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

Abstract

The present invention discloses a positioning correction method, device, self-moving device and system, the method comprising: taking the position of a charging station as the initial coordinate origin; detecting and recording the heading angle of the self-moving device in real time; detecting and recording the mileage of the driving wheel in real time; calculating and generating a position coordinate sequence of the self-moving device during driving according to the recorded mileage of the driving wheel and the heading angle of the self-moving device; detecting and recording the mileage of the non-driving wheel in real time; judging whether the self-moving device is currently in a slipping state; when the self-moving device is in a slipping state, correcting the current mileage of the driving wheel according to the current mileage of the non-driving wheel, so as to correct the position coordinates of the current self-moving device.

Description

Technical Field

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

[0002] With the development of computer and communication technologies, more and more self-mobile devices such as automatic lawn mowers and floor cleaning robots are put into social production, greatly facilitating user operations and reducing the burden and risks of manual operations.

[0003] Self-mobile devices generally refer to self-propelled devices that can operate without human attendance or without the need for a user to give real-time instructions for their actions, such as automatic cleaning devices, automatic watering devices, automatic snow sweepers, etc. Currently, when a self-mobile device moves, it usually uses the driving mileage of the driving wheels as the reference driving mileage, and calculates the current position of the self-mobile device according to the reference driving mileage. However, affected by the working environment, there is a large deviation between the driving mileage of the driving wheels of the self-mobile device and the actual driving mileage of the self-mobile device.

[0004] Taking an intelligent lawn mower as an example, in rainy or humid environments, the grassland is slippery or has water accumulation, and the intelligent lawn mower is prone to slip in place during driving. At this time, the driving wheels rotate while the current position of the intelligent lawn mower does not change. Taking a floor cleaning robot as an example, when encountering a collision, affected by an external force, the position of the intelligent lawn mower as a whole slips, rather than being changed by the driving of the driving wheels. In the above situations, there is a large deviation between the driving mileage of the driving wheels and the driving mileage of the self-mobile device, resulting in inaccurate positioning of the self-mobile device, causing deviations in the navigation and path planning of the self-mobile device, and the self-mobile device cannot work properly. Summary of the Invention

[0005] In view of the deficiencies in the above technologies, the present application provides a positioning and correction method, device, self-mobile device and system, which can effectively improve the positioning accuracy of the self-mobile device.

[0006] In a first aspect of the present application, a positioning and correction method for a self-mobile device is provided. The method includes: using the position of a charging station as the initial coordinate origin; detecting and recording the heading angle of the self-mobile device in real time; detecting and recording the driving mileage of the driving wheels in real time; calculating and generating a position coordinate sequence during the driving process of the self-mobile device according to the recorded driving mileage of the driving wheels and the heading angle of the self-mobile device; detecting and recording the driving mileage of the non-driving wheels in real time; determining whether the current self-mobile device is in a slipping state; when the self-mobile device is in a slipping state, correcting the current driving mileage of the driving wheels according to the current driving mileage of the non-driving wheels to correct the position coordinates of the current self-mobile device.

[0007] In a second aspect of the present application, there is provided a positioning correction device for a self - moving device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the computer program is executed by the processor, the steps of any method in the first aspect are implemented.

[0008] In a third aspect of the present application, there is provided a self - moving device, including driving wheels and non - driving wheels. The self - moving device further includes: a motion detection unit for real - time detecting the heading angle of the self - moving device; a driving wheel detection unit for real - time detecting the driving mileage of the driving wheels; a positioning unit for calculating and obtaining a position coordinate sequence during the driving of the self - moving device according to the detected driving mileage of the driving wheels and the heading angle of the self - moving device; a non - driving wheel detection unit for real - time detecting the driving mileage of the non - driving wheels; a slip detection unit connected to the driving wheel detection unit and the non - driving wheel detection unit, obtaining the motion states of the current driving wheels and non - driving wheels, and judging whether the self - moving device is in a slip state according to the motion states of the current driving wheels and non - driving wheels. When the self - moving device is in a slip state, the positioning unit corrects the driving mileage of the driving wheels according to the current driving mileage of the non - driving wheels, so as to correct the position coordinates of the current self - moving device.

[0009] In a fourth aspect of the present application, there is provided an automatic working system, including: a self - moving device and a charging station. The charging station is used to provide driving energy for the self - moving device. The self - moving device includes the self - moving device according to any one of the third aspect, or the positioning correction device according to the second aspect.

[0010] One or more technical solutions provided by the present application have at least the following technical effects or advantages:

[0011] The present application provides a positioning and calibration method, device, self-mobile device and system. The method includes: calculating and obtaining a sequence of position coordinates of the self-mobile device according to the real-time detected driving mileage of the driving wheels and the heading angle of the self-mobile device. During the driving process, the motion states of the current driving wheels and non-driving wheels are detected to determine whether the self-mobile device is in a skidding state. When in the skidding state, the driving mileage of the current driving wheels is calibrated according to the driving mileage of the current non-driving wheels, and the position coordinates where the self-mobile device is currently located are calculated according to the calibrated driving mileage of the driving wheels, so as to calibrate the position coordinates where the current self-mobile device is located. This solves the technical problem in the prior art that the self-mobile device is affected by skidding, resulting in a deviation between the reference driving mileage and the actual driving mileage, leading to inaccurate positioning and deviations in navigation and path planning. It achieves the technical effects that the self-mobile device travels along a specified trajectory to realize intelligent operation; when there is a deviation between the reference driving mileage and the actual driving mileage, calibration processing can be performed to make the driving mileage of the device's driving and non-driving wheels more accurately calibrated, providing more accurate input conditions for subsequent control actions such as navigation positioning and path planning.

[0012] The above description is an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the following specifically illustrates the specific embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic flowchart of a positioning and calibration method for a self-mobile device according to the present application;

[0014] Figure 2 It is a schematic flowchart of determining whether the self-mobile device is skidding according to the rotational speed difference between the non-driving wheels and the driving wheels in a positioning and calibration method for a self-mobile device according to the present application;

[0015] Figure 3 It is a schematic flowchart of determining whether the self-mobile device is skidding according to the driving mileage difference between the non-driving wheels and the driving wheels in a positioning and calibration method for a self-mobile device according to the present application;

[0016] Figure 4 It is a schematic flowchart of calibrating the driving mileage of the driving wheels according to the driving mileage of the non-driving wheels when the self-mobile device is in a skidding state in a positioning and calibration method for a self-mobile device according to the present application;

[0017] Figure 5 It is a block diagram of the internal modules of a self-mobile device according to the present application;

[0018] Figure 6 It is a three-dimensional structure schematic diagram of a self-mobile device according to the present application;

[0019] Figure 7 This is a schematic structural diagram of an exemplary electronic device of the present application.

[0020] Description of reference numerals: self - moving device 100, motion detection unit 110, driving wheel detection unit 120, positioning unit 130, non - driving wheel detection unit 140, slip detection unit 150, base 11, geomagnetic sensor 12, weak magnetic material 13, non - driving wheel module 14, driving wheel module 15, electronic device 300, memory 301, processor 302, communication interface 303, bus architecture 304. Detailed implementation manners

[0021] The present application provides a positioning correction method, apparatus, self - moving device and system, which solve the technical problem in the prior art that the self - moving device is affected by slipping, resulting in a deviation between the reference driving mileage and the actual driving mileage, leading to inaccurate positioning and deviations in navigation and path planning. The technical effect is achieved that the self - moving device travels along a specified trajectory to realize intelligent operation; when there is a deviation between the reference driving mileage and the actual driving mileage, correction processing can be performed to more accurately correct the driving mileage of the device's driving and non - driving wheels, providing more accurate input conditions for subsequent control actions such as navigation positioning and path planning.

[0022] Next, exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described herein.

[0023] In the technical solution of the present application, the acquisition, storage, use, processing, etc. of data all comply with the relevant provisions of national laws and regulations.

[0024] With the development of computer and communication technologies, more and more self-mobile devices such as automatic lawn mowers and floor cleaning robots are being put into social production, greatly facilitating user operations and reducing the burden and risks of manual operations. Self-mobile devices generally refer to self-propelled devices that can operate without human supervision or without the need for users to give real-time instructions for their actions, such as automatic cleaning devices, automatic watering devices, automatic snow sweepers, etc. Currently, when self-mobile devices move, the driving mileage of the driving wheels is usually used as the reference driving mileage, and the current position of the self-mobile device is calculated based on the reference driving mileage. However, affected by the working environment, there is a large deviation between the driving mileage of the driving wheels of the self-mobile device and the actual driving mileage of the self-mobile device. Taking an intelligent lawn mower as an example, in rainy or humid environments, the grassland is slippery or has water accumulation, and the intelligent lawn mower is prone to slip in place during driving. At this time, the driving wheels rotate while the current position of the intelligent lawn mower does not change. Taking a floor cleaning robot as an example, when encountering a collision, affected by external forces, the position of the intelligent lawn mower as a whole slides, rather than being changed by the driving of the driving wheels. In the above situations, there is a large deviation between the driving mileage of the driving wheels and the driving mileage of the self-mobile device, resulting in inaccurate positioning of the self-mobile device, causing deviations in the navigation and path planning of the self-mobile device, and the self-mobile device cannot work properly.

[0025] In view of the above technical problems, the general idea of the technical solution provided in this application is as follows:

[0026] This application provides a positioning correction method, device, self-mobile device, and system. The method includes: calculating and obtaining a position coordinate sequence of the self-mobile device according to the real-time detection and recording of the driving mileage of the driving wheels and the heading angle of the self-mobile device. During the driving process, detecting the motion states of the current driving wheels and non-driving wheels, and determining whether the self-mobile device is in a slipping state. When in a slipping state, correcting the driving mileage of the current driving wheels according to the driving mileage of the current non-driving wheels, and calculating the position coordinates where the self-mobile device is currently located according to the corrected driving mileage of the driving wheels, so as to correct the position coordinates where the current self-mobile device is located.

[0027] To better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings of the specification and specific implementation manners.

[0028] Embodiment 1

[0029] Please refer to the appendix Figure 1 , this application provides a positioning correction method for a self-mobile device, and the self-mobile device includes non-driving wheels and driving wheels. The method specifically includes the following steps:

[0030] S100: Use the position of the charging station as the initial coordinate origin;

[0031] S200: Detect and record the heading angle of the self - moving device in real time;

[0032] Specifically, an automatic working system of the present application takes the position of the charging station as the initial coordinate origin; meanwhile, the heading angle of the self - moving device is detected and recorded in real time. Among them, the automatic working system includes the self - moving device and the charging station. The self - moving device refers to a self - propelled device that can operate without human attendance or without the user having to give real - time instructions for its actions. Exemplarily, the self - moving device includes: automatic cleaning equipment, automatic watering equipment, automatic snow sweepers, intelligent vacuum cleaners, intelligent lawn mowers, etc. Preferably, the self - moving device adopted in the present application is an intelligent lawn mower. Intelligent lawn mowers are widely used in parks, football fields, golf courses, home gardens, etc. due to advantages such as low power, low noise, delicate and beautiful appearance, and significant reduction of manual operation. The charging station is any type of charging station that provides driving energy for the self - moving device of the present application. The heading angle of the self - moving device is a parameter that characterizes the traveling direction of the self - moving device. The correct acquisition of the heading angle is of great significance for realizing the safe and autonomous driving of the self - moving device. It achieves the technical effect of clarifying the initial coordinate origin and the heading angle of the self - moving device, providing data support for generating the position coordinate sequence during the driving process of the self - moving device.

[0033] S300: Detect and record the driving mileage of the driving wheel in real time;

[0034] S400: Calculate and generate the position coordinate sequence during the driving process of the self - moving device according to the recorded driving mileage of the driving wheel and the heading angle of the self - moving device;

[0035] Specifically, an automatic working system of the present application detects and records the driving mileage of the driving wheel of the self - moving device in real time. Further, an automatic working system of the present application performs intelligent analysis and processing on the obtained driving mileage of the driving wheel and the heading angle of the self - moving device, and calculates the position coordinate sequence during the driving process of the self - moving device. Among them, the position coordinate sequence during the driving process of the self - moving device is data information indicating the real - time position of the self - moving device during the driving process. It achieves the technical effect of clarifying the current position of the self - moving device, laying a foundation for subsequent correction of the position coordinates of the self - moving device.

[0036] S500: Detect and record the driving mileage of the non - driving wheel in real time;

[0037] S600: Determine whether the self - moving device is in a skidding state currently;

[0038] S700: When the self - moving device is in a skidding state, correct the driving mileage of the current driving wheel according to the driving mileage of the current non - driving wheel, so as to correct the position coordinates of the current self - moving device.

[0039] Specifically, an automatic working system of the present application detects the self - moving device in real time and records the driving mileage of its non - driving wheel. Further, judge the driving state of the self - moving device. When the self - moving device is in a skidding state, that is, there is a deviation between the driving mileage of the driving wheel and the driving mileage of the non - driving wheel, use the driving mileage of the driving wheel as the reference driving mileage of the self - moving device, and use the driving mileage of the non - driving wheel as the actual driving mileage of the self - moving device, and perform correction processing on the mileage, so that the driving mileage of the self - moving device is more accurate. And based on this, correct the position coordinates of the self - moving device. It achieves the technical effect that the self - moving device travels along the specified trajectory and realizes intelligent work; when there is a deviation between the reference driving mileage and the actual driving mileage, correction processing can be performed, so that the driving mileage of the device's driving and non - driving wheels is more accurately corrected, providing more accurate input conditions for subsequent control actions such as navigation positioning and path planning.

[0040] Further, as shown in the appendix Figure 2 Step S600 of the present application further includes:

[0041] S611: Detect the rotation speeds of the driving wheel and the non - driving wheel;

[0042] S612: Calculate the rotation speed difference between the current driving wheel and the non - driving wheel;

[0043] S613: When the rotation speed difference is greater than or equal to the set first speed threshold, determine that the current self - moving device is in a skidding state.

[0044] Further, step S613 of the present application further includes:

[0045] S6131: The speed threshold is adaptively set according to the rotation speed of the current driving wheel.

[0046] Specifically, the first method for judging whether the current self - moving device is in a skidding state: Compare the rotation speed difference between the driving wheel and the non - driving wheel with the first speed threshold. When it is greater than or equal to the first speed threshold, judge that the current self - moving device is in a skidding state. Among them, the rotation speed difference between the driving wheel and the non - driving wheel is obtained by the automatic working system detecting the rotation speed of the driving wheel and the rotation speed of the non - driving wheel in real time and calculating. The first speed threshold is adaptively set according to the rotation speed of the current driving wheel after the automatic working system intelligently analyzes the working difficulties of the self - moving device, etc. Exemplarily, as shown in the appendixFigure 2 As shown, the current rotational speed of the driving wheel is detected as V 1 , and the rotational speed of the non-driving wheel is V 2 , and the rotational speed difference D is calculated v = |V 1 - V 2 |, and the first speed threshold is set as K*V 1 (K can be adaptively set), compare D v with K*V 1 , and if D v ≥K*V 1 , it can be determined that the current self-propelled device is in a slipping state. Judging whether the self-propelled device is slipping according to the difference between the rotational speed of the non-driving wheel and the rotational speed of the driving wheel achieves the technical effect of scientifically determining the slipping state of the self-propelled device, laying a foundation for subsequent correction of the driving mileage and improvement of the accuracy of the total mileage data.

[0047] Further, as shown in the appendix Figure 3 , step S600 of this application further includes:

[0048] S621: Calculate the difference between the driving mileage of the current driving wheel and the driving mileage of the non-driving wheel;

[0049] S622: When the difference is greater than or equal to a preset first driving mileage threshold, determine that the current self-propelled device is in a slipping state.

[0050] Specifically, the second method for judging whether the current self-propelled device is in a slipping state: Compare the difference between the driving mileage of the driving wheel and the non-driving wheel with the first driving mileage threshold, and when it is greater than or equal to the first driving mileage threshold, judge that the current self-propelled device is in a slipping state. Among them, the first driving mileage threshold is adaptively set according to the driving mileage of the current driving wheel after the automatic working system intelligently analyzes the working difficulties of the self-propelled device, etc. Exemplarily, as shown in the appendix Figure 3 , the driving mileage of the driving wheel is detected and recorded in real time as S 1 , and the driving mileage of the non-driving wheel is S 2 , the difference D between the driving mileage of the current driving wheel and the driving mileage of the non-driving wheel S = S 1 - S 2 , the first driving mileage threshold is set as S 0 , compare D S with S 0 , and if D S ≥S 0, it can be determined that the current self - moving device is in a skidding state. Judging whether the self - moving device is skidding according to the difference between the driving wheel travel mileage and the non - driving wheel travel mileage achieves the technical effect of scientifically determining the skidding state of the self - moving device, laying a foundation for subsequent correction of travel mileage and improvement of the accuracy of total mileage data.

[0051] Further, as shown in the appendix Figure 4 The step S700 of this application further includes:

[0052] S711: Detect the rotational speeds of the current driving wheel and non - driving wheel;

[0053] S712: Set a first correction coefficient according to the rotational speed of the current driving wheel, and set a second correction coefficient according to the rotational speed of the current non - driving wheel;

[0054] S713: Take the product of the travel mileage of the current driving wheel and the first correction coefficient as the first travel mileage, and take the product of the travel mileage of the current non - driving wheel and the second correction coefficient as the second travel mileage;

[0055] S714: Set the sum of the first travel mileage and the second travel mileage as the travel mileage of the current driving wheel to correct the travel mileage of the current driving wheel.

[0056] Specifically, after determining that the current self - moving device is in a skidding state, the rotational speeds and travel mileages of the current driving wheel and non - driving wheel are detected and recorded in real time. The first correction coefficient is flexibly set by the automatic working system according to the rotational speed of the current driving wheel. The second correction coefficient is flexibly set by the automatic working system according to the rotational speed of the current non - driving wheel. The first travel mileage is the product of the travel mileage of the current driving wheel and the first correction coefficient. The second travel mileage is the product of the travel mileage of the current non - driving wheel and the second correction coefficient. By setting the sum of the first travel mileage and the second travel mileage as the travel mileage of the current driving wheel, the travel mileage of the current driving wheel is corrected. Exemplarily, as shown in the appendix Figure 4 The travel mileage of the driving wheel detected and recorded in real time is S 1 and the rotational speed is V 1 , according to the driving wheel rotational speed of V 1 the first correction coefficient is set to K 1 , then the first travel mileage is S 1 *K 1 ; the travel mileage of the non - driving wheel is S 2 and the rotational speed is V 2 ; according to the non - driving wheel rotational speed V 2 the second correction coefficient is set to K 2, the second driving mileage is S 2 *K 2 . Further, it is obtained that the driving mileage S of the current driving wheel after correction = S 1 *K 1 +S 2 *K 2 . It achieves the technical effect of accurate driving mileage data and provides data support for subsequent correction of the position coordinates of the current self - moving device.

[0057] In summary, a positioning correction method for a self - moving device provided by the present application has the following technical effects:

[0058] 1. Calculate and obtain the position coordinate sequence of the self - moving device according to the real - time detection and recording of the driving mileage of the driving wheel and the heading angle of the self - moving device. During the driving process, detect the motion states of the current driving wheel and non - driving wheels, and determine whether the self - moving device is in a skidding state. When in a skidding state, correct the driving mileage of the current driving wheel according to the driving mileage of the current non - driving wheel, and calculate the position coordinates where the self - moving device is currently located according to the corrected driving mileage of the driving wheel, so as to correct the position coordinates where the current self - moving device is located. It achieves the technical effect that the self - moving device travels along the specified trajectory and realizes intelligent operation; when there is a deviation between the reference driving mileage and the actual driving mileage, correction processing can be performed to make the driving mileage of the device's driving and non - driving wheels more accurately corrected, providing more accurate input conditions for subsequent control actions such as navigation positioning and path planning.

[0059] 2. The self - moving device refers to a self - moving device that can be unattended or does not require the user to give real - time instructions for its actions. Exemplarily, the self - moving device includes: automatic cleaning equipment, automatic watering equipment, automatic snow sweeper, intelligent vacuum cleaner, intelligent lawn mower, etc. Preferably, the self - moving device adopted in the present application is an intelligent lawn mower. The intelligent lawn mower is widely used in places such as parks, football fields, golf courses, and home gardens due to its advantages of low power, low noise, delicate and beautiful appearance, and greatly reducing manual operation.

[0060] 3. When determining whether the current self - moving device is in a skidding state, there are two methods. The first method: Compare the rotational speed difference between the driving wheel and the non - driving wheel with the first speed threshold. When it is greater than or equal to the first speed threshold, it is determined that the current self - moving device is in a skidding state. The second method: Compare the driving mileage difference between the driving wheel and the non - driving wheel with the first driving mileage threshold. When it is greater than or equal to the first driving mileage threshold, it is determined that the current self - moving device is in a skidding state. Through these two methods, it achieves the technical effect of scientifically determining the skidding state of the self - moving device and laying a foundation for subsequent correction of the driving mileage and improvement of the accuracy of the total mileage data.

[0061] Embodiment 2

[0062] As Figure 5 shown, based on the same inventive concept as a positioning correction method for a self - moving device in the foregoing embodiment, the present application provides a self - moving device, including a driving wheel and a non - driving wheel. Among them, the self - moving device 100 further includes:

[0063] A motion detection unit 110, configured to detect the heading angle of the self - moving device in real time;

[0064] A driving wheel detection unit 120, configured to detect the driving mileage of the driving wheel in real time;

[0065] A positioning unit 130, configured to calculate and obtain a position coordinate sequence during the driving of the self - moving device according to the detected driving mileage of the driving wheel and the heading angle of the self - moving device;

[0066] A non - driving wheel detection unit 140, configured to detect the driving mileage of the non - driving wheel in real time;

[0067] A slip detection unit 150, connected to the driving wheel detection unit 120 and the non - driving wheel detection unit 140, obtains the motion states of the current driving wheel and non - driving wheel, and determines whether the self - moving device is in a slip state according to the motion states of the current driving wheel and non - driving wheel;

[0068] When the self - moving device is in a slip state, the positioning unit 130 corrects the driving mileage of the driving wheel according to the current driving mileage of the non - driving wheel, so as to correct the position coordinates of the current self - moving device.

[0069] Further, the self - moving device 100 further includes:

[0070] The non - driving wheel detection unit 140 includes a plurality of magnetic members, and a sensor module for sensing the magnetic field generated by the magnetic members. The plurality of magnetic members are equidistantly installed at a position close to the outer circumference inside the non - driving wheel hub, and the magnetic field intensities of adjacent magnetic members are different. The sensor module includes at least two juxtaposed magnetic induction elements, fixed on the base of the self - moving device and located directly above the non - driving wheel. As shown in the appendix Figure 6As shown in the figure, the three-dimensional structure of the self-moving device of the present application includes a base 11, a geomagnetic sensor 12, a weak magnetic material 13, a non-driving wheel module 14 (universal wheel), and a driving wheel module 15. For example, there are two groups of the weak magnetic material 13, which are respectively installed at equal intervals on the outer side of the non-driving wheel hub. The geomagnetic sensors 12 are paired in twos, and each pair of sensors corresponds to a non-driving wheel. The two sensors are placed in parallel on both sides above the non-driving wheel. When the non-driving wheel rotates in all directions, the corresponding geomagnetic sensor 12 can sense a better magnetic field intensity, which is mainly used to calculate the rotation speed of the non-driving wheel. The rotation speed of the non-driving wheel is calculated based on the equal-interval weak magnetic material 13 installed near the outer circumference inside the non-driving wheel hub according to the same number of rising edges and falling edges of the magnetic field formed by it. When the non-driving wheel completes one revolution, the geomagnetic sensor 12 will sense the alternation of the same number of rising edges and falling edges, and thus the current speed of the non-driving wheel can be obtained and recorded as a pulse signal. The number of each group of the weak magnetic material 13 and the number of the geomagnetic sensors 12 described above can be changed according to the actual situation of the self-moving device. The number of alternations of the rising edge and the falling edge sensed by the geomagnetic sensor is determined according to the number of each group of the weak magnetic material 13. The rotation speed of the driving wheel is obtained and stored by the driving wheel module 15, and is calculated by detecting the position of the motor rotor, and then calculating the rotation speed of the driving wheel.

[0071] In the description of the embodiments of the present specification, a progressive approach is adopted. The key point of each embodiment is to describe the differences from other embodiments. The foregoing Figure 1 A positioning correction method and specific example for a self-moving device in Embodiment 1 are equally applicable to a self-moving device in this embodiment. Through the foregoing detailed description of a positioning correction method for a self-moving device, those skilled in the art can clearly know a self-moving device in this embodiment. Therefore, for the sake of simplicity of the specification, it will not be described in detail here. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0072] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0073] Exemplary Electronic Device

[0074] Next, reference is made to Figure 7 to describe the electronic device of the present application.

[0075] Based on the same inventive concept as a positioning correction method for a self - moving device in the foregoing embodiments, the present application further provides a positioning correction system for a self - moving device, including: a processor, the processor being coupled to a memory, the memory being used to store a program, and when the program is executed by the processor, the system is caused to execute the method described in any item of the first aspect.

[0076] The electronic device 300 includes: a processor 302, a communication interface 303, and a memory 301. Optionally, the electronic device 300 may further include a bus architecture 304. Among them, the communication interface 303, the processor 302, and the memory 301 may be interconnected through the bus architecture 304; the bus architecture 304 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus architecture 304 may be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity, only a thick line is shown in the figure, but it does not mean that there is only one bus or one type of bus.

[0077] The processor 302 may be a CPU, a microprocessor, an ASIC, or one or more integrated circuits for controlling the execution of the program of the present application solution. The communication interface 303 uses any transceiver - like device for communicating with other devices or communication networks, such as an Ethernet, a radio access network, a wireless local area network, a wired access network, etc. The memory 301 may be a ROM or other types of static storage devices that can store static information and instructions, a RAM or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read - only memory, a compact disc read - only memory or other optical disc storage, optical disc storage, magnetic disk storage medium, or any other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may exist independently and be connected to the processor through the bus architecture 304. The memory may also be integrated with the processor.

[0078] Among them, the memory 301 is used to store computer - executable instructions for executing the solution of the present application and is controlled by the processor 302 to execute. The processor 302 is used to execute the computer - executable instructions stored in the memory 301, thereby implementing a positioning correction method for a self - moving device provided by the present application.

[0079] Optionally, the computer - executable instructions in the present application may also be referred to as application code, and the present application does not make specific limitations thereto.

[0080] This application solves the technical problems in the prior art that the self - moving device is affected by slipping, resulting in a deviation between the reference driving mileage and the actual driving mileage, leading to inaccurate positioning and deviations in navigation and path planning. It achieves the technical effects that the self - moving device travels along a specified trajectory to realize intelligent operation; when there is a deviation between the reference driving mileage and the actual driving mileage, correction processing can be carried out to more accurately correct the driving mileage of the driving and non - driving wheels of the device, providing more accurate input conditions for subsequent control actions such as navigation positioning and path planning.

[0081] Those of ordinary skill in the art can understand that the various numerical numbers such as the first, second, etc. involved in this application are only for the convenience of description and are not used to limit the scope of this application, nor do they represent a sequence. "And / or" describes the association relationship of associated objects and indicates that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after. "At least one" means one or more. At least two means two or more. "At least one", "any one", or their similar expressions refer to any combination of these items, including any combination of single (one) or plural items (ones). For example, at least one (one, kind) of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, c can be single or multiple.

[0082] In the above - mentioned embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in this application are generated in whole or in part. The computer can be a general - purpose computer, a special - purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer - readable storage medium or transmitted from one computer - readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired or wireless manner. The computer - readable storage medium can be any available medium that the computer can access or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium, an optical medium, or a semiconductor medium, etc.

[0083] The various illustrative logical units and circuits described in this application can be implemented or operated with a general - purpose processor, a digital signal processor, an application - specific integrated circuit (ASIC), a field - programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of the above - described designs. The general - purpose processor can be a microprocessor, and optionally, the general - purpose processor can also be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented by a combination of computing devices, such as a digital signal processor and a microprocessor, multiple microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.

[0084] The steps of the methods or algorithms described in this application can be directly embedded in hardware, software units executed by the processor, or a combination of the two. The software units can be stored in a RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD - ROM, or any other form of storage medium in the art. Exemplarily, the storage medium can be connected to the processor so that the processor can read information from the storage medium and write information to the storage medium. Optionally, the storage medium can also be integrated into the processor. The processor and the storage medium can be disposed in an ASIC, and the ASIC can be disposed in a terminal. Optionally, the processor and the storage medium can also be disposed in different components of the terminal. These computer program instructions can also be loaded onto a computer or other programmable data - processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer - implemented process, thereby providing instructions for implementing the steps for the functions specified in Figure 1 a process or multiple processes and / or blocks Figure 1 the steps of the functions specified in a block or multiple blocks.

[0085] Although this application has been described in connection with specific features and their embodiments, it is obvious that various modifications and combinations can be made without departing from the spirit and scope of this application.

[0086] Accordingly, this specification and the drawings are merely exemplary descriptions of this application and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Obviously, those skilled in the art can make various changes and modifications to this application without departing from the scope of this application. Thus, if these modifications and variations of this application fall within the scope of this application and its equivalent technologies, this application is intended to include these changes and modifications.

Claims

1. A positioning correction method for a self-moving device, wherein the self-moving device comprises a non-driving wheel and a driving wheel, and the method comprises the following steps: S100, taking the location of the charging station as the initial coordinate origin; S200, detecting and recording the heading angle of the mobile device in real time; S300, detecting and recording the mileage of the driving wheel in real time; S400, calculating and generating a position coordinate sequence of the self-moving device during the driving process according to the recorded driving mileage of the driving wheel and the heading angle of the self-moving device; S500, detecting and recording the mileage of the non-driving wheels in real time; S600, determining whether the self-moving device is currently in a slipping state; S700, when the self-moving device is in a slipping state, correcting the current mileage of the driving wheel according to the current mileage of the non-driving wheel to correct the current position coordinates of the self-moving device; The step S700 specifically includes: S711, detecting the current rotation speeds of the driving wheel and the non-driving wheel; S712, setting a first correction coefficient according to the current rotation speed of the driving wheel, and setting a second correction coefficient according to the current rotation speed of the non-driving wheel; S713: taking the product of the current driving wheel mileage and the first correction coefficient as the first driving mileage, and taking the product of the current non-driving wheel mileage and the second correction coefficient as the second driving mileage; S714: Set the sum of the first mileage and the second mileage as the current mileage of the driving wheel to correct the current mileage of the driving wheel.

2. The method according to claim 1, characterized in that The step S600 specifically includes: S621, calculating the difference between the current mileage of the driving wheel and the mileage of the non-driving wheel; S622: When the difference is greater than or equal to a preset first mileage threshold, it is determined that the self-moving device is currently in a slipping state.

3. The method according to claim 1, characterized in that The step S600 specifically includes: S611, detecting the rotation speeds of the driving wheels and the non-driving wheels; S612, calculating the current speed difference between the driving wheel and the non-driving wheel; S613: When the rotation speed difference is greater than or equal to a set first speed threshold, it is determined that the self-moving device is currently in a slipping state.

4. The method according to claim 3, characterized in that The speed threshold is adaptively set according to the current rotation speed of the driving wheel.

5. A positioning correction device for a self-moving device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the method according to any one of claims 1 to 4 are implemented.

6. A self-propelled device, comprising a driving wheel and a non-driving wheel, characterized in that: The self-mobile device is used to execute the method according to any one of claims 1 to 4, and the self-mobile device further includes: A motion detection unit, used for detecting the heading angle of the self-moving device in real time; A driving wheel detection unit, used for detecting the mileage of the driving wheel in real time; A positioning unit, used for calculating and acquiring a position coordinate sequence of the self-moving device during its travel according to the detected travel mileage of the driving wheel and the heading angle of the self-moving device; A non-driving wheel detection unit, used for detecting the mileage of the non-driving wheel in real time; a slip detection unit connected to the driving wheel detection unit and the non-driving wheel detection unit, to obtain the current motion states of the driving wheel and the non-driving wheel, and to determine whether the self-moving device is in a slip state according to the current motion states of the driving wheel and the non-driving wheel; When the self-moving device is in a slipping state, the positioning unit corrects the mileage of the driving wheel according to the current mileage of the non-driving wheel to correct the current position coordinates of the self-moving device.

7. The self-moving device according to claim 6, characterized in that: The non-driven wheel detection unit includes a plurality of magnetic parts and a sensor module for sensing the magnetic field generated by the magnetic parts. The plurality of magnetic parts are installed at equal intervals in the non-driven wheel hub near the outer circumference, and the magnetic field strengths of adjacent magnetic parts are different.

8. The self-moving device according to claim 7, characterized in that: The sensor module includes at least two parallel magnetic sensing elements, which are fixed on the base of the self-moving device and are located directly above the non-driving wheel.

9. An automatic working system, characterized in that: include: A self-moving device and a charging station, wherein the charging station is used to provide driving energy for the self-moving device, wherein the self-moving device is the self-moving device described in any one of claims 6-8, or includes the positioning correction device described in claim 5.

Images