Heading correction method, system, self-moving device, and readable storage medium

Abstract

The present invention discloses a heading correction method, system, self-moving device and readable storage medium, wherein the heading correction method comprises: detecting the moving state of the self-moving device from a first position to a second position, wherein the moving state includes one of curved movement and linear movement; when the detected moving state is curved movement, obtaining the heading angle of the self-moving device when it reaches the second position according to the first heading angle correction value and the second heading angle. The heading correction method of the present invention enables the self-moving device to accurately perform heading correction when performing curved movement, thereby making the positioning of the self-moving device more accurate and improving work efficiency.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a heading correction method, system, self-moving device and readable storage medium. Background Art

[0002] In recent years, self-propelled devices have gradually become an indispensable part of our lives. Among them, smart vacuum cleaners are widely used to clean the indoor environment of homes, while automatic lawn mowers are used to maintain lawns in gardens. In order to avoid damage to the lawn in the garden caused by the automatic lawn mower during operation, the automatic lawn mower needs to be able to mow the lawn in a planned manner, and obtaining accurate heading is the basis for the automatic lawn mower to be able to mow the lawn in a planned manner.

[0003] Automatic lawn mowers generally use UWB (ULTRAWIDEBAND) technology or inertial navigation technology to obtain heading. UWB cannot directly obtain the heading of the automatic lawn mower, so it is usually assisted by a laser angle measurement method with a reflective marker. However, this method is susceptible to interference and obstruction, which can easily cause heading errors. The heading is obtained through inertial navigation technology, in which gyroscopes are a common choice. However, gyroscopes will accumulate heading errors due to zero drift and white noise. Therefore, how to perform heading correction to reduce or even eliminate the heading error of the automatic lawn mower has become an urgent problem to be solved.

[0004] The existing heading correction methods mainly include the following two methods: 1. Obtaining the heading through the inertial navigation system and using UWB for auxiliary correction; 2. Obtaining the heading through the inertial navigation system and performing heading correction through geomagnetism.

[0005] However, the above two heading correction methods have the following problems: the geomagnetic field is easily disturbed by factors such as cars, ferromagnetic materials and AC-DC switching, so the heading correction through geomagnetism may sometimes produce large errors, causing the automatic lawn mower to deviate from the preset heading; UWB can only obtain an accurate heading when the automatic lawn mower moves in a straight line, thereby correcting the heading obtained by the inertial navigation system. When the automatic lawn mower moves in a curve, the heading obtained by UWB is still the heading of the automatic lawn mower moving in a straight line. Therefore, the heading obtained by UWB at this time deviates greatly from the accurate heading of the automatic lawn mower. If the heading obtained by UWB is used for correction at this time, the automatic lawn mower will deviate from the preset heading. Summary of the invention

[0006] In order to overcome the defect that a self-moving device cannot accurately perform heading correction when moving in a curve, an embodiment of the present invention provides a heading correction method for a self-moving device, wherein the self-moving device includes an inertial navigation system and a radio detection system, and is characterized in that the method includes:

[0007] Detecting a moving state of the self-moving device from a first position to a second position, wherein the moving state includes one of a curved movement and a linear movement;

[0008] When the moving state is the curved movement, obtaining the heading angle when the self-moving device reaches the second position according to the first heading angle correction value and the second heading angle;

[0009] in,

[0010] The first heading angle correction value is obtained based on the first heading angle measured by the radio detection system when the self-mobile device reaches the second position and the cumulative heading change value of the self-mobile device moving from the first position to the second position measured by the inertial navigation system; the second heading angle is obtained based on the initial heading angle of the self-mobile device and the cumulative heading change value of the self-mobile device moving from the initial position to the second position measured by the inertial navigation system.

[0011] Further, when the moving state is the straight-line movement, the heading angle when the self-moving device reaches the second position is obtained according to the first heading angle and the second heading angle.

[0012] Furthermore, the initial heading angle is obtained by:

[0013] When the self-mobile device starts from the charging station as the initial position, the initial heading angle is 0.

[0014] Furthermore, the initial heading angle is obtained by:

[0015] When the self-moving device starts from a position outside the charging station as the initial position, the heading angle measured by the radio detection system is the initial heading angle when the self-moving device reaches the position after moving a preset distance from the initial position.

[0016] Furthermore, the heading angle when the self-moving device reaches the second position is obtained by the following expression:

[0017] φ j =n1·a1+n2·a2

[0018] Among them, φ jis the heading angle when the self-moving device reaches the second position, a1 is the first heading angle correction value, a2 is the second heading angle, n1 and n2 are both positive numbers, and if the cumulative time when the self-moving device moves from the initial position to the second position reaches the preset time, n1 is greater than n2; if the cumulative time when the self-moving device moves from the initial position to the second position does not reach the preset time, n1 is less than n2.

[0019] Further, the detecting of the moving state of the self-moving device from the first position to the second position includes: obtaining the moving state of the self-moving device from the first position to the second position according to a preset work plan, wherein the preset work plan includes the correspondence between the position and the moving state of the self-moving device.

[0020] Further, the first heading angle correction value is equal to the sum of the first heading angle and one-half of the accumulated heading change value of the self-moving device moving from the first position to the second position measured by the inertial navigation system.

[0021] In order to overcome the defect that the self-moving device cannot accurately perform heading correction when moving in a curve, an embodiment of the present invention provides a control system for the self-moving device, characterized in that the control system includes:

[0022] A detection module configured to detect a moving state of the self-moving device from the first position to the second position, wherein the moving state includes one of a curved movement and a linear movement;

[0023] an acquisition module, configured to obtain a first heading angle correction value according to a first heading angle measured by a radio detection system when the self-mobile device reaches the second position and a cumulative heading change value of the self-mobile device moving from the first position to the second position measured by an inertial navigation system, and to obtain a second heading angle according to an initial heading angle of the self-mobile device and a cumulative heading change value of the self-mobile device moving from the initial position to the second position measured by the inertial navigation system;

[0024] The calculation module is configured to obtain the heading angle when the self-moving device reaches the second position according to the first heading angle correction value and the second heading angle when the moving state is the curved movement.

[0025] In order to overcome the defect that a self-moving device cannot accurately perform heading correction when moving in a curve, an embodiment of the present invention provides a self-moving device, characterized in that the self-moving device also includes: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement any of the above-mentioned heading correction methods.

[0026] In order to overcome the defect that a self-moving device cannot accurately perform heading correction when moving in a curve, an embodiment of the present invention provides a readable storage medium, characterized in that when the computer program is executed by a processor, any of the above-mentioned heading correction methods is implemented.

[0027] The beneficial effects of the present invention are as follows:

[0028] When the self-moving device is in a curved moving state, although the heading angle detected by the radio detection system is the heading angle when the self-moving device moves in a straight line and cannot be directly used for heading correction, the heading angle detected by the radio detection system can be corrected using the heading change value detected by the inertial navigation system, thereby obtaining a first heading correction value for the curved moving self-moving device. Based on the second heading angle obtained by the inertial navigation system and the first heading correction value, a more accurate heading angle when the self-moving device reaches the second position can be obtained. Through the heading correction method of the present invention, when the self-moving device moves in a curve, the heading can also be accurately corrected through the combination of the radio detection system and the inertial navigation system.

[0029] In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0031] Figure 1 is a schematic diagram of a self-mobile device, a charging station and an ultra-wideband base station in an embodiment of the present invention;

[0032] Figure 2 is a schematic diagram of heading correction when a self-moving device moves in a curve in an embodiment of the present invention;

[0033] Figure 34 is a flow chart of a heading correction method for a self-moving device in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] In the description of the present invention, it should be noted that the terms "upper", "lower", "bottom", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features.

[0036] To achieve the above-mentioned purpose, the present invention provides a self-moving device. In a preferred embodiment, the self-moving device is an automatic lawn mower 1. Of course, in other embodiments, the self-moving device may also be a sweeping robot or other automatic equipment, and the relevant content will not be repeated here.

[0037] Please refer to Figure 1 The automatic lawn mower 1 of the present invention comprises a driving wheel 11. Usually, two driving wheels 11 are provided, and the two driving wheels 11 are symmetrically arranged relative to the center line of the automatic lawn mower 1. The driving wheel 11 is driven by a motor (not shown). Through the driving wheel 11, the automatic lawn mower 1 can perform mobile operations. In this embodiment, the motor is a brushless motor with a reduction gearbox and a Hall sensor. Thus, by controlling the speed and direction of the two driving wheels 11, the automatic lawn mower 1 can achieve forward, backward, turning and arc driving actions. Furthermore, the automatic lawn mower 1 also comprises a universal wheel 12. In this embodiment, the universal wheel 12 is arranged in front of the driving wheel 11. Through the universal wheel 12, the automatic lawn mower 1 can walk more balanced and stably.

[0038] The automatic lawn mower 1 further includes an inertial navigation system, through which the automatic lawn mower 1 can obtain a heading and a position in real time during the operation of the automatic lawn mower 1, so that the automatic lawn mower 1 can operate according to the planned path and working mode. In this embodiment, the inertial navigation system specifically includes a gyroscope 15, and the gyroscope 15 can specifically be a one-axis or three-axis gyroscope.

[0039] Furthermore, the automatic lawn mower 1 also includes a radio detection system. Through the radio detection system, the automatic lawn mower 1 can also obtain the heading and position in real time during the operation of the automatic lawn mower 1. Through the radio detection system, the heading obtained by the inertial navigation system can be corrected, so that the automatic lawn mower 1 can stably operate according to the preset heading, thereby improving the working efficiency. In this embodiment, the radio detection system specifically realizes the positioning of the automatic lawn mower 1 through ultra-wideband technology. Specifically, the automatic lawn mower 1 is provided with an ultra-wideband tag 14, and correspondingly, an ultra-wideband base station 31 (32, 33) is provided on the lawn. The automatic lawn mower 1 also includes a control module 13, and the control module 13 receives or exchanges data with the ultra-wideband tag 14 and the gyroscope 15 through a serial port or I2C. It should be noted that the provision of three ultra-wideband base stations is only an embodiment. In other embodiments, the ultra-wideband base stations can also be provided with four or specifically provided according to the area of ​​the lawn. Of course, it should also be noted that the radio detection system specifically working through the ultra-wideband technology is only a preferred embodiment. In other embodiments, the radio detection system may also work through GPS or DGPS.

[0040] Furthermore, in the present embodiment, the automatic lawn mower 1 is only provided with one ultra-wideband tag 14, thereby reducing costs. Of course, in other embodiments, the automatic lawn mower 1 may also be provided with two ultra-wideband tags, and one of the two ultra-wideband tags is located directly in front of the other. Thus, when the automatic lawn mower 1 starts to operate, the absolute coordinates of the two ultra-wideband tags can be directly obtained, and the initial heading can be calculated based on them, which is more convenient.

[0041] The automatic lawn mower 1 also includes a charging module (not shown). When the power of the automatic lawn mower 1 is lower than a preset value, it will return to the charging station 2 for charging. Of course, it should be noted that in this embodiment, when the power of the ultra-wideband base station is low, the automatic lawn mower 1 can move to the ultra-wideband base station and dock with the ultra-wideband base station to charge the ultra-wideband base station. In this way, the user does not need to frequently replace the battery for the ultra-wideband base station, thereby improving the user experience.

[0042] The present invention also provides a heading correction method, which is used for a self-moving device.

[0043] In this embodiment, the heading correction method is used for the automatic lawn mower 1. After the automatic lawn mower 1 has been operating for a period of time according to the work plan, due to the influence of the working environment of the lawn and the influence of the accumulated errors of the inertial navigation system, the heading obtained by the automatic lawn mower 1 through the inertial navigation system deviates from the accurate heading, so it is necessary to perform a heading correction so that the automatic lawn mower 1 continues to operate according to the accurate heading.

[0044] Please refer to Figure 3 , the heading correction method comprises:

[0045] S1: Detecting a moving state of the self-moving device from a first position to a second position, wherein the moving state includes one of a curved movement and a linear movement;

[0046] In this embodiment, before the automatic lawn mower 1 performs operation, the user sets a work plan or the automatic lawn mower 1 reads a set work plan stored in a local memory or a network server, and the automatic lawn mower 1 performs operation according to the preset work plan. Specifically, the preset work plan includes the corresponding relationship between the position of the self-moving device and the moving state, so that the automatic lawn mower 1 can obtain the moving state from the first position to the second position according to the preset work plan, that is, when the automatic lawn mower 1 moves to the first position or moves between the first position and the second position, the work plan is obtained, and the specific moving state between the first position and the second position is obtained according to the work plan. It should be noted that in other embodiments, the moving state can also be issued by the user through a mobile terminal, that is, when the user observes that the automatic lawn mower 1 deviates from the predetermined forward direction, the user can issue an instruction through the mobile terminal to control the moving state of the automatic lawn mower. Of course, the moving state can be obtained through the inertial navigation system, that is, the automatic lawn mower 1 obtains the heading data through the inertial navigation system, and determines the current specific moving state according to the heading data.

[0047] S2: when the moving state is curved movement, obtaining the heading angle when the self-moving device reaches the second position according to the first heading angle correction value and the second heading angle;

[0048] The first heading angle correction value is obtained according to the first heading angle measured by the radio detection system when the self-mobile device reaches the second position and the cumulative heading change value measured by the inertial navigation system when the self-mobile device moves from the first position to the second position. The second heading angle is obtained according to the initial heading angle of the self-mobile device and the cumulative heading change value measured by the inertial navigation system when the self-mobile device moves from the initial position to the second position.

[0049] Specifically, when the automatic lawn mower 1 moves from the first position to the second position in a curved moving state, due to the influence of the lawn environment, the accuracy of the ultra-wideband system and the accuracy of the inertial navigation system, the heading angle of the automatic lawn mower 1 may have errors, so it is necessary to correct the heading angle of the automatic lawn mower to obtain a more accurate heading angle.

[0050] The second heading angle is obtained based on the initial heading angle of the self-moving device and the cumulative heading change value of the self-moving device moving from the initial position to the second position measured by the inertial navigation system. In this embodiment, the heading is the angle between the current moving direction of the automatic lawn mower 1 and the positive direction of the X-axis, and the charging station 2 is usually arranged on the X-axis. In this way, when the automatic lawn mower 1 takes the charging station 2 as the initial position, the initial heading angle is 0. When the automatic lawn mower 1 is located at the second position, the cumulative heading change value of the automatic lawn mower 1 moving from the initial position to the second position can be obtained by the inertial navigation system, and the second heading angle of the automatic lawn mower 1 can be obtained by superimposing the cumulative heading change value of the automatic lawn mower 1 moving from the initial position to the second position with the initial heading angle. During the process of the automatic lawn mower 1 operating according to the preset work plan, the inertial navigation system is always in working state and can obtain the heading angle of the automatic lawn mower 1 in real time. However, due to the influence of the working environment and the accuracy of the gyroscope, the second heading angle obtained by the inertial navigation system usually has a certain error, especially after the automatic lawn mower 1 has been working for a long time, the error of the second heading angle gradually accumulates. If it is not corrected, the automatic lawn mower 1 will deviate from the predetermined moving direction, and thus cannot operate normally. Therefore, the heading angle obtained by the inertial navigation system can usually be corrected by the ultra-wideband system. However, when the moving state of the automatic lawn mower 1 is curved movement, the heading angle obtained by the ultra-wideband system is still the heading angle when moving in a straight line. If the heading angle obtained by the inertial navigation system is corrected by this heading angle, the automatic lawn mower 1 will deviate from the predetermined moving direction and cannot operate normally.

[0051] Thus, in a preferred embodiment of the present invention, a first heading angle correction value can be obtained according to the first heading angle measured by the radio detection system when the self-moving device reaches the second position and the accumulated heading change value measured by the inertial navigation system when the self-moving device moves from the first position to the second position. Thus, the second heading angle can be corrected by the first heading angle correction value, thereby obtaining a more accurate heading when the automatic lawn mower 1 is in the second position, and improving the accuracy of positioning the automatic lawn mower 1.

[0052] Specifically, the first heading angle correction value is equal to the sum of the first heading angle and one-half of the cumulative heading change value of the self-moving device moving from the first position to the second position measured by the inertial navigation system. Figure 2 , the automatic lawn mower 1 moves from the initial position (not shown) to the illustrated position A (i.e., the first position). According to the preset work plan, the automatic lawn mower 1 obtains a curved movement state from the A position to the B position (i.e., the second position). The moving direction of the automatic lawn mower 1 at the A position is the v1 direction shown in the figure, and the heading angle is the angle between the moving direction of the automatic lawn mower 1 and the positive direction of the X axis. When the automatic lawn mower 1 is at the A position, its heading angle is set to the heading angle of point A, which is φ2 shown in the figure. When the automatic lawn mower 1 moves to the illustrated position B, the moving direction of the automatic lawn mower 1 is the v2 direction shown in the figure, and its heading angle is the first heading angle correction value, which is φ4 shown in the figure. Point C shown in the figure is the center of the arc formed by the automatic lawn mower 1 moving from the A position to the B position. When the automatic lawn mower 1 moves to the position B shown in the figure in a curved moving state, the first heading angle detected by the ultra-wideband system is φ3 shown in the figure, and the cumulative heading change value of the automatic lawn mower 1 moving from the position A to the position B detected by the inertial navigation system is φ4-φ2. Figure 2 It can be seen that φ4=∠C+φ2; Thus, we can get Therefore, the first heading angle correction value is equal to the sum of the first heading angle and half of the cumulative heading change value of the self-moving device moving from the first position to the second position measured by the inertial navigation system.

[0053] In summary, when the automatic lawn mower 1 moves from A to B in a curved moving state, the first heading angle obtained by the ultra-wideband system is the heading angle obtained when the automatic lawn mower 1 moves from A to B in a straight moving state. Therefore, if the second heading angle obtained by the inertial navigation system is directly corrected by the first heading angle, the corrected heading will obviously deviate from the correct heading. Therefore, in this embodiment, the first heading angle directly obtained by the ultra-wideband system is combined with the cumulative heading change value of the self-moving device moving from the first position to the second position detected by the inertial navigation system to obtain the first heading angle correction value when the automatic lawn mower 1 performs a curved movement. Then, the second heading angle obtained by the inertial navigation system is corrected by the first heading angle correction value, so that a more accurate heading angle when the self-moving device reaches the second position can be obtained.

[0054] Furthermore, the heading angle when the self-moving device reaches the second position is obtained by the following expression:

[0055] φ j =n1·a1+n2·a2

[0056] Among them, φ j is the heading angle when the self-moving device reaches the second position, a1 is the first heading angle correction value, a2 is the second heading angle, n1 and n2 are both positive numbers, and if the time when the self-moving device moves from the initial position to the second position reaches the preset time, n1 is greater than n2; if the time when the self-moving device moves from the initial position to the second position does not reach the preset time, n1 is less than n2.

[0057] Specifically, in this embodiment, if the accumulated time when the self-moving device moves from the initial position to the second position does not reach the preset time, it means that the driving time of the automatic lawn mower 1 is short, and the second heading angle detected by the inertial navigation system is relatively accurate at this time, so the weight of the second heading angle is increased, and the weight of the first heading angle correction value obtained by the comprehensive use of the ultra-wideband system and the inertial navigation system is reduced, so that the accuracy of the heading angle when the self-moving device reaches the second position can be improved. On the contrary, if the accumulated time when the self-moving device moves from the initial position to the second position reaches the preset time, it means that the driving time of the automatic lawn mower 1 is long, and the first heading angle correction value obtained by the comprehensive use of the ultra-wideband system and the inertial navigation system is relatively accurate at this time, so the weight of the second heading angle detected by the inertial navigation system is reduced, and the weight of the first heading angle correction value obtained by the comprehensive use of the ultra-wideband system and the inertial navigation system is increased, so that the accuracy of the heading angle when the self-moving device reaches the second position can be improved. Of course, in other embodiments, the heading angle when the self-moving device reaches the second position can be obtained through Kalman filtering technology, and is not limited to being obtained through the above algorithm.

[0058] Furthermore, in other embodiments, when the self-moving device starts from a position outside the charging station as the initial position, the heading angle measured by the radio detection system when the self-moving device reaches the position after moving a preset distance from the initial position is the initial heading angle. Specifically, when the automatic lawn mower 1 has left the charging station 2, the automatic lawn mower 1 is controlled to move in a straight line from the initial position to a preset distance, and the instantaneous heading detected by the ultra-wideband system is obtained, and this heading is used as the initial heading angle. It should be noted that if the automatic lawn mower 1 is provided with two ultra-wideband tags 14, the automatic lawn mower 1 may also obtain the absolute coordinates of the two ultra-wideband tags 14 and calculate the initial heading angle.

[0059] Furthermore, the heading correction method further comprises:

[0060] When the detected moving state is linear movement, the heading angle when the mobile device reaches the second position is obtained according to the first heading angle and the second heading angle.

[0061] Specifically, when the movement state of the automatic lawn mower 1 from the first position to the second position is a straight line movement, the ultra-wideband system can directly obtain the first heading angle, and the second heading angle can be obtained according to the initial heading angle and the cumulative heading change value of the self-moving device from the initial position to the second position measured by the inertial navigation system. The heading angle of the automatic lawn mower 1 when it reaches the second position can be obtained according to the first heading angle and the second heading angle. In this way, when the automatic lawn mower 1 moves in a straight line, the heading obtained by the inertial navigation system can be corrected by the heading obtained by the ultra-wideband system, thereby improving the accuracy of the heading angle of the automatic lawn mower 1 when it reaches the second position.

[0062] Furthermore, the heading angle when the self-moving device reaches the second position is obtained by the following expression:

[0063] φ j =n1·a3+n2·a2

[0064] Among them, φ j is the heading angle when the self-moving device reaches the second position, a3 is the first heading angle, a2 is the second heading angle, n1 and n2 are both positive numbers, and if the time taken by the self-moving device to move from the initial position to the second position reaches the preset time, n1 is greater than n2; if the time taken by the self-moving device to move from the initial position to the second position does not reach the preset time, n1 is less than n2.

[0065] In this embodiment, if the accumulated time when the self-mobile device moves from the initial position to the second position does not reach the preset time, it means that the driving time of the automatic lawn mower 1 is short, and the second heading angle detected by the inertial navigation system is more accurate at this time, so the weight of the second heading angle is increased, and the weight of the first heading angle obtained by the ultra-wideband system is reduced, so that the accuracy of the heading angle when the self-mobile device reaches the second position can be improved. On the contrary, if the accumulated time when the self-mobile device moves from the initial position to the second position reaches the preset time, it means that the driving time of the automatic lawn mower 1 is long, and the first heading angle using the ultra-wideband system is more accurate at this time, so the weight of the second heading angle detected by the inertial navigation system is reduced, and the weight of the first heading angle obtained by the ultra-wideband system is increased, so that the accuracy of the heading angle when the self-mobile device reaches the second position can be improved. Of course, in other embodiments, the heading angle when the self-mobile device reaches the second position can be obtained by Kalman filtering technology, and is not limited to being obtained by the above algorithm.

[0066] In another embodiment of the present invention, a control system for a self-moving device is provided, wherein the control system comprises:

[0067] A detection module configured to detect a moving state of the self-moving device from the first position to the second position, wherein the moving state includes one of a curved movement and a linear movement;

[0068] an acquisition module, configured to obtain the first heading angle correction value according to the first heading angle measured by the radio detection system when the self-mobile device reaches the second position and the accumulated heading change value measured by the inertial navigation system when the self-mobile device moves from the first position to the second position, and obtain the second heading angle according to the initial heading angle of the self-mobile device and the accumulated heading change value measured by the inertial navigation system when the self-mobile device moves from the initial position to the second position;

[0069] The calculation module is configured to obtain the heading angle when the self-moving device reaches the second position according to the first heading angle correction value and the second heading angle when the moving state is curved movement.

[0070] Furthermore, the control system also includes a timing module. When the automatic lawn mower 1 starts to operate, the timing module starts to record the driving time; during the operation of the automatic lawn mower 1, the timing module always records the driving time and accumulates the driving time.

[0071] In another embodiment of the present invention, a self-moving device is further provided, the self-moving device further comprising:

[0072] One or more processors; a storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, the one or more processors implement the above-mentioned heading correction method. The heading correction method is not described here.

[0073] In another embodiment of the present invention, a readable storage medium is provided, on which a computer program is stored, wherein the computer program implements the above-mentioned heading correction method when executed by a processor. The heading correction method will not be described in detail here.

[0074] The present invention uses specific embodiments to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A heading correction method for a self-propelled device, the self-propelled device comprising an inertial navigation system and a radio detection system, characterized in that: The method comprises: Detecting a moving state of the self-moving device from a first position to a second position, wherein the moving state includes one of a curved movement and a linear movement; When the moving state is the curved movement, obtaining the heading angle when the self-moving device reaches the second position according to the first heading angle correction value and the second heading angle; in, The first heading angle correction value is equal to the sum of the first heading angle measured by the radio detection system when the self-mobile device reaches the second position and one-half of the cumulative heading change value of the self-mobile device moving from the first position to the second position measured by the inertial navigation system; the second heading angle is obtained based on the initial heading angle of the self-mobile device and the cumulative heading change value of the self-mobile device moving from the initial position to the second position measured by the inertial navigation system.

2. The heading correction method according to claim 1, characterized in that: The method further comprises: When the moving state is the linear movement, the heading angle when the self-moving device reaches the second position is obtained according to the first heading angle and the second heading angle.

3. The heading correction method according to claim 1, characterized in that: The initial heading angle is obtained by: When the self-mobile device starts from the charging station as the initial position, the initial heading angle is 0.

4. The heading correction method according to claim 3, characterized in that: The initial heading angle is obtained by: When the self-moving device starts from a position outside the charging station as the initial position, the heading angle measured by the radio detection system is the initial heading angle when the self-moving device reaches the position after moving a preset distance from the initial position.

5. The heading correction method according to claim 1, characterized in that: The heading angle when the self-mobile device reaches the second position is obtained by the following expression: <h2 style=";text-align:left;direction:ltr">φ<h2 style=";text-align:left;direction:ltr"> j <h2 style=";text-align:left;direction:ltr"> (n1·a1+n2·a2) Among them, φ j is the heading angle when the self-moving device reaches the second position, a1 is the first heading angle correction value, a2 is the second heading angle, n1 and n2 are both positive numbers, and when the time when the self-moving device moves from the initial position to the second position reaches the preset time, n1 is greater than n2; when the time when the self-moving device moves from the initial position to the second position does not reach the preset time, n1 is less than n2.

6. The heading correction method according to claim 1, characterized in that: The detecting of the moving state of the self-moving device from the first position to the second position includes: obtaining the moving state of the self-moving device from the first position to the second position according to a preset work plan, wherein the preset work plan includes the correspondence between the position and the moving state of the self-moving device.

7. A control system for a self-moving device, characterized in that: The control system comprises: A detection module configured to detect a moving state of the self-moving device from the first position to the second position, wherein the moving state includes one of a curved movement and a linear movement; an acquisition module, configured to obtain a first heading angle correction value according to the sum of a first heading angle measured by a radio detection system when the self-mobile device reaches the second position and one-half of a cumulative heading change value of the self-mobile device moving from the first position to the second position measured by an inertial navigation system, and to obtain a second heading angle according to an initial heading angle of the self-mobile device and a cumulative heading change value of the self-mobile device moving from the initial position to the second position measured by the inertial navigation system; The calculation module is configured to obtain the heading angle when the self-moving device reaches the second position according to the first heading angle correction value and the second heading angle when the moving state is the curved movement.

8. A self-moving device, characterized in that: The self-moving device also includes: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the heading correction method as described in any one of claims 1-6.

9. A readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the heading correction method described in any one of claims 1 to 6 is implemented.

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