RFID-based lawn mower repositioning method and system

Abstract

The application discloses a mowing machine repositioning method and system based on RFID, and the method comprises the following steps: S10, acquiring the position coordinates of a plurality of RFID markers arranged according to a preset rule; S20, acquiring the theoretical position data and real-time position data of the mowing machine; S30, judging whether the position of the mowing machine is accurate according to the theoretical position data and the real-time position data, and if yes, returning to the step S20, otherwise, executing the step S40; S40, performing repositioning processing according to the position coordinates of the RFID markers to correct the position of the mowing machine. The application can improve the repositioning success rate of the mowing machine, improve the accuracy of the position after repositioning, shorten the time required for repositioning processing, improve the working efficiency of the mowing machine, make the mowing machine complete the mowing task faster, and improve the user experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the lawn mower technical field, especially to a lawn mower repositioning method and system based on RFID. BACKGROUND

[0002] In practical application, due to the fact that the working site of the lawn mower may have obstacles or uneven road surface, etc., the position of the lawn mower is prone to deviate, which affects the mowing effect, therefore, in order to ensure that the lawn mower has good mowing effect, it is necessary to reposition the lawn mower when it deviates seriously.

[0003] In the prior art, the repositioning scheme of the intelligent lawn mower has defects such as low repositioning success rate, inaccurate positioning, and long time required for repositioning, which seriously affects the user experience. SUMMARY

[0004] The technical problem to be solved by the present application is to provide a lawn mower repositioning method and system based on RFID.

[0005] The technical solution adopted by the present application to solve the technical problem is: a lawn mower repositioning method based on RFID is constructed, comprising the following steps:

[0006] S10, acquiring the position coordinates of a plurality of RFID markers arranged according to a preset rule;

[0007] S20, acquiring the theoretical position data and real-time position data of the lawn mower;

[0008] S30, judging whether the position of the lawn mower is accurate according to the theoretical position data and the real-time position data, if yes, returning to the step S20, otherwise executing the step S40;

[0009] S40, repositioning according to the position coordinates of the RFID markers to correct the position of the lawn mower.

[0010] In the lawn mower repositioning method based on RFID, in the step S30, comprising:

[0011] acquiring the theoretical position coordinates of the lawn mower at the current time according to the theoretical position data, and acquiring the real-time position coordinates of the lawn mower at the current time according to the real-time position data, judging whether the deviation value between the theoretical position coordinates and the real-time position coordinates is greater than a preset error value, if yes, determining that the position of the lawn mower is inaccurate, otherwise determining that the position of the lawn mower is accurate.

[0012] In the lawn mower repositioning method based on RFID, in the step S30, comprising:

[0013] The theoretical trajectory of the mower is fitted according to the theoretical position data, and the real-time trajectory of the mower is fitted according to the real-time position data, and whether the theoretical trajectory is consistent with the real-time trajectory is judged, if yes, it is determined that the position of the mower is accurate, otherwise, it is determined that the position of the mower is inaccurate.

[0014] In the RFID-based mower repositioning method, in the step S10, the preset rule comprises: setting the RFID markers on the outer circle boundary according to a preset interval distance.

[0015] In the RFID-based mower repositioning method, in the step S10, the preset rule comprises: setting the RFID markers on the corner positions of the outer circle boundary.

[0016] In the RFID-based mower repositioning method, in the step S40, the repositioning processing according to the position coordinates of the RFID markers comprises: controlling the mower to travel along the outer circle boundary, performing RFID real-time detection processing during the travel, and switching the current position coordinates of the mower to the position coordinates of the RFID marker when any RFID marker is detected.

[0017] The application also constructs an RFID-based mower repositioning system, comprising:

[0018] A plurality of RFID markers set according to a preset rule;

[0019] A marker coordinate acquisition unit for acquiring the position coordinates of the RFID markers;

[0020] A position data acquisition unit for acquiring the theoretical position data and real-time position data of the mower;

[0021] A judgment unit for judging whether the position of the mower is accurate according to the theoretical position data and the real-time position data;

[0022] A repositioning processing unit for performing repositioning processing according to the position coordinates of the RFID markers to correct the position of the mower when the position of the mower is inaccurate.

[0023] In the RFID-based mower repositioning system, the plurality of RFID markers set according to the preset rule are RFID markers set on the outer circle boundary according to a preset interval distance.

[0024] In the RFID-based lawn mower repositioning system, the RFID markers arranged according to the preset rule are RFID markers arranged at corner positions of the outer circle boundary.

[0025] In the RFID-based lawn mower repositioning system, in the repositioning processing unit, the repositioning processing according to the position coordinates of the RFID markers comprises: controlling the lawn mower to travel along the outer circle boundary, performing RFID real-time detection processing during the traveling, and switching the current position coordinates of the lawn mower to the position coordinates of the RFID marker when any RFID marker is detected.

[0026] The RFID-based lawn mower repositioning method has the following beneficial effects: the position coordinates of a plurality of RFID markers arranged according to a preset rule are first acquired; then, theoretical position data and real-time position data of the lawn mower are acquired; whether the position of the lawn mower is accurate is determined according to the theoretical position data and the real-time position data; when it is found that the position of the lawn mower is inaccurate, repositioning processing is performed according to the position coordinates of the RFID markers to correct the position of the lawn mower, so that the lawn mower continues to perform the mowing task after correcting the current heading and position. The implementation of the method can not only improve the repositioning success rate of the lawn mower, but also improve the accuracy of the position after repositioning, shorten the time required for repositioning processing, improve the working efficiency of the lawn mower, make the lawn mower complete the mowing task faster, and improve the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0027] The application will be further described below with reference to the drawings and embodiments. In the drawings:

[0028] Figure 1 is a structural diagram of the RFID-based lawn mower repositioning method in some examples of the application;

[0029] Figure 2 is a distribution diagram of the RFID markers in some embodiments of the application;

[0030] Figure 3 is a structural diagram of the RFID-based lawn mower repositioning system in some embodiments of the application. DETAILED DESCRIPTION

[0031] In order to have a clearer understanding of the technical features, objectives and effects of the application, the specific embodiments of the application will be described in detail with reference to the drawings.

[0032] It should be noted that the flowcharts shown in the drawings are only illustrative, and do not necessarily include all contents and operations / steps, nor are they necessarily executed in the order described. For example, some operations / steps can be further decomposed, and some operations / steps can be combined or partially combined, so the actual execution order can be changed according to the actual situation.

[0033] The block diagrams shown in the drawings are only functional entities, and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0034] Reference Figure 1 The present application provides an RFID-based lawn mower repositioning method, comprising steps S10, S20, S30 and S40.

[0035] S10, obtain the position coordinates of a plurality of RFID markers arranged according to a preset rule. Specifically, when mapping, the current position coordinates of the lawn mower are stored as the position coordinates of each RFID marker identified, and the position coordinates of all RFID markers are stored to prepare for subsequent steps. Among them, the RFID marker can be a feature peg containing an RFID radio frequency coil.

[0036] In some embodiments, the preset rule in step S10 includes arranging the RFID markers on the outer boundary at a preset interval distance. Specifically, the RFID markers are arranged on the outer boundary at a preset interval distance, which can limit the RFID markers within a certain range, so that the lawn mower can quickly detect the RFID markers when performing the repositioning process in step S40, which is convenient for position correction of the lawn mower and shortens the time required for repositioning. Among them, the outer boundary refers to the boundary of the site where the lawn mower performs the mowing task. It can be understood that setting the preset interval distance to a relatively small value can shorten the time required for repositioning, and setting it to a relatively large value can reduce the number of RFID markers to be set, thereby reducing costs.

[0037] Further, the preset rule in step S10 includes arranging the RFID markers at the corner positions of the outer boundary. Since the corners are more unique than straight lines, and the lawn mower stays at the corner positions for a relatively longer time, it is convenient for the lawn mower to identify the RFID markers, which is conducive to improving the accuracy of position correction. Figure 2 An embodiment distribution diagram of the RFID markers arranged according to the preset rule; wherein, Figure 2The reference numeral 1 in the figure corresponds to an RFID marker, and the reference numeral 2 corresponds to a base station of the mower (for providing charging and other services for the mower).

[0038] S20, acquiring theoretical position data and real-time position data of the mower. Specifically, according to the travel instruction of the mower, the theoretical position coordinates of the mower in the process of traveling on the simulation map are calculated, and these position coordinates constitute the theoretical position data; for example, if the travel instruction makes the mower travel a distance B in the positive direction of the X-axis from point A to point C, then the horizontal coordinate of point A plus the distance B can obtain the theoretical position coordinates of point C. For the real-time position data, the actual travel distance and direction of the mower are calculated through the IMU sensor and the odometer, and then the actual position coordinates of the mower at this moment are calculated based on the actual position coordinates at the previous moment and combined with the actual travel distance and direction controlled this time, and these actual position coordinates constitute the real-time position data.

[0039] S30, judging whether the position of the mower is accurate according to the theoretical position data and the real-time position data, if yes, returning to step S20, otherwise executing step S40.

[0040] In some embodiments, in step S30, judging whether the position of the mower is accurate according to the theoretical position data and the real-time position data comprises: acquiring the theoretical position coordinates of the mower at the current moment according to the theoretical position data, and acquiring the real-time position coordinates of the mower at the current moment according to the real-time position data, judging whether the deviation value between the theoretical position coordinates at the current moment and the real-time position coordinates at the current moment is greater than a preset error value, if yes, determining that the position of the mower is inaccurate, otherwise determining that the position of the mower is accurate.

[0041] In some embodiments, in step S30, judging whether the position of the mower is accurate according to the theoretical position data and the real-time position data comprises: fitting the theoretical trajectory of the mower according to the theoretical position data, and fitting the real-time trajectory of the mower according to the real-time position data, judging whether the theoretical trajectory is consistent with the real-time trajectory, if yes, determining that the position of the mower is accurate, otherwise determining that the position of the mower is inaccurate.

[0042] Specifically, the theoretical trajectory of the mower is generated by linear fitting of the theoretical position data, and the real-time trajectory of the mower is generated by linear fitting of the real-time position data. The coincidence degree analysis is performed on the theoretical trajectory and the real-time trajectory, if the coincidence degree ratio of the two is less than a preset coincidence degree standard, it is determined that the position of the mower is inaccurate, otherwise it is determined that the position of the mower is accurate.

[0043] S40, repositioning according to the position coordinates of the RFID markers, correcting the position of the mower, so that the mower continues to perform the mowing task after correcting the current heading and position. In some embodiments, after controlling the mower to continue to perform the mowing task, it can return to step S20.

[0044] Further, the repositioning in step S40 according to the position coordinates of the RFID markers includes: controlling the mower to travel along the outer ring boundary, performing real-time RFID detection processing during the travel, and switching the current position coordinates of the mower to the position coordinates of the RFID marker when any RFID marker is detected. It can be understood that, due to the unique ID feature of the RFID marker, when the RFID marker is identified, the current position of the mower can be determined, and then the current position of the mower is repositioned. Not only can the success rate of repositioning of the mower be improved, but also the accuracy of the repositioning processing can be improved, and the identification time required by the RFID marker is short, which is beneficial to shorten the time required for the repositioning processing.

[0045] Reference Figure 3 The application also constructs an RFID-based mower repositioning system, which includes: a plurality of RFID markers, a marker coordinate acquisition unit, a position data acquisition unit, a judgment unit, and a repositioning processing unit.

[0046] For the RFID markers, they are set according to a preset rule. The RFID markers can be feature nails containing RFID radio coils.

[0047] In some embodiments, the plurality of RFID markers set according to the preset rule can be RFID markers set on the outer ring boundary according to a preset interval distance.

[0048] Further, the plurality of RFID markers set according to the preset rule can be RFID markers set at the corner positions of the outer ring boundary.

[0049] The marker coordinate acquisition unit is used to acquire the position coordinates of the RFID markers.

[0050] The position data acquisition unit is used to acquire the theoretical position data and real-time position data of the mower.

[0051] The judgment unit is used to judge whether the position of the mower is accurate according to the theoretical position data and the real-time position data.

[0052] In some embodiments, the judging unit is configured to acquire a theoretical position coordinate of the mower at a current time according to the theoretical position data, and acquire a real-time position coordinate of the mower at the current time according to the real-time position data, and determine that the position of the mower is inaccurate when a deviation value between the theoretical position coordinate at the current time and the real-time position coordinate at the current time is greater than a preset error value, and determine that the position of the mower is accurate when the deviation value is less than or equal to the preset error value.

[0053] Further, the judging unit can further fit a theoretical trajectory of the mower according to the theoretical position data, and fit a real-time trajectory of the mower according to the real-time position data, and determine that the position of the mower is accurate when the theoretical trajectory is consistent with the real-time trajectory, and determine that the position of the mower is inaccurate when the theoretical trajectory is inconsistent with the real-time trajectory.

[0054] The repositioning processing unit is configured to perform repositioning processing according to the position coordinates of the RFID markers to correct the position of the mower when the position of the mower is inaccurate.

[0055] In some embodiments, the repositioning processing according to the position coordinates of the RFID markers in the repositioning processing unit includes: controlling the mower to travel along the outer ring boundary, performing RFID real-time detection processing during the traveling, and switching the current position coordinate of the mower to the position coordinate of the RFID marker when any RFID marker is detected.

[0056] It can be understood that the present application first acquires position coordinates of a plurality of RFID markers arranged according to a preset rule, then acquires theoretical position data and real-time position data of the mower, and then determines whether the position of the mower is accurate according to the theoretical position data and the real-time position data, and performs repositioning processing according to the position coordinates of the RFID markers to correct the position of the mower when it is found that the position of the mower is inaccurate, so that the mower continues to perform the mowing task after correcting the current heading and position. The implementation of the present application not only can improve the success rate of repositioning of the mower, but also can improve the accuracy of the position after repositioning, shorten the time required for repositioning processing, improve the working efficiency of the mower, make it can complete the mowing task faster, and improve the user experience.

[0057] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to each other. For the device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the related parts can be referred to the method part.

[0058] Those skilled in the art will further appreciate that the units and algorithm steps of the examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or any combination thereof. To clearly illustrate this interchangeability of hardware and software, various examples have been described herein in terms of their functionality, which has been described generally and symbolically in flow chart illustrations using functional blocks and various processing steps. Whether such features are implemented in hardware or software depends on the particular application and design constraints imposed on the overall system. Skilled artisans can implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

[0059] The steps of a method or algorithm described in connection with the embodiments disclosed herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can reside in RAM, flash memory, ROM, electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. The storage medium can be coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium can be integral to the processor. The processor and the storage medium can reside in an ASIC.

[0060] In the foregoing description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application can be practiced without some or all of these specific details. In other instances, well known processes have not been described in detail in order not to unnecessarily obscure the present application.

Claims

1. An RFID-based method of repositioning a lawnmower, characterized by, The method comprises the following steps: S10, acquiring position coordinates of a plurality of RFID markers arranged according to a preset rule; S20, acquiring theoretical position data and real-time position data of the mower; The theoretical position data comprises a plurality of theoretical position coordinates calculated by the mower according to travel instructions during simulated map travel, and the real-time position data comprises a plurality of actual position coordinates calculated by an IMU sensor and an odometer; S30, judging whether the position of the mower is accurate according to the theoretical position data and the real-time position data, returning to the step S20 if yes, and executing the step S40 if no; S40, performing repositioning processing according to the position coordinates of the RFID markers to correct the position of the mower; In the step S30, the following is included: Theoretical position coordinates of the mower at the current time are acquired according to the theoretical position data, real-time position coordinates of the mower at the current time are also acquired according to the real-time position data, and it is judged whether the deviation value of the theoretical position coordinates and the real-time position coordinates is greater than a preset error value, the position of the mower is determined to be inaccurate if yes, and the position of the mower is determined to be accurate if no; In the step S30, the following is also included: A theoretical trajectory of the mower is fitted according to the theoretical position data, and a real-time trajectory of the mower is fitted according to the real-time position data, and it is judged whether the theoretical trajectory and the real-time trajectory are consistent, the position of the mower is determined to be accurate if yes, and the position of the mower is determined to be inaccurate if no; In the step S40, the repositioning processing according to the position coordinates of the RFID markers comprises: controlling the mower to travel along the outer ring boundary, performing RFID real-time detection processing during the travel, and switching the current position coordinates of the mower to the position coordinates of the RFID marker when any RFID marker is detected.

2. The RFID-based lawnmower repositioning method of claim 1, wherein, In the step S10, the preset rule comprises: arranging the RFID markers on the outer ring boundary according to a preset interval distance.

3. The RFID-based lawnmower repositioning method of claim 1, wherein, In the step S10, the preset rule comprises: arranging the RFID markers at corner positions of the outer ring boundary.

4. An RFID-based lawnmower repositioning system, characterized by The method comprises the following steps: A plurality of RFID markers arranged according to a preset rule; A marker coordinate acquisition unit for acquiring position coordinates of the RFID markers; A position data acquisition unit for acquiring theoretical position data and real-time position data of the mower; The theoretical position data comprises a plurality of theoretical position coordinates calculated by the mower according to travel instructions during simulated map travel, and the real-time position data comprises a plurality of actual position coordinates calculated by an IMU sensor and an odometer; The judgment unit is used for judging whether the position of the mower is accurate according to the theoretical position data and the real-time position data, comprising: obtaining the theoretical position coordinate of the mower at the current time according to the theoretical position data, and further obtaining the real-time position coordinate of the mower at the current time according to the real-time position data; when the deviation value between the theoretical position coordinate and the real-time position coordinate is greater than a preset error value, it is determined that the position of the mower is inaccurate; when the deviation value is less than or equal to the preset error value, it is determined that the position of the mower is accurate; the judgment unit further fits the theoretical trajectory of the mower according to the theoretical position data, and fits the real-time trajectory of the mower according to the real-time position data; when the theoretical trajectory is consistent with the real-time trajectory, it is determined that the position of the mower is accurate; if the theoretical trajectory is inconsistent with the real-time trajectory, it is determined that the position of the mower is inaccurate; The reposition processing unit is used for repositioning processing according to the position coordinates of the RFID markers to correct the position of the mower when the position of the mower is inaccurate. In the reposition processing unit, the reposition processing according to the position coordinates of the RFID markers comprises: controlling the mower to travel along the outer ring boundary, performing RFID real-time detection processing in the process of traveling, and switching the current position coordinate of the mower to the position coordinate of the RFID marker when any RFID marker is detected.

5. The RFID-based lawnmower repositioning system of claim 4, wherein, The RFID markers set according to the preset rule are RFID markers set on the outer ring boundary according to a preset interval distance.

6. The RFID-based lawnmower repositioning system of claim 4, wherein, The RFID markers set according to the preset rule are RFID markers set at the corner positions of the outer ring boundary.

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