnetic induction coil to form a positive traction force with the external magnetic field source, for assisting the movable device in turning;

When the moving direction indicates that the movable device is turning, if the target position is outside a preset area, controlling the electromagnetic induction coil to form a reverse traction force with the external magnetic field source, Rotation is performed in a direction opposite to the direction of magnetic attraction for assisting the movable means.

8. The positioning method according to claim 5, further comprising:

After the movable device is controlled to generate an initial movement speed, the movable device is controlled to move in the target physical space based on the electromagnetic induction phenomenon between the electromagnetic induction coil and the external magnetic field source.

9. The positioning method according to claim 1, wherein the external magnetic field source is a cylindrical magnetic field source, and the functional relationship between the first magnetic field strength and the first distance at multiple different positions in the target physical space is obtained, including :

Obtain an initial fitting equation of the magnetic induction intensity corresponding to the cylindrical magnetic field source, wherein the initial fitting equation is used to indicate the magnetic induction intensity corresponding to the cylindrical magnetic field source and the height of the cylinder, the distance from the cylinder The functional relationship of the distance on the axis line;

Obtain the magnitude of the actual magnetic field intensity detected at different distances under the magnetic induction intensity corresponding to the cylinder magnetic field source of different sizes, construct the higher-order equation corresponding to the initial fitting equation according to the detection results, and determine the The higher degree equation is the functional relationship.

10. A mobile device, characterized in that it comprises:

a magnetic control unit, configured to obtain the functional relationship between the first magnetic field strength and the first distance at multiple different positions of the movable device in the target physical space, and receive information on the movement of the movable device in the target physical space During the process, when the target moment is reached, the second magnetic field strength sensed by the magnetic induction unit is determined based on the functional relationship to determine the second distance corresponding to the second magnetic field strength, and the movable device is determined based on the second distance At the target position at the target moment, wherein multiple external magnetic field sources are set in the target physical space for providing a magnetic field, the first distance is a straight line between the movable device and each external magnetic field source distance;

The magnetic sensing unit is used to detect the second magnetic field strength corresponding to the movable device at the target moment during the movement of the target physical space; wherein, the magnetic sensing unit and the magnetic control unit adopt Layered isolation method for arrangement.

11. A positioning device for a movable device, characterized in that the movable device is provided with a magnetic induction unit, comprising:

A sensing module, configured to sense first magnetic field strengths at different positions in the target physical space where the movable device is located through the magnetic sensing unit, and the target physical space is provided with a plurality of external magnetic field sources for providing a magnetic field ;

An acquisition module, configured to acquire a functional relationship between the first magnetic field strength and a first distance, wherein the first distance is a linear distance between the movable device and each external magnetic field source;

A receiving module, configured to receive the second magnetic field intensity sensed by the magnetic sensing unit at the target moment during the process of the movable device moving in the target physical space;

A determining module, configured to determine a second distance corresponding to the second magnetic field strength based on the functional relationship, and determine a target position of the movable device at the target moment based on the second distance.

12. The positioning device according to claim 11, wherein the movable device comprises: a cleaning robot, after determining the target position of the movable device at the target moment based on the second distance, Also includes:

A target area is determined with the target position as an origin and a predetermined length as a radius, and the cleaning robot is controlled to clean surfaces in the target area.

13. A non-volatile storage medium, characterized in that the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute the program described in any one of claims 1 to 9. The positioning method of the mobile device is described.

14. An electronic device, characterized in that it comprises:

processor;

memory for storing said processor-executable instructions;

Wherein, the processor is configured to execute the instructions, so as to realize the positioning method of the mobile device according to any one of claims 1-9.