Self-moving device, integrated navigation method, mapping device, and mapping method

Abstract

The present application provides a self - moving device, a combined navigation method, a mapping device, and a mapping method, which can efficiently and reliably complete data acquisition tasks and data fusion tasks. The self - moving device includes: a navigation module, including a satellite navigation device and a first motion sensor; a control module, including a first controller and a second controller; the first controller is configured to receive a timing signal and a pulse signal with a fixed period from the satellite navigation device, and determine the acquisition time of the output data of the first motion sensor based on the received signals; the second controller is configured to fuse the output data of the satellite navigation device and the first motion sensor according to the acquisition time of the output data of the satellite navigation device and the first motion sensor; the control module is configured to determine the current position of the self - moving device according to the fused data; and based on the current position of the self - moving device, control the self - moving device to move and work automatically within the working area defined by the map.

Description

Technical Field

[0001] This application relates to the technical field of integrated navigation, and particularly to a self - moving device, an integrated navigation method, a mapping device, and a mapping method. Background Art

[0002] Self - moving devices can perform positioning and navigation through navigation devices. To achieve more accurate positioning and navigation, multiple navigation devices can be used on self - moving devices for integrated navigation.

[0003] For integrated navigation, self - moving devices need to not only complete the data acquisition tasks of multiple navigation devices but also fuse the output data of multiple navigation devices. How to efficiently and reliably complete the data acquisition tasks and data fusion tasks has become an urgent problem to be solved. Summary of the Invention

[0004] In view of this, embodiments of this application are committed to providing a self - moving device, an integrated navigation method, a mapping device, and a mapping method, which can efficiently and reliably complete data acquisition tasks and data fusion tasks.

[0005] In the first aspect of this application, a self - moving device is provided, including: a navigation module, including a satellite navigation device and a first motion sensor; a control module, including a first controller and a second controller; the first controller is configured to receive the time - synchronization signal and the pulse signal with a fixed period of the satellite navigation device; in response to the pulse signal with the fixed period, reset the clock of the first controller; and determine the acquisition time of the output data of the first motion sensor according to the time - synchronization signal and the pulse signal with the fixed period; the second controller is configured to fuse the output data of the satellite navigation device and the first motion sensor according to the acquisition time of the output data of the satellite navigation device and the first motion sensor; the control module is configured to determine the current position of the self - moving device according to the fused data; and based on the current position of the self - moving device, control the self - moving device to move and work automatically within the working area defined by the map.

[0006] This application proposes an integrated navigation architecture based on multiple controllers to complete data acquisition tasks and data fusion tasks through multiple controllers. Compared with using a single controller to complete data acquisition tasks and data fusion tasks, multiple controllers can share data acquisition tasks and data fusion tasks. For example, the first controller can share data acquisition tasks, while the second controller can share data fusion tasks. In this way, it can not only improve the processing speed of data fusion but also ensure the validity of the collected data, thereby being able to efficiently and reliably complete the processing tasks.

[0007] In one embodiment, the first motion sensor includes an odometer.

[0008] In one embodiment, the navigation module further includes a second motion sensor; the first controller is further configured to determine the acquisition time of the output data of the second motion sensor according to the timing signal and the pulse signal with a fixed period; the second controller fuses the output data of the satellite navigation device and the first motion sensor according to the acquisition time of the output data of the satellite navigation device and the first motion sensor, including: the second controller fuses the output data of the satellite navigation device, the first motion sensor and the second motion sensor according to the acquisition time of the output data of the satellite navigation device, the first motion sensor and the second motion sensor.

[0009] Using the first controller for data acquisition and the second controller for data fusion can separate the data fusion process from the data acquisition process, thus avoiding interference between the two.

[0010] In one embodiment, the second controller is not time-synchronized with the satellite navigation device.

[0011] The second controller does not need to be time-synchronized with the satellite navigation device, thus avoiding the influence of time synchronization on the processing speed of the second controller.

[0012] In one embodiment, the computing power of the second controller is greater than that of the first controller.

[0013] Selecting a controller with a higher computing power as the second controller can improve the processing speed of data fusion.

[0014] In one embodiment, the second controller is further configured to construct the map and perform path planning for the self-moving device according to the map.

[0015] Concentrating tasks such as data fusion, map construction, and path planning on one controller requires only one controller with a higher computing power to execute these tasks, while the computing power of the other controller for data acquisition can be lower, which is beneficial for cost savings.

[0016] In one embodiment, both the first motion sensor and the second motion sensor are directly connected to the first controller through the interface of the first controller.

[0017] Directly connecting the navigation device to the interface on the controller allows the navigation device to directly send the collected data to the controller through this interface, thereby reducing the delay in the data transmission process.

[0018] In one embodiment, the navigation module further includes a second motion sensor; the second controller is further configured to receive a timing signal and a pulse signal with a fixed period from the satellite navigation device; reset the clock of the second controller in response to the pulse signal with the fixed period; and determine the acquisition time of the output data of the second motion sensor according to the timing signal and the pulse signal with the fixed period; the second controller fuses the output data of the satellite navigation device and the first motion sensor according to the acquisition time of the output data of the satellite navigation device and the first motion sensor, including: the second controller fuses the output data of the satellite navigation device, the first motion sensor and the second motion sensor according to the acquisition time of the output data of the satellite navigation device, the first motion sensor and the second motion sensor.

[0019] In one embodiment, the second motion sensor includes an inertial measurement unit.

[0020] In one embodiment, the first motion sensor is directly connected to the first controller through the interface of the first controller; the second motion sensor is directly connected to the second controller through the interface of the second controller.

[0021] Directly connect the navigation device to the interface on the controller, and the navigation device can directly send the collected data to the controller through this interface, thereby reducing the time delay in the data transmission process.

[0022] In one embodiment, the self-mobile device further includes: a body; a detachable module detachably connected to the body; wherein, the first controller and the first motion sensor are installed on the body, and the second controller and the satellite navigation device are installed in the detachable module.

[0023] The detachable module can be detached from the self-mobile device, so that it can be shared among different devices, or the detachable module can be combined with a self-mobile device with a different type of navigation device, improving the versatility and flexibility of the combined navigation solution.

[0024] In one embodiment, the detachable module is configured to construct the map after being detached from the body.

[0025] The detachable module can be detached from the self-mobile device. In this application, the detachable module can be directly used for map construction without using the self-mobile device for map construction, thus facilitating the operation.

[0026] The second aspect of the present application provides a combined navigation method, which is applied to a self-moving device. The self-moving device includes a navigation module and a control module. The navigation module includes a satellite navigation device and a first motion sensor. The control module includes a first controller and a second controller. The method includes: the first controller receives a timing signal and a pulse signal with a fixed period from the satellite navigation device; in response to the pulse signal with the fixed period, reset the clock of the first controller; determine the acquisition time of the output data of the first motion sensor according to the timing signal and the pulse signal with the fixed period; the second controller fuses the output data of the satellite navigation device and the first motion sensor according to the acquisition time of the output data of the satellite navigation device and the first motion sensor; the control module determines the current position of the self-moving device according to the fused data; the control module controls the self-moving device to move and work automatically within the working area defined by the map based on the current position of the self-moving device.

[0027] In one embodiment, the first motion sensor includes an odometer.

[0028] In one embodiment, the navigation module further includes a second motion sensor, and the method further includes: the first controller determines the acquisition time of the output data of the second motion sensor according to the timing signal and the pulse signal with the fixed period; the second controller fuses the output data of the satellite navigation device and the first motion sensor according to the acquisition time of the output data of the satellite navigation device and the first motion sensor, including: the second controller fuses the output data of the satellite navigation device, the first motion sensor and the second motion sensor according to the acquisition time of the output data of the satellite navigation device, the first motion sensor and the second motion sensor.

[0029] In one embodiment, the second controller is not time-synchronized with the satellite navigation device.

[0030] In one embodiment, the computing power of the second controller is greater than that of the first controller.

[0031] In one embodiment, the method further includes: constructing the map by using the second controller; performing path planning on the self-moving device by using the second controller according to the map.

[0032] In one embodiment, both the first motion sensor and the second motion sensor are directly connected to the first controller through the interface of the first controller.

[0033] In one embodiment, the navigation module further includes a second motion sensor, and the method further includes: the second controller receives the time synchronization signal and the pulse signal with a fixed period from the satellite navigation device; in response to the pulse signal with the fixed period, reset the clock of the second controller; determine the acquisition time of the output data of the second motion sensor according to the time synchronization signal and the pulse signal with the fixed period; the second controller fuses the output data of the satellite navigation device and the first motion sensor according to the acquisition time of the output data of the satellite navigation device and the first motion sensor, including: the second controller fuses the output data of the satellite navigation device, the first motion sensor and the second motion sensor according to the acquisition time of the output data of the satellite navigation device, the first motion sensor and the second motion sensor.

[0034] In one embodiment, the second motion sensor includes an inertial measurement unit.

[0035] In one embodiment, the first motion sensor is directly connected to the first controller through the interface of the first controller; the second motion sensor is directly connected to the second controller through the interface of the second controller.

[0036] In one embodiment, the self-mobile device further includes: a body; a detachable module detachably connected to the body; wherein, the first controller and the first motion sensor are installed on the body, and the second controller and the satellite navigation device are installed in the detachable module.

[0037] In one embodiment, the method further includes: after detaching the detachable module from the body, constructing the map by using the detachable module.

[0038] A mapping device for establishing a working area map of a self - moving device according to a third aspect of the present application includes: a detachable module and a mobile carrier; the detachable module includes a satellite navigation device for receiving satellite signals and outputting satellite output data; the mobile carrier is equipped with a first motion sensor for outputting first output data; the detachable module is detachably mounted on the mobile carrier; the mapping device further includes a control module mounted on the detachable module and / or the mobile carrier; when the detachable module is mounted on the mobile carrier, the mapping device is configured to obtain the satellite output data and the first output data of the positions passed by the mapping device during movement through the control module, and fuse the satellite output data and the first output data through the control module to obtain a fusion result, and the fusion result is used to establish the working area map; the control module is configured to receive the timing signal and the pulse signal with a fixed period from the satellite navigation device, and the pulse signal with a fixed period is used to reset the clock of the control module; the control module is configured to determine the acquisition time of the first output data according to the timing signal and the pulse signal with a fixed period, so that the satellite output data and the first output data for fusion are time - synchronized.

[0039] The working area map generated through data fusion is relatively accurate, that is, the boundary information in the map is relatively accurate. Therefore, when the self - moving device is working, the safety distance reserved at the boundary can be reduced, and there is no need to reserve a large safety distance, thereby reducing the working blind area.

[0040] In addition, designing the mapping device into a detachable structure can enable the sharing of the detachable module between the mapping device and the self - moving device, improving the flexibility of the device.

[0041] In one embodiment, the control module includes a first controller mounted on the mobile carrier; the first controller is configured to receive the timing signal and the pulse signal with a fixed period from the satellite navigation device to determine the acquisition time of the first output data based on them.

[0042] In one embodiment, the control module includes a second controller mounted on the detachable module; the second controller is configured to fuse the satellite output data and the first output data.

[0043] In one embodiment, the second controller is not time - synchronized with the satellite navigation device.

[0044] In one embodiment, a second motion sensor is installed on the detachable module, and the second motion sensor is configured to output second output data; a second controller is configured to fuse the satellite output data, the first output data, and the second output data to obtain a fusion result, and the fusion result is used to create a map of the working area; the second controller is configured to receive the timing signal and the pulse signal with a fixed period from the satellite navigation device to determine the acquisition time of the second output data based thereon, so that the satellite output data, the first output data, and the second output data for fusion are time-synchronized.

[0045] In one embodiment, the detachable module is also detachably installed on the body of the self-mobile device, and the satellite output data is also used to provide positioning information for the movement of the self-mobile device within the working area.

[0046] A method for creating a map of a working area by a mapping device according to a fourth aspect of the present application, the map of the working area being used to define the working area of a self-mobile device, the method comprising: using a satellite navigation device to receive satellite signals and output satellite output data; using a first motion sensor to output first output data, wherein the first motion sensor is installed on a mobile carrier, the satellite navigation device is installed on a detachable module, and the detachable module is detachably installed on the mobile carrier; using a control module to obtain the satellite output data and the first output data at the positions passed by the mapping device during movement, and fuse the satellite output data and the first output data to obtain a fusion result, the fusion result being used to create a map of the working area, wherein the control module is installed on the detachable module and / or the mobile carrier; the control module receives the timing signal and the pulse signal with a fixed period from the satellite navigation device, and the pulse signal with a fixed period is used to reset the clock of the control module; the control module determines the acquisition time of the first output data based on the timing signal and the pulse signal with a fixed period, so that the satellite output data and the first output data for fusion are time-synchronized.

[0047] In one embodiment, the control module includes a first controller installed on the mobile carrier; the control module receiving the timing signal and the pulse signal with a fixed period from the satellite navigation device includes: the first controller receiving the timing signal and the pulse signal with a fixed period from the satellite navigation device; the control module determining the acquisition time of the first output data based on the timing signal and the pulse signal with a fixed period includes: the first controller determining the acquisition time of the first output data based on the timing signal and the pulse signal with a fixed period.

[0048] In one embodiment, the control module includes a second controller installed in the detachable module; the use of the control module to fuse the satellite output data and the first output data includes: using the second controller to fuse the satellite output data and the first output data.

[0049] In one embodiment, the second controller is not time-synchronized with the satellite navigation device.

[0050] In one embodiment, it further includes: using a second motion sensor to output second output data, where the second motion sensor is installed in the detachable module; using the second controller to obtain the second output data at the positions passed by the mapping device during movement; the use of the second controller to fuse the satellite output data and the first output data includes: using the second controller to fuse the satellite output data, the first output data, and the second output data; the second controller also receives the timing signal and the pulse signal with a fixed period of the satellite navigation device, and determines the acquisition time of the second output data based on them, so that the satellite output data, the first output data, and the second output data for fusion are time-synchronized.

[0051] In one embodiment, the detachable module is also detachably installed on the body of the self-moving device, and the satellite output data is also used to provide positioning information for the movement of the self-moving device within the working area. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 is a schematic diagram of an automatic working system provided by an embodiment of the present application.

[0053] Figure 2 is a schematic structural diagram of an intelligent lawn mower provided by an embodiment of the present application.

[0054] Figure 3 is a schematic block diagram of a self-moving device provided by an embodiment of the present application.

[0055] Figure 4 is a schematic diagram of a method for constructing a map provided by an embodiment of the present application.

[0056] Figure 5 is a schematic block diagram of a self-moving device that separates data acquisition and data fusion provided by an embodiment of the present application.

[0057] Figure 6 is a schematic block diagram of a self-moving device including a detachable module and a body provided by an embodiment of the present application.

[0058] Figure 7It is a schematic structural diagram of another intelligent lawn mower provided by an embodiment of the present application.

[0059] Figure 8 It is a schematic structural diagram of a mapping device provided by an embodiment of the present application.

[0060] Figures 9 - 11 It is a schematic block diagram of the mapping device provided by an embodiment of the present application.

[0061] Figure 12 It is a schematic flowchart of a combined navigation method provided by an embodiment of the present application.

[0062] Figure 13 It is a schematic flowchart of a method for establishing a work area map provided by an embodiment of the present application. Detailed implementation manners

[0063] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0064] The self-moving device in the embodiments of the present application can be an outdoor robot, for example, it can be an intelligent lawn mower, an intelligent snow sweeper, an intelligent floor sweeper, an intelligent floor washer, etc., which are intelligent devices with an automatic walking function.

[0065] Taking the intelligent lawn mower as an example, Figure 1 The shown automatic working system 100 may include an intelligent lawn mower 1 and a boundary 6 that defines the working area of the intelligent lawn mower 1. Among them, the boundary line 6 can be the boundary line between the lawn area and the non-lawn area. The intelligent lawn mower 1 can work within the area defined by the boundary 6, such as automatically completing the lawn mowing work. The boundary 6 can separate the working area 7 from the non-working area.

[0066] The boundary 6 can be obtained by the navigation module in the intelligent lawn mower, or the boundary 6 can be a boundary delimited by using existing map software, and then the boundary is stored in the intelligent lawn mower 1.

[0067] In the working area of the intelligent lawn mower 1, there will also be some obstacle areas that affect the work of the intelligent lawn mower. The obstacle areas can include, for example, the area 5 blocked by trees, the pit area 4, the area 3 blocked by a house, etc. During the work of the intelligent lawn mower 1, these obstacle areas will cause abnormal operation of the intelligent lawn mower.

[0068] The automatic working system 100 may further include a charging station 2 for replenishing electric energy for the intelligent lawn mower 1. The intelligent lawn mower 1 can automatically execute work tasks without human supervision. When the electric energy is insufficient, it can automatically return to the charging station 2 for charging.

[0069] The charging station 2 can be located on the boundary line 6, that is, a part of the charging station 2 is located in the working area 7 and a part is located in the non-working area; or the charging station 2 can be completely located in the working area 7; or, the charging station 2 can also be completely located in the non-working area.

[0070] Figure 2 The structural schematic diagram of an intelligent lawn mower is shown. The automatic lawn mower may include a housing 11, a moving module, a task execution module, an energy module, a control module, etc.

[0071] The moving module may include a wheel set, and the wheel set may be driven by a driving motor to drive the intelligent lawn mower to move. The wheel set may include a driving wheel 13 located at the rear of the housing and at least one driven wheel 14 located in front of the housing. The driven wheel 14 may be a universal wheel. The number of driving wheels 13 may be 2, which are respectively located on both sides of the housing 11.

[0072] The task execution module may include a cutting assembly 12, and the cutting assembly 12 can be used to perform lawn mowing work.

[0073] The energy module may include a battery pack for providing electrical energy for the movement and work of the intelligent lawn mower 1. For example, the energy module can provide electrical energy for the motor 19 so that the motor 19 can drive the cutting assembly 12 to work.

[0074] The control module can be electrically connected to the moving module, the task execution module, and the energy module to control the moving module to drive the intelligent lawn mower 1 to move and control the task execution module to execute work tasks.

[0075] In order to realize the positioning and navigation of the self-moving device, a navigation device can be set on the self-moving device. The navigation device can be used to determine the current position of the intelligent lawn mower to limit the intelligent lawn mower to work within the working area, or the navigation device can also be used to perform path planning for the intelligent lawn mower according to the current position of the intelligent lawn mower.

[0076] However, there are various drawbacks in a single navigation device, and it is difficult to meet the requirements of high-precision positioning and navigation. For example, for a satellite navigation device, it is greatly affected by interference. When blocked by trees and houses, the satellite signal will become poor, thus affecting the positioning and navigation accuracy of the self-moving device. Take Figure 1 For example, when the intelligent lawn mower works in the blocked area 5 by trees, due to the weakening of the satellite positioning signal, the intelligent lawn mower will show abnormal behaviors in this area, affecting the user experience.

[0077] To solve this problem, embodiments of the present application can use multiple navigation devices for combined navigation of the self - moving device. The navigation devices include various motion sensors. Multiple navigation devices can complement each other's advantages, thereby improving the positioning and navigation accuracy of the self - moving device. After using combined navigation with multiple navigation devices, when the intelligent lawn mower moves to area 5, it can also have a high positioning accuracy. Area 5 can be connected to other normal working areas (non - obstacle areas), enabling the intelligent lawn mower to move regularly within area 5.

[0078] For combined navigation, the self - moving device not only needs to complete the data acquisition task for multiple navigation devices but also needs to fuse the output data of multiple navigation devices. How to efficiently and reliably complete the data acquisition task and the data fusion task has become an urgent problem to be solved.

[0079] Based on this, embodiments of the present application provide a self - moving device that can efficiently and reliably complete the data acquisition task and the data fusion task through multiple controllers.

[0080] As Figure 3 shown, the self - moving device includes a navigation module and a control module. The navigation module includes a first motion sensor and a satellite navigation device. The control module includes a first controller and a second controller. The control module can be used to perform combined navigation on the self - moving device according to the output of the navigation module.

[0081] That the control module performs combined navigation on the self - moving device according to the output of the navigation module can mean that the first controller in the control module performs combined navigation on the self - moving device according to the output of the navigation module; or the second controller in the control module performs combined navigation on the self - moving device according to the output of the navigation module; or the first controller and the second controller in the control module jointly perform combined navigation on the self - moving device according to the output of the navigation module.

[0082] The first motion sensor can include an odometry (ODO).

[0083] Of course, the navigation devices in the navigation module in embodiments of the present application can also include one or more of navigation devices such as radar, vision navigation devices, and inertial measurement units (IMUs).

[0084] It can be understood that the inertial measurement unit in embodiments of the present application can also be referred to as an inertial sensor.

[0085] The satellite navigation device can be, for example, one or more of the Global Positioning System (GPS), BeiDou Navigation Satellite System (BDS), Galileo satellite navigation system, and GLONASS.

[0086] The first controller and the second controller can be microcontroller units (MCUs).

[0087] The first controller can be used to receive the output data of the first motion sensor and send the output data of the first motion sensor to the second controller. The second controller can be used to fuse the output data of the first motion sensor and the satellite navigation device.

[0088] An embodiment of this application proposes a combined navigation architecture based on multiple controllers to complete data acquisition tasks and data fusion tasks through multiple controllers. Compared with using one controller to complete data acquisition tasks and data fusion tasks, multiple controllers can share data acquisition tasks and data fusion tasks. For example, the first controller can share data acquisition tasks, and the second controller can share data fusion tasks. This can not only improve the processing speed of data fusion but also ensure the validity of the collected data, thus enabling the efficient and reliable completion of processing tasks.

[0089] When the second controller performs data fusion, it can fuse the output data according to the acquisition time of the output data.

[0090] Since the self-mobile device is moving, the output data of the navigation device changes in each sampling period. If the output data of different navigation devices is not time-synchronized, the second controller cannot determine which data to fuse.

[0091] The satellite navigation device has its own time system, namely the satellite time system. Therefore, the output data of the satellite navigation device comes with a timestamp. However, the motion sensor does not have its own time system. Therefore, the output data of the motion sensor can only be given a time by the controller. And the time systems of the controller and the satellite time system are different time systems. Therefore, the output data of the satellite navigation device and the output data of the motion sensor cannot be directly fused.

[0092] In addition, the data acquisition frequencies of different navigation devices are inconsistent. For example, the sampling frequency of the inertial measurement unit is about 400 Hz, the sampling frequency of the odometer is about 100 Hz, and the sampling frequency of the satellite navigation device is about 20 Hz. In the case of time asynchrony, the inconsistency of sampling frequencies further increases the difficulty of data fusion.

[0093] Based on this, an embodiment of the present application proposes a method for synchronizing the time between a controller and a satellite navigation device to solve the above problems.

[0094] Take Figure 3 as an example. The first controller can receive the time synchronization signal sent by the satellite navigation device to synchronize the time with the satellite navigation device, so that the time system of the first controller becomes the satellite time system.

[0095] In addition, the first controller usually uses a clock signal for timing, and the clock signal is usually timed in milliseconds. Therefore, the first controller cannot obtain accurate seconds. After a long time, the cumulative error gradually increases, and the phenomenon of inaccurate timing will occur.

[0096] Based on this, the first controller in the embodiment of the present application can also receive the pulse signal with a fixed period from the satellite navigation device, such as the pulse per second (PPS) signal; and in response to the pulse signal with a fixed period, reset the clock of the first controller. Through the pulse signal with a fixed period, the accuracy of the acquisition time of the output data of the determined motion sensor can be improved, thereby improving the navigation accuracy of the self-moving device.

[0097] Taking the PPS signal as an example, the satellite navigation device can send a PPS signal every second, and the transmission delay of the PPS signal is small. The first controller can use the moment when the PPS signal is received as a flag for timing reset to perform clock calibration, so as to improve the accuracy of the acquisition time of the output data of the determined first motion sensor.

[0098] For convenience of description, hereinafter, the output data of the first motion sensor will be referred to as the first output data, and the output data of the satellite navigation device will be referred to as the satellite output data.

[0099] The first controller is further configured to determine the acquisition time of the first output data according to the time synchronization signal and the pulse signal with a fixed period. The time synchronization signal may include the time information of the satellite navigation device, and the first controller can determine the acquisition time of the first output data according to the time information of the satellite navigation device. For example, the time synchronization signal may include the time information of year, month, day, hour, minute, and second. The first controller can use this time information as a reference and combine it with the time obtained by internal clock counting (usually millisecond time) to determine the current time.

[0100] The first controller can use the moment when the first output data is received as the acquisition time of the first output data and add a timestamp to the first output data.

[0101] Since the first controller has been synchronized with the satellite time, the acquisition time of the first output data determined by the first controller and the acquisition time of the satellite output data have the same time standard, which is beneficial to the second controller for data fusion.

[0102] After the time synchronization between the first controller and the satellite navigation device, the second controller can fuse the output data of the satellite navigation device and the first motion sensor according to the acquisition time of the output data of the satellite navigation device and the first motion sensor.

[0103] The control module performs integrated navigation on the self-mobile device according to the output of the navigation module, which may include: the control module determines the current position of the self-mobile device according to the fused data; based on the current position of the self-mobile device, controls the self-mobile device to move and work within the working area defined by the map.

[0104] The map here can be generated using existing satellite maps, such as Google Maps, Baidu Maps, etc. For example, a satellite map is displayed on a smart terminal, and the working area is drawn by the user manually circling, thereby generating a map. The working area can be obtained by delimiting the boundary, so that the self-mobile device will not move to the area outside the boundary during the working process. Of course, the user can also circle the obstacle area in the working area in the same way, which can enable the self-mobile device to effectively avoid the obstacles in the obstacle area during the movement process to avoid damage to the self-mobile device caused by the obstacles.

[0105] Since the navigation device is installed in the self-mobile device in the embodiment of the present application, therefore, the navigation device in the self-mobile device can also be used to generate a map in the embodiment of the present application.

[0106] See Figure 4 , the user can use the detachable module in the self-mobile device to move around the boundary 61 between the lawn area and the non-lawn area, and / or move around the edge of the obstacle area, thereby generating a map.

[0107] Compared with a single navigation device, the boundary information obtained by the fusion algorithm is more accurate. Therefore, when the self-mobile device is working, the safety distance reserved at the boundary can be reduced, and there is no need to reserve a large safety distance, thereby reducing the working blind area.

[0108] In addition, due to the accurate boundary information determined, when performing path planning on the self-mobile device, the fuzzy area can become smaller, and the areas that need to be specially processed (such as fast forward and fast out) become fewer, which can reduce the complexity of path planning.

[0109] The embodiments of the present application can also perform path navigation on the self - moving device, that is, track the movement trajectory of the self - moving device to make the self - moving device more intelligent. And a combined navigation method using multiple navigation devices is adopted, so that the self - moving device has a high positioning accuracy at any position and will not have abnormal device behavior caused by sudden positioning changes during actual walking.

[0110] Optionally, the second controller can fuse the output data of the satellite navigation device and the first motion sensor at the same time point.

[0111] Since the data collection frequencies of different navigation devices are inconsistent, it is difficult to ensure that different navigation devices collect data at the same moment. Therefore, the output data at the same time point in the embodiments of the present application can refer to the satellite output data and the first motion sensor output data with the closest collection times.

[0112] If the frequency of a certain navigation device among multiple navigation devices is low while the frequencies of other navigation devices are high, when the new output data of the navigation device with a low frequency has not arrived, the previous output data of the navigation device can be used for data fusion.

[0113] The time synchronization error of different navigation devices in the embodiments of the present application can be less than 1 / 2 of the sampling period, and the sampling period is the sampling period of the navigation device with the highest sampling frequency, so that the self - moving device has a high positioning and navigation accuracy.

[0114] The navigation module in the embodiments of the present application can also include a second motion sensor, and the second controller can be used to fuse the output data of the satellite navigation device, the first motion sensor, and the second motion sensor.

[0115] For convenience of description, the output data of the second motion sensor will be abbreviated as the second output data hereinafter.

[0116] The embodiments of the present application do not specifically limit the controller for collecting the second output data. For example, as Figure 5 shown, the collection of the second output data can be implemented by the first controller; or, as Figure 6 shown, the collection of the second output data can be implemented by the second controller.

[0117] The second motion sensor can include an inertial measurement unit.

[0118] Taking Figure 5 as an example, the collection time of the second output data can be determined by the first controller.

[0119] The first controller can receive the second output data sent by the second motion sensor, take the moment when the second output data is received as the acquisition time of the second output data, and add a time stamp to the second output data. The first controller can also send the first output data and the second output data after adding the time stamp to the second controller.

[0120] The second controller can be used to fuse the output data of the satellite navigation device, the first motion sensor, and the second motion sensor according to the acquisition times of the output data of the satellite navigation device, the first motion sensor, and the second motion sensor.

[0121] As can be seen from the above analysis, during the data acquisition process by the controller, the moment when the output data is received is taken as the acquisition time of the output data. For a controller that needs to perform both data acquisition and data fusion, there may be a situation where the controller cannot add a time stamp to the output data in a timely manner, which makes the acquisition time of the finally determined output data inaccurate, thus affecting the validity of the output data.

[0122] Therefore, in the embodiments of the present application, the first controller is used for data acquisition, and the second controller is used for data fusion, which can separate the data fusion process from the data acquisition process, thereby avoiding mutual interference between the two and ensuring the validity of the output data.

[0123] Since the second controller is only used for data fusion and does not perform data acquisition, it is not necessary for the second controller to be time-synchronized with the satellite navigation device. Therefore, the second controller can be a non-real-time system. The second controller does not need to be time-synchronized with the satellite navigation device, thereby avoiding the impact of time synchronization on the processing speed of data fusion.

[0124] In addition, in order to improve the processing speed of data fusion, a controller with higher computing power can be selected as the second controller. For example, for a self-mobile device including two controllers with different computing powers, the controller with higher computing power can be used as the second controller, and the controller with lower computing power can be used as the first controller, that is, the computing power of the second controller is greater than that of the first controller.

[0125] The second controller can also be used to construct a map of the working area. The second controller can also perform path planning for the self-mobile device according to the map. In other words, the embodiments of the present application can use the second controller to construct the map; and according to the map, use the second controller to perform path planning for the self-mobile device.

[0126] The embodiments of the present application concentrate tasks such as data fusion, map construction, and path planning on one controller. Only one controller with higher computing power is required to execute these tasks, while the computing power of the other controller for data acquisition can be lower, which is beneficial to cost savings.

[0127] Different application scenarios have different requirements for data processing speed. By separately setting up a second controller, the embodiment of the present application can replace the second controller separately according to different application scenarios without replacing the first controller, thereby improving the flexibility of the self-moving device.

[0128] Usually, the first controller is set on the chassis of the self-moving device. For example, the first controller can be a controller that comes with the chassis, and the second controller can be a peripheral controller. For occasions with high computing power requirements, the embodiment of the present application can only replace the second controller without replacing the first controller on the chassis, thereby achieving the versatility of the chassis. And only replacing the second controller can also achieve the purpose of simplifying the replacement operation and saving costs.

[0129] Figure 5 The collection time of the first output data and the second output data shown are both determined by the first controller, but the embodiment of the present application does not specifically limit this, and the collection time of the first output data and the second output data can be determined by different controllers. For example, the control module can also include a third controller, and the third controller can also be time synchronized with the satellite, wherein the collection time of the first output data is determined by the first controller, and the collection time of the second output data can be determined by the third controller.

[0130] Since the controller determines the time when the output data is received as the collection time of the output data, the smaller the transmission delay between the navigation device and the controller, the higher the accuracy of the collection time of the output data determined by the controller.

[0131] In order to reduce the delay in the output data transmission process, the embodiment of the present application can directly connect the navigation device to the interface on the controller, so that the navigation device can directly send the collected data to the controller through the interface, thereby reducing the delay in the data transmission process.

[0132] refer to Figure 5 The first motion sensor and the second motion sensor can both be directly connected to the first controller through an interface on the first controller.

[0133] The interfaces on the first controller may include at least one of the following: an inter-integrated circuit (I2C) interface, an input / output (IO) interface, a universal asynchronous receiver / transmitter (UART) interface, and a controller area network (CAN) interface. The specific interface to be used can be determined according to the type of the navigation device.

[0134] For Figure 6 example, the acquisition time of the second output data is determined by the second controller.

[0135] By determining the acquisition time of the first output data by the first controller and the acquisition time of the second output data by the second controller, and thus distributing the data acquisition tasks to different controllers, the validity of the output data of the two motion sensors can be further ensured.

[0136] Similar to the first controller, the second controller is also a real-time system. The second controller can receive the timing signal sent by the satellite navigation device for time synchronization. To achieve more accurate timing, the second controller can also receive the pulse signal with a fixed period sent by the satellite navigation device, such as a PPS signal; in response to the pulse signal with a fixed period, reset the clock of the second controller.

[0137] The second controller can receive the second output data sent by the second motion sensor, and determine the acquisition time of the second output data according to the timing signal and the pulse signal with a fixed period, and add a timestamp to the second output data. In addition, the second controller is further configured to receive the first output data with a timestamp sent by the first controller, and fuse the output data of the satellite navigation device, the first motion sensor, and the second motion sensor according to the acquisition times of the output data of the satellite navigation device, the first motion sensor, and the second motion sensor.

[0138] The self-mobile device in the embodiment of the present application may include a body and a detachable module. The detachable module is detachably connected to the body. Different navigation devices may be respectively arranged on the detachable module and the body. Setting the navigation device to be detachably connected can enable the self-mobile device to flexibly select the type of the navigation device, rather than only being able to select a fixed navigation device for combined navigation.

[0139] The first controller and the first motion sensor may be installed on the body, and the second controller and the satellite navigation device may be installed in the detachable module.

[0140] Assume that the navigation module includes a satellite navigation device and a first motion sensor, and the control module includes a first controller and a second controller. Then, the first controller and the first motion sensor can be installed on the body, and the satellite navigation device and the second controller can be installed in a detachable module, such as Figure 3 as shown.

[0141] Assume that the navigation module includes a satellite navigation device, a first motion sensor, and a second motion sensor, and the control module includes a first controller and a second controller. Then, the first controller, the first motion sensor, and the second motion sensor can be installed on the body, and the satellite navigation device and the second controller can be installed in a detachable module, such as Figure 5 as shown; or the first controller and the first motion sensor can be installed on the body, and the satellite navigation device, the second motion sensor, and the second controller can be installed in a detachable module, such as Figure 6 as shown.

[0142] Refer to Figure 7 . Taking a smart mower as an example, the smart mower includes a detachable module 17 and a body 16. The detachable module 17 and the body 16 can be connected through a connector 18 to ensure the stability of the connection. The connection methods of the connector 18 include but are not limited to snap fasteners, sockets, or slots, etc. The inertial measurement unit can be installed in the detachable module 17, and the odometer can be installed in the body 16. When the detachable module 17 is installed in the body 16, the electrical connection between the detachable module and the body can be achieved.

[0143] Taking Figure 1 and Figure 2 as examples, the detachable module 17 can be set at the upper end of the body of the self-propelled device and can be located at the middle position of the body.

[0144] The detachable module can be detached from the self-propelled device, so that it can be shared among different devices, or the detachable module can be combined with a self-propelled device with different types of navigation devices, which can improve the versatility and flexibility of the combined navigation solution.

[0145] In addition, the detachable module can be detached from the self-propelled device and used alone. For example, the detachable module can be directly used for mapping without using the self-propelled device for mapping, thus facilitating the operation.

[0146] Before the self-propelled device works, the user can detach the detachable module from the body and then use the detachable module to construct a map. Compared with the self-propelled device, the detachable module is small in volume and light in weight, and the user can carry it conveniently, thus simplifying the map construction operation.

[0147] The user can hold the detachable module 17 and move it along a predetermined boundary to generate the boundary of the working area. Alternatively, the user can place the detachable module 17 on a mobile carrier, and the mobile carrier drives the detachable module to move, thereby generating the boundary of the working area.

[0148] As Figure 4 and Figure 8 shown, the user can place the detachable module 17 on the mobile carrier 8, and the mobile carrier 8 carries the detachable module 17. The user can push the mobile carrier 8 to move along the boundary line 61 to generate the boundary line 62.

[0149] The mobile carrier 8 can be a trolley. The mobile carrier 8 can include wheels, a handle for the user to hold, and a connecting rod connecting the wheels and the handle.

[0150] A satellite navigation device and an inertial measurement unit can be installed in the detachable module. During the movement of the user, the output data of the satellite navigation device and the output data of the inertial measurement unit (abbreviated as inertial output data) can be obtained. Then, the control module can determine the map of the area to be worked by the self - moving device according to the satellite output data and the inertial output data.

[0151] Of course, a navigation device, such as an odometer, can also be set on the mobile carrier 8. In the embodiments of the present application, the output data of the navigation devices on the detachable module and the mobile carrier can be fused, and the fused data is used to generate a map. Fusing the data on the detachable module and the data on the mobile carrier to generate a map can make the generated map more accurate.

[0152] When the self - moving device needs to work, the user can install the detachable module on the body. The control module can perform combined navigation on the self - moving device according to the output data of the navigation device in the detachable module and the output data of the navigation device in the body, and control the self - moving device to automatically move and work within the area defined by the map.

[0153] The control module can also perform path planning on the self - moving device according to the map, and the self - moving device can move according to the planned path, thereby making the self - moving device more intelligent.

[0154] The second controller for fusing data can be set on the body or on the detachable module. The embodiments of the present application do not make specific limitations on this.

[0155] Since the controller determines the moment when the output data is received as the acquisition time of the output data, the smaller the transmission delay between the navigation device and the controller, the higher the accuracy of the acquisition time determined by the controller.

[0156] To reduce the time delay during the transmission of output data, in the embodiments of the present application, the navigation device can be directly connected to the interface on the controller, so that the navigation device can directly send the collected data to the controller through this interface, which can reduce the time delay during data transmission.

[0157] Reference Figure 6 , the first motion sensor can be directly connected to the first controller through the interface on the first controller; the second motion sensor can be directly connected to the second controller through the interface on the second controller.

[0158] The interfaces on the first controller and the second controller can include at least one of the following: I2C interface, IO interface, UART interface, and CAN interface. Which interface to specifically adopt can be determined according to the type of the navigation device.

[0159] The motion sensor in the self-mobile device can include an odometer. For the odometer, its working principle is to measure the radian that the wheel turns within a certain period of time, and then deduce the pose change of the self-mobile device. Therefore, if the self-mobile device includes an odometer, the odometer is usually installed on the body.

[0160] Taking the navigation device in the self-mobile device including an inertial measurement unit and an odometer as an example, then for Figure 6 it, the first motion sensor can be an odometer, and the second motion sensor can be an inertial measurement unit.

[0161] For the inertial measurement unit, the internal transmission delay thereof will also affect the validity of the data. Therefore, in the embodiments of the present application, the data acquisition process of the inertial measurement unit can also be controlled to reduce the internal delay of the inertial measurement unit.

[0162] Specifically, the internal transmission delay can be reduced by adjusting the output filtering of the data of the inertial measurement unit and / or the working mode of the inertial measurement unit.

[0163] Taking the adjustment of output filtering as an example, after the inertial measurement unit collects the data, it needs to perform filtering processing on the data and then send it to the controller. The filtering processing will take a certain amount of time. Therefore, the internal transmission delay can be reduced by optimizing the filtering processing process. For example, the filtering processing process can be cancelled. After the inertial measurement unit collects the data, it does not need to perform filtering processing and directly sends the data to the controller. Another example is that the filtering processing process can be simplified. If the usual inertial measurement unit needs to perform 6 times of filtering processing, the embodiments of the present application can reduce the internal transmission delay by reducing the number of filtering processing times.

[0164] Taking the adjustment of the working mode as an example, an inertial measurement unit usually can include various types of sensors. For example, it can include a 3-axis accelerometer, a 3-axis gyroscope, a 3-axis magnetometer, and a barometer. Among them, different sensors require different times to collect data. Therefore, embodiments of the present application can select the types of sensors used by the inertial measurement unit to reduce the delay inside the inertial measurement unit.

[0165] In addition, if multiple types of data are collected, whether to fuse the multiple types of data will also affect the internal time delay. Based on this, embodiments of the present application can not fuse the multiple types of data to reduce the time delay inside the inertial measurement unit.

[0166] In addition to the above-mentioned self-mobile device, embodiments of the present application also provide a mapping device for establishing a working area map of the self-mobile device, as Figure 8 shown.

[0167] The mapping device can include a detachable module 17 and a mobile carrier 8, and the detachable module is detachably mounted on the mobile carrier. The detachable module can be the detachable module in the self-mobile device described above. Therefore, its related technical features can be referred to the above description. The mapping device can share the detachable module with the self-mobile device to save costs and improve the flexibility of the device.

[0168] When mapping is required, the detachable module can be detached from the self-mobile device and installed on the mobile carrier, and the user pushes the mobile carrier to move to construct a working map. After the mapping is completed, the detachable module can be detached from the mobile carrier and installed in the self-mobile device, and then the self-mobile device can work.

[0169] The detachable module 17 can include a satellite navigation device, and the satellite navigation device is used to receive satellite signals and output satellite output data.

[0170] A first motion sensor is installed on the mobile carrier, and the first motion sensor is used to output first output data.

[0171] The first motion sensor can include an odometer.

[0172] The mapping device can also include a control module, and the control module can be installed on the detachable module and / or the mobile carrier. When the detachable module is installed on the mobile carrier, the mapping device is used to obtain the satellite output data and the first output data of the positions passed by the mapping device through the control module, and fuse the satellite output data and the first output data through the control module to obtain a fusion result, and the fusion result can be used to establish a working area map.

[0173] Since the first motion sensor does not have its own time system, the acquisition time of the output data of the first motion sensor can be determined by the control module.

[0174] The control module can also be used to synchronize the clock with the satellite. For example, the control module can be used to receive the time signal and the pulse signal with a fixed period from the satellite navigation device, and the pulse signal with a fixed period is used to reset the clock of the control module. The control module can determine the acquisition time of the first output data according to the time signal and the pulse signal with a fixed period, so that the satellite output data and the first output data for fusion are time-synchronized.

[0175] The working area map generated by data fusion is relatively accurate, that is, the boundary information in the map is relatively accurate. Therefore, when the self-moving device is working, the safety distance reserved at the boundary can be reduced, and there is no need to reserve a large safety distance, thereby reducing the working blind area.

[0176] In addition, designing the mapping device into a detachable structure can enable the sharing of detachable modules between the mapping device and the self-moving device, improving the flexibility of the device.

[0177] The mapping device may further include a second motion sensor, and the second motion sensor can be used to output second output data. The second motion sensor may include an inertial measurement unit.

[0178] Since the second motion sensor does not have its own time system, the acquisition time of the output data of the second motion sensor can be determined by the control module. The control module can determine the acquisition time of the second output data according to the time signal and the pulse signal with a fixed period, so that the satellite output data, the first output data, and the second output data for fusion are time-synchronized.

[0179] The second motion sensor can be arranged on the mobile carrier or on the detachable module, and the embodiments of the present application do not make specific limitations thereto.

[0180] As Figure 9 and Figure 11 shown, the second motion sensor is installed on the mobile carrier; as Figure 10 shown, the second motion sensor is installed on the detachable module.

[0181] The control module may include one or more controllers.

[0182] As an example, the control module may include a first controller, which is installed on the detachable module. The first controller may receive the output data of the first motion sensor and the second motion sensor. The first motion sensor may be disposed on the mobile carrier; the second motion sensor may be disposed on the mobile carrier or on the detachable module.

[0183] The first controller may synchronize the clock with the satellite. The first controller can be used to receive the time signal and the pulse signal with a fixed period from the satellite navigation device, and determine the acquisition times of the first output data and the second output data based on the time signal and the pulse signal with a fixed period.

[0184] In the case where the control module includes one controller, the determination of the acquisition times of the first output data and the second output data and the fusion processing of the data are all completed by the first controller.

[0185] As Figure 9 shown, the first controller may determine the acquisition times of the first output data and the second output data according to the time signal and the pulse signal with a fixed period, and fuse the satellite output data, the first output data, and the second output data.

[0186] As another example, in addition to the first controller, the control module may further include a second controller, which is installed on the detachable module, and the first controller is installed on the mobile carrier. The second controller is used to fuse the satellite output data, the first output data, and the second output data.

[0187] The first motion sensor may be disposed on the mobile carrier; the second motion sensor may be disposed on the mobile carrier or on the detachable module, and the embodiments of the present application do not make specific limitations thereon.

[0188] As Figure 10 shown, the first motion sensor is disposed on the mobile carrier, and the second motion sensor is disposed on the detachable module. The acquisition time of the output data of the first motion sensor is determined by the first controller, and the acquisition time of the output data of the second motion sensor is determined by the second controller. Therefore, both the first controller and the second controller need to synchronize the clock with the satellite.

[0189] The first controller may receive the time signal and the pulse signal with a fixed period from the satellite navigation device, and determine the acquisition time of the first output data according to the time signal and the pulse signal with a fixed period.

[0190] The second controller may receive the time signal and the pulse signal with a fixed period from the satellite navigation device, and determine the acquisition time of the second output data according to the time signal and the pulse signal with a fixed period.

[0191] The second controller is further configured to fuse the satellite output data, the first output data, and the second output data according to the acquisition times of the satellite output data, the first output data, and the second output data.

[0192] To reduce the data transmission delay and improve the accuracy of the determined data acquisition time, the first motion sensor can be directly connected to the first controller, and the second motion sensor can be directly connected to the second controller.

[0193] Such as Figure 11 As shown, both the first motion sensor and the second motion sensor are disposed on the mobile carrier. The acquisition times of the output data of the first motion sensor and the second motion sensor are both determined by the first controller.

[0194] The first controller can receive the time synchronization signal and the pulse signal with a fixed period from the satellite navigation device, and determine the acquisition times of the first output data and the second output data according to the time synchronization signal and the pulse signal with a fixed period.

[0195] The second controller is configured to fuse the satellite output data, the first output data, and the second output data according to the acquisition times of the satellite output data, the first output data, and the second output data.

[0196] The acquisition times of the output data of the first motion sensor and the second motion sensor are both determined by the first controller, and the second controller is only used for data fusion, so that the data acquisition process and the data fusion process can be separated, avoiding mutual interference between the two, and ensuring the validity of the output data.

[0197] Since the second controller does not need to determine the data acquisition time, the second controller can be without clock synchronization with the satellite, and the influence of time synchronization on the processing speed of the second controller can be avoided.

[0198] To reduce the data transmission delay and improve the accuracy of the determined data acquisition time, the first motion sensor and the second motion sensor are directly connected to the first controller.

[0199] The detachable module can also be detachably mounted on the body of the self-mobile device, and the satellite output data is also used to provide positioning information for the movement of the self-mobile device within the working area. The working process after the detachable module is mounted on the self-mobile device can refer to the description above, and will not be elaborated here.

[0200] The device embodiments of the present application are described in detail above. Next, the method embodiments of the present application will be described in conjunction with Figure 12 and Figure 13 It can be understood that the method embodiments correspond to the device embodiments, and the features not described can refer to the description of the device embodiments above.

[0201] Figure 12 This is a combined navigation method provided by an embodiment of the present application. This method can be applied to any of the self - moving devices described above, and can efficiently and reliably complete data acquisition tasks and data fusion tasks.

[0202] The self - moving device may include a navigation module and a control module. The navigation module may include a satellite navigation device and a first motion sensor; the control module may include a first controller and a second controller.

[0203] As Figure 12 shown, the method includes steps S210 - S240.

[0204] S210. The first controller receives the timing signal and the pulse signal with a fixed period from the satellite navigation device; in response to the pulse signal with the fixed period, resets the clock of the first controller; and determines the acquisition time of the output data of the first motion sensor according to the timing signal and the pulse signal with the fixed period.

[0205] The first controller synchronizes time with the satellite navigation device through the timing signal, so that the output data of the first motion sensor and the output data of the satellite navigation device have the same time standard, which is beneficial to data fusion.

[0206] The pulse signal with the fixed period may be a PPS signal. By resetting the controller's clock through the pulse signal with the fixed period in the present application, the accuracy of the determined acquisition time of the motion sensor output data can be improved, thereby improving the navigation accuracy of the self - moving device.

[0207] The first motion sensor may include an odometer.

[0208] The satellite navigation device may be, for example, one or more of GPS, BDS, Galileo satellite navigation system, and GLONASS.

[0209] S220. The second controller fuses the output data of the satellite navigation device and the first motion sensor according to the acquisition time of the output data of the satellite navigation device and the first motion sensor.

[0210] S230. The control module determines the current position of the self - moving device according to the fused data.

[0211] S240. The control module controls the self - moving device to move and work automatically within the working area defined by the map based on the current position of the self - moving device.

[0212] An embodiment of the present application provides a combined navigation architecture based on multiple controllers, which completes data acquisition tasks and data fusion tasks through multiple controllers. Compared with completing data acquisition tasks and data fusion tasks through a single controller, multiple controllers can share data acquisition tasks and data fusion tasks. For example, the first controller can share data acquisition tasks, while the second controller can share data fusion tasks. This can not only improve the processing speed of data fusion but also ensure the validity of the collected data, thus enabling the efficient and reliable completion of processing tasks.

[0213] Optionally, the navigation module further includes a second motion sensor, and the method further includes: the first controller determines the acquisition time of the output data of the second motion sensor according to the timing signal and the pulse signal with a fixed period; the second controller fuses the output data of the satellite navigation device and the first motion sensor according to the acquisition time of the output data of the satellite navigation device and the first motion sensor, including: the second controller fuses the output data of the satellite navigation device, the first motion sensor, and the second motion sensor according to the acquisition time of the output data of the satellite navigation device, the first motion sensor, and the second motion sensor.

[0214] The second motion sensor may include an inertial measurement unit.

[0215] Using the first controller for data acquisition and the second controller for data fusion can separate the data fusion process from the data acquisition process, thus avoiding mutual interference between the two.

[0216] Optionally, the second controller is not time-synchronized with the satellite navigation device.

[0217] Optionally, the computing power of the second controller is greater than that of the first controller.

[0218] Optionally, the method further includes: using the second controller to construct the map; according to the map, using the second controller to perform path planning for the self-moving device.

[0219] Optionally, both the first motion sensor and the second motion sensor are directly connected to the first controller through the interface of the first controller.

[0220] Directly connecting the navigation device to the interface on the controller, the navigation device can directly send the collected data to the controller through this interface, thereby reducing the delay during data transmission.

[0221] Optionally, the navigation module further includes a second motion sensor, and the method further includes: the second controller receives the time synchronization signal and the pulse signal with a fixed period of the satellite navigation device, and determines the acquisition time of the second motion sensor according to the time synchronization signal and the pulse signal with a fixed period; the second controller fuses the output data of the satellite navigation device and the first motion sensor according to the acquisition time of the output data of the satellite navigation device and the first motion sensor, including: the second controller fuses the output data of the satellite navigation device, the first motion sensor and the second motion sensor according to the acquisition time of the output data of the satellite navigation device, the first motion sensor and the second motion sensor.

[0222] Optionally, the first motion sensor is directly connected to the first controller through the interface of the first controller; the second motion sensor is directly connected to the second controller through the interface of the second controller.

[0223] Directly connect the navigation device to the interface on the controller, and the navigation device can directly send the collected data to the controller through this interface, thereby reducing the time delay during data transmission.

[0224] Optionally, the self-mobile device further includes: a body; a detachable module detachably connected to the body; wherein, the first controller and the first motion sensor are installed on the body, and the second controller and the satellite navigation device are installed in the detachable module.

[0225] The detachable module can be detached from the self-mobile device, so that it can be shared among different devices, or the detachable module can be combined with self-mobile devices with different types of navigation devices, improving the versatility and flexibility of the combined navigation solution.

[0226] Optionally, the method further includes: after detaching the detachable module from the body, using the detachable module to construct the map.

[0227] Figure 13 It is a method for establishing a working area map of a mapping device provided by an embodiment of the present application. This method can be applied to any of the mapping devices described above, and this method can improve the accuracy of the generated map and is convenient for user operation.

[0228] As Figure 13 shown, this method includes steps S310-S350.

[0229] S310. Use the satellite navigation device to receive satellite signals and output satellite output data.

[0230] S320. Output first output data using a first motion sensor, where the first motion sensor is installed on a mobile carrier, the satellite navigation device is installed on a detachable module, and the detachable module is detachably installed on the mobile carrier.

[0231] S330. Use a control module to obtain the satellite output data and the first output data of the positions passed by the mapping device during movement, and fuse the satellite output data and the first output data to obtain a fusion result, where the fusion result is used to establish a map of the working area.

[0232] The control module is installed on the detachable module and / or the mobile carrier.

[0233] S340. The control module receives a time synchronization signal and a pulse signal with a fixed period from the satellite navigation device, where the pulse signal with the fixed period is used to reset the clock of the control module.

[0234] S350. The control module determines the acquisition time of the first output data based on the time synchronization signal and the pulse signal with the fixed period, so that the satellite output data and the first output data for fusion are time-synchronized.

[0235] Optionally, the control module includes a first controller installed on the mobile carrier.

[0236] The control module receives the time synchronization signal and the pulse signal with the fixed period from the satellite navigation device, including: the first controller receives the time synchronization signal and the pulse signal with the fixed period from the satellite navigation device.

[0237] The control module determines the acquisition time of the first output data based on the time synchronization signal and the pulse signal with the fixed period, including: the first controller determines the acquisition time of the first output data based on the time synchronization signal and the pulse signal with the fixed period.

[0238] Optionally, the control module includes a second controller installed on the detachable module; using the control module to fuse the satellite output data and the first output data includes: using the second controller to fuse the satellite output data and the first output data.

[0239] Optionally, the second controller is not time-synchronized with the satellite navigation device.

[0240] Optionally, the method further includes: using a second motion sensor to output second output data, where the second motion sensor is installed on the detachable module; using the second controller to obtain the second output data at the positions passed by the mapping device during movement; the step of using the second controller to fuse the satellite output data and the first output data includes: using the second controller to fuse the satellite output data, the first output data, and the second output data; the second controller further receives the timing signal and the pulse signal with a fixed period from the satellite navigation device, and determines the acquisition time of the second output data based on them, so that the satellite output data, the first output data, and the second output data for fusion are time-synchronized.

[0241] The detachable module is also detachably installed on the body of the self-moving device, and the satellite output data is also used to provide positioning information for the movement of the self-moving device within the working area.

[0242] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, etc. made within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A self - moving device, characterized in that, Including: A navigation module, including a satellite navigation device and a first motion sensor; A control module, including a first controller and a second controller; The first controller is configured to receive a timing signal and a pulse signal with a fixed period from the satellite navigation device; In response to the pulse signal with the fixed period, reset the clock of the first controller; and determine the acquisition time of the output data of the first motion sensor according to the timing signal and the pulse signal with the fixed period; The second controller is configured to fuse the output data of the satellite navigation device and the first motion sensor according to the acquisition time of the output data of the satellite navigation device and the first motion sensor; The control module is configured to determine the current position of the self - moving device according to the fused data; and control the self - moving device to move and work automatically within the working area defined by the map based on the current position of the self - moving device.

2. The self-moving device according to claim 1, wherein, The first motion sensor includes an odometer.

3. The self-moving device according to claim 1, characterized in that, The navigation module further includes a second motion sensor; The first controller is further configured to determine the acquisition time of the output data of the second motion sensor according to the timing signal and the pulse signal with the fixed period; The second controller fuses the output data of the satellite navigation device and the first motion sensor according to the acquisition time of the output data of the satellite navigation device and the first motion sensor, including: The second controller fuses the output data of the satellite navigation device, the first motion sensor, and the second motion sensor according to the acquisition time of the output data of the satellite navigation device, the first motion sensor, and the second motion sensor.

4. The self-moving device according to claim 3, wherein The second controller is out of time synchronization with the satellite navigation device.

5. The self-moving device according to claim 3, wherein, The computing power of the second controller is greater than that of the first controller.

6. The self-moving device according to claim 5, characterized in that, The second controller is further configured to construct the map and perform path planning for the self - moving device according to the map.

7. The self - moving device according to any one of claims 3 - 6, characterized in that, Both the first motion sensor and the second motion sensor are directly connected to the first controller through the interface of the first controller.

8. The self - moving device according to claim 1, wherein, The navigation module further includes a second motion sensor; The second controller is further configured to receive the timing signal and the pulse signal with the fixed period from the satellite navigation device; in response to the pulse signal with the fixed period, reset the clock of the second controller; and determine the acquisition time of the output data of the second motion sensor according to the timing signal and the pulse signal with the fixed period; The second controller fuses the output data of the satellite navigation device and the first motion sensor according to the acquisition time of the output data of the satellite navigation device and the first motion sensor, including: The second controller fuses the output data of the satellite navigation device, the first motion sensor, and the second motion sensor according to the acquisition time of the output data of the satellite navigation device, the first motion sensor, and the second motion sensor.

9. The self - moving device according to claim 3 or 8, characterized in that, The second motion sensor includes an inertial measurement unit.

10. The self - moving device according to claim 8, characterized in that, The first motion sensor is directly connected to the first controller through the interface of the first controller; the second motion sensor is directly connected to the second controller through the interface of the second controller.

11. The self-moving device according to claim 1, characterized in that, The self-mobile device further includes: a body; a detachable module detachably connected to the body; wherein, the first controller and the first motion sensor are installed on the body, and the second controller and the satellite navigation device are installed in the detachable module.

12. The self-moving device according to claim 11, wherein, The detachable module is used to construct the map after being detached from the body.

13. A combined navigation method, characterized in that, The combined navigation method is applied to a self-mobile device, the self-mobile device includes a navigation module and a control module, the navigation module includes a satellite navigation device and a first motion sensor, and the control module includes a first controller and a second controller; The method includes: The first controller receives the timing signal and the pulse signal with a fixed period from the satellite navigation device; in response to the pulse signal with the fixed period, reset the clock of the first controller; determine the acquisition time of the output data of the first motion sensor according to the timing signal and the pulse signal with the fixed period; The second controller fuses the output data of the satellite navigation device and the first motion sensor according to the acquisition time of the output data of the satellite navigation device and the first motion sensor; The control module determines the current position of the self-mobile device according to the fused data; The control module controls the self-mobile device to move and work automatically within the working area defined by the map based on the current position of the self-mobile device.

14. The method according to claim 13, wherein The navigation module further includes a second motion sensor, and the method further includes: The first controller determines the acquisition time of the output data of the second motion sensor according to the timing signal and the pulse signal with the fixed period; The second controller fuses the output data of the satellite navigation device and the first motion sensor according to the acquisition time of the output data of the satellite navigation device and the first motion sensor, including: The second controller fuses the output data of the satellite navigation device, the first motion sensor and the second motion sensor according to the acquisition time of the output data of the satellite navigation device, the first motion sensor and the second motion sensor.

15. The method according to claim 14, characterized in that, The second controller is not time-synchronized with the satellite navigation device.

16. The method according to claim 13, wherein The navigation module further includes a second motion sensor, and the method further includes: The second controller receives the timing signal and the pulse signal with a fixed period from the satellite navigation device; in response to the pulse signal with the fixed period, reset the clock of the second controller; determine the acquisition time of the output data of the second motion sensor according to the timing signal and the pulse signal with the fixed period; The second controller fuses the output data of the satellite navigation device and the first motion sensor according to the acquisition time of the output data of the satellite navigation device and the first motion sensor, including: The second controller fuses the output data of the satellite navigation device, the first motion sensor, and the second motion sensor according to the acquisition times of the output data of the satellite navigation device, the first motion sensor, and the second motion sensor.

17. The method according to claim 13, wherein The self - moving device further includes: a body; a detachable module detachably connected to the body; wherein, the first controller and the first motion sensor are installed on the body, and the second controller and the satellite navigation device are installed in the detachable module.

18. The method according to claim 17, wherein, The method further includes: After detaching the detachable module from the body, using the detachable module to construct the map.

19. A mapping device for establishing a map of the working area of a self - moving device, characterized in that, including: a detachable module and a mobile carrier; The detachable module includes a satellite navigation device for receiving satellite signals and outputting satellite output data; The mobile carrier is equipped with a first motion sensor for outputting first output data; The detachable module is detachably installed on the mobile carrier; The mapping device further includes a control module installed on the detachable module and / or the mobile carrier; when the detachable module is installed on the mobile carrier, the mapping device is configured to obtain the satellite output data and the first output data of the positions passed by the mapping device through the control module, and fuse the satellite output data and the first output data through the control module to obtain a fusion result, and the fusion result is used to establish a map of the working area; The control module includes a first controller configured to receive the timing signal and the pulse signal with a fixed period of the satellite navigation device, the pulse signal with a fixed period being used to reset the clock of the first controller; and, configured to determine the acquisition time of the first output data according to the timing signal and the pulse signal with a fixed period, so that the satellite output data and the first output data for fusion are time - synchronized; The control module includes a second controller; the second controller is configured to fuse the satellite output data and the first output data.

20. The mapping device according to claim 19, wherein The first controller is installed on the mobile carrier or the detachable module.

21. The mapping device according to claim 20, wherein The second controller is installed on the detachable module.

22. The mapping device according to claim 21, wherein, The second controller is not time - synchronized with the satellite navigation device.

23. The mapping device according to claim 21, wherein, The detachable module is equipped with a second motion sensor for outputting second output data; the second controller is configured to fuse the satellite output data, the first output data, and the second output data to obtain a fusion result, and the fusion result is used to establish a map of the working area; The second controller is configured to receive the timing signal and the pulse signal with a fixed period of the satellite navigation device to determine the acquisition time of the second output data based on them, so that the satellite output data, the first output data, and the second output data for fusion are time - synchronized.

24. The mapping device according to claim 19, characterized in that, The detachable module is also detachably mounted on the body of the self - moving device, and the satellite output data is also used to provide positioning information for the movement of the self - moving device within the working area.

25. A method for establishing a working area map of a mapping device, where the working area map is used to define the working area of a self - moving device, and the method includes: Receiving satellite signals using a satellite navigation device and outputting satellite output data; Outputting first output data using a first motion sensor, where the first motion sensor is mounted on a mobile carrier, the satellite navigation device is mounted on a detachable module, and the detachable module is detachably mounted on the mobile carrier; Using a control module to obtain the satellite output data and the first output data at the positions passed by the mapping device during movement, and fusing the satellite output data and the first output data to obtain a fusion result, where the fusion result is used to establish the working area map, and the control module is mounted on the detachable module and / or the mobile carrier; The control module includes a first controller, and the first controller receives the timing signal and the pulse signal with a fixed period from the satellite navigation device, and the pulse signal with a fixed period is used to reset the clock of the first controller; The first controller determines the acquisition time of the first output data based on the timing signal and the pulse signal with a fixed period, so that the satellite output data and the first output data for fusion are time - synchronized; The control module includes a second controller; the second controller fuses the satellite output data and the first output data.

26. The method according to claim 25, wherein The second controller is not time - synchronized with the satellite navigation device.

27. The method according to claim 25, wherein It further includes: Outputting second output data using a second motion sensor, where the second motion sensor is mounted on the detachable module; Using the second controller to obtain the second output data at the positions passed by the mapping device during movement; The step of using the second controller to fuse the satellite output data and the first output data includes: using the second controller to fuse the satellite output data, the first output data, and the second output data; The second controller also receives the timing signal and the pulse signal with a fixed period from the satellite navigation device, and determines the acquisition time of the second output data based on them, so that the satellite output data, the first output data, and the second output data for fusion are time - synchronized.

28. The method according to claim 25, wherein The detachable module is also detachably mounted on the body of the self - moving device, and the satellite output data is also used to provide positioning information for the movement of the self - moving device within the working area.

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