Base station position coordinate determination method and device, equipment and storage medium

A technology for location coordinates and determination methods, which is applied to services, electrical components, and wireless communications based on location information.

Active Publication Date: 2020-10-27
SUZHOU CLEVA PRECISION MACHINERY & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the process of realizing the present invention, the inventor found that the defect of the prior art is that, for a home service robot, the user needs to determine the position coordinate information of each base station and establish a base station coordinate system, which increases the difficulty for the user to use, and manually establishes There are unavoidable manual measurement deviations in the coordinate system, which reduces the accuracy of positioning

Method used

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  • Base station position coordinate determination method and device, equipment and storage medium
  • Base station position coordinate determination method and device, equipment and storage medium
  • Base station position coordinate determination method and device, equipment and storage medium

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Embodiment 1

[0031] Figure 1b It is a flowchart of a method for determining position coordinates of a base station provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where the method can be executed by the device for determining the location coordinates of the base station provided in the embodiment of the present invention. The device can be implemented in software and / or hardware, and can generally be integrated in mobile devices. For example, mobile robots. Such as Figure 1b As shown, the method of this embodiment specifically includes:

[0032] Step 101. Obtain distances between a first measurement location and at least three base stations.

[0033] Among them, there are electronic boundaries (for example, the electronic boundaries on the lawn where the lawn mower robot operates) or physical boundaries (for example, the walls of the vacuum cleaner robot) on the field where the self-mobile device works. Since the mobile device operates a...

Embodiment 2

[0071] Figure 2a It is a flowchart of a method for determining position coordinates of a base station provided in Embodiment 2 of the present invention. This embodiment may be combined with each optional solution in the foregoing one or more embodiments. In this embodiment, three base stations are arranged around the working site of the mobile device.

[0072] Correspondingly, such as Figure 2a As shown, the method of the present embodiment includes:

[0073] Step 201. Obtain the distances between the first measurement location and the three base stations.

[0074] Among them, such as Figure 2b As shown, three base stations are set up near the site where mobile equipment works: B 1 , B 2 , B 3 . During the establishment of the base station coordinate system, base station B 1 The location coordinates (x 1 ,y 1 ), base station B 2 The location coordinates (x 2 ,y 2 ) and base station B 3 The location coordinates (x 3 ,y 3 ) is the quantity to be requested.

...

Embodiment 3

[0089] Figure 3a It is a flowchart of a method for determining position coordinates of a base station provided by Embodiment 3 of the present invention. This embodiment can be combined with various optional solutions in one or more of the above embodiments. In this embodiment, after determining the position coordinates of each base station in the plane Cartesian coordinate system, it may further include: according to the third moving route by The fourth measurement position walks the third distance along a straight line to the fifth measurement position, and obtains the distance between the fifth measurement position and each base station; according to the preset position deviation, the set number of steps, and the current position of each base station Coordinates, determine at least one reference position coordinate corresponding to each base station respectively; According to at least one reference position coordinate respectively corresponding to each base station, and the...

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Abstract

The embodiment of the invention discloses a base station position coordinate determination method and device, equipment and a storage medium. The method comprises the following steps: acquiring distances between a first measurement position and at least three base stations; moving from the first measurement position to the second measurement position according to a first moving route, and obtaining the distance between the second measurement position and each base station; moving from the second measurement position to a third measurement position according to a second moving route, and obtaining the distance between the third measurement position and each base station; and establishing a rectangular plane coordinate system according to the position coordinates of the first measurement position, the second measurement position and the third measurement position and the distances between the base stations, and determining the position coordinates of the base stations. According to the embodiment of the invention, the position coordinates of the base stations can be determined according to the position coordinates in the preset route and the distances from the position coordinates obtained in the position coordinates to the base stations, so that a base station coordinate system is quickly established, manual measurement deviation is avoided, and positioning is more accurate.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of control of mobile robots, and in particular to a method, device, equipment and storage medium for determining position coordinates of a base station. Background technique [0002] In recent years, the local base station positioning technology established based on technologies such as infrared, laser, ultrasonic, Bluetooth, Zigbee protocol (Zigbee) and ultra-wideband (UltraWide Band, UWB) has become more and more mature. Take local base station positioning based on mobile robots as an example. Such as Figure 1a As shown, the mobile robot is working on site A. The local base station positioning system of the mobile robot includes: 3 base stations not located on the same straight line: base station 1, base station 2 and base station 3, and a control system set inside the mobile robot. The control system of each mobile robot can test or obtain the distance to each base station of the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04W4/02H04W64/00
CPCH04W4/023H04W64/003H04W4/02H04W64/00
Inventor 朱绍明陈泓
Owner SUZHOU CLEVA PRECISION MACHINERY & TECH
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