A positioning method and system, a map building method and system and an automatic walking apparatus

Abstract

The invention provides a positioning method comprising the steps of: S11, providing an automatic walking apparatus which comprises a sensor group; S12, providing existing position distribution of the automatic walking apparatus and an existing moment corresponding thereto; S13, acquiring the position change of the automatic walking apparatus from the existing moment to a current moment via the sensor group; S14, performing accumulation on the position change and the existing position distribution to generate current position distribution of the automatic walking apparatus. Compared with the prior art, the positioning method provided by the invention acquires position distribution of the automatic walking apparatus with high speed and precision, enables the moving route and area of the automatic walking apparatus to be planned according to the position distribution thereof and lays a foundation for intelligent development of automatic walking apparatuses, thereby being of high technical value. The invention also provides a positioning module employing the method, a map building method and system and the automatic walking apparatus.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to a positioning method and a corresponding positioning module. [0002] The present invention also relates to a self-propelled device using the aforementioned positioning module. [0003] The present invention also relates to a map construction method using the aforementioned positioning method and a corresponding map construction system. Background technique [0004] With the continuous advancement of computer technology and artificial intelligence technology, automatic walking equipment similar to intelligent robots has begun to slowly enter people's lives. At present, the intelligentization of automatic walking equipment is developing rapidly, which can automatically divide the cutting area, The moving path can be set automatically, which greatly reduces the workload of people in daily life. [0005] However, in the process of intelligent development of automatic wal...

AI Technical Summary

Problems solved by technology

The existing positioning of automatic walking equipment, there are the following methods: 1) Encoder-based dead reckoning method: the basic requirement of the scheme is that the wheels do not slip and the ground is flat, so that the calculation can be performed according to the number of turns of the wheels , but for automatic lawn mowers, non-slip and flat ground cannot be fully guaranteed, which will make the accumulated error unacceptably large; 2) Absolute positioning based on multiple base stations: the basic solution is to set some kind of transmitter at the four corners of the area , such as ultrasound, infrared, electromagnetic radio frequency, etc., are directly positioned by a principle similar to GPS, which has the advantages of high precision, but for outdoor equipment such as automatic lawn mowers, ultrasonic signals will be reflected by plants multiple times, and infrared cannot pass through Plants are disturbed by sunlight, and the electromagnetic cost is extremely high; 3) Magnetic track positioning: it needs to lay dense underground magnetic tracks, which has high requirements for the user's construction ability and increases the user's work burden, obviously does not have the market prospect

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