Position correction method and device for self-moving device, self-moving device and medium

Abstract

The application relates to the technical field of self-moving device positioning, and discloses a self-moving device position correction method and device, a self-moving device and a medium, the method comprising: acquiring a working map; the working map comprising initial positioning information of a base station; calculating an offset of the base station according to current positioning information of the base station and the initial positioning information; and when the offset is not greater than a preset threshold, correcting position information of the self-moving device in the working map by using the offset. In the foregoing manner, when the offset of the base station before and after the position change is not greater than the threshold, the position coordinates of the self-moving device are adaptively adjusted by using the offset, the phenomenon of inaccurate positioning of the self-moving device can be avoided after the position of the base station is moved without reconstructing the map, the accuracy of positioning of the self-moving device in the navigation process is ensured, and the application range of the self-moving device is widened.

Description

Technical Field

[0001] This application relates to the field of self-moving device positioning technology, and in particular to a method, apparatus, self-moving device and medium for position correction of self-moving devices. Background Technology

[0002] Real-time kinematic (RTK) carrier phase differential technology is a differential method that can process carrier phase observations from two observation stations in real time. The two observation stations typically include an RTK base station with a known location and a rover station whose location needs to be determined; the rover station is usually the user receiver. The RTK base station transmits the carrier phase data it has acquired to the user receiver, and the user receiver's coordinates are determined based on the known location of the RTK base station and differential calculations.

[0003] Currently, in the field of intelligent self-moving devices, rapid and high-precision positioning is generally achieved through synchronous satellite observation data between RTK base stations and the self-moving device (user receiver). However, in daily use, RTK base stations may shut down or move, causing their locations to change. After a change in location, the map built based on the previous location becomes unusable for navigation. The self-moving device must be rebuilt according to the changed location. This limits the applicable scenarios for self-moving devices, resulting in a limited scope of application. Summary of the Invention

[0004] This application provides a method, apparatus, self-moving device, and medium for correcting the location of a self-moving device, in order to solve the problem of the limited applicability of self-moving devices.

[0005] In a first aspect, this application provides a method for correcting the location of a self-moving device, the method comprising:

[0006] Obtain a working map; the working map includes the initial positioning information of the base station;

[0007] The offset of the base station is calculated based on the current positioning information and the initial positioning information of the base station;

[0008] When the offset is not greater than a preset threshold, the offset is used to correct the position information of the self-moving device in the working map.

[0009] Secondly, this application also provides a position correction device for a self-moving device, the device comprising:

[0010] A working map acquisition module is used to acquire a working map; the working map includes the initial positioning information of the base station;

[0011] The offset calculation module is used to calculate the offset of the base station based on the current positioning information and the initial positioning information of the base station.

[0012] The position correction module is used to correct the position information of the self-moving device in the working map by using the offset when the offset is not greater than a preset threshold.

[0013] Thirdly, this application also provides a self-moving device, which includes a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program and, when executing the computer program, implement the position correction method of the self-moving device as described above.

[0014] Fourthly, this application also provides a computer-readable medium storing a computer program that, when executed by a processor, causes the processor to implement the position correction method for the self-moving device as described above.

[0015] This application discloses a method, apparatus, device, and medium for correcting the position of an automated mobile device. By acquiring a working map, the initial positioning information of a base station is determined from the working map. Then, based on the current positioning information and the initial positioning information of the base station, the offset of the base station can be calculated. If the offset is not greater than a preset threshold, the position information of the automated mobile device in the working map is corrected using the offset. Through this method, the offset before and after the base station position change is calculated, and if the offset is not greater than the threshold, the position coordinates of the automated mobile device are adaptively adjusted using this offset. This achieves the goal of avoiding inaccurate positioning of the automated mobile device even after the base station position has moved, without needing to rebuild the map, ensuring the accuracy of positioning during navigation and broadening the applicability of automated mobile devices. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic flowchart illustrating a position correction method for a self-moving device provided in the first embodiment of this application;

[0018] Figure 2 A schematic flowchart illustrating a position correction method for a self-moving device provided in the second embodiment of this application;

[0019] Figure 3This is a schematic diagram showing the positional offset between the base station and the self-moving device;

[0020] Figure 4 A schematic block diagram of a position correction device for a self-moving device provided for embodiments of this application;

[0021] Figure 5 A schematic block diagram of the structure of a self-moving device provided for an embodiment of this application. Detailed Implementation

[0022] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0024] It should be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0025] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0026] This application provides a method, apparatus, device, and medium for correcting the position of a self-moving device. The method can be applied to self-moving devices, and when the offset before and after a base station location change is determined to be no greater than a threshold, the position coordinates of the self-moving device are adaptively adjusted based on the offset, avoiding positioning errors caused by base station movement. This allows the position information of the self-moving device on the working map to be corrected based on the offset after base station movement, enabling accurate positioning without the need to rebuild the map, thus solving the problem of limited applicability of self-moving devices. The self-moving device may include a sweeping robot, a handling robot, a food delivery robot, or a self-moving gardening device. The self-moving gardening device includes a lawnmower robot, a leaf-collecting robot, a snow-sweeping robot, or a combined robot integrating multiple functions.

[0027] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0028] Please see Figure 1 , Figure 1 This is a schematic flowchart illustrating a position correction method for a self-moving device provided in the first embodiment of this application. This position correction method can be applied to self-moving devices to adaptively adjust the position coordinates of the self-moving device through an offset, making the self-moving device more accurately positioned during navigation. It avoids inaccurate positioning of the self-moving device even after the base station location has moved, without requiring map reconstruction, thus ensuring the accuracy of positioning during navigation and broadening the applicability of self-moving devices.

[0029] like Figure 1 As shown, the location correction method for the self-moving device specifically includes steps S10 to S30.

[0030] Step S10: Obtain the working map; the working map includes the initial positioning information of the base station.

[0031] In a specific embodiment, if the self-moving device is a lawnmower robot, the corresponding working map may include charging piles, map boundaries, connecting lines, restricted areas, user-defined working paths, and the location information of several base stations within a preset range. The working map of the self-moving device is constructed by the user through a mobile terminal controlling the self-moving device, and the RTK positioning information of the base stations is stored when the map is saved. A differential method for real-time processing of carrier phase observations from two measurement stations is used, sending the carrier phase data collected by the base station to the receiver for differential calculation of coordinates.

[0032] High-precision positioning information, such as GPS and GLONASS, typically uses carrier phase observations. RTK positioning technology is a real-time dynamic positioning technology based on carrier phase observations. It can provide real-time three-dimensional positioning results of an observation station in a specified coordinate system, achieving centimeter-level accuracy. In RTK operation mode, the base station transmits its observations and station coordinate information to the rover (i.e., the self-moving device) via a data link. The rover not only receives data from the base station via the data link but also collects GPS observation data, assembles it into differential observations within the system for real-time processing, and simultaneously provides centimeter-level positioning results.

[0033] The Earth coordinates of an automatic mobile device are unique. After the automatic mobile device is powered on, it can match the initial location information in the preset working map library to determine the working map. Alternatively, it can automatically retrieve the working map used during the last power-on.

[0034] The initial positioning information of a base station is the base station positioning information in the working map obtained by the mobile device. The initial positioning information indicates the original position of the base station in the working map. The initial positioning information includes the initial longitude information, initial latitude information, and initial altitude information of the base station, represented as (X0, Y0, Z0).

[0035] It's easy to understand that when using a self-moving device to build a working map, the user controls the device to travel along the edge of the work area using a mobile terminal, thus obtaining a preliminary working map. During this process, because the self-moving device communicates with the base station in real time, it can record its relative position to the base station. Here, the base station's initial positioning information is its coordinates on the world map. When creating the working map, the base station's location is used as the origin of the working map's coordinates; that is, the base station's initial positioning information and the origin of the working map are mutually mapped. Based on this, the self-moving device can record its trajectory during its travel along the edge, and the world coordinates corresponding to each point on this trajectory can be mapped to the coordinates of the working map, thus obtaining a preliminary working map of the work area. Based on this preliminary working map, the user can also control the self-moving device to create restricted areas within the working map using the mobile terminal.

[0036] Taking a lawnmower as an example, the corresponding work area can be the lawn being maintained by the lawnmower. Users can control the self-moving device via a mobile terminal to drive along the edge of the lawn, obtaining a boundary map of the lawn, i.e., a preliminary working map. If there are obstacles such as flower beds or swimming pools in the lawn, users can also control the self-moving device via the mobile terminal to create restricted areas around these obstacles.

[0037] In practical applications, since automated mobile devices need to communicate with base stations in real time during operation, if the communication quality is poor due to obstructions, users can improve the communication quality by adjusting the base station's location. In related technical solutions, after the user adjusts the base station's location, a new map needs to be reconstructed based on the adjusted location to avoid positioning errors in the automated mobile device. This significantly impacts the operational efficiency of the automated mobile device. The solution provided in this embodiment calculates the base station offset based on the current positioning information after the base station's movement and the initial positioning information before the movement, and uses this offset to correct the location of the automated mobile device.

[0038] Step S20: Calculate the offset of the base station based on the current positioning information and the initial positioning information of the base station.

[0039] In a specific embodiment, the current location information of the base station is the real-time location information of the base station after it has been moved. Similarly, the current location information of the base station includes the current longitude, current latitude, and current altitude information of the base station, represented as (X1, Y1, Z1).

[0040] The offset represents the degree of deviation between the base station's current positioning information and its initial positioning information. Here, the offset information can also be represented as coordinate increments (△X, △Y, △Z). In practice, the offset information (△X, △Y, △Z) can be calculated using the current position coordinates in the current positioning information and the initial position coordinates in the initial positioning information, as follows:

[0041] (△X, △Y, △Z)=(X1-X0, Y1-Y0, Z1-Z0).

[0042] In this embodiment, since the current location information of the base station is the real-time location information after the base station has been moved, the current location information remains a set of real-time location information regardless of how many times the base station is moved. Once the current location information of the base station is determined after it has been moved, the offset of the base station can be calculated by combining it with the initial location information of the base station.

[0043] It should be noted that since the offset represents the degree of deviation between the base station's current positioning information and its initial positioning information, in related technologies, this offset can also be used to correct the working map. However, considering that correcting the working map requires coordinate conversion of all coordinate points on the working map, if the working map is large, this correction process will take a long time. This can easily lead to the mobile device not responding to operation commands in a timely manner, resulting in a poor user experience. Therefore, in all embodiments of this application, the offset is not used to correct the working map, that is, it is not used to adjust the coordinates of individual points on the working map.

[0044] In all embodiments of this application, if the offset of the base station before and after the location adjustment is within a certain threshold range, it indicates that only the location of the base station has been fine-tuned. At this time, the offset can be used to correct the location information of the self-moving device in the working map.

[0045] Understandably, in some embodiments, if the base station is significantly offset before and after the location adjustment, the user may be advised to rebuild the map.

[0046] Step S30: When the offset is not greater than a preset threshold, the position information of the self-moving device in the working map is corrected using the offset.

[0047] In this embodiment, the location information of the self-moving device in the working map refers to the coordinate information of the self-moving device relative to the origin of the map coordinates.

[0048] In practical implementation, an offset interface can be configured. When positioning the self-moving device, the offset can be input through this offset interface and taken into account in the positioning process.

[0049] In a specific embodiment, the relationship between the offset and a preset threshold is determined, and the offset distance is calculated using the current positioning information and the initial positioning information. When △D is not greater than the preset threshold, the current position coordinates of the self-moving device are obtained, and the current position coordinates are added with the offset to obtain the corrected position information of the self-moving device in the working map.

[0050] The current location coordinates of the self-moving device are the coordinates on the working map, which are essentially still based on the base station as the origin, representing the relative position of the self-moving device and the base station. The reason why the location information of the self-moving device on the working map can be corrected by adding an offset to the current location coordinates is that the offset can be expressed as an increment in each dimension (i.e., the three dimensions of X, Y, and Z).

[0051] This embodiment discloses a method, apparatus, device, and medium for correcting the position of an automated mobile device. The method includes acquiring a working map; the working map includes initial positioning information of a base station; calculating the offset of the base station based on its current positioning information and the initial positioning information; and correcting the position information of the automated mobile device in the working map using the offset when the offset is not greater than a preset threshold. Through this method, this application adaptively adjusts the position coordinates of the automated mobile device using the offset when the offset before and after a change in the base station's position is determined to be no greater than a threshold. This prevents positioning deviations caused by base station movement, and avoids inaccurate positioning of the automated mobile device even after the base station's position has moved, without requiring map reconstruction. This ensures the accuracy of positioning during navigation and broadens the applicability of automated mobile devices.

[0052] In one embodiment, based on Figure 1 In the illustrated embodiment, step S20 includes:

[0053] The difference between the location coordinates corresponding to the current location information and the location coordinates corresponding to the initial location information is calculated to obtain the offset of the base station.

[0054] In this embodiment, the offset represents the difference between the base station's current positioning information and its initial positioning information. The offset is also based on the change in position dimension obtained from the world coordinate system. Within the world coordinate system framework, the offset is calculated based on the initial positioning information and the current positioning information before and after the base station's movement. Since the self-moving device can record its trajectory during its travel along the edge, the world coordinates corresponding to each point on this trajectory can also be mapped to the coordinates of the working map. Therefore, the offset can be mapped to the working map. The offset can be calculated using the current position coordinates in the current positioning information and the initial position coordinates in the initial positioning information, as follows:

[0055] (△X, △Y, △Z)=(X1-X0, Y1-Y0, Z1-Z0);

[0056] Where (X1, Y1, Z1) are the current position coordinates in the current positioning information; (X0, Y0, Z0) are the initial position coordinates in the initial positioning information.

[0057] Please see Figure 2 , Figure 2This is a schematic flowchart illustrating a position correction method for a self-moving device according to a second embodiment of this application. This position correction method can be applied to self-moving devices to determine, by acquiring the first position coordinates of the self-moving device relative to a base station and pre-calculated offset information, a second position coordinate of the self-moving device relative to the base station after a change in the base station's position. The second position coordinates are corrected position coordinates, making the self-moving device more accurately positioned during navigation and broadening the applicability of the self-moving device.

[0058] In one embodiment, based on Figure 1 The illustrated embodiment, as Figure 2 As shown, step S30 specifically includes steps S301 to S302.

[0059] Step S301: Obtain the first location coordinates of the self-moving device relative to the base station.

[0060] In a specific embodiment, since the working map is based on the location information of the base station, and then the location of each position on the map is located, once the location of the base station changes, it means that the location information of the acquired mobile device will also be deviated, and this deviation is the offset (△X, △Y, △Z) mentioned above.

[0061] The Earth coordinates of an automatic mobile device are unique. After the automatic mobile device is powered on, it can match the initial location information in the preset working map library to determine the working map. Alternatively, it can automatically retrieve the working map used during the last power-on.

[0062] The initial positioning information of the base station is its coordinates on the world map. This initial positioning information indicates the base station's original position on the working map. When creating the working map, the location of the base station is used as the origin of the working map's coordinates. In other words, the initial positioning information of the base station and the origin of the working map are mutually mapped. Based on this, the trajectory of the mobile device during its travel along the edge can be recorded. The world coordinates corresponding to each point on this trajectory can also be mapped to the coordinates of the working map, thus obtaining a preliminary working map of the work area.

[0063] The first location coordinates of the current location information of the mobile device corresponding to the base station are (X2, Y2, Z2).

[0064] Step S302: Correct the first position coordinates using the offset to obtain the second position coordinates; the second position coordinates are used to characterize the position of the self-moving device in the working map.

[0065] In a specific embodiment, if the location of the base station changes, the first location coordinates of the self-moving device will also change relatively. The second location coordinates (X3, Y3, Z3) obtained by adding the offset to the first location coordinates (X2, Y2, Z2) are the corrected location information of the self-moving device on the working map. The specific calculation method is: (X3, Y3, Z3) = (X2 + △X, Y2 + △Y, Z2 + △Z).

[0066] Specifically, such as Figure 3 As shown, Figure 3 This diagram illustrates the positional offset between the base station and the self-moving device. `bs` represents the base station, and `bs1` is the origin of the working map, representing the initial positioning information before the base station moves, with coordinates (0,0) on the plane. `B` represents the self-moving device, and its coordinates (X, -Y) are its first position coordinates on the corresponding plane dimension of the working map. When the base station moves from position `bs1` to position `bs2`, its current positioning information becomes its current positioning information. For example, if the current positioning information of `bs2` is (m, 0), then based on the initial positioning information (0, 0) and the current positioning information (m, 0), the offset is calculated as (m-0, 0), i.e., the offset is (m, 0). Then, by adding the offset (m, 0) to the first position coordinates (X, -Y) of the self-moving device, the second position coordinates (X+m, -Y) of the self-moving device are obtained. This achieves the correction of the self-moving device's position after the base station's position changes.

[0067] This embodiment discloses a method, apparatus, device, and medium for correcting the position of a self-moving device. The method includes acquiring a first position coordinate of the self-moving device relative to a base station; correcting the first position coordinate using an offset to obtain a second position coordinate; the second position coordinate is used to characterize the position of the self-moving device in a working map. Through this method, this application, after determining the offset before and after a change in the base station position, combines the acquired current position coordinate of the self-moving device with the offset to correct the current position of the self-moving device. This offsets the positioning deviation of the self-moving device caused by the change in the base station position in the working map, making the positioning of the self-moving device more accurate during navigation and solving the technical problem of low positioning accuracy caused by changes in the base station position during self-moving device navigation.

[0068] In one embodiment, based on Figure 2 In the illustrated embodiment, step S302 includes:

[0069] The second position coordinates are obtained by summing the coordinate offset with the first position coordinates.

[0070] Furthermore, by adding the offset (△X, △Y, △Z) to the first position coordinates (X2, Y2, Z2), the second position coordinates (X3, Y3, Z3) obtained are the corrected position information of the self-moving device in the working map. The specific calculation method is: (X3, Y3, Z3) = (X2 + △X, Y2 + △Y, Z2 + △Z).

[0071] For example, the offset information is (△X, △Y, △Z) = (8, 0, 0);

[0072] The first location coordinates obtained by the mobile device are (-4, -2, 0). The location information after adding the offset to the first location coordinates of the mobile device is (4, -2, 0). The location information (4, -2, 0) is the same as the location information before the base station moved. The only difference is that the base station's location changed, resulting in an offset before and after the change. In the working map, the current location information of the changed base station is used as the coordinate origin to correct the position of the mobile device.

[0073] In this way, the location information of the mobile device relative to the base station when it is stationary can be obtained by adding an offset based on the current location. Then, the original map can be used for positioning and navigation without the need to reconstruct the map.

[0074] In one embodiment, based on Figure 2 In the illustrated embodiment, step S10 includes:

[0075] The working map is determined from the preset working map library based on the first location coordinates.

[0076] In a specific embodiment, for example, moving the base station from the front yard to the back yard of the house, both are within the same house area and belong to the same map layer, with connecting lines (connection paths) between the front yard map and the back yard map. Regardless of whether the base station is in the front yard or the back yard, corresponding positioning and navigation can be performed.

[0077] Taking a lawnmower as an example of a self-moving device, the corresponding work area can be the lawn that is being maintained by the lawnmower. The user uses a mobile terminal to control the self-moving device to drive along the edge of the lawn, which can generate a boundary map of the lawn, that is, a preliminary working map.

[0078] The initial location coordinates of the self-moving device are matched against a preset working map library. If the area corresponding to the working map is determined to be the area of ​​the house, the map corresponding to the house is obtained as the working map. If the base station location changes, as long as the base station is still within the preset range, it is not necessary to re-determine the map; instead, the location coordinates of the self-moving device can be corrected in the working map according to the offset.

[0079] Furthermore, when the offset is greater than a preset threshold, it becomes impossible to correct the coordinates of the self-moving device based on the offset as described above.

[0080] Based on offset distance When compared with a preset threshold, if △D is greater than the preset threshold, the working map will not be obtained based on the first location coordinates of the self-moving device, but rather it will be determined whether the current self-moving device is located in a new working area.

[0081] As described above, this can be understood as moving a base station from one house to another. If the offset exceeds a preset threshold, then there is no need to acquire or load a working map. At this point, a prompt signal can be sent to the user, who can then redraw the working map based on the current first location coordinates of the self-moving device and send the new working map to a preset map library for the self-moving device to acquire.

[0082] In one embodiment, based on Figure 1 In the illustrated embodiment, the method further includes:

[0083] The position of the base station in the working map is updated using the offset.

[0084] In a specific embodiment, since the current working map is built based on the location coordinates of the base station, when the location of the base station shifts, it means that the location coordinates of each point on the map relative to the base station have shifted. After the base station moves, adaptive adjustments are made based on the previous location of the base station in the map and the current location of the base station. The original base station origin remains unchanged, and only the offset is considered. Only the location of the base station needs to be calculated and modified, and other map point data does not need to be changed. When the machine moves, the positioning information only needs to add the offset interface, and only the location information of the base station on the map needs to be updated. There is no need to modify the location information of other data in the map (charging piles, map boundaries, connecting lines, restricted areas, user-defined working paths, etc.). The actual data in the map is not modified. Only the base station location points are modified, which reduces the number of CPU calculations.

[0085] Taking a lawnmower as an example, the corresponding work area can be the lawn being maintained by the lawnmower. Users can control the self-moving device via a mobile terminal to drive along the edge of the lawn, obtaining a boundary map of the lawn, i.e., a preliminary working map. If there are obstacles such as flower beds or swimming pools in the lawn, users can also control the self-moving device via the mobile terminal to create restricted areas around these obstacles.

[0086] In one embodiment, based on all the above embodiments, step S30 is followed by:

[0087] The corrected location information of the self-moving device is published globally.

[0088] In a specific embodiment, the self-mobile device publishes the location information globally for use by other functions (such as the APP displaying a map and the self-mobile device's location on the map, or the self-mobile device's navigation module performing path navigation based on the location information).

[0089] Please see Figure 4 , Figure 4 This is a schematic block diagram of a location correction device for a self-moving device, provided in an embodiment of this application. This location correction device is used to perform the aforementioned location correction method for a self-moving device. The location correction device can be configured on the self-moving device.

[0090] like Figure 4 As shown, the position correction device 400 of the self-moving device includes:

[0091] The working map acquisition module 10 is used to acquire a working map; the working map includes the initial positioning information of the base station.

[0092] The offset calculation module 20 is used to calculate the offset of the base station based on the current positioning information and the initial positioning information of the base station.

[0093] The position correction module 30 is used to correct the position information of the self-moving device in the working map by means of the offset when the offset is not greater than a preset threshold.

[0094] Furthermore, the offset calculation module 20 includes:

[0095] The offset calculation unit is used to calculate the difference between the location coordinates corresponding to the current positioning information and the location coordinates corresponding to the initial positioning information, so as to obtain the offset of the base station.

[0096] Furthermore, the position correction module 30 includes:

[0097] The first location coordinate acquisition unit is used to acquire the first location coordinates of the self-moving device relative to the base station.

[0098] The second position coordinate acquisition unit is used to correct the first position coordinate using the offset to obtain the second position coordinate; the second position coordinate is used to characterize the position of the self-moving device in the working map.

[0099] Furthermore, the second position coordinate acquisition unit includes:

[0100] The second position coordinate calculation subunit is used to calculate the sum of the coordinate offset and the first position coordinate to obtain the second position coordinate.

[0101] Furthermore, the working map acquisition module 10 includes:

[0102] The working map acquisition unit is used to determine the working map from a preset working map library based on the first location coordinates.

[0103] Furthermore, the location correction device for the self-moving device also includes a location information update module, specifically comprising:

[0104] A location information update unit is used to update the location of the base station in the working map using the offset.

[0105] Furthermore, the location correction device for the self-moving device also includes a global publishing module, specifically comprising:

[0106] The global publishing unit is used to globally publish the corrected location information of the self-moving device.

[0107] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the above-described apparatus and modules can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0108] The aforementioned device can be implemented as a computer program, which can be used in, for example... Figure 5 It runs on the device shown.

[0109] Please see Figure 5 , Figure 5 This is a schematic block diagram of the structure of a self-moving device provided in an embodiment of this application.

[0110] See Figure 5 The self-moving device includes a processor, memory, and network interface connected via a system bus, wherein the memory may include non-volatile media and internal memory.

[0111] Non-volatile media can store an operating system and computer programs. These computer programs include program instructions that, when executed, cause the processor to perform any method for correcting the position of the self-moving device.

[0112] The processor provides computing and control capabilities to support the operation of the entire device.

[0113] Internal memory provides an environment for the execution of computer programs on non-volatile media, which, when executed by a processor, enable the processor to perform any position correction method for self-moving devices.

[0114] This network interface is used for network communication, such as sending assigned tasks. Those skilled in the art will understand that... Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the device to which the present application is applied. Specific devices may include more or fewer components than those shown in the figure, or may combine certain components, or may have different component arrangements.

[0115] It should be understood that the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, a general-purpose processor can be a microprocessor or any conventional processor.

[0116] In one embodiment, the processor is configured to run a computer program stored in memory to perform the following steps:

[0117] Obtain a working map; the working map includes the initial positioning information of the base station;

[0118] The offset of the base station is calculated based on the current positioning information and the initial positioning information of the base station;

[0119] When the offset is not greater than a preset threshold, the offset is used to correct the position information of the self-moving device in the working map.

[0120] In one embodiment, the offset of the base station is calculated based on the current positioning information and the initial positioning information of the base station, for the purpose of:

[0121] The difference between the location coordinates corresponding to the current location information and the location coordinates corresponding to the initial location information is calculated to obtain the offset of the base station.

[0122] In one embodiment, when the offset is not greater than a preset threshold, the offset is used to correct the position information of the self-moving device in the working map, thereby achieving:

[0123] Obtain the first position coordinates of the self-moving device relative to the base station;

[0124] The first position coordinates are corrected using the offset to obtain the second position coordinates; the second position coordinates are used to characterize the position of the self-moving device in the working map.

[0125] In one embodiment, the offset includes a coordinate offset; the step of using the offset to correct the first position coordinates to obtain the second position coordinates is used to achieve:

[0126] The second position coordinates are obtained by summing the coordinate offset with the first position coordinates.

[0127] In one embodiment, a working map is obtained to achieve:

[0128] The working map is determined from the preset working map library based on the first location coordinates.

[0129] In one embodiment, the self-moving device's position correction method is also used to implement:

[0130] The position of the base station in the working map is updated using the offset.

[0131] In one embodiment, when the offset is not greater than a preset threshold, after correcting the position information of the self-moving device in the working map using the offset, the method is further configured to implement:

[0132] The corrected location information of the self-moving device is published globally.

[0133] The embodiments of this application also provide a computer-readable medium storing a computer program, the computer program including program instructions, and the processor executing the program instructions to implement any of the self-moving device position correction methods provided in the embodiments of this application.

[0134] The computer-readable medium may be an internal storage unit of the device described in the foregoing embodiments, such as the hard disk or memory of the device. The computer-readable medium may also be an external storage device of the device, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card equipped on the device.

[0135] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for position correction of a self-moving device, characterized in that, Self-moving devices used for communicating with base stations include: Obtain a working map; the working map includes the initial positioning information of the base station; The offset of the base station is calculated based on the current positioning information and the initial positioning information of the base station; When the offset is not greater than a preset threshold, the offset is used to correct the position information of the self-moving device in the working map, while keeping other position information of the working map unchanged.

2. The method according to claim 1, characterized in that, The step of calculating the offset of the base station based on the current positioning information and the initial positioning information includes: The difference between the location coordinates corresponding to the current location information and the location coordinates corresponding to the initial location information is calculated to obtain the offset of the base station.

3. The method according to claim 1, characterized in that, When the offset is not greater than a preset threshold, the step of correcting the position information of the self-moving device in the working map using the offset includes: Obtain the first position coordinates of the self-moving device relative to the base station; The first position coordinates are corrected using the offset to obtain the second position coordinates; the second position coordinates are used to characterize the position of the self-moving device in the working map.

4. The method according to claim 3, characterized in that, The offset includes a coordinate offset; the step of correcting the first position coordinates using the offset to obtain the second position coordinates includes: The second position coordinates are obtained by summing the coordinate offset with the first position coordinates.

5. The method according to claim 3, characterized in that, The acquisition of the working map includes: The working map is determined from the preset working map library based on the first location coordinates.

6. The method according to claim 1, characterized in that, The method further includes: The position of the base station in the working map is updated using the offset.

7. The method according to any one of claims 1 to 6, characterized in that, When the offset is not greater than a preset threshold, after correcting the position information of the self-moving device in the working map using the offset, the method further includes: The corrected location information of the self-moving device is published globally.

8. A position correction device for a self-moving device, characterized in that, include: The working map acquisition module is used to acquire the working map; The working map includes the initial positioning information of the base stations; The offset calculation module is used to calculate the offset of the base station based on the current positioning information and the initial positioning information of the base station. The position correction module is used to correct the position information of the self-moving device in the working map by using the offset when the offset is not greater than a preset threshold, while keeping other position information of the working map unchanged.

9. A self-moving device, characterized in that, The device includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, in executing the computer program, implement the position correction method for the self-moving device as described in any one of claims 1 to 7.

10. A computer-readable medium, characterized in that, The computer-readable medium stores a computer program that, when executed by a processor, causes the processor to implement the position correction method for the self-moving device as described in any one of claims 1 to 7.

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