Self-moving robot positioning method, base station, mobile road sign device and robot

Abstract

The present invention discloses a method for positioning a self-propelled robot based on a mobile landmark device, a base station, a mobile landmark device, and a robot, relating to the field of mobile positioning technology. The method comprises: determining the location information of a charging base station and the location information of a first mobile landmark device; obtaining distance information L0 between the self-propelled robot and the charging base station; obtaining distance information L1 between the self-propelled robot and the first mobile landmark device; and determining the location information of the self-propelled robot based on the location information of the charging base station, the location information of the first mobile landmark device, the distance information L0, and the distance information L1. The present invention can automatically determine the relative position between the self-propelled robot and the charging base station, and is convenient and quick to use.

Description

Technical Field

[0001] The present invention relates to the field of mobile positioning technology, and in particular to a self-moving robot positioning method based on a mobile landmark device, a base station, a mobile landmark device and a robot. Background Art

[0002] Currently, autonomous robots can perform tasks in a variety of scenarios, both outdoors and indoors. While performing tasks, autonomous robots can pre-locate their own positions and then create a work area map by guiding their movements. During the work process, the autonomous robot's position within the work area map is located in real time, and the robot's work route is then set using methods such as navigation planning.

[0003] Taking lawn mowers as an example, the currently commonly used method for locating lawn mowers generally requires inserting some fixed poles into the ground, and then installing ranging receiving and transmitting sensors on the poles. Through single or multiple poles, in conjunction with lawn mower charging piles, the position of the lawn mower is determined using a multi-point positioning method.

[0004] In the process of implementing the present invention, the inventors discovered that the prior art has at least the following problems:

[0005] Before using the fixed pole, it is necessary to manually determine the relative positions between the fixed poles and the fixed poles and the charging piles, which is technically difficult. In addition, the fixed poles are complicated to disassemble and assemble, and will affect the user's home environment after installation. Summary of the Invention

[0006] In order to solve the problems of the prior art, the embodiments of the present invention provide a method and system for positioning a self-propelled robot based on a mobile landmark device. The technical solution is as follows:

[0007] In a first aspect, a method for positioning a self-propelled robot based on a mobile landmark device is provided, comprising:

[0008] Determining location information of the charging base station and location information of the first mobile landmark device;

[0009] Obtaining distance information L0 between the mobile robot and the charging base station;

[0010] Acquire distance information L1 between the self-propelled robot and the first mobile landmark device;

[0011] The position information of the self-moving robot is determined according to the position information of the charging base station, the position information of the first mobile landmark device, the distance information L0 and the distance information L1.

[0012] Furthermore, the method further comprises:

[0013] If the distance information L0 between the self-moving robot and the charging base station is not obtained within the first preset time period, determining the position information of the second mobile landmark device and obtaining the distance information L2 between the self-moving robot and the second mobile landmark device;

[0014] The position information of the self-moving robot is determined based on the position information of the charging base station, the position information of the first mobile landmark device, the position information of the second mobile landmark device, the distance information L1 and the distance information L2.

[0015] Furthermore, the method further comprises:

[0016] If the distance information L1 between the self-moving robot and the first mobile landmark device is not obtained within a second preset time period, sending a movement command to the first mobile landmark device to move the first mobile landmark device to a first movement position;

[0017] Re-determining the position information of the first mobile landmark device;

[0018] Acquire distance information L1′ between the autonomous robot and the first mobile landmark device;

[0019] The position information of the self-moving robot is determined according to the position information of the charging base station, the position information of the first mobile landmark device, the distance information L0 and the distance information L1′.

[0020] Furthermore, the method further comprises:

[0021] If the distance information L1 between the self-moving robot and the first mobile landmark device is not obtained within the second preset time period, the distance information L3 between the self-moving robot and the third mobile landmark device and the distance information L5 between the first mobile landmark device and the third mobile landmark device are obtained;

[0022] Acquire distance information L4 between the self-moving robot and the fourth mobile landmark device, and distance information L6 between the first mobile landmark device and the fourth mobile landmark device;

[0023] The position information of the self-moving robot is determined based on the position information of the charging base station, the position information of the first mobile landmark device, the distance information L0, the distance information L3, the distance information L4, the distance information L5 and the distance information L6.

[0024] Furthermore, the determining of the location information of the first mobile landmark device is specifically:

[0025] The charging base station obtains the movement information sent by the first mobile landmark device, and determines the location information of the first mobile landmark device based on the location information of the charging base station and the movement information sent by the first mobile landmark device;

[0026] The method further comprises:

[0027] If the movement information sent by the first mobile signpost device is not received within the third preset time period, a movement command is sent to the fifth mobile signpost device to receive the movement information of the first mobile signpost device through the fifth mobile signpost device.

[0028] In a second aspect, a self-propelled robot positioning device based on a mobile landmark device is provided, comprising:

[0029] a transceiver module, configured to obtain distance information L0 between the self-moving robot and the charging base station, and distance information L1 between the self-moving robot and the first mobile landmark device;

[0030] A calculation module is used to determine the location information of the charging base station and the location information of the first mobile landmark device; based on the location information of the charging base station, the location information of the first mobile landmark device, the distance information L0 and the distance information L1, the location information of the self-moving robot is determined.

[0031] Furthermore, if the distance information L0 between the autonomous robot and the charging base station is not obtained within the first preset time period,

[0032] The transceiver module is further configured to obtain distance information L2 between the self-propelled robot and the second mobile landmark device;

[0033] The calculation module is also used to determine the position information of the second mobile landmark device; and determine the position information of the self-moving robot based on the position information of the charging base station, the position information of the first mobile landmark device, the position information of the second mobile landmark device, the distance L1 and the distance L2.

[0034] Furthermore, if the distance information L1 between the autonomous robot and the first mobile landmark device is not obtained within a second preset time period,

[0035] The transceiver module is further configured to send a movement command to the first mobile landmark device to move the first mobile landmark device to a first movement position; and obtain distance information L1′ between the self-mobile robot and the first mobile landmark device;

[0036] The calculation module is also used to re-determine the position information of the first mobile landmark device; determine the position information of the self-moving robot based on the position information of the charging base station, the position information of the first mobile landmark device, the distance L0 and the distance L1′.

[0037] Furthermore, if the distance information L1 between the autonomous robot and the first mobile landmark device is not obtained within a second preset time period,

[0038] The transceiver module is further configured to obtain distance information L3 between the self-moving robot and the third mobile landmark device, and distance information L5 between the first mobile landmark device and the third mobile landmark device; and obtain distance information L4 between the self-moving robot and the fourth mobile landmark device, and distance information L6 between the first mobile landmark device and the fourth mobile landmark device;

[0039] The calculation module is also used to determine the position information of the self-moving robot based on the position information of the charging base station, the position information of the first mobile road sign device, the distance L0, the distance L3, the distance L4, the distance L5 and the distance L6.

[0040] Furthermore, if no movement information is received from the first mobile landmark device within a third preset time period,

[0041] The transceiver module is further configured to send a movement command to a fifth mobile landmark device, so as to receive movement information of the first mobile landmark device through the fifth mobile landmark device.

[0042] In a third aspect, a charging base station is provided, which includes a memory and a processor, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the self-moving robot positioning method based on the mobile landmark device as described in the first aspect above.

[0043] In a fourth aspect, a mobile signpost device is provided, which includes a memory and a processor, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the self-moving robot positioning method based on the mobile signpost device as described in the first aspect above.

[0044] In a fifth aspect, a self-moving robot is provided, comprising a memory and a processor, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the self-moving robot positioning method based on a mobile landmark device as described in the first aspect above.

[0045] In a sixth aspect, a self-propelled robot positioning system based on a mobile landmark device is provided, comprising:

[0046] A charging base station, configured to send detection information to the self-moving robot, receive response information returned by the self-moving robot, movement information sent by the mobile landmark device, and distance information between the self-moving robot and the mobile landmark device, and execute the positioning method as described in the first aspect above;

[0047] The mobile landmark device is configured to record its own movement information and send it to the charging base station so that the charging base station can determine the location information of the mobile landmark device based on the movement information; send detection information to the self-moving robot, determine the distance information between the self-moving robot and the mobile landmark device based on the received response information, and send the distance information to the charging base station;

[0048] The self-moving robot is used to receive detection information sent by the charging base station and the mobile road sign device, and return corresponding response information.

[0049] The technical solution provided by the embodiment of the present invention has the following beneficial effects:

[0050] In an embodiment of the present invention, the location information of the charging base station and the location information of the first mobile landmark device are determined; the distance information L0 between the self-mobile robot and the charging base station is obtained; the distance information L1 between the self-mobile robot and the first mobile landmark device is obtained; and the location information of the self-mobile robot is determined based on the location information of the charging base station, the location information of the first mobile landmark device, the distance information L0, and the distance information L1. In this way, after the mobile landmark device moves to a suitable position, the location information of the charging base station and the mobile landmark device can be automatically determined, and the distance information between the self-mobile robot and the charging base station and the mobile landmark device can be obtained. Then, the self-mobile robot can be positioned using the above information to determine the position of the self-mobile robot relative to the charging base station. The use is convenient and quick, and the mobile landmark device can be recycled after use without affecting the home environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, 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 invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0052] Figure 1 This is a schematic diagram of a working scenario provided by an embodiment of the present invention;

[0053] Figure 2 This is a flow chart of a method for positioning a self-propelled robot based on a mobile landmark device provided by one embodiment of the present invention;

[0054] Figure 3 This is a flow chart of a method for positioning a self-propelled robot based on a mobile landmark device provided by one embodiment of the present invention;

[0055] Figure 4 This is a flow chart of a method for positioning a self-propelled robot based on a mobile landmark device provided by one embodiment of the present invention;

[0056] Figure 5 This is a flow chart of a method for positioning a self-propelled robot based on a mobile landmark device provided by one embodiment of the present invention;

[0057] Figure 6 This is a flow chart of a method for positioning a self-propelled robot based on a mobile landmark device provided by one embodiment of the present invention;

[0058] Figure 7 The figure is a schematic structural diagram of a self-propelled robot positioning device based on a mobile landmark device provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0059] To make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0060] like Figure 1As shown, it is an exemplary scenario of the present application, in which the working area 100 includes a charging base station 10, a self-moving robot 20 and one or more mobile road sign devices 30. Among them, the self-moving robot 20 and one or more mobile road sign devices 30 can return to the charging base station 10 in a non-working state to achieve charging. Of course, the mobile road sign device 30 can also be charged with an external power supply or a dedicated charging pile. Exemplarily, the mobile road sign device 30 can be a mobile vehicle moving on the ground, or a drone flying in the sky, etc., which can be equipped with a detection distance sensor. The mobile road sign device 30 can receive and send detection signals at the same time. The number of mobile road sign devices 30 increases or decreases depending on the area of the working area and the detection distance of the mobile road sign device 30, and the area of the working area can be flexibly topologically configured. The self-moving robot 20 is used to perform specific types of work tasks, including but not limited to mowing robots, watering robots, painting robots, etc.

[0061] In this scenario, the charging base station 10 is fixed in position. The mobile landmark device 30 and the autonomous robot 20 can move within the work area 100, starting from the charging base station 10. For example, the autonomous robot 20 plans its path based on a pre-stored map, and the mobile landmark device 30 plans its route accordingly based on the movement of the autonomous robot 20 (e.g., maintaining a certain signal-detectable distance from the autonomous robot). The autonomous robot 20 and the mobile landmark device 30 can each be equipped with a detection distance sensor (e.g., an infrared sensor, Bluetooth, or UWB wireless positioning sensor) to detect the distance between the autonomous robot 20 and the charging base station 10, the autonomous robot 20 and the mobile landmark device 30, the mobile landmark device 30 and the charging base station 10, and the mobile landmark device 30 and the mobile landmark device 30 (when multiple mobile landmark devices 30 are used in the system). The coordinates of the charging base station 10 can be used as fixed coordinates to calculate the coordinates of the mobile landmark device 30 and the autonomous robot 20 after the movement.

[0062] In one embodiment, when the self-moving robot 20 needs to work, the mobile landmark device 30 can start first and move to a specific location. The mobile landmark device 30 and the charging base station 10 can be used to locate the self-moving robot 20 to assist in subsequent work.

[0063] The following will describe in detail the process of the self-propelled robot positioning method based on the mobile landmark device in conjunction with the specific implementation method. Figure 2 As shown, the method may include the following steps 110 to 140. It should be noted that the execution subject of each step of the method can be any one of the charging base station, the self-moving robot, or the mobile road sign device, or the above subjects can be completed together.

[0064] Step 110: Determine the location information of the charging base station and the location information of the first mobile road sign device.

[0065] In an exemplary embodiment, since the charging base station is fixed, its absolute position information is fixed and can be recorded in the memory in advance. For the mobile coordinate device, its initial position is set at the charging base station. It starts from the location of the charging base station, and then records its movement trajectory through an inertial navigation device (IMU, etc.) or a code disk, etc., to determine the absolute position coordinates of the mobile signpost device. For example, assume that the position information of the charging base station is pre-recorded as: coordinates (0,0). The movement information of the mobile signpost device is: moving speed 0.1m / s, moving time 20s, moving angle 30°, then sin30°=X / (0.1×20), and the position information of the mobile signpost device can be determined: coordinates (√3,1).

[0066] Step 120: Obtain distance information L0 between the mobile robot and the charging base station.

[0067] The charging base station sends out a detection signal, and the autonomous robot sends a response signal after receiving the detection signal. After receiving the response signal, the charging base station can determine the distance between the autonomous robot and the charging base station. Of course, the autonomous robot can also send out a detection signal, and the charging base station can feedback a response signal after receiving the detection signal.

[0068] Step 130: Obtain distance information L1 between the self-propelled robot and the first mobile landmark device.

[0069] Similarly, the first mobile landmark device sends out a detection signal, and the self-mobile robot sends a response signal after receiving the detection signal. After receiving the response signal, the first mobile landmark device can determine the distance between the self-mobile robot and the first mobile landmark device, and send the distance information L1 to the charging base station.

[0070] Step 140: Determine the position information of the self-moving robot according to the position information of the charging base station, the position information of the first mobile landmark device, the distance information L0, and the distance information L1.

[0071] Among them, since the distance between the charging base station and the first mobile landmark device can be determined based on the location information of the charging base station and the location information of the first mobile landmark device, and the distance between the charging base station and the self-moving robot, and the distance between the self-moving robot and the first mobile landmark device have been determined, the connecting lines between the three can form a unique triangle, and the angle of the triangle can be determined, thereby determining the orientation information of the self-moving robot and realizing the positioning of the self-moving robot.

[0072] like Figure 3 As shown, the following further describes the process of data interaction between the charging base station, the mobile road sign device and the self-moving robot when determining the position information of the self-moving robot. The method introduced in this embodiment may include the following steps 301 to 310. Among them:

[0073] Step 301: The first mobile landmark device moves from the charging base station to a preset moving position according to a preset moving command M0, and sends movement information to the charging base station.

[0074] A movement command M0 can be pre-set in the first mobile landmark device. Once the mobile landmark device's self-positioning robot positioning system is activated and initialized, the mobile landmark device automatically moves from the charging base station to a preset position P0 according to the pre-set movement command M0. During this movement, the first mobile landmark device can record movement information including time, speed, distance, and angle. The first mobile landmark device can then transmit this movement information to the charging base station.

[0075] It should be noted that the movement command M0 may not be pre-set in the first mobile signpost device. After the system is initialized, the first mobile signpost device can receive the movement command M1 sent by the charging base station and move to the corresponding movement position P1 according to the movement command.

[0076] Step 302: The charging base station determines its own location information and the location information of the first mobile landmark device. The charging base station may determine the location information of the first mobile landmark device based on the received movement information.

[0077] Step 303: The charging base station sends detection information to the autonomous robot.

[0078] Step 304: The autonomous mobile robot returns corresponding response information to the charging base station according to the received detection information.

[0079] Step 305: The charging base station determines the distance information L0 between the autonomous mobile robot and the charging base station according to the response information returned by the autonomous mobile robot.

[0080] Step 306: The first mobile landmark device sends detection information to the autonomous robot.

[0081] Step 307: The autonomous mobile robot returns corresponding response information to the first mobile landmark device according to the received detection information.

[0082] Step 308: The first mobile landmark device determines the distance information L1 between the self-moving robot and the first mobile landmark device based on the response information returned by the self-moving robot, and sends the distance information L1 to the charging base station.

[0083] Step 309: The charging base station receives the distance information L1 sent by the first mobile road sign device.

[0084] Step 310: The charging base station determines the position information of the self-moving robot according to its own position information, the position information of the first mobile landmark device, the distance information L0, and the distance information L1.

[0085] It should be noted that in other alternative embodiments, the four information of the location information of the charging base station, the location information of the first mobile signpost device, the distance information L0 and the distance information L1 can also be sent to any one of the self-moving robot and the mobile signpost device, so as to use the self-moving robot or the mobile signpost device to calculate the location information of the self-moving robot.

[0086] Optionally, after the autonomous robot leaves the charging base station, an obstacle may block the distance between the autonomous robot and the charging base station, thereby affecting the transmission of detection signals between the two. In this case, the charging base station cannot communicate with the autonomous robot, and the charging base station cannot determine the distance information L0 between the autonomous robot and the charging base station, and thus cannot determine the position information of the autonomous robot. To avoid this situation, the corresponding processing can be as follows: add a mobile landmark device and locate the autonomous robot using at least two mobile landmark devices. Specifically, if the distance information L0 between the autonomous robot and the charging base station is not obtained within a first preset time period, the position information of the second mobile landmark device is determined, and the distance information L2 between the autonomous robot and the second mobile landmark device is obtained; the position information of the autonomous robot is determined based on the position information of the charging base station, the position information of the first mobile landmark device, the position information of the second mobile landmark device, the distance information L1, and the distance information L2.

[0087] In implementation, a first preset time period is pre-set in the charging base station. Figure 4 As shown, after the first preset time period, if the charging base station still fails to obtain the distance information L0 between the self-mobile robot and the charging base station from the charging base station, the charging base station can send a movement command M2 to the second mobile landmark device. In response to the received movement command M2, the second mobile landmark device moves to the corresponding movement position P2, records the movement information, and sends it to the charging base station. After receiving the movement information from the second mobile landmark device, the charging base station determines the location information of the second mobile landmark device. The specific determination method is similar to that of the first mobile landmark device and will not be further described in detail in this disclosure.

[0088] At the same time, the second mobile landmark device sends detection information to the self-moving robot. The self-moving robot returns corresponding response information to the second mobile landmark device based on the received detection information. The second mobile landmark device determines the distance information L2 between the self-moving robot and the second mobile landmark device based on the response information returned by the self-moving robot, and sends it to the charging base station. After the charging base station receives the distance information L2 between the self-moving robot and the second mobile landmark device sent by the second mobile landmark device, it combines the previously determined location information of the charging base station, the location information of the first mobile landmark device, the location information of the second mobile landmark device, the distance information L1 between the self-moving robot and the first mobile landmark device, and the distance information L2 between the self-moving robot and the second mobile landmark device to determine the location information of the self-moving robot.

[0089] Optionally, after the self-moving robot leaves the charging base station, there may be an obstacle blocking the self-moving robot and the first mobile landmark device, or the self-moving robot is beyond the signal range of the first mobile landmark device. In this case, the first mobile landmark device cannot communicate with the self-moving robot, and the first mobile landmark device cannot determine the distance information L1 between the self-moving robot and the first mobile landmark device, and thus cannot determine the position information of the self-moving robot. In order to avoid this situation, the corresponding processing can be as follows: if the distance information L1 between the self-moving robot and the first mobile landmark device is not obtained within the second preset time period, a movement command is sent to the first mobile landmark device to move the first mobile landmark device to a first moving position (the position ensures that the detection signal is not blocked by obstacles); the position information of the first mobile landmark device is re-determined; the distance information L1′ between the self-moving robot and the first mobile landmark device is obtained; and the position information of the self-moving robot is determined based on the position information of the charging base station, the position information of the first mobile landmark device, the distance information L0 and the distance information L1′.

[0090] In practice, a second preset time period is pre-set in the charging base station. After the second preset time period expires, if the charging base station still fails to obtain the distance information L1 between the self-mobile robot and the first mobile landmark device from the first mobile landmark device, the charging base station may send a movement command M1′ to the first mobile landmark device. Based on the received movement command M1′, the first mobile landmark device moves to the corresponding movement position P1′, records the movement information, and resends it to the charging base station. After receiving the movement information from the first mobile landmark device, the charging base station re-determines the location information of the first mobile landmark device.

[0091] At the same time, the first mobile landmark device continues to send detection information to the self-moving robot. The self-moving robot returns corresponding response information to the first mobile landmark device based on the received detection information. The first mobile landmark device determines the distance information L1′ between the self-moving robot and the first mobile landmark device based on the response information returned by the self-moving robot, and sends it to the charging base station. After the charging base station receives the distance information L1′ between the self-moving robot and the first mobile landmark device sent by the first mobile landmark device, it combines the previously determined location information of the charging base station, the distance information L0 between the self-moving robot and the charging base station, and the re-determined location information of the first mobile landmark device, and the distance information L1′ between the self-moving robot and the first mobile landmark device, it can determine the location information of the self-moving robot.

[0092] Optionally, after the self-moving robot leaves the charging base station, there may be an obstacle blocking the self-moving robot and the first mobile landmark device, or the self-moving robot is beyond the signal range of the first mobile landmark device. In this case, the first mobile landmark device cannot communicate with the self-moving robot, and the first mobile landmark device cannot determine the distance information L1 between the self-moving robot and the first mobile landmark device, and thus cannot determine the position information of the self-moving robot. In order to avoid this situation, the corresponding processing can also be as follows: if the distance information L1 between the self-moving robot and the first mobile landmark device is not obtained within the second preset time period, the distance information L3 between the self-moving robot and the third mobile landmark device, and the distance information L5 between the first mobile landmark device and the third mobile landmark device are obtained; the distance information L4 between the self-moving robot and the fourth mobile landmark device, and the distance information L6 between the first mobile landmark device and the fourth mobile landmark device are obtained; the position information of the self-moving robot is determined based on the position information of the charging base station, the position information of the first mobile landmark device, the distance information L0, the distance information L3, the distance information L4, the distance information L5 and the distance information L6.

[0093] In implementation, a second preset time period is pre-set in the charging base station. Figure 5 As shown, after the second preset time period, if the charging base station still fails to obtain the distance information L1 between the self-mobile robot and the first mobile landmark device from the first mobile landmark device, the charging base station can send a movement command M3 to the third mobile landmark device and a movement command M4 to the fourth mobile landmark device. The third mobile landmark device moves to the corresponding movement position P3 based on the received movement command M3. The fourth mobile landmark device moves to the corresponding movement position P4 based on the received movement command M4.

[0094] Then, the third mobile landmark device sends detection information to the self-mobile robot. The self-mobile robot returns corresponding response information to the third mobile landmark device based on the received detection information. The third mobile landmark device determines the distance information L3 between the self-mobile robot and the third mobile landmark device based on the response information returned by the self-mobile robot. The third mobile landmark device sends detection information to the self-mobile robot. The self-mobile robot returns corresponding response information to the third mobile landmark device based on the received detection information. The third mobile landmark device determines the distance information L3 between the self-mobile robot and the third mobile landmark device based on the response information returned by the self-mobile robot, and sends it to the first mobile landmark device. The fourth mobile landmark device sends detection information to the self-mobile robot. The self-mobile robot returns corresponding response information to the fourth mobile landmark device based on the received detection information. The fourth mobile landmark device determines the distance information L4 between the self-mobile robot and the fourth mobile landmark device based on the response information returned by the self-mobile robot, and sends it to the first mobile landmark device.

[0095] At the same time, the first mobile landmark device sends detection information to the third mobile landmark device. After receiving the detection information, the third mobile landmark device returns a response message to the first mobile landmark device. The first mobile landmark device determines the distance information L5 between the first mobile landmark device and the third mobile landmark device based on the received response information and the sent detection information. The first mobile landmark device sends detection information to the fourth mobile landmark device. After receiving the detection information, the fourth mobile landmark device returns a response message to the first mobile landmark device. The first mobile landmark device determines the distance information L6 between the first mobile landmark device and the fourth mobile landmark device based on the received response information and the sent detection information. Then, the first mobile landmark device sends the distance information L3 between the self-mobile robot and the third mobile landmark device, the distance information L4 between the self-mobile robot and the fourth mobile landmark device, the distance information L5 between the first mobile landmark device and the third mobile landmark device, and the distance information L6 between the first mobile landmark device and the fourth mobile landmark device to the charging base station.

[0096] The charging base station receives the distance information L3 between the self-moving robot and the third mobile landmark device sent by the third mobile landmark device, the distance information L4 between the self-moving robot and the fourth mobile landmark device sent by the fourth mobile landmark device, and the distance information L5 between the first mobile landmark device and the third mobile landmark device and the distance information L6 between the first mobile landmark device and the fourth mobile landmark device sent by the first mobile landmark device. Combined with the previously determined position information of the charging base station and the position information of the first mobile landmark device, the position information of the self-moving robot can be determined.

[0097] Optionally, after the first mobile signpost device leaves the charging base station, the first mobile signpost device may be beyond the signal range of communication with the charging base station. In this case, the first mobile signpost device cannot send its own movement information and the distance information L1 between the self-mobile robot and the first mobile signpost device to the charging base station, and thus cannot determine the position information of the self-mobile robot. In order to avoid this situation, the corresponding processing can also be as follows: if the movement information sent by the first mobile signpost device is not received within the third preset time period, a movement command is sent to the fifth mobile signpost device to receive the movement information of the first mobile signpost device through the fifth mobile signpost device.

[0098] In practice, as mentioned above, after the first mobile road sign device leaves the charging base station, its movement information can be recorded and sent to the charging base station. Figure 6 As shown, the first mobile landmark device may have moved too far, beyond the signal range for communication with the charging base station. At this time, the charging base station cannot receive any information sent by the first mobile landmark device. Therefore, a third preset time period is pre-set in the charging base station. After the third preset time period is reached, if the charging base station still fails to obtain the movement information of the first mobile landmark device from the first mobile landmark device, the charging base station can send a movement command M5 to the fifth mobile landmark device. The fifth mobile landmark device moves to the corresponding moving position P5 according to the received movement command M5. Then, the fifth mobile landmark device can receive the movement information sent by the first mobile landmark device and the distance information L1 between the mobile robot and the first mobile landmark device. The fifth mobile landmark device can send the received movement information and distance information L1 of the first mobile landmark device to the charging base station. In this way, the charging base station can determine the location information of the first mobile signpost device based on the movement information of the first mobile signpost device forwarded by the fifth mobile signpost device, and further determine the location information of the self-mobile robot in combination with the previously determined location information of the charging base station, the distance information L0 between the self-mobile robot and the charging base station, and the location information of the first mobile signpost device forwarded by the fifth mobile signpost device.

[0099] It should be noted that the above embodiment only uses the charging base station as the execution entity for implementing the positioning of the self-moving robot based on the mobile signpost device. It can be understood that the above positioning method can also be applied to any one of the self-moving robots or the mobile signpost device, or implemented by all three.

[0100] In an embodiment of the present invention, the location information of the charging base station and the location information of the first mobile landmark device are determined; the distance information L0 between the self-mobile robot and the charging base station is obtained; the distance information L1 between the self-mobile robot and the first mobile landmark device is obtained; and the location information of the self-mobile robot is determined based on the location information of the charging base station, the location information of the first mobile landmark device, the distance information L0, and the distance information L1. In this way, after the mobile landmark device moves to a suitable position, the location information of the charging base station and the mobile landmark device can be automatically determined, and the distance information between the self-mobile robot and the charging base station and the mobile landmark device can be obtained. Then, the self-mobile robot can be positioned using the above information to determine the position of the self-mobile robot relative to the charging base station. The use is convenient and quick, and the mobile landmark device can be recycled after use without affecting the home environment.

[0101] Based on the same technical concept, the embodiment of the present invention also provides a self-propelled robot positioning device based on a mobile landmark device, such as Figure 7 As shown, including:

[0102] The transceiver module 701 is used for receiving the distance information L0 between the self-propelled robot and the charging base station, and the distance information L1 between the self-propelled robot and the first mobile landmark device;

[0103] The calculation module 702 is used to determine the location information of the charging base station and the location information of the first mobile landmark device; and determine the location information of the self-moving robot based on the location information of the charging base station, the location information of the first mobile landmark device, the distance information L0 and the distance information L1.

[0104] Optionally, if the distance information L0 between the autonomous robot and the charging base station is not obtained within a first preset time period,

[0105] The transceiver module 701 is further configured to obtain distance information L2 between the autonomous robot and the second mobile landmark device;

[0106] The calculation module 702 is also used to determine the position information of the second mobile landmark device; based on the position information of the charging base station, the position information of the first mobile landmark device, the position information of the second mobile landmark device, the distance L1 and the distance L2, the position information of the self-moving robot is determined.

[0107] Optionally, if the distance information L1 between the autonomous robot and the first mobile landmark device is not obtained within a second preset time period,

[0108] The transceiver module 701 is further configured to send a movement command to the first mobile landmark device to move the first mobile landmark device to a first movement position; and obtain distance information L1′ between the self-mobile robot and the first mobile landmark device.

[0109] The calculation module 702 is also used to re-determine the position information of the first mobile landmark device; determine the position information of the self-moving robot based on the position information of the charging base station, the position information of the first mobile landmark device, the distance L0 and the distance L1′.

[0110] Optionally, if the distance information L1 between the autonomous robot and the first mobile landmark device is not obtained within a second preset time period,

[0111] The transceiver module 701 is further configured to obtain distance information L3 between the self-moving robot and the third mobile landmark device, and distance information L5 between the first mobile landmark device and the third mobile landmark device; and obtain distance information L4 between the self-moving robot and the fourth mobile landmark device, and distance information L6 between the first mobile landmark device and the fourth mobile landmark device.

[0112] The calculation module 702 is also used to determine the position information of the self-moving robot based on the position information of the charging base station, the position information of the first mobile landmark device, the distance L0, the distance L3, the distance L4, the distance L5 and the distance L6.

[0113] It should be noted that: the positioning device provided in the above embodiment only uses the division of the above functional modules as an example to illustrate when realizing the positioning of a self-moving robot based on a mobile road sign device. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. At the same time, the positioning device provided in the above embodiment belongs to the same concept as the embodiment of the self-moving robot positioning method based on a mobile road sign device. The specific implementation process is detailed in the method embodiment and will not be repeated here. The above positioning device can be a separate device, or it can be integrated into any one of the self-moving robot, the charging base station or the mobile road sign device, and the device itself serves as a positioning device to implement the above functions.

[0114] Based on the same technical concept, embodiments of the present invention further provide a charging base station, which may vary significantly due to different configurations or performance, and includes one or more processors and memory, wherein the memory may be either transient or permanent. The memory may store at least one instruction, at least one program, a code set, or an instruction set, which is loaded and executed by the processor to implement the aforementioned method for positioning a self-propelled robot based on a mobile landmark device.

[0115] Based on the same technical concept, embodiments of the present invention further provide a mobile landmark device, which may vary significantly due to different configurations or performance. The mobile landmark device includes one or more processors and memory, wherein the memory may be either transient or persistent. The memory may store at least one instruction, at least one program, a code set, or an instruction set, which is loaded and executed by the processor to implement the aforementioned method for positioning a self-propelled robot based on the mobile landmark device.

[0116] Based on the same technical concept, embodiments of the present invention further provide a self-propelled robot, which can vary significantly due to different configurations or performance. The robot includes one or more processors and memory, wherein the memory can be either transient or persistent. The memory can store at least one instruction, at least one program, a code set, or an instruction set, which is loaded and executed by the processor to implement the aforementioned self-propelled robot positioning method based on a mobile landmark device.

[0117] Based on the same technical concept, the embodiment of the present invention also provides a self-propelled robot positioning system based on a mobile landmark device, such as Figure 1 As shown, including:

[0118] The charging base station 10 is configured to send detection information to the self-moving robot 20, receive response information returned by the self-moving robot 20, movement information sent by the mobile landmark device 30, and distance information between the self-moving robot 20 and the mobile landmark device 30, and execute the above-mentioned self-moving robot positioning method based on the mobile landmark device;

[0119] The mobile landmark device 30 is configured to record its own movement information and send it to the charging base station 10 so that the charging base station 10 can determine the location information of the mobile landmark device 30 based on the movement information; send detection information to the self-moving robot 20, determine the distance information between the self-moving robot 20 and the mobile landmark device 30 based on the received response information, and send the distance information to the charging base station 10;

[0120] The self-mobile robot 30 is used to receive detection information sent by the charging base station 10 and the mobile road sign device 30, and return corresponding response information.

[0121] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus the necessary general hardware platform, or of course by hardware. Based on this understanding, the above technical solution, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or certain parts of the embodiment.

[0122] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for positioning a self-propelled robot based on a mobile landmark device, characterized in that: include: Determining location information of the charging base station and location information of the first mobile landmark device; Obtaining distance information L0 between the mobile robot and the charging base station; Acquire distance information L1 between the self-propelled robot and the first mobile landmark device; Determine the position information of the self-propelled robot according to the position information of the charging base station, the position information of the first mobile landmark device, the distance information L0, and the distance information L1; If the distance information L1 between the self-moving robot and the first mobile landmark device is not acquired within a second preset time period, a movement command is sent to the first mobile landmark device to move the first mobile landmark device to a first movement position.

2. The method according to claim 1, characterized in that The method further comprises: If the distance information L0 between the self-moving robot and the charging base station is not successfully obtained, determining the position information of the second mobile landmark device, and obtaining the distance information L2 between the self-moving robot and the second mobile landmark device; The position information of the self-moving robot is determined based on the position information of the charging base station, the position information of the first mobile landmark device, the position information of the second mobile landmark device, the distance information L1 and the distance information L2.

3. The method according to claim 1, characterized in that The method further comprises: If the distance information L1 between the self-moving robot and the first mobile landmark device is not successfully obtained, then the distance information L3 between the self-moving robot and the third mobile landmark device and the distance information L5 between the first mobile landmark device and the third mobile landmark device are obtained; Acquire distance information L4 between the self-moving robot and a fourth mobile landmark device, and distance information L6 between the first mobile landmark device and the fourth mobile landmark device; The position information of the self-moving robot is determined based on the position information of the charging base station, the position information of the first mobile landmark device, the distance information L0, the distance information L3, the distance information L4, the distance information L5 and the distance information L6.

4. The method according to claim 1, wherein Determining the location information of the first mobile landmark device specifically includes: Obtaining movement information sent by the first mobile landmark device, and determining the location information of the first mobile landmark device based on the location information of the charging base station and the movement information sent by the first mobile landmark device; The method further comprises: If the movement information sent by the first mobile signpost device is not successfully received, a movement command is sent to the fifth mobile signpost device to receive the movement information of the first mobile signpost device through the fifth mobile signpost device.

5. A self-propelled robot positioning device based on a mobile landmark device, characterized in that: include: a transceiver module, configured to obtain distance information L0 between the self-moving robot and the charging base station, and distance information L1 between the self-moving robot and the first mobile landmark device; a calculation module, configured to determine location information of the charging base station and location information of the first mobile landmark device; Determine the position information of the self-propelled robot according to the position information of the charging base station, the position information of the first mobile landmark device, the distance information L0, and the distance information L1; If the distance information L1 between the autonomous robot and the first mobile landmark device is not obtained within the second preset time period, The transceiver module is further configured to send a movement command to the first mobile landmark device to move the first mobile landmark device to a first movement position; and obtain distance information L1′ between the self-moving robot and the first mobile landmark device; The calculation module is also used to re-determine the position information of the first mobile landmark device; determine the position information of the self-moving robot based on the position information of the charging base station, the position information of the first mobile landmark device, the distance information L0 and the distance information L1′.

6. A method for positioning a self-propelled robot based on a mobile landmark device, characterized in that: include: The mobile road sign device moves from the charging base station to the first geographical location; The autonomous robot moves from a charging base station within a working area to perform specific tasks; Determine the location information of the charging base station; Determining location information corresponding to a first geographical location of the mobile landmark device; Determine the distance information L0 between the mobile robot and the charging base station by signal transmission between the mobile robot and the charging base station; Determine the distance information L1 between the self-propelled robot and the first mobile landmark device through signal transmission between the two; Determine the position information of the self-propelled robot according to the position information of the charging base station, the position information of the first mobile landmark device, the distance information L0, and the distance information L1; If the distance information L1 between the self-moving robot and the first mobile landmark device is not obtained within a second preset time period, the mobile landmark device moves to a first moving position; Determine the distance information L1′ between the self-propelled robot and the first mobile landmark device through signal transmission between the two; The position information of the self-moving robot is determined according to the position information of the charging base station, the position information of the first mobile landmark device, the distance information L0 and the distance information L1′.

7. A charging base station, characterized in that: The charging base station includes a memory and a processor, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the method for positioning a self-moving robot based on a mobile road sign device as described in any one of claims 1 to 4.

8. A mobile road sign device, characterized in that: The mobile landmark device includes a memory and a processor, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by the processor to implement the self-moving robot positioning method based on the mobile landmark device as described in any one of claims 1-4.

9. A self-propelled robot, characterized in that: The self-moving robot includes a memory and a processor, wherein the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by the processor to implement the self-moving robot positioning method based on a mobile signpost device as described in any one of claims 1-4.

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