A positioning error correction method, device, self-contained equipment and system

Abstract

The present application discloses a positioning error correction method for a self-moving device, comprising: detecting a boundary tag; determining first position information according to the position coordinates of the detected current boundary tag; determining a positioning error according to the first position information and the calculated current position coordinates; and correcting the current position and at least part of the coordinate sequence formed based on the coordinate position recorded in real time during driving according to the positioning error. The above error correction method can reliably improve the accuracy of positioning of the self-moving device. The present application also provides a positioning error correction device, an automatic working device and a system.

Description

Technical Field

[0001] The present application relates to the technical field of automatic working equipment, and in particular to a positioning error correction method, device, self-moving equipment and system for self-moving equipment. Background Art

[0002] With the development of computer and communication technology, more and more autonomous devices such as automatic lawn mowers and sweeping robots are being put into social production, which greatly facilitates users' operations and reduces the burden and risk of manual operations.

[0003] The self-moving device described generally refers to a self-moving device that can be unattended or does not require the user to indicate its actions in real time, such as automatic cleaning equipment, automatic irrigation equipment, automatic snow blower, etc. At present, when a self-moving device is moving, it usually relies on an inertial detection unit to detect its heading angle and calculates its mileage based on a mileage calculation unit. For example, for a lawn mower, the charging station can generally be used as the initial origin, and its position coordinates can be recorded in real time based on the heading angle and odometer during driving. However, due to some hardware or algorithm reasons, measurement errors are inevitable, resulting in deviations in the positioning of the self-moving device. Therefore, how to perform more accurate error correction on the self-moving device and improve the operating accuracy of the self-moving device is a problem that urgently needs to be solved in the industry. Summary of the invention

[0004] In view of the deficiencies in the above-mentioned technologies, the present application also provides a self-moving device and a method for constructing a working area map of the self-moving device.

[0005] In order to solve the above technical problems, the technical solutions adopted in this application include:

[0006] A self-moving device, used for autonomously walking and performing work tasks in a working area, the self-moving device comprising:

[0007] a boundary tag detection unit, configured to identify a plurality of uniquely identifiable boundary tags arranged at intervals along a boundary of the working area;

[0008] A positioning unit, used to obtain the current position coordinates of the self-moving device and generate a position coordinate sequence of the walking path of the self-moving device, and the positioning unit is also used to record the position coordinates corresponding to the boundary tags detected by the boundary tag detection unit, and pre-store the boundary length between adjacent boundary tags;

[0009] A map building module, used for inducing the self-moving device to move along the boundary of the working area, and forming a boundary position coordinate sequence of the working area according to the position coordinates of the self-moving device recorded by the positioning unit during the moving process along the boundary;

[0010] A map correction module, used for obtaining the actual mileage between the previous boundary label and the current boundary label when the current boundary label is detected in the process of constructing the map of the working area of ​​the mobile device according to the boundary length between the pre-stored boundary labels;

[0011] Calculate the recorded mileage between the current boundary label and the previous boundary label based on the recorded mileage;

[0012] The map correction module is used to correct the coordinate positions of the current boundary label and the previous boundary label according to the difference between the actual mileage and the recorded mileage;

[0013] The map building module builds the work area map according to the corrected boundary position coordinate sequence.

[0014] Preferably, in the process of constructing the map of the working area of ​​the self-moving device, the starting position of the self-moving device is an identifiable initial position on the boundary;

[0015] The map building module is used to cause the mobile device to start from the initial position and move around the boundary of the working area, and finally return to the initial position.

[0016] Preferably, the initial position is the position of the charging station on the boundary;

[0017] The map building module is used to cause the mobile device to start from the charging station, go around the boundary of the working area, and finally return to the charging station.

[0018] Preferably, the map establishment module is used to cause the self-moving device to start from the initial position as the origin and walk along the boundary, and the map correction module corrects the boundary position coordinate sequence according to the deviation between the current position coordinates measured by the positioning unit when returning to the initial position and the origin coordinates.

[0019] Preferably, the positioning unit stores the boundary length between the predicted initial position and the first adjacent boundary tag;

[0020] When the first boundary tag is detected, the map correction module obtains the actual mileage between the predicted initial position and the first boundary tag according to the boundary length between the pre-stored boundary tag and the predicted initial position;

[0021] Calculating the recorded mileage between the current boundary tag and the predicted initial position based on the recorded mileage;

[0022] The position coordinate sequence between the current first boundary tag and the predicted initial position is corrected according to the deviation between the actual mileage and the recorded mileage.

[0023] Preferably, the map correction module uses a relatively small correction amplitude for a positioning point in the boundary position coordinate sequence that is relatively close to the previous boundary tag according to the difference.

[0024] Preferably, the working area is enclosed by a boundary line laid along the boundary of the working area, and the boundary label is set along the boundary line.

[0025] Preferably, the lengths of the border lines between adjacent border tags are the same.

[0026] Preferably, the boundary tag is an electronic tag.

[0027] Preferably, the self-moving device is an automatic lawn mower.

[0028] The present application also provides a method for establishing a work area map using a mobile device as described in any of the above embodiments, the method comprising:

[0029] Control the mobile device to move along the boundary from an initial position on the boundary of the working area, and record the position coordinates of the walking path in real time;

[0030] Forming a boundary position coordinate sequence according to the boundary position coordinates recorded in real time;

[0031] While walking along the boundary, detect boundary labels;

[0032] When the current boundary tag is detected, the actual mileage between the previous boundary tag and the current boundary tag is obtained according to the boundary length between the pre-stored boundary tags;

[0033] Calculate the recorded mileage between the current boundary label and the previous boundary label position based on the recorded mileage;

[0034] Correcting a boundary position coordinate sequence between two boundary tags according to a deviation between the actual mileage and the recorded mileage;

[0035] A working area map of the mobile device is constructed based on the corrected boundary position coordinate sequence.

[0036] Preferably, the initial position of the self-moving device is the position of a charging station arranged on the boundary.

[0037] Preferably, the working area is enclosed by a boundary line laid along the boundary of the working area, and the boundary label is set along the boundary line.

[0038] Preferably, after walking along the border and returning to the initial position, the border position coordinate sequence is corrected according to the deviation between the current position coordinates measured by the positioning unit when returning to the initial position and the coordinates of the initial position recorded when setting out.

[0039] In response to the deficiencies in the prior art, the present application also provides a positioning error correction method for a self-moving device and a self-moving device, which can correct the position of the self-moving device, effectively reduce positioning deviation, and improve the positioning accuracy of the self-moving device.

[0040] In order to solve the above technical problems, the technical solutions adopted in this application include:

[0041] A positioning error correction method for a self-moving device, comprising:

[0042] Detect boundary labels;

[0043] Determine first position information according to the detected position coordinates of the current boundary tag;

[0044] Determine a positioning error according to the first position information and the calculated current position coordinates;

[0045] The current position and at least a portion of the coordinate sequence formed based on the coordinate positions recorded in real time during the driving process are corrected according to the positioning error.

[0046] Preferably, the position coordinates of the boundary tags are pre-stored, and the boundary tags have unique identification information;

[0047] Correspondingly, determining the first position information according to the detected position coordinates of the current boundary tag includes: searching the stored boundary tags for the position coordinates of the boundary tag corresponding to the identification information of the current boundary tag; and determining the first position information based on the searched position coordinates.

[0048] Preferably, the position coordinates of the pre-stored boundary labels are determined by:

[0049] The mobile device starts from the starting position and moves along the preset boundary line to the terminal position;

[0050] During the operation, the position coordinates of the detected boundary tags are recorded, and a working area map of the automatic mobile device is constructed with a coordinate sequence formed by the recorded boundary position coordinates.

[0051] Preferably, the method further comprises: calculating the error between the current position coordinates recorded from the mobile device to the terminal position and the actual coordinates of the terminal position;

[0052] The coordinate position of the recorded boundary tag is corrected according to the error.

[0053] Preferably, in the process of constructing the working area map of the automatic mobile device, it also includes:

[0054] When the current boundary tag is detected, the actual mileage between the previous boundary tag and the current boundary tag is obtained according to the boundary length between the pre-stored boundary tags;

[0055] Calculate the recorded mileage between the current boundary label and the previous boundary label based on the recorded mileage;

[0056] The difference between the actual mileage and the recorded mileage is calculated, and the coordinate positions of the current boundary tag and the previous boundary tag are corrected according to the difference.

[0057] Preferably, according to the method described in any of the above embodiments, the correction includes:

[0058] Determine the number of positioning points N contained in the distance between the current position and the previous calibration point;

[0059] Divide the positioning error by N to obtain a correction offset of a single positioning point;

[0060] The positioning point is corrected according to the correction offset.

[0061] Preferably, the correction includes:

[0062] Determine the number of positioning points N contained in the distance between the current position and the previous calibration point;

[0063] The correction offsets of the positioning points are determined respectively, wherein the positioning points relatively close to the last correction point among the included positioning points use relatively small correction amplitudes, and the sum of the correction amplitudes of all positioning points does not exceed the positioning error.

[0064] Preferably, the correcting the current position according to the positioning error comprises:

[0065] Correct the coordinates of the current position to the coordinates of the current boundary label.

[0066] Preferably, it also includes:

[0067] Calculate the distance L1 between the recharging position and any boundary tag on the boundary line, and the distance L2 between the current self-moving device and any boundary tag, and obtain N groups (L1+L2), where N is the number of boundary tags;

[0068] From the N groups (L1+L2), select the group with the smallest value of (L1+L2) as the optimal backfill path.

[0069] The present application also provides a positioning error correction device for a self-moving device, comprising at least one processor and a memory storing computer-executable instructions, wherein the processor executes the instructions to implement the steps of the error correction method described in any one of the above embodiments.

[0070] The present application also provides a self-moving device, including a boundary label detection unit, a positioning unit, and a correction unit.

[0071] The boundary label detection unit is used to detect boundary labels;

[0072] The positioning unit is used to determine the first position information according to the detected position coordinates of the current boundary tag; and is also used to determine the positioning error according to the first position information and the calculated current position coordinates;

[0073] The correction unit is used to correct the current position according to the positioning error.

[0074] Preferably, the positioning unit is also used to pre-store the position coordinates of the boundary tag, and the boundary tag has unique identification information;

[0075] Correspondingly, the positioning unit determines the first position information according to the detected position coordinates of the current boundary tag, including: searching the stored boundary tags for the position coordinates of the boundary tag corresponding to the identification information of the current boundary tag; and determining the first position information based on the searched position coordinates.

[0076] Preferably, the positioning unit stores a coordinate sequence formed by coordinate positions recorded in real time during driving;

[0077] The correction unit is further used to correct the coordinate sequence stored in the positioning unit.

[0078] Preferably, the positioning unit determines the position coordinates of the pre-stored boundary label by:

[0079] The mobile device starts from the starting position and moves along the preset boundary line to the terminal position;

[0080] During the operation, the position coordinates of the detected boundary tags are recorded, and a working area map of the automatic mobile device is constructed with a coordinate sequence formed by the recorded boundary position coordinates.

[0081] Preferably, it also includes an initial correction unit for calculating the error between the current position coordinates recorded from the mobile device to the terminal position and the actual coordinates of the terminal position; and correcting the recorded boundary coordinate position sequence according to the error.

[0082] Preferably, it also includes: a map correction module, which is used to obtain the actual mileage between the current boundary label and the previous boundary label based on the boundary length between pre-stored boundary labels when the current boundary label is detected during the process of constructing the working area map of the automatic mobile equipment; it is also used to calculate the recorded mileage between the current boundary label and the previous boundary label based on the recorded mileage; it is also used to calculate the difference between the actual mileage and the recorded mileage, and correct the coordinate position of the current boundary label and the previous boundary label according to the difference.

[0083] According to any one of the above embodiments of the self-moving device, preferably, the correction includes:

[0084] Determine the number of positioning points N contained in the distance between the current position and the previous calibration point;

[0085] Divide the positioning error by N to obtain a correction offset of a single positioning point;

[0086] The positioning point is corrected according to the correction offset.

[0087] According to any one of the above embodiments of the self-moving device, preferably, the correction includes:

[0088] Determine the number of positioning points N contained in the distance between the current position and the previous calibration point;

[0089] The correction offsets of the positioning points are determined respectively, wherein the positioning points relatively close to the last correction point among the included positioning points use relatively small correction amplitudes, and the sum of the correction amplitudes of all positioning points does not exceed the positioning error.

[0090] Preferably, the correction unit correcting the current position according to the positioning error comprises:

[0091] Correct the coordinates of the current position to the coordinates of the current boundary label.

[0092] Preferably, it also includes:

[0093] The regression path planning unit is used to calculate the distance L1 between the recharging position and any boundary tag on the boundary line, and the distance L2 between the current self-moving device and any boundary tag, to obtain N groups (L1+L2), where N is the number of boundary tags; and select the group with the minimum value of (L1+L2) from the N groups (L1+L2) as the optimal recharging path.

[0094] Preferably, it also includes:

[0095] The boundary line detection unit is used to detect the boundary line of the map of the working area of ​​the mobile device, wherein the boundary line is a closed loop; wherein the boundary tag includes an electronic tag with coordinate information pre-set on the boundary line or within a preset range from the boundary line.

[0096] The present application also provides an automatic lawn mower, including a driving device, a positioning processing device, and a tag detection device, wherein:

[0097] The driving device drives the automatic lawn mower to move; the tag detection device is used to detect the signal sent by the boundary tag; and the positioning processing device is used to implement the steps of any one of the methods described in claims 1-10.

[0098] The present application also provides an automatic working system, including a self-moving device, a supply station for providing driving energy for the self-moving device, and a boundary label with coordinate information pre-set within a preset range of the boundary line of the working area, wherein the self-moving device includes the self-moving device provided in any of the above embodiments, or includes the error correction device provided in any of the above embodiments, or includes the automatic lawn mower provided in the above embodiments.

[0099] The present application provides a positioning error correction method for a self-moving device and a self-moving device, which can determine the positioning error by using the first position information determined by the position coordinates of the detected current boundary tag and the current coordinates calculated by the self-moving device, and then correct the current position according to the positioning error. In some embodiments, since the position of the boundary tag can be predetermined and stored in the self-moving device, the self-moving device can calculate the positioning error occurring in the current position according to the detected boundary tag while operating, and then correct the current position according to the positioning error, thereby improving the processing efficiency and correction accuracy of the error correction.

[0100] The present application also provides a self-moving device for autonomously walking and performing work tasks in a working area, the self-moving device comprising:

[0101] A map storage module, used for pre-storing a map of the working area and position coordinates of a plurality of identifiable boundary tags arranged at intervals along the boundary of the working area;

[0102] A boundary label detection unit, used to identify the boundary label;

[0103] A positioning unit, used to obtain the current position coordinates of the mobile device;

[0104] A regression path planning unit, configured to receive a regression instruction and calculate a length L1 of a first regression path between the position coordinates of a plurality of identifiable boundary tags set at the boundary and the current position coordinates of the self-mobile device, and a length L2 of a second regression path between the corresponding boundary tags and the recharging position, and select a path with the smallest value of (L1+L2) as the optimal regression path;

[0105] The control unit is used to control the mobile device to return to the recharging position according to the optimal return path.

[0106] Preferably, the refill position is located on the boundary, and the second regression path includes a path track of the boundary between the corresponding boundary label and the refill position.

[0107] Preferably, during the regression process of the self-mobile device, the current position coordinates measured by the positioning unit are corrected to the position coordinates of the currently detected boundary tag, and the second regression path includes the shortest path between the corrected position coordinates and the position coordinates of the recharging position.

[0108] Preferably, it is characterized in that the first regression path includes a straight line path between the position coordinates of the mobile device before regression and the corresponding boundary label.

[0109] Preferably, the outer boundary of the working area is surrounded by a boundary line, and the recharging position is the position of the charging station arranged on the boundary line.

[0110] Preferably, the boundary tag is fixedly arranged on the boundary line or along the boundary line, and the positioning unit pre-stores boundary line length information between adjacent boundary tags and / or boundary line length information between each boundary tag and the charging station.

[0111] Preferably, the positioning unit is used to correct at least a part of the position coordinate sequence according to the deviation between the detected position coordinates of the boundary tag and the position coordinates currently measured by the positioning unit.

[0112] Preferably, the self-moving device is an automatic lawn mower.

[0113] The present application also provides a method for a self-moving device to quickly return to a charging station, wherein the self-moving device is used to autonomously walk and perform work tasks in a working area, and the method comprises:

[0114] Detect whether the mobile device needs to return to the charging station;

[0115] When the self-mobile device needs to return to the charging station, the length L1 of the first regression path between the position coordinates of a plurality of identifiable boundary tags arranged along the boundary and the current position coordinates of the self-mobile device, and the length L2 of the second regression path between the corresponding boundary tags and the charging station are calculated;

[0116] The self-mobile device is controlled to return to the charging station according to the regression path with the smallest value of (L1+L2) as the optimal recharging path.

[0117] Preferably, the charging station is arranged on the boundary of the working area, and further comprises:

[0118] Calculate the distance L1 between the charging station location and any boundary tag on the boundary, and the distance L2 between the current self-mobile device and any boundary tag, to obtain N groups (L1+L2), where N is the number of boundary tags;

[0119] A group with the smallest value of (L1+L2) is selected from N groups (L1+L2) as the optimal backfill path.

[0120] Preferably, the method further includes, when the mobile device regresses to the corresponding boundary tag, correcting the position coordinates of the detected boundary tag to the position coordinates measured by the current positioning unit.

[0121] The method for the self-moving device and the rapid return to the charging station provided in the present application can calculate the optimal recharging path when necessary, thereby reducing the energy consumption of the return process and achieving rapid and efficient return. BRIEF DESCRIPTION OF THE DRAWINGS

[0122] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0123] Figure 1 It is a schematic diagram of the overall structure of the automatic working system proposed in this application;

[0124] Figure 2 It is a structural schematic diagram of the self-mobile device in the walking state along the boundary proposed in this application;

[0125] Figure 3 is a schematic diagram of a constructed working area grid map provided by the present application;

[0126] Figure 4 This is a flowchart of an embodiment of a method for establishing a work area map provided by the present application;

[0127] Figure 5 A schematic diagram of an embodiment of a positioning error correction method provided by the present application;

[0128] Figure 6 is a schematic structural diagram of an embodiment of the self-mobile device provided in this application;

[0129] Figure 7 This is a schematic diagram of one of the optimal paths planned from a mobile device back to a charging station;

[0130] Figure 8 It is a schematic diagram of an embodiment of the fast regression method provided by the present application. DETAILED DESCRIPTION

[0131] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some structures related to the present application are shown in the accompanying drawings, rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0132] The terms "including" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0133] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0134] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0135] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0136] like Figure 1 and Figure 2 As shown, an automatic working system provided in one embodiment of the present invention includes a self-moving device 10, a charging station 5 (a supply station), and the self-moving device 10 can also store a work area map. The work area can be defined by a boundary line 6. The self-moving device 10 can walk and perform work tasks in the work area surrounded by the boundary line 6.

[0137] In a specific embodiment scenario, the self-moving device 10 may be an automatic lawn mower. In other embodiments, the self-moving device 10 may also be an automatic cleaning device, an automatic watering device, an automatic snow sweeper, or other device suitable for unattended operation.

[0138] like Figure 1 As shown, the charging station 5 is arranged on the boundary. Specifically, the boundary can be formed by a boundary line 6 connected to the charging station 5, which starts from the charging station 5, is laid along the edge of the working area, surrounds the entire working area, and then returns to the charging station to form a closed loop. A boundary signal generator is arranged on the boundary line 6, which can generate a specific boundary signal and pass it to the boundary line, thereby generating a boundary signal around the boundary line, and the self-moving device 10 can detect the boundary signal to identify the position relative to the boundary line, such as judging whether the self-moving device 10 is in the working area or outside the working area or across the boundary line 6.

[0139] In some embodiments of the present specification, a plurality of boundary tags are arranged at intervals on the boundary line 6. The boundary tag may be an electronic tag and may have unique identification information, such as Figure 1 The boundary tags with different identifications shown in 101 to 114 in FIG. Each boundary tag can pre-set its position coordinates according to its location. The position coordinates of the boundary tag can be absolute position information such as longitude and latitude, or relative position information based on a rectangular coordinate system, a polar coordinate system, a cylindrical coordinate system, etc. For ease of description, some embodiments of this specification are described by way of example in a rectangular two-dimensional coordinate system, such as the position coordinates of the charging station 5 can be described as (x0, y0).

[0140] See also Figure 2 , the mobile device 10 includes a boundary line detection unit, such as Figure 2As shown in 12 and 14, it can be used to detect boundary signals, and the electronic tag detection unit, as shown in 15, the positioning unit, such as Figure 2 As shown in Figure 11. Figure 2 In the figure, 107, 108, and 109 are schematic boundary labels, and A and B are the positions to which the self-moving device 10 moves at different times. Specifically, the boundary line detection unit may include a boundary sensor for detecting boundary signals, such as an inductor, a Hall sensor, etc. Generally, the boundary sensors include at least two, and the boundary sensors may be arranged at intervals. For example, one boundary sensor is arranged on the right side of the midline of the self-moving device 10 body, and the other is arranged on the left side of the midline of the self-moving device 10 body. When walking along the boundary line, one of the boundary sensors is located outside the boundary line, and the other boundary sensor is located inside the boundary line. Therefore, the boundary signals detected by the two boundary sensors have opposite polarities, and the self-moving device 10 controls the lawn mower to walk along the boundary according to the signal polarities of the two boundary sensors.

[0141] In some embodiments of the present specification, the self-moving device 10 may include an inertial measurement unit and an odometer for measuring mileage. For example, the inertial measurement unit may be used to measure the heading angle of the self-moving device 10, and the odometer may measure the rotation speed of the running wheels to calculate the mileage traveled by the self-moving device 10.

[0142] In some embodiments of the present specification, the self-mobile device 10 may further include a positioning unit. The positioning unit may calculate the real-time position coordinates of the self-mobile device 10 based on the heading angle measured by the inertial measurement unit and the mileage measured by the odometer. During the driving process of the self-mobile device 10, the self-mobile device 10 records the position coordinates of its driving path in real time, thereby obtaining a set of position coordinate sequences of the driving path. The position coordinates may be stored in the positioning unit.

[0143] The positioning unit may include a storage module and a calculation module. The storage module may be used to store a position coordinate sequence obtained by real-time measurement from the mobile device 10, and the calculation module may process and calculate the position coordinate sequence. The storage module and the calculation module are in communication connection with each other.

[0144] It is understandable that due to the measurement deviation of the heading angle of the self-moving device 10 measured by the inertial measurement unit, as the mileage increases, the position coordinate error calculated by the positioning unit becomes larger and larger over time, so the positioning error will be amplified over time. If the position information is not corrected during the entire working process, the position coordinates of the self-moving device 10 will be inaccurate, further affecting the working efficiency of the self-moving device 10.

[0145] The time required for the self-mobile device 10 to walk and work in the working area and complete the coverage of the working area determines the coverage efficiency of the self-mobile device 10. The less time required for the self-mobile device 10 to fully cover the working area, the higher the work efficiency and the less energy it consumes. In order to improve the coverage efficiency of the self-mobile device 10, before starting work, the self-mobile device 10 can walk along the boundary line 6 to obtain the boundary information of the working area and establish a map of the working area. In the subsequent walking coverage work, the position of the self-mobile device 10 in the working area is identified according to the real-time position coordinates recorded by the positioning unit and the stored map.

[0146] However, when the self-moving device 10 is moving along the border, on the one hand, due to the cumulative error of the inertial measurement unit, the longer the travel distance, the greater the deviation between the recorded coordinate information and the actual information, resulting in inaccurate position information; on the other hand, due to reasons such as the slippage or idling of the walking wheels, mileage calculation errors occur, and the final work area map information established is inaccurate, which further adversely affects the coverage efficiency of the self-moving device 10.

[0147] In this regard, in other embodiments of this specification, in order to further improve the accuracy of establishing a work area map from the mobile device 10, see Figure 1 The automatic working system also includes a plurality of identifiable boundary tags 101-114 arranged at intervals along the boundary of the working area, each boundary tag can provide unique identification information, such as a number or a code, and a plurality of uniquely identifiable boundary tags 101-114 can be arranged in sequence on the boundary or adjacent to the boundary. In one embodiment, the boundary of the working area is defined by a boundary line 6, and a plurality of identifiable boundary tags 101-114 are arranged at intervals along the boundary line 6, including the boundary tags 101-114 being connected to the boundary line 6 or being arranged along the boundary line 6 within a preset range from the boundary line 6. In a specific embodiment, the boundary tag can be an RFID (Radio Frequency Identification) electronic tag. The RFID electronic tag can be directly connected to the boundary line or attached to a ground nail that fixes the boundary line. The RFID electronic tag can be a non-powered RFID electronic tag, and of course, it can also include an active and / or powered electronic tag. The boundary tag can also have other forms, such as a magnetic nail, an ultrasonic module or a Wifi module, and can be arranged and used in a combination of multiple different electronic tags.

[0148] Preferably, the boundary tags are spaced at uniform intervals along the boundary line 6, that is, the boundary line lengths between adjacent boundary tags are the same. For example, the boundary lengths between adjacent boundary tags are all 1 meter, and of course, can also be 2 meters. In one embodiment, the boundary tags are integrated on the boundary line 6 to form a whole with the boundary line 6, so that the setting of the boundary tags is completed while the boundary line 6 is laid, and no additional boundary tags need to be set. In other embodiments, the boundary tags can be arranged in a non-uniformly spaced layout, wherein the boundary line length information between the boundary tags is stored in the self-mobile device 10, and the self-mobile device 10 can retrieve and obtain the data when using the data.

[0149] The self-mobile device 10 is provided with a boundary tag detection unit, which can identify multiple unique boundary tags. The positioning unit pre-stores the relative position relationship information of multiple unique boundary tags. Specifically, the relative position relationship includes the length of the boundary line 6 between the boundary tags, preferably the length information of the boundary line 6 between adjacent boundary tags, and / or the length information of the boundary line 6 between each boundary tag and the charging station 5.

[0150] The self-mobile device 10 also includes a map building module, which is used to cause the self-mobile device 10 to walk at least one circle along the outer boundary of the working area. The positioning unit records the position coordinates of the self-mobile device in real time during the walking process along the outer boundary, and forms a boundary position coordinate sequence of the working area; at the same time, the positioning unit records the position coordinates corresponding to the boundary label detected by the boundary label detection unit.

[0151] The self-moving device 10 provided in some embodiments of the present application can correct the position coordinate sequence of the outer boundary of the working area by pre-arranging boundary labels at the outer boundary, thereby establishing a working area map based on the corrected position coordinate sequence, which can reduce the risk of inaccurate map information establishment due to measurement, slipping or other environmental reasons, and improve the accuracy of working area map establishment.

[0152] In one embodiment, the self-moving device 10 further includes a map correction module, which is used to correct the boundary position coordinate sequence recorded during the self-moving device 10 walking around the outer boundary caused by the map establishment module. Specifically, the map correction module is configured to use the boundary line length between the currently detected boundary label and the previous boundary label as the actual mileage of the self-moving device walking along the boundary, calculate the recorded mileage between the current boundary label and the previous boundary label based on the mileage recorded by the odometer, correct the position coordinate sequence between the previous boundary label and the previous boundary label according to the difference between the actual mileage and the recorded mileage between the above two boundary labels, and the map establishment module establishes a work area map according to the corrected boundary position coordinate sequence.

[0153] For a specific implementation example of establishing a work area map, see Figure 2 , let the length of the border line between two border tags be S, the current border tag number is 108, the position is B, the previous border tag number is 107, the position is A, that is, the actual mileage of the self-mobile device 10 from the previous border tag A to the next border tag B is a known length S. When the self-mobile device 10 is walking along the border line 6, the position coordinates of the detected border tag 107 at A are recorded as (x1, y1). Continue walking along the border line 6, and detect the border tag 108 at B. At this time, the coordinates of point B measured in real time by the positioning unit are (x2, y2). Assume that the number of the boundary position coordinate sequence between position A and position B is N (i.e., N positioning points), where the N positioning points include the coordinates of the border tag 108 at position B, but do not include the coordinates of the border tag 107 at position A. The mileage between position A and position B measured by the odometer is S1 = ((x2, y2)-(x1, y1)), then the mileage calculation error is S-S1. If the mileage calculation error is averaged into each boundary position coordinate, the average correction offset of each positioning point is (S-S1) / N. Based on the correction offset, the boundary position coordinate sequence between the boundary tags 107 and 108 can be recalculated to obtain a corrected boundary position coordinate sequence.

[0154] In the Walking Along the Boundary step, also refer to Figure 4 , the self-mobile device 10 starts from an initial position on the boundary line 6, takes the initial position as the starting point, and walks along the boundary line 6 until the terminal position. In the map of the working area closed by the boundary line, generally, the terminal position may be the initial position, but the present application does not exclude the situation in other implementations where the terminal position is different from the position where the self-mobile device 10 initially walks. In this embodiment, the terminal position may be the initial position. Furthermore, the map correction module compares the position coordinates measured by the positioning unit when returning to the initial position with the starting point coordinates to correct the boundary position coordinate sequence. The initial position may be the position of any boundary label or the location of the charging station 5, which is not limited here, as long as the self-mobile device 10 can recognize the initial position.

[0155] In some embodiments, the positioning unit stores the boundary length between the initial position and the first boundary tag encountered on the walking path along the boundary, and the map correction module is configured to use the boundary length between the first detected boundary tag and the initial position as the actual mileage of the self-moving device 10, and correct the position coordinate sequence between the current first boundary tag and the initial position according to the correction method between the adjacent boundary tags mentioned above. Of course, in other embodiments, the difference between the boundary tags can also be obtained according to the boundary length between the stored boundary tags and the mileage between the boundary tags calculated by the actual driving, and then the boundary tags are corrected according to the difference. The boundary tags described here can be adjacent boundary tags or non-adjacent boundary tags, and the boundary tags can be obtained without including the initial position. For example, according to the heading angle and mileage, the actual mileage of the current boundary tag 103 and the previous boundary tag is 2.8 kilometers, and according to the stored record, the boundary length between the current boundary tag 103 and the boundary tag is 3 kilometers, so it can be known that the difference between the actual mileage and the recorded mileage is 0.2 kilometers. Further, the 101 recorded position coordinate sequences can be corrected according to the difference of 0.2 kilometers, and the offset of each position coordinate sequence can be calculated to be 0.2 / (101-1)=0.002 kilometers. Then, the positioning error can be averaged to the positioning point of each position coordinate sequence using the average error. Of course, the above embodiment is only exemplary. In the actual correction process, the correction offset and correction target can also be determined according to the specific scenario, such as whether to offset the x-axis or the y-axis of the coordinate.

[0156] In an embodiment in which an automatic lawn mower is used as a specific self-moving device, the self-moving device 10 initially stops at the charging station 5, takes the charging station 5 as the initial position, and walks along the boundary line 6 with the charging station 5 as the origin. In the process of walking along the boundary line 6, the mileage and heading angle of the self-moving device 10 are recorded in real time, and the boundary position coordinate sequence information of the self-moving device walking is calculated by the positioning unit, and finally returns to the charging station to complete a circle of walking around the work area. The length of the boundary line between the first boundary tag encountered by the self-moving device when leaving the charging station 5 and the charging station 5 is also known. Assuming that the length of the boundary line 6 between the boundary tag and the charging station is M, the self-moving device 10 starts from the charging station 5, travels a mileage of M, and detects the first boundary tag. The positioning unit corrects the position coordinate sequence between the charging station 5 and the first boundary tag according to the mileage M and the mileage recorded by the odometer, and performs correction according to the method for correcting the boundary position coordinate sequence between adjacent boundary tags described in the above embodiment. In this way, each boundary tag is used as a correction reference point, and the position correction is completed in sequence, and the position correction is close to the starting point, so the correction is more accurate.

[0157] In one embodiment provided in this specification, the length of the border line between adjacent border tags can be set to be the same, that is, the actual mileage between two adjacent border tags when the self-mobile device 10 walks along the border is the same. When the self-mobile device 10 walks from one border tag position to the next border tag position, its mileage is equal to the length of the border line between the two border tags, and this length is pre-stored in the self-mobile device 10. The map correction module can correct the recorded boundary position coordinate sequence based on the known mileage.

[0158] It is understandable that, as the measured position coordinates cause the cumulative error to become larger and larger over time, the farther the position coordinates are from the correction point, the smaller the position error is, that is, the closer to the previous correction point, the smaller the positioning error is. If the same amplitude is used to correct all position coordinate sequences, it is inevitable that the position coordinate correction will be inaccurate. In order to further improve the correction accuracy, in some other embodiments of the present specification, when determining the correction offset of each of the positioning points, a correction method in which a positioning point relatively close to the previous correction point is used in the positioning point can be used. Different correction amplitude values ​​or different weights can be set in a specific implementation method. For example, in one implementation, the calculation module of the mobile device 10 can also include a correction weight allocation module, which allocates different weight coefficients k from near to far according to the mileage of the position coordinate sequence and the correction point B. Specifically, a larger weight coefficient is used for the position coordinates near the correction point B, and a smaller weight coefficient is used for the position coordinates far from the correction point B when the measurement time is long. Preferably, the weight coefficient k can be set to decrease stepwise as time goes by, or it can be set to decrease linearly as the position coordinate sequence goes forward in time. In another real-time example, the weight coefficient k can also decrease in the form of a curve.

[0159] In some embodiments, the positioning unit is configured to correct the position coordinates recorded between the boundary tag A (x1, y1) and the boundary tag B (x2, y2) based on the positioning error obtained at the positioning point B of the boundary tag 108, without correcting the position coordinates before the boundary tag A (x1, y1) again. In other words, the positioning unit only corrects the position coordinates stored between the current boundary tag and the previous boundary tag based on the positioning error obtained by the current boundary tag. The boundary line coordinate sequence between adjacent boundary tags is discontinuously corrected and corrected once respectively, so that the coordinate sequence of the boundary line is confirmed to be more accurate, reducing the risk of over-correction.

[0160] In other embodiments, the positioning unit of the self-mobile device 10 corrects all previously recorded position coordinate sequences, but adjusts the correction amplitude by assigning different weight coefficients k. Specifically, as described in any of the previous embodiments, the self-mobile device assigns different weight coefficients k based on the recorded sequences from near to far, and the correction amplitude becomes smaller and smaller as time goes by until it is zero. In this way, the correction amplitude can be adjusted based on the weight coefficient k, and it can be flexibly adjusted according to the test results until the error between the established map and the actual is acceptable.

[0161] After the self-mobile device 10 walks along the boundary line for a circle, it returns to the charging station 5. When the self-mobile device has confirmed that it has arrived at the charging station 5, its current position coordinates are compared with the initial position coordinates of the charging station, and the current position coordinate sequence is corrected with the initial position coordinates of the charging station 5, completing the last step of correction. A map of the working area is drawn according to the corrected boundary line coordinates stored in the calculation module. In this way, the drawn map is corrected, and a more accurate map relative to the actual working area can be obtained.

[0162] The following is a detailed description of the method and steps for establishing a work area map from the mobile device 10. Figure 4 .

[0163] P1: Control the mobile device to move along the boundary from an initial position on the boundary of the working area, and record the position coordinates of the walking path in real time;

[0164] P2: forming a boundary position coordinate sequence according to the boundary position coordinates recorded in real time;

[0165] P3: Detect boundary labels while walking along the boundary;

[0166] P4: When the current boundary tag is detected, the actual mileage between the previous boundary tag and the current boundary tag is obtained according to the boundary length between the pre-stored boundary tags;

[0167] P5: Calculate the recorded mileage between the current boundary tag and the previous boundary tag position based on the recorded mileage;

[0168] P6: Correct the boundary position coordinate sequence between the current boundary label and the previous boundary label according to the deviation between the actual mileage and the recorded mileage;

[0169] P7: Construct a working area map of the mobile device based on the corrected boundary position coordinate sequence.

[0170] It is understandable that other intermediate steps may be included between the above steps P1-P7, and the above step sequence cannot be limited to the sequence of adjacent steps. Of course, there may be further preceding steps or subsequent steps before step P1 or after step P7, as long as there is no contradiction.

[0171] In the method provided in one embodiment, starting from an initial position on the outer boundary of the mobile device 10 as the origin, walking along the outer boundary, and recording the position coordinates of the walking path in real time to obtain a boundary position coordinate sequence. Specifically, the initial position of the mobile device 10 is the charging station 5, the boundary line starts from the charging station 5 and ends at the charging station 5, and the mobile device 10 walks clockwise or counterclockwise along the boundary line with the charging station 5 as the origin. The positioning unit detects the current position coordinates of the real-time heading angle and real-time mileage detected by the inertial measurement unit, and stores them in the calculation module to form a boundary position coordinate sequence.

[0172] During the process of walking around the border, each boundary tag encountered is detected, and the outer boundary length between the pre-stored boundary tag and the previous boundary tag is used as the actual mileage of the self-moving device 10 between the two boundary tags. The recorded mileage between the current boundary tag and the previous boundary tag position is calculated according to the mileage recorded by the odometer, and the boundary position coordinate sequence between the two boundary tags is corrected by the difference between the actual mileage and the recorded mileage measured by the odometer.

[0173] When the mobile device 10 returns to the initial position, the work area map is established according to the corrected boundary position coordinate sequence.

[0174] Furthermore, after the mobile device returns to the initial position, the position coordinates currently measured by the positioning unit are corrected to the starting position coordinates of the initial position, and the boundary position coordinate sequence is corrected, so as to obtain a closed-loop outer boundary position coordinate sequence.

[0175] The solution provided in the above embodiment can accurately establish a map of the work area, provide accurate work area information for subsequent mowing planning, and help improve the accuracy of positioning and navigation of the mobile device 10 based on the work area map, thereby further improving coverage efficiency.

[0176] In one embodiment, the mobile device 10 also creates a grid map of the work area based on the accurately drawn map of the work area. Figure 3, the grid map of the working area can be two sets of mutually perpendicular parallel lines with equal spacing on the established map, and the spacing between the two sets of parallel lines is the same. Each sub-grid of the grid map drawn in this way is a square, and the vertex position coordinates of each sub-grid are the intersection of the two sets of parallel lines. The self-mobile device 10 walks in the working area A, and the position coordinate sequence of the walking path recorded by the positioning unit, if a position coordinate sequence falls into one of the sub-grids, it is considered that the self-mobile device has covered the working area corresponding to the sub-grid. In this way, the position coordinates of the self-mobile device 10 can correspond to specific sub-grids, so the self-mobile device 10 can calculate the number and specific coordinate positions of the sub-grids of the map it has covered, so as to target the work area that has not been covered and improve the coverage efficiency.

[0177] In one preferred embodiment, the self-mobile device 10 divides the sub-working area with the established map, and then covers the sub-working area according to the predetermined walking logic order. Dividing the sub-working area can divide the originally irregular map into more regular sub-working areas with smaller areas, and then cover them one by one. At the same time, the more regular sub-working areas facilitate the path planning of the self-mobile device 10. Preferably, the self-mobile device 10 covers the working area with a strip path.

[0178] After the map of the work area is established, the self-mobile device 10 performs planned mowing in the work area and covers the work area according to the preset walking logic. During the driving process, the positioning error increases due to time accumulation. In order to prevent the positioning error of the self-mobile device 10 from being too large during the work process, resulting in inaccurate positioning or even failure. In one real-time example, the calculation module of the positioning unit in the self-mobile device 10 is also configured to trigger the self-mobile device 10 to reposition after traveling a preset mileage. Specifically, the storage module of the positioning unit stores the corrected and more accurate position coordinates of each boundary tag, and the self-mobile device 10 can accurately identify the accurate coordinate position of the boundary tag after detecting a specific boundary tag. When the self-mobile device 10 travels a preset mileage m, it automatically searches for nearby boundary tags. Specifically, when the positioning unit triggers the self-mobile device 10 to reposition, the control unit controls the self-mobile device 10 to walk to the boundary line according to the boundary signal, walks along the boundary line until a boundary tag is detected, and corrects the recorded position information sequence based on the position coordinates corresponding to the pre-stored boundary tag.

[0179] Specifically, the self-mobile device 10 starts to travel from the charging station 5. The boundary tag can be detected during the driving process, and the step of searching for the boundary tag is triggered when the distance from the last calibration point is a predetermined time or a predetermined distance. In one embodiment, if the distance from the last calibration point to the detection is a predetermined time or a predetermined distance during the normal operation task, the calculation module automatically triggers the automatic device to search for the boundary tag. For example, after traveling m miles from the last calibration point, a unique current boundary tag is detected, and the first position information is determined based on the position coordinates of the boundary tag, and the first position information is compared with the current position coordinates recorded by the current positioning unit to determine the positioning error. Then the current position can be corrected based on the positioning error. Among them, the first position information can be the position coordinates of the current boundary tag, for example, the coordinates of the current position are directly corrected to the coordinate position of the current boundary tag, or it can be the first position information obtained after the position coordinates of the current boundary tag are corrected, changed, or transformed. The correction of the current position can include changing the current position information recorded by the self-mobile device 10, or receiving or generating an instruction to move the self-mobile device 10 to the corrected position, or including an implementation method for correcting the current and previously recorded position information.

[0180] The method for repositioning and correcting the position coordinate sequence provided in this embodiment is the same as the direction of correcting the position coordinate sequence between adjacent boundary labels according to boundary labels during the map creation process provided in any of the above embodiments, and will not be repeated for the sake of brevity.

[0181] By using the positioning error correction method described in any of the above real-time examples to correct the position coordinate sequence of the self-mobile device 10, the coordinate position of the path of the working area covered by the self-mobile device 10 can be corrected. The self-mobile device 10 distinguishes the covered area and the area to be covered according to the corrected position coordinate sequence, thereby improving the accuracy of identifying the covered area, so that the target coverage can be carried out for the area to be covered, and the coverage efficiency of the entire working area is improved.

[0182] In another embodiment, the mobile device 10 may also trigger the repositioning step after traveling for a specific time T. And according to the steps described in the above embodiment, the nearby boundary lines and boundary tags are searched to correct the recorded position sequence.

[0183] In the case of insufficient power, the self-mobile device 10 can automatically return to the charging station 5 and dock with it for charging. The traditional self-mobile device 10 returns to the charging station 5 along the boundary line 6. When it is necessary to return to the charging station, the control unit controls the automatic lawn mower to first walk to the boundary line 6 according to the detection results of the boundary sensor, and then keeps walking along the boundary line 6 until it reaches the charging station 5. In some embodiments provided in this specification, the return path can be planned by itself, and the shortest path back to the charging station can be calculated to save the battery energy and time consumed when the self-mobile device 10 returns to charge (referred to as recharging). Therefore, in some embodiments, the self-mobile device 10 may also include:

[0184] A regression path planning unit is used to receive a regression instruction and calculate the length L1 of a first regression path between the position coordinates of a plurality of identifiable boundary tags set at the outer boundary and the current position coordinates of the self-mobile device 10, and the length L2 of a second regression path between the corresponding boundary tag and the recharging position, to obtain N groups (L1+L2), where N is the number of boundary tags; and select a group with the minimum value of (L1+L2) from the N groups (L1+L2) as the optimal recharging path.

[0185] In one embodiment, the first regression path includes the shortest path between the position coordinates of the self-mobile device 10 and any boundary tag before the regression. In one implementation scenario, the straight line path between the position coordinates of the self-mobile device 10 and any boundary tag before the regression falls within the working area, and the first regression path is preferably the straight line path between the position coordinates of the self-mobile device 10 and any boundary tag.

[0186] In one embodiment, the second regression path includes a distance L2 between the refill position and any boundary tag on the boundary. When the boundary is defined by a boundary line 6, the second regression path includes a path track of the boundary line 6 between any boundary tag and the refill position.

[0187] Of course, the mobile device 10 may also include a control unit, which may be used to control the mobile device 10 to return to the charging station 5 from the position before the return according to the optimal return path. For example, a return instruction is received, and the driving device and the steering device are controlled to make the mobile device 10 return to the charging station 5 and automatically dock with the charging interface for charging.

[0188] In a specific embodiment, the charging station 5 is set on the boundary line 6. The regression path may include a path length L1 between the current position of the mobile device 10 and a boundary tag on the boundary and a second regression path L2 of the boundary tag returning to the charging station 5 along the boundary line 6, such as Figure 7 shown.

[0189] In one embodiment, during the regression process of the mobile device 10, the current position coordinates measured by the positioning unit are corrected to the position coordinates of the currently detected boundary tag, and the second regression path is the shortest path from the corrected position coordinates to the restored position coordinates.

[0190] In this way, when there are N boundary labels, for each boundary label, there are corresponding first regression paths and second regression paths, and there are N groups (L1+L2). Then, at this time, the group with the minimum value of (L1+L2) can be selected from the N groups (L1+L2) as the optimal path for backfilling.

[0191] In one embodiment, when the self-mobile device 10 needs to return to the charging station, it can first find the adjacent boundary line according to the boundary line signal. If the self-mobile device 10 is on the boundary line 6, it can walk along the boundary line 6 when the boundary line 6 is identified until a boundary tag is detected, read the coordinate position of the boundary tag from the storage module, and select the shortest path based on the coordinate position to walk to the vicinity of the charging station 5 to perform docking charging. If the self-mobile device 10 is in the work area map, the return path can be planned according to the shortest (L1+L2) mentioned above. In this way, the self-mobile device 10 obtains the current more accurate position coordinates according to the encountered boundary tag, and then navigates according to the stored map according to the accurate position coordinates, walks to the position of the charging station 5, and the return path is short and the return efficiency is high. Specifically, the straight line path between the position coordinates of the boundary tag and the position coordinates of the charging station 5 is calculated. If the straight line path is located in the working area, it returns to the charging station directly along the straight line path. When it is determined that it has arrived near the charging station 5, it continues to find the boundary line 6 according to the boundary signal, and controls the self-mobile device 10 to enter the charging station 5 along the boundary line 6 for docking charging. In this way, the return path for each return charging is different, which reduces the risk of multiple rolling of the lawn along the boundary to form wheel tracks. At the same time, the return path is shorter and the required return time is also shortened, achieving the purpose of fast return to the charging station 5.

[0192] Of course, in some embodiments, during the regression process, when the mobile device 10 walks to the boundary line and detects a boundary tag, the positioning unit corrects the currently measured position coordinates with the position coordinates of the boundary tag, and corrects at least part of the position coordinate sequence according to the difference between the position coordinates of the detected boundary tag and the position coordinates currently measured by the positioning unit. Preferably, at least part of the position coordinate sequence is the position coordinate sequence between the current position and the last correction point.

[0193] The following describes a method for quickly returning the mobile device 10 to the charging station, which is as follows:

[0194] F2: Detect whether the mobile device needs to return to the charging station;

[0195] F4: When the mobile device needs to return to the charging station, calculate the length L1 of the first regression path between the position coordinates of multiple identifiable boundary tags arranged along the boundary and the position coordinates of the current mobile device, and the length L2 of the second regression path between the corresponding boundary tags and the charging station;

[0196] F6: Control the mobile device to return to the charging station along the regression path with the smallest (L1+L2) value as the optimal recharging path.

[0197] Based on the introduction of the implementation scheme contents such as the construction of the working area map of the self-moving device 10, the current position correction, the stored position coordinate sequence correction, the boundary label position (the position coordinate sequence of the boundary label), and the regression path planning, this specification provides a positioning error correction method for the self-moving device 10. The implementation scheme of this specification is described below with a specific implementation scenario of an automatic lawn mower. Specifically, Figure 5 It is a flowchart of an embodiment of a positioning error correction method for a mobile device 10 provided in this specification. Although this specification provides method operation steps or devices, system structures, etc. as shown in the following embodiments or drawings, more or fewer operation steps or module units may be included in the method or device based on routine or no creative labor. In the steps or structures where there is no necessary causal relationship logically, the execution order of these steps or the module structure of the device is not limited to the execution order or structure shown in the embodiments or drawings of this specification. When the method or system structure is applied in an actual device, server, system or terminal product, it can be executed sequentially or in parallel according to the method or module structure shown in the embodiment or drawings (for example, a parallel processor or multi-threaded processing environment, or even distributed processing, server clusters, and implementation environments combined with cloud computing or blockchain technology).

[0198] Of course, the description of the following embodiments does not limit other scalable technical solutions obtained based on the embodiments of this specification. Specifically, an embodiment of the method provided in this specification is as follows: Figure 5 As shown, this may include:

[0199] S2: detection boundary label;

[0200] S4: determining first position information according to the detected position coordinates of the current boundary tag;

[0201] S6: determining a positioning error according to the first position information and the calculated current position coordinates;

[0202] S8: Correct the current position according to the positioning error.

[0203] The self-moving device 10 can detect boundary tags while operating. The self-moving device 10 can detect the heading angle according to the internal inertial detection unit and calculate the mileage according to the odometer. In the embodiments of this specification, the current position coordinate information can be calculated based on the aforementioned heading angle, mileage or other sensing and detection equipment. For example, in some embodiments, the current position information can also be obtained in combination with GPS or Beidou positioning system. As mentioned above, the first position information can be the position coordinates of the current boundary tag, such as directly correcting the coordinates of the current position to the coordinate position of the current boundary tag, or it can be the first position information obtained after correction, change, and transformation based on the position coordinates of the current boundary tag.

[0204] After obtaining the positioning error, the current position of the self-moving device 10 can be corrected. The method of correcting the current position using the positioning error includes but is not limited to the method described in any embodiment of this specification.

[0205] Based on the above description, it can be known that the mobile device 10 can pre-store the position coordinates of the boundary tags determined or corrected when the work area map is constructed. Therefore, in another embodiment of the method described in this specification, the position coordinates of the boundary tags can be pre-stored, and the boundary tags have unique identification information.

[0206] Correspondingly, determining the first position information according to the detected position coordinates of the current boundary tag includes: searching the stored boundary tags for the position coordinates of the boundary tag corresponding to the identification information of the current boundary tag; and determining the first position information based on the searched position coordinates.

[0207] The mobile device 10 can also detect the boundary line of the work area map when working. Generally, the boundary line is a closed loop. In one embodiment of the present specification, the boundary tag can be pre-set on the boundary line or an electronic tag with coordinate information within a preset range from the boundary line.

[0208] In some embodiments, the last positioning position of the automatic moving device can be corrected based on the positioning error. In one embodiment of the method provided in this specification, the coordinate sequence formed based on the coordinate positions recorded in real time during driving can also be corrected based on the positioning error.

[0209] As mentioned above, the position coordinates of the pre-stored boundary tags can be obtained when constructing the work area map of the mobile device 10. Therefore, in one embodiment of the method provided in this specification, the position coordinates of the pre-stored boundary tags can be determined in the following manner:

[0210] The self-mobile device 10 starts from the starting position and moves along the preset boundary line toward the terminal position;

[0211] During the operation, the position coordinates of the detected boundary tags are recorded, and a working area map of the automatic mobile device is constructed with a coordinate sequence formed by the recorded boundary position coordinates.

[0212] In the process of constructing the work area map in this implementation, the lawn mower can start from the charging station 5, walk along the boundary line 6, and finally return to the boundary line 6. During the walking process, the boundary tag is detected and its position coordinates are recorded, and the work area map is established with the position coordinate sequence recorded during the walking process. The coordinates returned to the charging station 5 are (x1, y1), and the actual coordinates of the origin of the charging station 5 are (0, 0). All boundary coordinate sequences are corrected according to the errors of these two points. Therefore, in another embodiment of the method, it also includes:

[0213] Calculate the error between the current position coordinates recorded from the mobile device 10 to the terminal position and the actual coordinates of the terminal position;

[0214] The coordinate position of the recorded boundary tag is corrected according to the error.

[0215] In another embodiment, the mobile device 10 can perform positioning correction during the process of constructing the work area map to improve the accuracy of the constructed work area map. Therefore, in another embodiment of the method, it also includes:

[0216] When the current boundary tag is detected, the actual mileage between the previous boundary tag and the current boundary tag is obtained according to the boundary length between the pre-stored boundary tags;

[0217] Calculate the recorded mileage between the current boundary label and the previous boundary label based on the recorded mileage;

[0218] The difference between the actual mileage and the recorded mileage is calculated, and the coordinate positions of the current boundary tag and the previous boundary tag are corrected according to the difference.

[0219] The correction described in this specification may include multiple implementations, such as the aforementioned average error or different correction amplitudes may be allocated according to the drift of the positioning error. Therefore, in another embodiment of the method provided in this specification, the correction may include:

[0220] Determine the number of positioning points N contained in the distance between the current position and the previous calibration point;

[0221] Divide the positioning error by N to obtain a correction offset of a single positioning point;

[0222] The positioning point is corrected according to the correction offset.

[0223] As mentioned above, in another implementation, the correction may include:

[0224] Determine the number of positioning points N contained in the distance between the current position and the previous calibration point;

[0225] The correction offsets of the positioning points are determined respectively, wherein the positioning points relatively close to the last correction point among the included positioning points use relatively small correction amplitudes, and the sum of the correction amplitudes of all positioning points does not exceed the positioning error.

[0226] When the mobile device needs to be recharged, a group with the minimum value of (L1+L2) can be selected as the optimal recharge path according to the above. Therefore, in another embodiment of the method, it can also include:

[0227] Calculate the distance L1 between the recharging position and any boundary tag on the boundary line 6, and the distance L2 between the current self-mobile device 10 and any boundary tag, and obtain N groups (L1+L2), where N is the number of boundary tags;

[0228] From the N groups (L1+L2), select the group with the smallest value of (L1+L2) as the optimal backfill path.

[0229] In this specification, each embodiment of the above method is described in a progressive manner. The same and similar parts between the embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments. For related parts, refer to the partial description of the method embodiment. Specifically, the technical solution can be implemented according to the description of the above-mentioned related embodiment examples, and the implementation solution of each embodiment will not be repeated here.

[0230] Based on the positioning error correction method for the self-moving device 10 described above, this specification also provides a self-moving device 10. Based on the same innovative concept, the self-moving device 10 in one or more embodiments provided in the embodiments of this specification is as described in the following embodiments. Since the implementation scheme and method of the self-moving device 10 to solve the problem are similar, the implementation of the self-moving device 10 in the embodiments of this specification can refer to the implementation of the aforementioned method, and the repeated parts will not be repeated. The described self-moving device 10 includes implementation in software, but implementation based on hardware, or a combination of software and hardware is also a technical solution that can be implemented within the scope of the implementation of this application.

[0231] Specifically, Figure 6 is a schematic diagram of a module structure of an embodiment of a mobile device 10 provided in this specification, such as Figure 6 As shown, the self-moving device 10 may include a boundary label detection unit, a positioning unit, and a correction unit 64, wherein:

[0232] The boundary label detection unit 60 is used to detect boundary labels;

[0233] The positioning unit 62 is used to determine the first position information according to the detected position coordinates of the current boundary tag; and is also used to determine the positioning error according to the first position information and the calculated current position coordinates;

[0234] The correction unit 64 is used to correct the current position according to the positioning error.

[0235] Based on the foregoing method embodiment description, this specification provides another embodiment of the self-mobile device 10, wherein the positioning unit 62 is further used to pre-store the position coordinates of the boundary tag, and the boundary tag has unique identification information.

[0236] Accordingly, the positioning unit 62 determines the first position information according to the detected position coordinates of the current boundary tag, including: searching the stored boundary tags for the position coordinates of the boundary tag corresponding to the identification information of the current boundary tag; and determining the first position information based on the searched position coordinates.

[0237] Based on the description of the aforementioned method embodiment, this specification provides another embodiment of the self-moving device 10, wherein the positioning unit 62 stores a coordinate sequence formed by coordinate positions recorded in real time during driving;

[0238] The correction unit is further used to correct the coordinate sequence stored in the positioning unit.

[0239] Based on the description of the above method embodiment, this specification provides another embodiment of the self-mobile device 10, wherein the positioning unit 62 determines the position coordinates of the pre-stored boundary tag by:

[0240] The self-mobile device 10 starts from the starting position and moves along the preset boundary line 6 to the terminal position;

[0241] During the operation, the position coordinates of the detected boundary tags are recorded, and a working area map of the automatic mobile device is constructed with a coordinate sequence formed by the recorded boundary position coordinates.

[0242] Based on the foregoing method embodiment description, this specification provides another embodiment of the mobile device 10, further comprising:

[0243] The initial correction unit is used to calculate the error between the current position coordinates recorded from the mobile device 10 to the terminal position and the actual coordinates of the terminal position; and correct the recorded boundary coordinate position sequence according to the error.

[0244] Based on the foregoing method embodiment description, this specification provides another embodiment of the mobile device 10, further comprising:

[0245] A map correction module is used to obtain the actual mileage between the current boundary label and the previous boundary label based on the boundary length between the pre-stored boundary labels when the current boundary label is detected during the process of constructing the working area map of the automatic mobile device; it is also used to calculate the recorded mileage between the current boundary label and the previous boundary label based on the recorded mileage; it is also used to calculate the difference between the actual mileage and the recorded mileage, and correct the coordinate position of the current boundary label and the previous boundary label according to the difference.

[0246] Based on the foregoing method embodiment description, this specification provides another embodiment of the self-mobile device 10, wherein the correction includes:

[0247] Determine the number of positioning points N contained in the distance between the current position and the previous calibration point;

[0248] Divide the positioning error by N to obtain a correction offset of a single positioning point;

[0249] The positioning point is corrected according to the correction offset.

[0250] Based on the foregoing method embodiment description, this specification provides another embodiment of the self-mobile device 10, wherein the correction includes:

[0251] Determine the number of positioning points N contained in the distance between the current position and the previous calibration point;

[0252] The correction offsets of the positioning points are determined respectively, wherein the positioning points relatively close to the last correction point among the included positioning points use relatively small correction amplitudes, and the sum of the correction amplitudes of all positioning points does not exceed the positioning error.

[0253] Based on the foregoing method embodiment description, this specification provides another embodiment of the self-moving device 10, wherein the correction unit 62 corrects the current position according to the positioning error, including:

[0254] Correct the coordinates of the current position to the coordinates of the current boundary label.

[0255] Based on the foregoing method embodiment description, this specification provides another embodiment of the mobile device 10, further comprising:

[0256] The boundary line detection unit is used to detect the boundary line of the map of the working area of ​​the self-moving device 10, wherein the boundary line is a closed loop; wherein the boundary tag includes an electronic tag with coordinate information pre-set on the boundary line or within a preset range from the boundary line.

[0257] The positioning error correction method or device for the self-moving device 10 provided in the embodiments of this specification can be implemented by a processor executing corresponding program instructions in a computer. This specification also provides a positioning error correction device for the self-moving device 10, including at least one processor and a memory storing computer-executable instructions, and the processor implements the steps described in any method embodiment in this specification when executing the instructions.

[0258] The above method or device can be used in a variety of self-propelled devices 10. This specification provides a specific product device for implementing the above method or device, which is an automatic lawn mower and can include a driving device, a positioning processing device, and a tag detection device, wherein:

[0259] The driving device drives the automatic lawn mower to travel; the tag detection device is used to detect the signal sent by the boundary tag; and the positioning processing device is used to implement the steps of the method described in any embodiment of this specification.

[0260] It should be noted that the above-mentioned device and self-equipped device may also include other implementation methods according to the description of the method embodiment. The specific implementation methods can refer to the description of the relevant method embodiments and will not be described one by one here.

[0261] Based on the description of the embodiments of the aforementioned methods, devices, and self-moving devices, the present specification also provides an automatic working system, which may include a self-moving device, a supply station for providing driving energy for the self-moving device, and a boundary label with coordinate information pre-set within a preset range of the boundary line of the working area, wherein the self-moving device includes the self-moving device described in any one of the embodiments in the present specification, or includes the error correction device described in any one of the embodiments in the present specification, or includes the automatic lawn mower described in any one of the embodiments in the present specification.

[0262] The supply station mentioned above may include the aforementioned charging station. In other implementation scenarios or based on future technological development, the supply station may also include oil, gas, steam, nuclear energy, or other energy supply stations such as graphene.

[0263] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0264] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. A positioning error correction method for a self-moving device, characterized in that: include: Detect boundary labels; Determine first position information according to the detected position coordinates of the current boundary tag; Determine a positioning error according to the first position information and the calculated current position coordinates; Correcting the current position and at least a portion of the coordinate sequence formed based on the coordinate positions recorded in real time during driving according to the positioning error; Pre-stored are location coordinates of boundary tags, wherein the boundary tags have unique identification information; Accordingly, determining the first position information according to the position coordinates of the detected current boundary tag includes: searching the stored boundary tags for the position coordinates of the boundary tag corresponding to the identification information of the current boundary tag; and determining the first position information based on the searched position coordinates; The location coordinates of the pre-stored boundary labels are determined by: The mobile device starts from the starting position and moves along the preset boundary line to the terminal position; During the movement, the position coordinates of the detected boundary tags are recorded, and a map of the working area of ​​the automatic mobile device is constructed with a coordinate sequence formed by the recorded boundary position coordinates; Wherein, the working area is surrounded by a boundary line laid along the boundary of the working area, and the boundary label is set along the boundary line; The method further includes: calculating a distance L1 between the recharging position and any boundary tag on the boundary line, and a distance L2 between the current self-moving device and any boundary tag, to obtain N groups (L1+L2), where N is the number of boundary tags; From the N groups (L1+L2), select the group with the smallest value of (L1+L2) as the optimal backfill path.

2. The method according to claim 1, characterized in that: Also includes: Calculate the error between the current position coordinates recorded from the mobile device to the terminal position and the actual coordinates of the terminal position; The coordinate position of the recorded boundary tag is corrected according to the error.

3. The method according to claim 1, characterized in that The process of building a work area map for autonomous mobile equipment also includes: When the current boundary tag is detected, the actual mileage between the previous boundary tag and the current boundary tag is obtained according to the boundary length between the pre-stored boundary tags; Calculate the recorded mileage between the current boundary label and the previous boundary label based on the recorded mileage; The difference between the actual mileage and the recorded mileage is calculated, and the coordinate positions of the current boundary tag and the previous boundary tag are corrected according to the difference.

4. The method according to any one of claims 1 to 3, characterized in that: The correction includes: Determine the number of positioning points N contained in the distance between the current position and the previous calibration point; Divide the positioning error by N to obtain a correction offset of a single positioning point; The positioning point is corrected according to the correction offset.

5. The method according to any one of claims 1 to 3, characterized in that: The correction includes: Determine the number of positioning points N contained in the distance between the current position and the previous calibration point; The correction offsets of the positioning points are determined respectively, wherein the positioning points relatively close to the last correction point among the included positioning points use relatively small correction amplitudes, and the sum of the correction amplitudes of all positioning points does not exceed the positioning error.

6. The method according to claim 1, characterized in that The correcting the current position according to the positioning error comprises: Correct the coordinates of the current position to the coordinates of the current boundary label.

7. A positioning error correction device for a self-moving device, characterized in that: The method comprises at least one processor and a memory storing computer-executable instructions, wherein the processor executes the instructions to implement the steps of the method according to any one of claims 1 to 6.

8. A self-propelled device, characterized in that: It includes boundary label detection unit, positioning unit and correction unit. The boundary label detection unit is used to detect boundary labels; The positioning unit is used to determine the first position information according to the detected position coordinates of the current boundary tag; It is also used to determine the positioning error according to the first position information and the calculated current position coordinates; the positioning unit stores a coordinate sequence formed by the coordinate positions recorded in real time during the driving process; The correction unit is used to correct the current position and at least part of the coordinate sequence stored in the positioning unit according to the positioning error; The positioning unit is also used to pre-store the position coordinates of the boundary tag, and the boundary tag has unique identification information; Accordingly, the positioning unit determines the first position information according to the position coordinates of the detected current boundary tag, including: searching the stored boundary tags for the position coordinates of the boundary tag corresponding to the identification information of the current boundary tag; and determining the first position information based on the searched position coordinates; The positioning unit determines the position coordinates of the pre-stored boundary tags by: The mobile device starts from the starting position and moves along the preset boundary line to the terminal position; During the movement, the position coordinates of the detected boundary tags are recorded, and a map of the working area of ​​the automatic mobile device is constructed with a coordinate sequence formed by the recorded boundary position coordinates; Wherein, the working area is surrounded by a boundary line laid along the boundary of the working area, and the boundary label is set along the boundary line; It also includes: a regression path planning unit, which is used to calculate the distance L1 between the recharging position and any boundary tag on the boundary line, and the distance L2 between the current self-equipment device and any boundary tag, to obtain N groups (L1+L2), where N is the number of boundary tags; and select a group with the minimum value of (L1+L2) from the N groups (L1+L2) as the optimal recharging path.

9. The self-moving device according to claim 8, characterized in that: Also includes: A map correction module is used to obtain the actual mileage between the current boundary label and the previous boundary label based on the boundary length between the pre-stored boundary labels when the current boundary label is detected during the process of constructing the working area map of the automatic mobile device; it is also used to calculate the recorded mileage between the current boundary label and the previous boundary label based on the recorded mileage; it is also used to calculate the difference between the actual mileage and the recorded mileage, and correct the coordinate position of the current boundary label and the previous boundary label according to the difference.

10. An automatic working system, characterized in that: It includes a self-moving device, a supply station for providing driving energy for the self-moving device, and a boundary label with coordinate information pre-set within a preset range of the boundary line of the working area, wherein the self-moving device includes the self-moving device described in any one of claims 8-9, or includes the error correction device described in claim 7.

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