Positioning Method and Related Devices of Lawn Mowing Robot

Abstract

The embodiments of the present application provide a positioning method and related device for a lawn mowing robot. The method includes: calculating a first coordinate of the current position of the lawn mowing robot according to satellite data; scanning target markers within a preset radius in the current environment through a first sensor, and determining a first relative position between the lawn mowing robot and the target markers; then obtaining a second coordinate of the target markers in a high-precision map; calculating a second relative position between the lawn mowing robot and the target markers according to the first coordinate and the second coordinate; comparing the first relative position and the second relative position to obtain a first comparison result; and finally determining whether the initial positioning of the lawn mowing robot is accurate according to the first comparison result. In this way, during the working process of the lawn mowing robot, the participation of the RTK base station is reduced, and only the lawn mowing robot needs to directly perform positioning verification, avoiding the problem of inability to perform real-time positioning caused by RTK latency.

Description

Technical Field

[0001] This application belongs to the field of positioning technology, and particularly relates to a positioning method and related device for a lawn mowing robot. Background Art

[0002] Currently, in the prior art, during the automatic lawn mowing operation of a lawn mowing robot, satellite positioning is generally obtained through a mobile base station installed on the lawn mowing robot, and then positioning verification is performed through the verification information of the RTK base station, thereby obtaining centimeter-level positioning accuracy. However, this method may cause the verification information received by the lawn mowing robot to be delayed due to the time delay problem of RTK, resulting in a delay in positioning calculation and affecting real-time positioning. Summary of the Invention

[0003] Embodiments of this application provide a positioning method and related device for a lawn mowing robot, in order to avoid the problem of inability to perform real-time positioning caused by RTK time delay during the lawn mowing process.

[0004] In a first aspect, embodiments of this application provide a positioning method for a lawn mowing robot, including:

[0005] Calculating initial positioning information of the lawn mowing robot according to satellite data, where the initial positioning information includes a first coordinate of the current position of the lawn mowing robot;

[0006] Scanning target markers within a preset radius in the current environment through a first sensor, and determining a first relative position between the lawn mowing robot and the target markers, where the current environment refers to the natural environment where the lawn mowing robot is located, and the first relative position refers to the first azimuth and first distance of the lawn mowing robot relative to the target markers at the current position;

[0007] Obtaining a second coordinate of the target marker in a high-precision map;

[0008] Calculating a second relative position between the lawn mowing robot and the target marker according to the first coordinate and the second coordinate, where the second relative position refers to the second azimuth and second distance of the lawn mowing robot relative to the target marker in the high-precision map;

[0009] Comparing the first relative position with the second relative position to obtain a first comparison result;

[0010] Determining whether the initial positioning of the lawn mowing robot is accurate according to the first comparison result.

[0011] In a second aspect, embodiments of this application provide a positioning device for a lawn mowing robot, characterized by including:

[0012] A first calculation unit for calculating initial positioning information of the lawn mowing robot according to satellite data, where the initial positioning information includes a first coordinate of the current position of the lawn mowing robot;

[0013] A sensor unit for scanning target markers within a preset radius in the current environment and determining a first relative position between the lawn mowing robot and the target markers, where the current environment refers to the natural environment where the lawn mowing robot is located, and the first relative position refers to a first azimuth and a first distance of the lawn mowing robot relative to the target markers at the current position;

[0014] An acquisition unit for acquiring a second coordinate of the target marker in a high-precision map;

[0015] A second calculation unit for calculating a second relative position between the lawn mowing robot and the target marker according to the first coordinate and the second coordinate, where the second relative position refers to a second azimuth and a second distance of the lawn mowing robot relative to the target marker in the high-precision map;

[0016] A comparison unit for comparing the first relative position and the second relative position to obtain a first comparison result;

[0017] A determination unit for determining whether the initial positioning of the lawn mowing robot is accurate according to the first comparison result.

[0018] In a third aspect, an embodiment of the present application provides a lawn mowing robot, which at least includes a mowing component, a moving component, a processor, a memory, a communication interface, and one or more programs. The one or more programs are stored in the memory and are configured to be executed by the processor. The program includes instructions for executing the steps in the positioning method of the first aspect or the second aspect. The mowing component is used to perform mowing operations, and the moving component is used to realize the movement of the lawn mowing robot.

[0019] In a fourth aspect, an embodiment of the present application provides a computer storage medium, which is characterized in that it stores a computer program for electronic data exchange, where the computer program enables a computer to execute some or all of the steps described in any one of the first aspect to the third aspect of this embodiment.

[0020] In a fifth aspect, an embodiment of the present application provides a computer program product, where the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to enable a computer to execute some or all of the steps described in any one of the first aspect to the third aspect of this embodiment of the present application. The computer program product can be a software installation package.

[0021] It can be seen that in the embodiments of the present application, first, the first coordinates of the current position of the mowing robot are calculated according to satellite data; the target markers within a preset radius in the current environment are scanned by the first sensor, and the first relative position between the mowing robot and the target markers is determined; then the second coordinates of the target markers in the high-precision map are obtained; the second relative position between the mowing robot and the target markers is calculated according to the first coordinates and the second coordinates; then the first relative position and the second relative position are compared to obtain a first comparison result; finally, whether the initial positioning of the mowing robot is accurate is determined according to the first comparison result. In this way, during the working process of the mowing robot, the participation of the RTK base station is reduced, and only the mowing robot needs to directly perform positioning verification, avoiding the problem of inability to perform real-time positioning caused by RTK latency. Description of the Drawings

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 is a structural block diagram of a mowing robot provided by an embodiment of the present application;

[0024] Figure 2 is a schematic flowchart of a positioning method of a mowing robot provided by an embodiment of the present application;

[0025] Figure 3 is a schematic structural diagram of a positioning device of a mowing robot provided by an embodiment of the present application. Detailed Embodiments

[0026] In order to enable those skilled in the art to better understand the solutions of the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0027] In the description and claims of this application and the above-mentioned drawings, terms such as "first" and "second" are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, systems, products, or devices.

[0028] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in connection with the embodiments can be included in at least one embodiment of the application. The phrase may not necessarily refer to the same embodiment when it appears in various places in the specification, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0029] First, the relevant terms involved in this application will be introduced below.

[0030] RTK positioning: RTK positioning technology is based on the very similar errors between the rover station and the reference station. It uses GPS carrier phase observations for real-time kinematic positioning. Since the positioning accuracy decreases as the distance between the reference station and the rover station increases, the working distance of RTK positioning technology is preferably 10 - 15 km. Network RTK consists of a reference station, a data processing center, and a data communication link. A dual-frequency and dual-code GPS receiver should be equipped at the reference station, which can provide accurate pseudorange observations; the geodetic coordinates of the reference station should be accurate and known; data communication equipment and meteorological instruments should be equipped at the station. The reference station exchanges real-time data with the data processing center and mobile users through the data communication link to correct errors and obtain accurate positioning results.

[0031] Currently, in the prior art, during the automatic mowing operation of a mowing robot, satellite positioning is generally obtained through a mobile base station set on the mowing robot, and then positioning verification is performed through the verification information of the RTK base station, thereby obtaining centimeter-level positioning accuracy. However, this method may cause the verification information received by the mowing robot to be delayed due to the time delay problem of RTK, resulting in a delay in positioning calculation and affecting real-time positioning.

[0032] To solve the above problems, an embodiment of the present application provides a positioning method for a lawn mowing robot. This method can be applied to the scenario of positioning verification of a lawn mowing robot. The first coordinate of the current position of the lawn mowing robot can be calculated based on satellite data; a target marker within a preset radius in the current environment is scanned by a first sensor, and the first relative position between the lawn mowing robot and the target marker is determined; then the second coordinate of the target marker in the high-precision map is obtained; the second relative position between the lawn mowing robot and the target marker is calculated based on the first coordinate and the second coordinate; then the first relative position and the second relative position are compared to obtain a first comparison result; finally, whether the initial positioning of the lawn mowing robot is accurate is determined based on the first comparison result. This solution can also be applicable to the real-time positioning scenario, where positioning verification is performed after calculating the positioning coordinates. This solution can also be applicable to multiple scenarios, including but not limited to the application scenarios mentioned above.

[0033] The following introduces the system architecture involved in the embodiment of the present application.

[0034] The present application also provides a lawn mowing robot 10, as Figure 1 shown, Figure 1 is a structural block diagram of a lawn mowing robot 10 according to the present application. The lawn mowing robot 10 at least includes a mowing assembly 16, a moving assembly 17, a processor 11, a sensor 12, and a memory 13; it may also include a communication module 15 and a bus 14. Among them, the mowing assembly 16, the moving assembly 17, the processor 11, the sensor 12, the memory 13, and the communication module 15 can complete mutual communication through the bus 14. The mowing assembly 16 is used to perform mowing operations. The mowing assembly 16 at least includes a cutter head and a cutter head drive structure; the moving assembly 17 is used to realize the moving operation of the lawn mowing robot 10. The moving assembly 17 at least includes wheels and a wheel drive structure; the communication module 15 is used to obtain satellite data and can also be used to communicate with external devices. The processor 11 can call the logical instructions in the memory 13 to execute the positioning method of the lawn mowing robot in the following embodiments.

[0035] It can be understood that there can be one or multiple of the processor 11, the sensor 12, and the memory 13, and no uniqueness limitation is made here.

[0036] In addition, when the logical instructions in the above-mentioned memory 13 are implemented in the form of software function units and sold or used as an independent product, they can be stored in a computer-readable storage medium.

[0037] The memory 13 is a computer-readable storage medium and can be configured to store software programs and computer-executable programs, such as the program instructions or modules corresponding to the methods in the embodiments of the present disclosure. The processor 11 executes functional applications and data processing by running the software programs, instructions or modules stored in the memory 13, that is, implements the methods in the above embodiments.

[0038] The memory 13 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created according to the use of the lawn mowing robot 10, etc. In addition, the memory 13 may include high-speed random access memory and may also include non-volatile memory. For example, various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks or optical discs that can store program codes may also be transient storage media.

[0039] The following details the specific methods.

[0040] Please refer to Figure 2 , the present application also provides a flowchart of a positioning method for a lawn mowing robot. The method can be applied to the lawn mowing robot. The method includes:

[0041] Step 201, calculate the initial positioning information of the lawn mowing robot according to satellite data, where the initial positioning information at least includes the first coordinate of the current position of the lawn mowing robot.

[0042] In a specific implementation, the lawn mowing robot receives satellite data of multiple satellites, and then calculates the first coordinate of the current position according to the multiple satellite data.

[0043] Step 202, scan the target markers within a preset radius in the current environment through the first sensor, and determine the first relative position between the lawn mowing robot and the target markers.

[0044] Among them, the current environment refers to the natural environment where the lawn mowing robot is located, and the first relative position refers to the first azimuth and the first distance of the lawn mowing robot relative to the target markers at the current position.

[0045] Exemplarily, the target markers may be one or more, and can be selected according to scene conditions and actual needs, and no unique limitation is made here.

[0046] In a possible embodiment, determining the first relative position of the mowing robot and the target marker by the sensor includes: obtaining, by a first sensor, a first orientation of the target marker relative to the mowing robot, where the first sensor includes a radar sensor or a vision sensor; calculating a first distance from a first coordinate to a second coordinate to obtain the first relative position.

[0047] Exemplarily, the vision sensor may be a monocular camera, a binocular camera, etc., and the radar sensor may be a lidar, an electromagnetic wave radar, an ultrasonic radar, etc.

[0048] In specific implementation, after selecting the first sensor, the first orientation and the first distance of the target marker relative to the mowing robot are determined by the measurement technology corresponding to the first sensor to determine the first relative position. The measurement technology corresponding to each specific first sensor is a prior art and will not be improved here, so it will not be elaborated further.

[0049] It can be seen that in this embodiment, the first relative position of the current position of the mowing robot relative to the target marker is determined.

[0050] Step 203: Obtain a second coordinate of the target marker in the high-precision map.

[0051] Exemplarily, the high-precision map is a centimeter-level map, and the high-precision map is assisted in construction by RTK positioning technology. The high-precision map includes a second coordinate of the target marker determined in advance.

[0052] Step 204: Calculate a second relative position of the mowing robot and the target marker according to the first coordinate and the second coordinate.

[0053] Wherein, the second relative position refers to a second orientation and a second distance of the mowing robot relative to the target marker in the high-precision map.

[0054] Step 205: Compare the first relative position and the second relative position to obtain a first comparison result.

[0055] Step 206: Determine whether the initial positioning of the mowing robot is accurate according to the first comparison result.

[0056] In a possible embodiment, after determining whether the initial positioning of the mowing robot is accurate according to the first comparison result, the method further includes: if the initial positioning is inaccurate, calculating a third coordinate based on the first relative position and the second coordinate, where the third coordinate is the actual coordinate of the current position of the mowing robot; calculating an error value between the first coordinate and the third coordinate; and setting the error value as a calibration value, where the calibration value is used to calibrate the coordinate of the mowing robot calculated by itself.

[0057] In specific implementation, positioning is performed through satellite data, which depends on the distribution of satellites. In theory, the more directions and the larger the number of satellites, the more accurate the positioning data. Therefore, if only satellite data is used to determine the first coordinate of the mowing robot, when the number of visible satellites is small, there may be a large positioning error, and at this time, positioning calibration is required.

[0058] Specifically, if the first coordinate is inaccurate, then there will be a large error between the actually measured first relative position and the second relative position. When the error exceeds a preset threshold, the actual coordinate of the current position of the mowing robot, that is, the third coordinate, is deduced based on the first azimuth, the first distance, and the second coordinate.

[0059] Furthermore, calculate the error value of the first coordinate relative to the third coordinate. When the mowing robot calculates its own coordinate through satellite data later, calibration is performed through the error value to obtain an accurate own coordinate.

[0060] It can be seen that in this embodiment, when satellite positioning is inaccurate, coordinate correction is performed to ensure accurate positioning.

[0061] In a possible embodiment, the method further includes: during the mowing operation, predicting the first attitude change of the mowing robot at the next moment through inertial navigation data; if the first attitude change is consistent with the actual attitude change, determining that the current positioning is accurate; if the first attitude change is inconsistent with the actual attitude change, determining that the current positioning is inaccurate.

[0062] In specific implementation, if it is determined according to the first result that the first coordinate of the mowing robot is accurate, or the first coordinate has been calibrated to the third coordinate, the mowing robot then starts to perform the mowing task. During the mowing task, inertial navigation data is used to predict its own attitude change in real time. If the actual attitude change of the mowing robot is consistent with the predicted attitude change, it indicates that the positioning is accurate, so the navigation is also accurate; if the actual attitude change of the mowing robot is inconsistent with the predicted attitude change, it indicates that the positioning is inaccurate.

[0063] It can be seen that in this embodiment, the positioning accuracy verification during the mowing process is realized.

[0064] In a possible embodiment, the method further includes: re-acquiring a third relative position of the mowing robot every preset time, where the determination method of the third relative position is the same as that of the first relative position, and the third relative position refers to the third azimuth and the third distance of the mowing robot relative to the target marker at the moment of re-acquisition; comparing the third relative position with the second relative position to obtain a second comparison result; and determining whether the current positioning of the mowing robot is accurate according to the second comparison result, where the current positioning refers to the positioning corresponding to the position where the mowing robot is located at the moment of re-acquisition.

[0065] In specific implementation, to ensure the accurate positioning of the mowing robot, the third relative position of the mowing robot is re-acquired every preset time, and then the third relative position is compared with the second relative position to obtain a second comparison result. If the absolute value of the second comparison result is greater than a preset value, it means that the positioning is inaccurate; if it is less than the preset value, it means that the positioning is accurate.

[0066] It can be seen that in this embodiment, the verification of positioning accuracy during the mowing process is realized.

[0067] In a possible embodiment, before calculating the initial positioning information of the mowing robot according to satellite data, the method further includes: controlling the mowing robot to traverse the mowing area, and in the process of traversing the mowing area, real-time obtaining the positioning calibration information sent by the RTK base station; determining a coordinate set corresponding to the real-time positioning of the mowing robot during the process of traversing the mowing area according to the positioning calibration information; scanning the objects in the mowing area during the process of traversing the mowing area to determine the fourth coordinate corresponding to the target marker; constructing the high-precision map corresponding to the mowing area according to the coordinate set; and marking the fourth coordinate as the target marker in the high-precision map.

[0068] In specific implementation, before the mowing robot executes the mowing task, it is necessary to first control the mowing robot to traverse the mowing area once. The mowing robot calculates the real-time coordinates in real time by obtaining satellite data during the movement process, and then receives the positioning calibration information sent by the RTK base station to calibrate the real-time coordinates. After traversing the mowing area, a plurality of real-time coordinates are obtained to determine the coordinate set of the mowing area, and then the boundary of the mowing area in the current environment is determined to construct an initial map. Mark the fourth coordinate of the target marker on the initial map, and then obtain the high-precision map.

[0069] It can be seen that in this embodiment, the construction of the high-precision map is realized.

[0070] In summary, in this embodiment, the first coordinates of the current position of the mowing robot are calculated based on satellite data; the target markers within a preset radius in the current environment are scanned by the first sensor, and the first relative position between the mowing robot and the target markers is determined; then the second coordinates of the target markers in the high-precision map are obtained; the second relative position between the mowing robot and the target markers is calculated based on the first coordinates and the second coordinates; then the first relative position and the second relative position are compared to obtain a first comparison result; finally, whether the initial positioning of the mowing robot is accurate is determined based on the first comparison result. In this way, during the operation of the mowing robot, the participation of the RTK base station is reduced, and only the mowing robot needs to directly perform positioning verification, avoiding the problem of inability to perform real-time positioning caused by RTK latency.

[0071] The above mainly introduces the solution of the embodiment of the present application from the perspective of the execution process on the method side. It can be understood that in order for the mowing robot to implement the above functions, it includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, combining the units and algorithm steps of each example described in the embodiments provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraint conditions of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0072] The embodiment of the present application can divide the functional units of the mowing robot according to the above method examples. For example, each functional unit can be divided corresponding to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. It should be noted that the division of units in the embodiment of the present application is illustrative, only a logical functional division, and there may be other division methods in actual implementation.

[0073] Please refer to Figure 3 , the present application also provides a structural schematic diagram of a positioning device 30 for a mowing robot, and the device includes:

[0074] A first calculation unit 301, configured to calculate the initial positioning information of the mowing robot according to satellite data, where the initial positioning information includes the first coordinates of the current position of the mowing robot;

[0075] A sensor unit 302 for scanning target markers within a preset radius in the current environment and determining a first relative position between the lawn mowing robot and the target markers, where the current environment refers to the natural environment where the lawn mowing robot is located, and the first relative position refers to a first orientation and a first distance of the lawn mowing robot relative to the target markers at the current position;

[0076] An acquisition unit 303 for acquiring second coordinates of the target markers in the high-precision map;

[0077] A second calculation unit 304 for calculating a second relative position between the lawn mowing robot and the target markers according to the first coordinates and the second coordinates, where the second relative position refers to a second orientation and a second distance of the lawn mowing robot relative to the target markers in the high-precision map;

[0078] A comparison unit 305 for comparing the first relative position and the second relative position to obtain a first comparison result;

[0079] A determination unit 306 for determining whether the initial positioning of the lawn mowing robot is accurate according to the first comparison result.

[0080] It can be seen that in this embodiment, the first coordinates of the current position of the lawn mowing robot are calculated according to satellite data; the target markers within a preset radius in the current environment are scanned by the first sensor, and the first relative position between the lawn mowing robot and the target markers is determined; then the second coordinates of the target markers in the high-precision map are acquired; the second relative position between the lawn mowing robot and the target markers is calculated according to the first coordinates and the second coordinates; then the first relative position and the second relative position are compared to obtain a first comparison result; finally, it is determined whether the initial positioning of the lawn mowing robot is accurate according to the first comparison result. In this way, during the working process of the lawn mowing robot, the participation of the RTK base station is reduced, and only the lawn mowing robot needs to directly perform positioning verification, avoiding the problem of inability to perform real-time positioning caused by RTK delay.

[0081] In a possible embodiment, in the aspect of determining the first relative position between the lawn mowing robot and the target markers by the sensor, the sensor unit 302 is specifically configured to: acquire a first orientation of the target markers relative to the lawn mowing robot through a first sensor, where the first sensor includes a radar sensor or a vision sensor; calculate a first distance from the first coordinates to the second coordinates to obtain the first relative position.

[0082] In a possible embodiment, after the aspect of determining whether the initial positioning of the lawn mowing robot is accurate according to the first comparison result, the device further includes: a third calculation unit, configured to, when the initial positioning is inaccurate, calculate a third coordinate according to the first relative position and the second coordinate, where the third coordinate is the actual coordinate of the current position of the lawn mowing robot, and calculate an error value between the first coordinate and the third coordinate; a setting unit, configured to set the error value as a calibration value, where the calibration value is used to calibrate the self-coordinate calculated by the lawn mowing robot.

[0083] In a possible embodiment, the device further includes: a prediction unit, configured to predict a first attitude change of the lawn mowing robot at the next moment through inertial navigation data during the lawn mowing operation; the determination unit 306 is further configured to, when the first attitude change is consistent with the actual attitude change, determine that the current positioning is accurate; when the first attitude change is inconsistent with the actual attitude change, determine that the current positioning is inaccurate.

[0084] In a possible embodiment, the device further includes: a fourth calculation unit, configured to re-acquire a third relative position of the lawn mowing robot at every preset time, where the determination method of the third relative position is the same as that of the first relative position, and the third relative position refers to the third azimuth and the third distance of the lawn mowing robot relative to the target marker at the moment of re-acquisition; the comparison unit 305 is further configured to: compare the third relative position with the second relative position to obtain a second comparison result; the determination unit 306 is further configured to: determine whether the current positioning of the lawn mowing robot is accurate according to the second comparison result, where the current positioning refers to the positioning corresponding to the position where the lawn mowing robot is located at the moment of re-acquisition.

[0085] In a possible embodiment, before the aspect of calculating the initial positioning information of the lawn mowing robot according to satellite data, the device further includes: a control and acquisition unit, configured to control the lawn mower to traverse the mowing area and acquire positioning calibration information sent by an RTK base station in real time during the traversal of the mowing area; the determination unit 306 is further configured to: determine a coordinate set corresponding to the real-time positioning of the lawn mowing robot during the traversal of the mowing area according to the positioning calibration information; the sensor unit 302 is further configured to: scan the objects in the mowing area during the traversal of the mowing area to determine a fourth coordinate corresponding to the target marker; a construction unit, configured to construct the high-precision map corresponding to the mowing area according to the coordinate set; a marking unit, configured to mark the fourth coordinate as the target marker in the high-precision map.

[0086] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, the above embodiments 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 or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present 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 can be accessed by a computer or a data storage device such as a server or a data center that contains one or more collections of available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. The semiconductor media can be a solid-state drive.

[0087] An embodiment of the present application further provides a computer storage medium. The computer storage medium stores a computer program for electronic data exchange, and the computer program causes a computer and / or a mechanical device with computing functions to execute part or all of the steps of any of the methods described in the above method embodiments. The computer includes an electronic device, and the mechanical device includes a lawn mowing robot in the embodiments of the present application.

[0088] An embodiment of the present application further provides a computer program product. The computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer and / or a mechanical device with computing functions to execute part or all of the steps of any of the methods described in the above method embodiments. The computer program product can be a software installation package. The computer includes an electronic device, and the mechanical device includes a lawn mowing robot in the embodiments of the present application.

[0089] It should be understood that in various embodiments of the present application, the order numbers of the above processes do not indicate the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0090] In several embodiments provided by the present application, it should be understood that the disclosed methods, apparatuses, and systems can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation; for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the couplings or direct couplings or communication connections shown or discussed with each other can be through some interfaces, and the indirect couplings or communication connections of the apparatuses or units can be in electrical, mechanical, or other forms.

[0091] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0092] In addition, in each embodiment of the present invention, the functional units can be integrated into one processing unit, or each unit can be physically included separately, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or in the form of a combination of hardware and software functional units.

[0093] The integrated units implemented in the form of software functional units can be stored in a computer-readable storage medium. The above-mentioned software functional units are stored in a storage medium and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute some steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: USB flash drives, mobile hard disks, magnetic disks, optical disks, volatile memories, or non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchlink dynamic random access memory (SLDRAM), and direct rambus random access memory (DR RAM). And other various media that can store program codes.

[0094] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions without departing from the spirit and scope of the present invention, and can make various changes and modifications, including combinations of the above different functions and implementation steps, including software and hardware implementation manners, all within the protection scope of the present invention.

Claims

1. A positioning method for a lawn mowing robot, characterized in that, Including: Calculating the initial positioning information of the mowing robot according to satellite data, where the initial positioning information at least includes the first coordinate of the current position of the mowing robot; Scanning for target markers within a preset radius in the current environment through a first sensor, and determining the first relative position between the mowing robot and the target marker, where the current environment refers to the natural environment where the mowing robot is located, and the first relative position refers to the first azimuth and the first distance of the mowing robot relative to the target marker at the current position; Obtaining the second coordinate of the target marker in the high-precision map; Calculating the second relative position between the mowing robot and the target marker according to the first coordinate and the second coordinate, where the second relative position refers to the second azimuth and the second distance of the mowing robot relative to the target marker in the high-precision map; Comparing the first relative position and the second relative position to obtain a first comparison result; Determining whether the initial positioning of the mowing robot is accurate according to the first comparison result.

2. The method according to claim 1, wherein The step of scanning for target markers within a preset radius in the current environment through a first sensor and determining the first relative position between the mowing robot and the target marker includes: Obtaining, through a first sensor, the first azimuth of the target marker relative to the mowing robot, where the first sensor includes a radar sensor or a vision sensor; Calculating the first distance from the mowing robot to the second coordinate, where the first distance is the actual distance between the mowing robot and the target marker.

3. The method according to claim 1, characterized in that After determining whether the initial positioning of the mowing robot is accurate according to the first comparison result, the method further includes: If the initial positioning is inaccurate, calculating a third coordinate according to the first relative position and the second coordinate, where the third coordinate is the actual coordinate of the current position of the mowing robot; Calculating the coordinate difference between the first coordinate and the third coordinate; Setting the coordinate difference as a calibration value, where the calibration value is used to calibrate the positioning information calculated by the mowing robot itself, and the positioning information is calculated based on satellite data.

4. The method according to claim 1, characterized in that, The method further includes: During the mowing operation, predicting the first attitude change of the mowing robot at the next moment through inertial navigation data; If the first attitude change is consistent with the actual attitude change, determining that the current positioning is accurate; If the first attitude change is inconsistent with the actual attitude change, determining that the current positioning is inaccurate.

5. The method according to claim 1, wherein The method further includes: At every preset time, re-determining the third relative position between the mowing robot and the target marker, where the third relative position refers to the third azimuth and the third distance of the mowing robot relative to the target marker; Comparing the third relative position and the second relative position to obtain a second comparison result; Determining whether the current positioning of the mowing robot is accurate according to the second comparison result, where the current positioning refers to the positioning when the mowing robot is at a first position, and the first position refers to the position of the mowing robot when the third relative position is re-determined.

6. The method according to any one of claims 1-5, characterized in that, Before calculating the initial positioning information of the mowing robot based on satellite data, the method further includes: Controlling the mowing robot to traverse the mowing area, and acquiring in real time the positioning calibration information sent by the RTK base station during the process of traversing the mowing area; According to the positioning calibration information, determining the coordinate set corresponding to the real-time positioning of the mowing robot during the process of traversing the mowing area; During the process of traversing the mowing area, scanning the objects in the mowing area to determine the fourth coordinate corresponding to the target marker; Constructing the high-precision map corresponding to the mowing area according to the coordinate set; Marking the fourth coordinate in the high-precision map as the target marker.

7. A positioning device for a lawn mowing robot, characterized in that, Including: A first calculation unit, configured to calculate the initial positioning information of the mowing robot according to satellite data, where the initial positioning information includes the first coordinate of the current position of the mowing robot; A sensor unit, configured to scan the target marker within a preset radius in the current environment, and determine the first relative position between the mowing robot and the target marker, where the current environment refers to the natural environment where the mowing robot is located, and the first relative position refers to the first azimuth and the first distance of the mowing robot relative to the target marker at the current position; An acquisition unit, configured to acquire the second coordinate of the target marker in the high-precision map; A second calculation unit, configured to calculate the second relative position between the mowing robot and the target marker according to the first coordinate and the second coordinate, where the second relative position refers to the second azimuth and the second distance of the mowing robot relative to the target marker in the high-precision map; A comparison unit, configured to compare the first relative position and the second relative position to obtain a first comparison result; A determination unit, configured to determine whether the initial positioning of the mowing robot is accurate according to the first comparison result.

8. A lawn mowing robot, characterized in that, At least including a mowing component, a moving component, a processor, a memory, a sensor, a communication module, and one or more programs, where the one or more programs are stored in the memory and are configured to be executed by the processor, and the program includes instructions for performing the steps in the method according to any one of claims 1-6, the mowing component is configured to perform a mowing operation, and the moving component is configured to realize the movement of the mowing robot.

9. A computer-readable storage medium, characterized in that, Storing a computer program for electronic data exchange, where the computer program enables a computer to execute the instructions for performing the steps in the method according to any one of claims 1-6.

10. A computer program product, characterized in that, Including a non-transitory computer-readable storage medium storing a computer program, where the computer program can be operated to enable a computer to execute the instructions for performing the steps in the method according to any one of claims 1-6.

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