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Multi-reference-source-based positioning method used for intelligent mower

A positioning method and reference source technology, applied in the field of signal processing, can solve problems such as environmental occlusion, inability to meet fast and accurate positioning, and inability to effectively position machines, and achieve the effect of improving reliability.

Pending Publication Date: 2019-10-15
ZHEJIANG YAT ELECTRICAL APPLIANCE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the occlusion of the environment, the current RTK-based positioning method may cause the machine to be unable to effectively locate in some areas, and cannot meet the needs of fast and accurate positioning.

Method used

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  • Multi-reference-source-based positioning method used for intelligent mower
  • Multi-reference-source-based positioning method used for intelligent mower

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Experimental program
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Effect test

Embodiment 1

[0043] The multi-reference source-based positioning method applied to intelligent lawn mowers proposed in this embodiment is applied to the work area where at least two reference sources emitting positioning signals are fixedly installed, such as figure 1 As shown, the positioning method includes:

[0044] 11. Collect the relative positioning data of the boundary of the intelligent lawn mower's operation area relative to the default reference source, receive the positioning signal emitted by the default reference source in the reference source during the travel process, and draw the boundary map of the operation area based on the positioning signal;

[0045] 12. In the process of drawing the boundary map, let the intelligent lawn mower synchronously receive the alternative positioning signal emitted by the alternative reference source in the reference source, and calculate the relative coordinates between the alternative reference source and the default reference source based o...

Embodiment 2

[0072] On the basis of the construction of the boundary map proposed in the first embodiment, this embodiment further proposes another positioning method based on the reference source to realize coordinate transformation, such as figure 2 As shown, the positioning method also includes:

[0073] 21. After the boundary map is built, the mowing operation navigation in the working environment is carried out according to the known boundary map. During the mowing operation navigation process, the intelligent lawn mower selects the most reliable reference source for coordinate transformation, based on The transformed coordinates orient themselves.

[0074] Specifically, in the process of job navigation, when the smart lawn mower travels near the default reference source, the positioning signal of the default reference source can be used for accurate positioning, so that the smart lawn mower to locate.

[0075] Optionally, the positioning method includes:

[0076] If the positioni...

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Abstract

The invention provides a multi-reference-source-based positioning method used for an intelligent mower. The method comprises following steps that: the relative positioning data of the boundary of theoperation area of the intelligent mower relative to a default reference source can be collected; the intelligent mower is enabled to synchronously receive an alternative positioning signal transmittedby an alternative reference source in the reference sources, and the relative coordinates of the alternative reference source and a default reference source are calculated based on the alternative positioning signal; when the intelligent mower cannot perform reliable positioning according to the data of the default reference source, the specific position of the intelligent mower in the boundary map is determined according to the alternative positioning signal. Based on a plurality of reference sources, which are fixedly arranged in the operation area and can be used to transmit positioning signals, the intelligent mower is positioned according to the positioning signals transmitted by the reference sources, and when the reliable positioning cannot be realized based on the positioning signals transmitted by a certain reference source, other signal sources are used for indirectly realizing the positioning between the intelligent mower and the reference sources in a coordinate conversionmode, so that the positioning reliability is improved.

Description

technical field [0001] The invention belongs to the field of signal processing, in particular to a positioning method based on multiple reference sources applied to an intelligent mower. Background technique [0002] When the existing intelligent lawn mower is mowing in the mowing area, it needs to perform real-time positioning in order to effectively plan the mowing path according to its current position, so as to avoid obstacles and complete the mowing with the shortest path. The purpose of grass work. However, due to the occlusion of the environment, the current RTK-based positioning method may cause the machine to be unable to effectively locate in some areas, and cannot meet the needs of fast and accurate positioning. Contents of the invention [0003] In order to solve the shortcomings and deficiencies in the prior art, the present invention proposes a positioning method based on multiple reference sources applied to intelligent lawn mowers, which can use multiple r...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/00
CPCG01C21/20G01C21/00
Inventor 龚建飞陈凤梧张哲
Owner ZHEJIANG YAT ELECTRICAL APPLIANCE CO LTD
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