A garden tool navigation information calibration method and device and a garden tool

Abstract

The present application belongs to the field of intelligent control of garden tools, and particularly relates to a garden tool navigation information calibration method and device and a garden tool. The method comprises the following steps: detecting a charging station access event; obtaining current RTK positioning information of the garden tool and charging station position information from preset map information; calculating an offset between the RTK positioning information and the charging station position information; when the offset is greater than a preset threshold, determining whether a base station movement event or a charging station movement event exists; when the base station movement event exists, correcting the RTK positioning information according to the offset or performing overall translation on the positions of all points in the map information; and when the charging station movement event exists, performing individual translation on the charging station position information in the map information according to the offset. The present application improves the mapping efficiency after the base station of the mower moves and reduces the cost of reacquiring the map.

Description

Technical Field

[0001] This invention belongs to the field of intelligent control of garden tools, and specifically relates to a method, device and garden tool navigation information calibration method. Background Technology

[0002] RTK (Real-time kinematic) carrier phase differential technology is a method for processing the carrier phase observations of two measurement stations in real time. It transmits the carrier phase data acquired by the base station to the user receiver, where the difference is calculated to determine the coordinates. This is a new and commonly used satellite positioning measurement method. Previous static, rapid static, and dynamic measurements all required post-measurement calculations to achieve centimeter-level accuracy. RTK, however, is a measurement method that can obtain centimeter-level positioning accuracy in real time in the field. It employs a dynamic real-time carrier phase differential method, greatly improving operational efficiency.

[0003] RTK differential positioning technology has been widely used in various garden tools such as smart lawnmowers. Base stations are typically located near the working area of ​​these tools, providing RTK differential information. The tools then use this information to correct their GPS positioning to achieve high-precision location. Garden tools can draw and store map data based on their movement paths. Since this map data is based on RTK differential positioning information, it is correlated with the location information of the base stations. However, in practical applications, the location of base stations often needs to be moved for various reasons. This movement causes the map data to become invalid, preventing the garden tools from functioning properly. Therefore, it is necessary to recalibrate and adjust the map data according to the new base station location. Current technology only allows for manual calibration and adjustment of the map data, which is cumbersome and inefficient. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide a method, device and garden tool navigation information calibration method, which can quickly calibrate map data when the base station location changes, so as to ensure the normal operation of the garden tool.

[0005] To achieve the above and other related objectives, this invention provides a method for calibrating navigation information for garden tools. The garden tool is communicatively connected to a base station. The garden tool obtains RTK differential information from the base station and corrects its positioning information based on the RTK differential information to obtain RTK positioning information. A charging station is located within the working area of ​​the garden tool. The method includes the following steps:

[0006] A charging station access event was detected;

[0007] Obtain the current RTK positioning information of the gardening tool and obtain the charging station location information from the preset map information;

[0008] Calculate the offset between the RTK positioning information and the charging station location information;

[0009] When the offset is greater than a preset threshold, it is determined whether there is a base station movement event or a charging station movement event.

[0010] When a base station movement event occurs, the offset is saved, or the positions of all points in the map information are shifted as a whole according to the offset, so that the charging station location information in the map information is consistent with the RTK positioning information;

[0011] When a charging station movement event occurs, the charging station location information in the map information is individually shifted according to the offset to make the charging station location information consistent with the RTK positioning information.

[0012] In an optional embodiment of the present invention, the charging station access event includes: accessing a single charging station;

[0013] When the offset is greater than a preset threshold, determining whether a base station movement event or a charging station movement event exists includes the following steps:

[0014] When the offset exceeds a preset threshold, a location change notification is generated, indicating to the user that the current map is unavailable.

[0015] In an optional embodiment of the present invention, the step of determining whether a base station movement event or a charging station movement event exists includes:

[0016] Receive input information from the user based on the location change notification;

[0017] When the input information contains base station movement information, it is determined that the base station movement event exists;

[0018] When the input information contains charging station movement information, it is determined that the charging station movement event exists.

[0019] In an optional embodiment of the present invention, the charging station access event includes: sequentially accessing multiple charging stations;

[0020] The steps of obtaining the current RTK positioning information of the gardening tool and obtaining the charging station location information from the preset map information include:

[0021] When the gardening tool is connected to each charging station, the current RTK positioning information of the gardening tool is obtained;

[0022] Obtain the location information of all connected charging stations from the preset map information.

[0023] In an optional embodiment of the present invention, when two charging stations are connected sequentially,

[0024] The first RTK positioning information when the garden tools are connected to the first charging station;

[0025] The second RTK positioning information when the garden tools are connected to the second charging station;

[0026] The step of determining whether a base station movement event or a charging station movement event exists includes: determining whether the relative positional relationship between the first RTK positioning information and the second RTK positioning information is consistent with the relative positional relationship between the first charging station and the second charging station in the map information;

[0027] When the relative positional relationship between the first RTK positioning information and the second RTK positioning information is consistent with the relative positional relationship between the first charging station and the second charging station in the map information, it is determined that the base station movement event exists;

[0028] When the relative positional relationship between the first RTK positioning information and the second RTK positioning information is inconsistent with the relative positional relationship between the first charging station and the second charging station in the map information, it is determined that there is a charging station movement event.

[0029] In an optional embodiment of the present invention, after saving the offset, the method further includes:

[0030] The offset is sent to the base station so that the base station can correct its location information based on the offset.

[0031] In an optional embodiment of the present invention, the input information is input information received by the wireless communication module from the mobile terminal.

[0032] To achieve the above and other related objectives, the present invention also provides a garden tool navigation information calibration device, comprising:

[0033] The detection module is used to detect charging station access events;

[0034] The location acquisition module is used to acquire the current RTK positioning information of the gardening tool and to acquire the charging station location information from the preset map information;

[0035] The calculation module is used to calculate the offset between the RTK positioning information and the charging station location information;

[0036] The execution module is used to determine whether a base station movement event or a charging station movement event exists when the offset is greater than a preset threshold; when a base station movement event exists, the module saves the offset, or shifts the positions of all points in the map information as a whole according to the offset, so that the charging station location information in the map information is consistent with the RTK positioning information; when a charging station movement event exists, the module shifts the charging station location information in the map information individually according to the offset, so that the charging station location information is consistent with the RTK positioning information.

[0037] To achieve the above and other related objectives, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the garden tool navigation information calibration method described above.

[0038] To achieve the above and other related objectives, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the garden tool navigation information calibration method described above.

[0039] To achieve the above and other related objectives, the present invention also provides a garden tool, including the aforementioned garden tool navigation information calibration device.

[0040] The technical advantages of this invention are as follows: This invention utilizes the fact that the positions of charging stations and lawnmowers can be relatively fixed. When the lawnmower is at the charging station, if the location of the lawnmower is detected to have shifted beyond a certain threshold, the user is notified that the map has shifted and the map is unusable. If it is confirmed that the charging station has not moved, all points on the map are shifted, or the base station is shifted, to obtain a working map. This invention improves the mapping efficiency after the lawnmower base station is moved and reduces the cost of re-collecting maps. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the RTK differential localization method;

[0042] Figure 2 This is an application scenario diagram of the garden tool navigation information calibration method provided in the embodiments of the present invention;

[0043] Figure 3 This is a schematic diagram of the map offset principle provided by an embodiment of the present invention;

[0044] Figure 4 This is a flowchart of the garden tool navigation information calibration method provided in the embodiments of the present invention;

[0045] Figure 5This is a flowchart of the RTK positioning information correction method provided in the embodiments of the present invention;

[0046] Figure 6 This is a flowchart illustrating the garden tool navigation information calibration method provided in an embodiment of the present invention.

[0047] Figure 7 This is an application scenario diagram of the garden tool navigation information calibration method provided in another embodiment of the present invention;

[0048] Figure 8 yes Figure 7 The flowchart of the base station mobility event determination method provided in the embodiment shown is shown.

[0049] Figure 9 yes Figure 7 The flowchart shown in the embodiment provides a detailed process for calibrating garden tool navigation information.

[0050] Figure 10 This is a functional module block diagram of the garden tools provided in the embodiments of the present invention;

[0051] Figure 11 This is a functional block diagram of the garden tool navigation information calibration device provided in an embodiment of the present invention. Detailed Implementation

[0052] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0053] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0054] Please see Figure 1-11 As shown, the technical solution of the present invention will be described in detail below with reference to specific embodiments. The garden tool navigation information calibration method of the present invention is applied to the intelligent navigation control of garden tools, such as the control of lawnmowers. It can be understood that the garden tools use RTK differential positioning technology to obtain their precise position information. The principle of RTK differential positioning is as follows: Figure 1As shown, the base station generates RTK differential information based on GPS positioning information and its own location information. The lawnmower 200 communicates with the base station 100 and obtains the RTK differential information. Then, it uses the RTK differential information to correct the positioning information collected by the lawnmower's positioning module to obtain RTK positioning information. A charging station 300 is provided within the working area of ​​the gardening tool. The charging station 300 can provide power to the lawnmower.

[0055] Please see Figure 10 As shown, based on the above positioning principle, the garden tool should include a necessary wireless module 20, a positioning module 30, a path planning module 40, a storage module 50, and a control module 10. The wireless module 20 is used to realize wireless communication between the garden tool and the base station. The positioning module 30 can be, for example, a GPS module, used to detect the location information of the garden tool. The path planning module 40 is used to automatically draw the map boundary 400 and the walking path according to the walking path of the garden tool. The storage module 50 is used to store map data and related computer programs. The control module 10 is used to coordinate the work of each module and perform calculations on the data.

[0056] Please see Figure 4 As shown, a method for calibrating navigation information for garden tools includes the following steps:

[0057] S1: Charging station access event detected; It should be noted that when the location of the base station changes, the lawnmower cannot find the charging station by driving itself. Therefore, the user needs to manually move the lawnmower to the charging station or remotely control the lawnmower to drive to the charging station location.

[0058] S2: Obtain the current RTK positioning information of the gardening tool and obtain the charging station location information from the preset map information;

[0059] S3: Calculate the offset between the RTK positioning information and the charging station location information;

[0060] S4: Determine if the offset is greater than the preset threshold;

[0061] S5: Determine if a base station movement event exists;

[0062] S6: Determine if a charging station movement event exists;

[0063] S7: When a base station movement event occurs, save the offset, or shift the position of all points in the map information according to the offset, so that the charging station location information in the map information is consistent with the RTK positioning information;

[0064] S8: When a charging station movement event occurs, the charging station location information in the map information is individually shifted according to the offset to make the charging station location information consistent with the RTK positioning information.

[0065] Please see Figure 6 As shown, in one specific embodiment, the charging station access event includes: accessing a single charging station; when the offset is greater than a preset threshold, generating a location change prompt message to prompt the user that the current map is unavailable.

[0066] Please see Figure 6 As shown, in a specific embodiment, the step of determining whether a base station movement event or a charging station movement event exists includes: receiving input information from the user based on the location change prompt information; when the input information contains base station movement information, it is determined that the base station movement event exists; when the input information contains charging station movement information, it is determined that the charging station movement event exists. It is understood that this embodiment is applicable to situations where there is only one charging station in the working area. In this case, the lawnmower cannot determine whether it is a base station shift or a charging station shift based on the relative positional relationship between two or more charging stations, so it can only be informed manually. In actual operation, the movement of the charging station or base station is performed by the user, so the user can know whether the charging station or the base station has moved. Furthermore, even if the displacement of the charging station or base station is caused by other people or animals, if the lawnmower cannot enter the charging station according to the preset path, the user will know that a charging station or base station displacement event has occurred. At this time, the user can check the charging station or base station to determine the location and achieve map information repositioning.

[0067] Please see Figure 7-9 As shown, in another embodiment, the charging station access event includes: sequentially accessing multiple charging stations.

[0068] S51: When the garden tool connects to each charging station, obtain the current RTK positioning information of the garden tool, for example, when connecting to two charging stations in sequence, obtain the first RTK positioning information of the garden tool when connecting to the first charging station; and the second RTK positioning information of the garden tool when connecting to the second charging station.

[0069] S52: Obtain the location information of all connected charging stations in the preset map information.

[0070] S53: Determine whether the relative positional relationship between the first RTK positioning information and the second RTK positioning information is consistent with the relative positional relationship between the first charging station and the second charging station in the map information;

[0071] S54: When the relative positional relationship between the first RTK positioning information and the second RTK positioning information is consistent with the relative positional relationship between the first charging station and the second charging station in the map information, it is determined that there is a base station movement event;

[0072] S55: When the relative positional relationship between the first RTK positioning information and the second RTK positioning information is inconsistent with the relative positional relationship between the first charging station and the second charging station in the map information, it is determined that there is a charging station movement event.

[0073] It is understood that this embodiment is applicable to scenarios where there are multiple charging stations in the working area. The lawnmower can determine whether the base station or the charging station has shifted based on the relative position changes of each charging station, without requiring the user to manually input the shift information of the base station or the charging station.

[0074] Please see Figure 5 As shown, in one specific embodiment, after saving the offset, the method further includes:

[0075] S71: Send the offset to the base station.

[0076] S72: The base station can correct its location information based on the offset.

[0077] In one specific embodiment, the input information is input information received by the wireless communication module from a mobile terminal, such as a mobile phone or a mobile computer.

[0078] Based on the above-described garden tool navigation information calibration method, this invention also provides a garden tool navigation information calibration device, including a detection module 11, a location acquisition module 12, a calculation module 13, and an execution module 14. The detection module is used to detect charging station access events; the location acquisition module is used to acquire the current RTK positioning information of the garden tool and obtain charging station location information from preset map information; the calculation module is used to calculate the offset between the RTK positioning information and the charging station location information; the execution module is used to determine whether a base station movement event or a charging station movement event exists when the offset is greater than a preset threshold; when a base station movement event exists, the offset is saved, or the positions of all points in the map information are shifted as a whole according to the offset, so that the charging station location information in the map information is consistent with the RTK positioning information; when a charging station movement event exists, the charging station location information in the map information is shifted individually according to the offset, so that the charging station location information is consistent with the RTK positioning information.

[0079] In summary, since other points on the map cannot be mapped, while the positions of the charging station and the lawnmower can be relatively fixed, when the lawnmower is at the charging station, if the lawnmower's position is detected to have shifted beyond a certain threshold, the user is alerted that the map has shifted and is unusable. If it is confirmed that the charging station has not moved, all points on the map are shifted, or the base station is shifted, to obtain a working map. This invention improves the mapping efficiency after the lawnmower base station is moved and reduces the cost of re-collecting maps.

[0080] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

[0081] Throughout this description, numerous specific details, such as examples of components and / or methods, are provided to provide a complete understanding of embodiments of the invention. However, those skilled in the art will recognize that embodiments of the invention may be practiced without one or more of these specific details or by other devices, systems, components, methods, parts, materials, components, etc. In other instances, well-known structures, materials, or operations have not been specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.

[0082] Throughout this specification, the terms "an embodiment," "embodiment," or "specific embodiment" refer to a particular feature, structure, or characteristic described in connection with an embodiment that is included in at least one embodiment of the invention, but not necessarily in all embodiments. Therefore, the various representations of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout the specification do not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic of any specific embodiment of the invention can be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be based on the teachings herein and will be considered part of the spirit and scope of the invention.

[0083] It should also be understood that one or more of the elements shown in the figures may be implemented in a more separate or more integrated manner, or may even be removed because they are inoperable in certain circumstances or provided because they may be useful for a particular application.

[0084] Furthermore, unless otherwise expressly stated, any arrows in the accompanying drawings should be considered illustrative only and not limiting. Additionally, unless otherwise stated, the term "or" as used herein is generally intended to mean "and / or". Where a term is anticipated to provide a separation or combination capability that is unclear, a combination of components or steps will also be considered as indicated.

[0085] As used herein and throughout the claims below, unless otherwise specified, “a” and “the” include the plural references. Similarly, as used herein and throughout the claims below, unless otherwise specified, “in” means “in” and “on”.

[0086] The above description of the embodiments shown in this invention (including the content set forth in the abstract of the specification) is not intended to be an exhaustive enumeration or to limit the invention to the precise forms disclosed herein. Although specific embodiments and examples of the invention have been described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the invention, as will be recognized and understood by those skilled in the art. As indicated, these modifications can be made to the invention in accordance with the above description of the embodiments described herein, and such modifications will be within the spirit and scope of the invention.

[0087] This document has generally described the systems and methods in detail to aid in understanding the invention. Furthermore, various specific details have been set forth to provide a general understanding of embodiments of the invention. However, those skilled in the art will recognize that embodiments of the invention can be practiced without one or more specific details, or using other means, systems, accessories, methods, components, materials, parts, etc. In other instances, well-known structures, materials, and / or operations have not been specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.

[0088] Therefore, although the invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are also within the scope of the foregoing disclosure, and it should be understood that in some cases, certain features of the invention may be adopted without departing from the scope and spirit of the invention and without corresponding use of other features. Thus, many modifications can be made to adapt a particular environment or material to the essential scope and spirit of the invention. The invention is not intended to be limited to the specific terminology used in the following claims and / or the specific embodiments disclosed as the best mode for carrying out the invention, but the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Therefore, the scope of the invention will be defined only by the appended claims.

Claims

1. A method for calibrating navigation information for garden tools, characterized in that, The method is applied to garden tools, which are connected to a base station. The garden tools obtain RTK differential information from the base station and correct their positioning information based on this RTK differential information to obtain RTK positioning information. A charging station is located within the working area of ​​the garden tools. The method includes the following steps: A charging station access event was detected; Obtain the current RTK positioning information of the gardening tool and obtain the charging station location information from the preset map information; Calculate the offset between the RTK positioning information and the charging station location information; When the offset is greater than a preset threshold, it is determined whether there is a base station movement event or a charging station movement event. When a base station movement event occurs, the offset is saved, or the positions of all points in the map information are shifted as a whole according to the offset, so that the charging station location information in the map information is consistent with the RTK positioning information; When a charging station movement event occurs, the charging station location information in the map information is individually shifted according to the offset to make the charging station location information consistent with the RTK positioning information.

2. The garden tool navigation information calibration method according to claim 1, characterized in that, The charging station access event includes: accessing a single charging station; When the offset is greater than a preset threshold, determining whether a base station movement event or a charging station movement event exists includes the following steps: When the offset exceeds a preset threshold, a location change notification is generated, indicating to the user that the current map is unavailable.

3. The garden tool navigation information calibration method according to claim 2, characterized in that, The steps for determining whether a base station movement event or a charging station movement event exists include: Receive input information from the user based on the location change notification; When the input information contains base station movement information, it is determined that the base station movement event exists; When the input information contains charging station movement information, it is determined that the charging station movement event exists.

4. The garden tool navigation information calibration method according to claim 1, characterized in that, The charging station access event includes: sequentially accessing multiple charging stations; The steps of obtaining the current RTK positioning information of the gardening tool and obtaining the charging station location information from the preset map information include: When the gardening tool is connected to each charging station, the current RTK positioning information of the gardening tool is obtained; Obtain the location information of all connected charging stations from the preset map information.

5. The garden tool navigation information calibration method according to claim 4, characterized in that, When connecting to two charging stations in sequence, The first RTK positioning information when the garden tools are connected to the first charging station; The second RTK positioning information when the garden tools are connected to the second charging station; The step of determining whether a base station movement event or a charging station movement event exists includes: determining whether the relative positional relationship between the first RTK positioning information and the second RTK positioning information is consistent with the relative positional relationship between the first charging station and the second charging station in the map information; When the relative positional relationship between the first RTK positioning information and the second RTK positioning information is consistent with the relative positional relationship between the first charging station and the second charging station in the map information, it is determined that the base station movement event exists; When the relative positional relationship between the first RTK positioning information and the second RTK positioning information is inconsistent with the relative positional relationship between the first charging station and the second charging station in the map information, it is determined that there is a charging station movement event.

6. The garden tool navigation information calibration method according to claim 1, characterized in that, After saving the offset, the process also includes: The offset is sent to the base station so that the base station can correct its location information based on the offset.

7. The garden tool navigation information calibration method according to claim 3, characterized in that, The input information is the input information received by the wireless communication module from the mobile terminal.

8. A garden tool navigation information calibration device, characterized in that, include: The detection module is used to detect charging station access events; The location acquisition module is used to acquire the current RTK positioning information of the gardening tool and to acquire the charging station location information from the preset map information; The calculation module is used to calculate the offset between the RTK positioning information and the charging station location information; The execution module is used to determine whether there is a base station movement event or a charging station movement event when the offset is greater than a preset threshold. When a base station movement event occurs, the offset is saved, or the positions of all points in the map information are shifted as a whole according to the offset, so that the charging station location information in the map information is consistent with the RTK positioning information; When a charging station movement event occurs, the charging station location information in the map information is individually shifted according to the offset to make the charging station location information consistent with the RTK positioning information.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the garden tool navigation information calibration method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the garden tool navigation information calibration method according to any one of claims 1 to 7.

11. A garden tool, characterized in that, Includes the garden tool navigation information calibration device as described in claim 8.

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