WO2018127209A1 - Autonomous moving device, and positioning system, positioning method and control method therefor - Google Patents

Abstract

An autonomous moving device (1) comprises at least two positioning elements (7) and a control module. The positioning elements (7) communicate with a positioning beacon (5) to obtain distances between the positioning elements (7) and the positioning beacon (5). The control module is configured to execute a preset program to obtain a position parameter of the autonomous moving device (1). The preset program comprises: obtaining a position parameter of the positioning Beacon (5), obtaining a distance between the autonomous moving device (1) and the positioning beacon (5), and computing a position parameter of the autonomous moving device (1) according to the position parameter of the positioning beacon (5) and the distances between the positioning elements (7) and the positioning beacon (5). The preset program also comprises: presetting a spacing between the positioning elements (7), and correcting the position parameter of the autonomous moving device (1) according to the spacing between the positioning elements (7). The present invention has the positive effects that the autonomous moving device (1) is accurately positioned, and support is provided for implementation of no-boundary-line and precise navigation.

Description

Self-mobile device and positioning system thereof, positioning method and control method Technical field

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.

Background technique

Household self-mobile devices such as automatic vacuum cleaners and automatic lawn mowers have become popular. However, 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. For example, before using the automatic lawn mower, 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.

Summary of the invention

To overcome the deficiencies of the prior art, 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.

The technical solution provided by the present invention to solve the prior art problem is:

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.

Further, 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.

Further, the position parameter of the self-moving device includes a direction angle of the self-moving device, and 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.

Further, the positioning component communicates with at least three of the positioning beacons to obtain a distance from the positioning beacon.

Further, 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.

Further, the positioning component communicates with at least two of the positioning beacons to obtain a distance from the positioning beacon.

Further, the angle sensor comprises an electronic compass.

Further, the positioning component is an ultra-wideband positioning component, and the positioning beacon is an ultra-wideband tag positioning module.

Further, the positioning component is an ultrasonic positioning component, and the positioning beacon is an ultrasonic positioning module.

Further, the self-mobile device is a self-mobile gardening device.

Compared with the prior art, 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.

Further, a charging station is provided for supplementing power from the mobile device, and one of the positioning beacons is located at the charging station.

Compared with the prior art, 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.

Further, the position parameter of the self-moving device includes coordinates of the positioning component, and 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.

Further, the position parameter of the self-moving device includes a direction angle of the self-moving device, and 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.

Further, the number of the positioning beacons is at least three.

Further, 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.

Further, the number of the positioning beacons is at least two.

Further, the angle sensor comprises an electronic compass.

Further, the positioning component is an ultra-wideband positioning component, and the positioning beacon is an ultra-wideband tag positioning module.

Further, the positioning component is an ultrasonic positioning component, and the positioning beacon is an ultrasonic positioning module.

Further, the self-mobile device is a self-mobile gardening device.

Compared with the prior art, 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.

Compared with the prior art, 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.

Compared with the prior art, 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.

Further, the location parameter includes a direction angle from the mobile device.

Further, the location parameter includes coordinates from the mobile device.

Further, the control module corrects the error of the distance according to the distance from the at least two positioning elements to the positioning beacon.

Further, at least three positioning beacons are included.

Further, two positioning beacons are included.

Further, a positioning beacon is included, and the electronic compass is further provided on the mobile device.

Further, a charging station is provided for supplementing power from the mobile device, and one of the positioning beacons is located at the charging station.

Further, the positioning component is an ultra-wideband positioning component, and the positioning beacon is an ultra-wideband tag positioning module.

Further, the self-mobile device is a home device.

Compared with the prior art, 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.

DRAWINGS

The objects, technical solutions, and advantageous effects of the present invention described above can be achieved by the following figures:

1 is a schematic diagram of a positioning system in accordance with an embodiment of the present invention.

2 is a schematic diagram of a positioning system according to another embodiment of the present invention.

3 is a schematic diagram of a positioning system according to another embodiment of the present invention.

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.

detailed description

As shown in FIG. 1 , in the 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.

In this embodiment, 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. In this embodiment, the control module is configured to execute a preset program to obtain a position parameter of the automatic lawn mower. Specifically, the 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.

In this embodiment, 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. Specifically, 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. In this embodiment, 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. In another embodiment, 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. However, 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.

In this embodiment, 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.

In this embodiment, 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. By providing two or more positioning elements 7, 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.

In this embodiment, the control module is configured to execute a preset program to obtain a position parameter from the mobile device 1; the preset program includes:

Obtaining a position parameter of the positioning beacon 5;

Obtaining the distance between the positioning component 7 and the positioning beacon 5;

Calculating the positional parameter from the mobile device 1 based on the positional parameter of the positioning beacon 5 and the distance between the positioning component 7 and the positioning beacon 5;

The preset program also includes:

Presetting the spacing of the positioning elements 7;

The positional parameters from the mobile device 1 are corrected based on the spacing of the positioning elements 7.

In this embodiment, 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. In this embodiment, 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. In this embodiment, for example, 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.

As shown in Fig. 1, 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.

S11. 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.

S12. Perform feedback correction on the coordinates of the positioning component 7 according to the following formula.

That is, 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:

和

with

That is, the 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.

When 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. In the present embodiment, 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.

In this embodiment, 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. In particular, 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 . In particular, the two positioning elements 7 are arranged along the longitudinal axis of the mobile device 1. In this embodiment, 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. In other embodiments, 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. In other embodiments, 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.

S13. Based on the coordinates of the two corrected positioning elements 7, the control module can calculate the orientation or the direction angle of the mobile device 1. The specific method is as follows:

In this embodiment, the direction angle of the connection of the two positioning elements 7 is the direction angle from the mobile device 1. Therefore, the θ 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 θ 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:

Presetting the angular relationship between the direction angle of the connection of any two positioning elements 7 and the direction angle of the mobile device 1;

The direction angle of the mobile device 1 is calculated using the coordinates of the two positioning elements 7 and the angular relationship.

It should be noted that the above algorithms and formulas are merely exemplary. On the basis of the positioning system providing two positioning elements 7 and three or more positioning beacons 5, the coordinates of the two positioning elements 7 and the two positioning elements The distance between 7 is known, based on these data, other algorithms known in the art can also be used to correct the coordinate position of the positioning element 7 and to calculate the orientation from the mobile device 1. It should also be noted that in other embodiments of the present invention, one of the position correction step of S12 or the orientation calculation step of S13 may also be eliminated, for example, step S12 is cancelled, and the self-movement is calculated directly from the coordinates of the original positioning element 7. The device 1 is oriented; or, in step S13, the final positioning position correction is performed using only the coordinates of the two positioning elements 7.

Another embodiment of the present invention will be described below with reference to FIG. In the present embodiment, 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. In addition to having two or more positioning elements 7 on the mobile device 1, there is also a direction angle judging device such as an electronic compass 13 or an angle sensor. In this embodiment, the preset procedure for obtaining the location parameter of the mobile device 1 includes:

Presetting the angular relationship between the direction angle of the connection of any two of the positioning elements 7 and the direction angle of the mobile device 1;

Obtaining the direction angle from the mobile device 1;

Calculating the self-mobile device 1 based on the direction angle of the self-mobile device 1, the angular relationship, the positional parameter of the positioning beacon 5, and the distance between the two positioning elements 7 to the positioning beacon 5 Location parameter.

In the present embodiment, 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 . Based on this, the mobile device 1 calculates its own positional parameters by the following steps.

S21, solving a system of equations, obtaining position coordinates (x ₁ , y ₁ ) and (x ₂ , y ₂ ) of the two positioning elements 7.

(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. Correcting the positional parameter from the mobile device 1 based on the spacing d of the positioning element 7. The specific algorithm is similar to that in the foregoing embodiment, and will not be described again. Based on the known data of the present embodiment, the positional parameters from the mobile device 1 can also be corrected using other algorithms known in the art.

In the present embodiment, by providing two or more positioning elements 7 on the self-moving device 1 and mounting the electronic compass 13, 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.

Another embodiment of the present invention will be described below with reference to FIG. In the present embodiment, 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.

S31. Calculate an angle of a line connecting the positioning component 7 and the positioning beacon 5 in a coordinate system, for example, an angle between the connecting line and the X-axis of the coordinate system. In the present embodiment, for simplification of description, the angle θ of the first positioning member 7 is exemplified by the angle measured by the electronic compass 13. The angle of the other positioning element 7 is θ ₂ .

Specifically, the distance between the two positioning elements 7 to the positioning beacon 5 is r ₁ and r ₂ , and the combination of r ₁ and r ₂ can solve the triangle to obtain the angle θ ₁ , and θ ₂ =180°-( θ _{1 -} θ).

S32. Obtain coordinate data based on the angle of the first positioning component 7:

x ₂ =x ₁ +d·cos(θ)

y ₂ =y ₁ +d·sin(θ)

S33. Obtain coordinate data based on the angle of the second positioning component 7:

x ₁ =x _b1 +r ₁ ·cos(θ ₂ )

y ₁ =y _b1 +r ₁ ·sin(θ ₂ )

Another embodiment of the present invention will be described below with reference to FIG. In the present embodiment, the main components of the mobile device and its positioning system are similar to those of the previous embodiment. The difference is that there are only two locations of the location beacons 5.

In the present embodiment, 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. r ₁₁ , r ₁₂ , r ₂₁ , r ₂₂ . Based on this, the mobile device 1 calculates its own positional parameters, including coordinates and direction angles, by the following steps.

S41. Calculate the coordinates of the two positioning elements 7 based on the least squares method.

(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

Solving the equation, obtaining the position coordinates (x ₁ , y ₁ ) and (x ₂ , y ₂ ) of the two positioning elements 7;

It should be noted that in this step, the calculation process of the least squares method also achieves an error of correcting the distance values acquired by the two positioning elements 7.

S42. Calculate the direction angle or orientation from the mobile device 1 according to the coordinates of the two positioning elements 7:

Based on the known data of the present embodiment, other algorithms known in the art can also be used to correct the coordinate position of the positioning element 7 and calculate the direction angle from the mobile device 1.

The embodiment of the invention further provides a positioning method of the self-mobile device, comprising the steps of:

S001, controlling at least two positioning components 7 provided on the self-mobile device 1 to communicate with the positioning beacon 5 to obtain a distance between the positioning component 7 and the positioning beacon 5;

S002: Acquire a location parameter of the location beacon 5;

S003, calculating a position parameter from the mobile device 1 based on a distance between the positioning component 7 and the positioning beacon 5, and a position parameter of the positioning beacon 5; further comprising the steps of:

S004, preset the spacing of the positioning elements 7;

S005, correcting the position parameter of the self-mobile device 1 based on the spacing of the positioning elements 7.

The specific steps of the positioning method in the embodiment of the present invention have the features corresponding to the self-moving device and the positioning system in the foregoing embodiment, and can achieve corresponding beneficial effects, and details are not described herein again.

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.

In the above embodiment, referring to FIG. 4, 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.

S100. Receive a move instruction from the mobile device 1. 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.

S101. The control module controls the movement from the mobile device 1 according to the movement instruction according to the movement instruction.

S102, recording a movement trajectory from the mobile device 1, or recording a position parameter from a position where the mobile device 1 moves. Specifically, during the moving process, the mobile device 1 continuously calculates its own coordinates through the foregoing positioning system/positioning method, and the control module records each coordinate point in the moving process and joins the moving track.

S103, the moving track is marked as a boundary. Specifically, after the user sends a signal with a boundary along the line, 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.

In another embodiment of the present invention, 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.

S200, get the map. The location beacon layout module enters a map of the area from which the mobile device 1 is required to work. In one solution, 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.

S201. Calculate a recommended placement point of the positioning beacon based on the map. 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%.

It can be understood that, in the above embodiment, if the coordinates of the positioning beacon 5 or the positioning component 7 adopt three-dimensional coordinates, the positional parameters of the mobile device 1 are obtained, and the minimum number of the positioning beacons 5 should be increased by one to obtain Sufficient distance parameter to solve.

In the above embodiments, preferably, 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.

In each of the above embodiments, 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.

Claims (24)

A self-mobile device that includes: At least two positioning elements, the positioning elements communicating with the positioning beacon to obtain a distance from the positioning beacon; a control module configured to execute a preset program to obtain a location parameter of the self-mobile device; The preset program includes: Obtaining a location parameter of the positioning beacon; Obtaining a distance between the positioning component and the positioning beacon; Based on the location parameter of the positioning beacon and the distance between the positioning component and the positioning beacon, Calculating a positional parameter from the mobile device; The preset program further includes: Presetting the spacing of the positioning elements; The positional parameters of the self-moving device are corrected based on the spacing of the positioning elements. The self-mobile device according to claim 1, wherein the positional parameter of the self-moving device comprises coordinates of a positioning component, and the spacing of the positioning component calculated based on coordinates of the positioning component is compared, and the pre-preparation The spacing of the positioning elements is set to correct the error of the coordinates of the positioning elements. The self-mobile device according to claim 2, wherein the location parameter of the self-mobile device comprises a direction angle of the self-mobile device, and the preset program further comprises: Presetting the angular relationship between the direction angle of the connection of any two of the positioning elements and the direction angle of the mobile device; A direction angle of the self-moving device is calculated using coordinates of the two positioning elements and the angular relationship. The self-mobile device of claim 1 wherein said positioning component is in communication with at least three of said positioning beacons to obtain a distance from a positioning beacon. The self-mobile device according to claim 1, wherein the self-mobile device further comprises an angle sensor for acquiring a direction angle of the mobile device; the preset program comprises: Presetting the angular relationship between the direction angle of the connection of any two of the positioning elements and the direction angle of the mobile device; Obtain the direction angle from the mobile device; And calculating a position parameter of the self-mobile device based on a direction angle of the self-mobile device, the angular relationship, a position parameter of the positioning beacon, and a distance between the two positioning elements to a positioning beacon. The self-mobile device of claim 5 wherein said positioning component is in communication with at least two of said positioning beacons to obtain a distance from a positioning beacon. The self-mobile device of claim 5 wherein said angle sensor comprises an electronic compass. The self-mobile device according to claim 1, wherein the positioning component is an ultra-wideband positioning component, and the positioning beacon is an ultra-wideband tag positioning module. The self-mobile device according to claim 1, wherein the positioning component is an ultrasonic positioning component, and the positioning beacon is an ultrasonic positioning module. The self-mobile device according to claim 1, wherein the self-mobile device is a self-mobile gardening device. A self-mobile device positioning system, comprising the self-mobile device of any of the preceding claims, and the positioning beacon. The self-mobile device positioning system of claim 11 further comprising a charging station for supplementing electrical energy from the mobile device, one of said positioning beacons being located at said charging station. A positioning method for a self-mobile device, comprising the steps of: Controlling at least two positioning components disposed on the mobile device to communicate with the positioning beacon to obtain a distance between the positioning component and the positioning beacon; Obtaining a location parameter of the positioning beacon; Calculating a position parameter of the self-moving device based on the distance between the positioning component and the positioning beacon and the position parameter of the positioning beacon; and further comprising the steps of: Presetting the spacing of the positioning elements; The positional parameters of the self-moving device are corrected based on the spacing of the positioning elements. The positioning method according to claim 13, wherein the position parameter of the self-moving device comprises coordinates of the positioning component, and the correcting the position parameter of the mobile device comprises the steps of: Comparing the spacing of the positioning elements calculated based on the coordinates of the positioning element, and the spacing of the predetermined positioning elements; The error of the coordinates of the positioning element is corrected based on the comparison result. The positioning method according to claim 14, wherein the location parameter of the self-mobile device comprises a direction angle from the mobile device, and the positioning method further comprises the steps of: Presetting the angular relationship between the direction angle of the connection of any two of the positioning elements and the direction angle of the mobile device; A direction angle of the self-moving device is calculated using coordinates of the two positioning elements and the angular relationship. The positioning method according to claim 13, wherein the number of the positioning beacons is at least three. The positioning method according to claim 13, wherein the self-mobile device further comprises an angle sensor for acquiring a direction angle of the mobile device; and the positioning method comprises the steps of: Presetting the angular relationship between the direction angle of the connection of any two of the positioning elements and the direction angle of the mobile device; Obtain the direction angle from the mobile device; And calculating a position parameter of the self-mobile device based on a direction angle of the self-mobile device, the angle relationship, a position parameter of the positioning beacon, and a distance between the two positioning components to a positioning beacon. The positioning method according to claim 17, wherein the number of the positioning beacons is at least two. The positioning method according to claim 17, wherein the angle sensor comprises an electronic compass. The positioning method according to claim 13, wherein the positioning component is an ultra-wideband positioning component, and the positioning beacon is an ultra-wideband tag positioning module. The positioning method according to claim 13, wherein the positioning component is an ultrasonic positioning component, and the positioning beacon is an ultrasonic positioning module. The positioning method according to claim 13, wherein the self-mobile device is a self-mobile gardening device. A self-moving device control method, which utilizes the positioning method according to any one of claims 13 to 22 to obtain a positional parameter from a mobile device, comprising the steps of: S100. Receive a mobile instruction. S101. Control the mobile device to move according to the mobile instruction; S102. Record a location parameter of a location moved by the mobile device; S103. Mark a movement trajectory formed by the position moved by the mobile device as a boundary. A control method for a self-mobile device, wherein the location parameter of the mobile device is obtained by using the positioning method according to any one of claims 13 to 22, comprising the steps of: S200, obtaining a map; S201. Calculate a recommended placement point of the positioning beacon based on the map.

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