Self-moving device back charging method, self-moving device and readable storage medium

Abstract

The application discloses a self-moving device back charging method, a self-moving device and a computer readable storage medium. The method comprises the following steps: obtaining a plurality of initial RTK coordinates sampled when the self-moving device leaves a charging base station, wherein the plurality of initial RTK coordinates are determined according to an RTK signal received by the self-moving device; filtering the plurality of initial RTK coordinates according to positioning deviation information of the RTK signal to obtain target RTK coordinates; determining target back charging information of the self-moving device according to the target RTK coordinates; and performing a back charging operation based on the target back charging information. The method can filter the initial RTK coordinates that may have a large positioning deviation, ensure the accuracy of the target back charging information, and effectively improve the success rate of the back charging of the self-moving device by filtering the plurality of initial RTK coordinates according to the positioning deviation information of the RTK signal and determining the target back charging information according to the filtered target RTK coordinates.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular to a method for recharging a self-moving device, a self-moving device, and a computer-readable storage medium. Background Technology

[0002] RTK (Real-Time Kinematic) technology refers to a base station transmitting received RTK signals, including carrier wave observations and base station coordinates, to an automated mobile device via a data link. The automated mobile device receives the carrier phase from the satellite and the carrier phase from the base station, and processes them to form phase difference observations, providing centimeter-level positioning results in a timely manner. When the automated mobile device leaves the charging base station, it can use the RTK signal to determine its recharging path. If the recharging path deviates from its positioning, the automated mobile device will fail to recharge, resulting in a low recharging success rate.

[0003] Therefore, improving the success rate of recharging self-operated devices has become an urgent problem to be solved. Summary of the Invention

[0004] This application provides a method for recharging a self-moving device, a self-moving device, and a computer-readable storage medium, which solves the problem in related technologies where recharging of a self-moving device fails due to positioning deviations in the recharging path.

[0005] In a first aspect, this application provides a method for recharging a self-operated mobile device, the method comprising: Multiple initial RTK coordinates sampled when the self-mobile device leaves the charging base station are obtained, and the multiple initial RTK coordinates are determined based on the RTK signal received by the self-mobile device; the multiple initial RTK coordinates are filtered according to the positioning deviation information of the RTK signal to obtain the target RTK coordinates; the target recharge information of the self-mobile device is determined according to the target RTK coordinates; and the recharge operation is performed based on the target recharge information.

[0006] The above method filters multiple initial RTK coordinates based on the positioning deviation information of the RTK signal, and determines the target recharge information based on the filtered target RTK coordinates. This method can filter initial RTK coordinates that may have large positioning deviations, ensuring the accuracy of the target recharge information. This solves the problem of recharge failure of self-moving devices due to positioning deviations in the recharge path to a certain extent, and can effectively improve the success rate of recharge of self-moving devices.

[0007] Secondly, this application also provides a self-moving device, which includes a memory and a processor; The memory is used to store computer programs; The processor is configured to execute the computer program and, while executing the computer program, implement the recharging method for the self-moving device as described above.

[0008] Thirdly, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the recharging method for the self-moving device as described above. Attached Figure Description

[0009] 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.

[0010] Figure 1 This is a schematic diagram of a positioning system provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a self-moving device provided in an embodiment of this application; Figure 3 This is a schematic flowchart illustrating a recharging method for a self-operated mobile device provided in an embodiment of this application; Figure 4 This is a schematic flowchart illustrating a sub-step for filtering initial RTK coordinates provided in an embodiment of this application; Figure 5 This is a schematic flowchart illustrating a sub-step for determining the number of coordinate filters provided in an embodiment of this application; Figure 6 This is a schematic flowchart illustrating another sub-step for filtering initial RTK coordinates provided in an embodiment of this application; Figure 7 This is a schematic flowchart of a sub-step of sliding filtering provided in an embodiment of this application; Figure 8 This is a schematic flowchart illustrating a sub-step for determining an abnormal slope value provided in an embodiment of this application; Figure 9 This is a schematic flowchart illustrating a sub-step for determining target recharge information provided in an embodiment of this application. Detailed Implementation

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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.

[0015] Embodiments of this application provide a recharging method for a self-moving device, a self-moving device, a positioning system, and a computer-readable storage medium. The recharging method for this self-moving device can be applied to a self-moving device within a positioning system. By filtering multiple initial RTK coordinates based on positioning deviation information from RTK signals, and determining target recharging information based on the filtered target RTK coordinates, it can filter initial RTK coordinates that may have significant positioning deviations, ensuring the accuracy of the target recharging information and effectively improving the success rate of self-moving device recharging.

[0016] Please see Figure 1 , Figure 1 This is a schematic diagram of a positioning system 10 provided in an embodiment of this application. Figure 1 As shown, the positioning system 10 may include a self-moving device 11 and a charging base station 12.

[0017] The self-moving device 11 can locate itself using the RTK signal received by the device and the RTK signal sent by the charging base station 12, thus obtaining RTK coordinates. For example, when the self-moving device 11 leaves the charging base station 12, it can locate itself using multiple sampled initial RTK coordinates to obtain recharge information. Subsequently, when the self-moving device needs to return to the charging base station 12 for charging, it can perform a recharge operation based on the recharge information.

[0018] For example, the self-moving device 11 may include, but is not limited to, electronic devices with self-moving capabilities such as lawnmowers, robot vacuums, food delivery robots, and welcoming robots. During operation, the self-moving device 11 is constantly moving, therefore its position needs to be updated in real time or periodically.

[0019] It should be noted that the charging base station 12 refers to the charging pile that is matched with the self-moving device 11. It is used to receive the RTK signal from the satellite and send the RTK signal to the self-moving device 11 so that the self-moving device 11 can perform differential positioning operation based on the RTK signal.

[0020] In some embodiments, in a recharging scenario, the self-mobile device 11 performs the following steps: acquiring multiple initial RTK coordinates sampled when the self-mobile device 11 leaves the charging base station 12, wherein the multiple initial RTK coordinates are determined based on the RTK signal received by the self-mobile device 11; filtering the multiple initial RTK coordinates based on the positioning deviation information of the RTK signal to obtain the target RTK coordinates; determining the target recharging information of the self-mobile device 11 based on the target RTK coordinates; and performing a recharging operation based on the target recharging information.

[0021] Please see Figure 2 , Figure 2 This is a schematic diagram of the structure of a self-moving device 11 provided in an embodiment of this application. The self-moving device 11 may include a processor 1001 and a memory 1002, wherein the processor 1001 and the memory 1002 can be connected by a bus, which can be any applicable bus such as an Inter-integrated Circuit (I2C) bus.

[0022] The memory 1002 may store an operating system and a computer program. The computer program includes program instructions that, when executed, cause the processor 1001 to perform the recharging method of the self-moving device described in any embodiment.

[0023] The processor 1001 provides computing and control capabilities to support the operation of the entire self-moving device 11.

[0024] The processor 1001 can be a Central Processing Unit (CPU), but it can also be a general-purpose processor, a Digital Signal Processor (DSP), an Application-Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor, or it can be any conventional processor.

[0025] In one embodiment, the processor 1001 is configured to run a computer program stored in the memory 1002 to perform the following steps: The system acquires multiple initial RTK coordinates sampled when the mobile device leaves the charging base station. These initial RTK coordinates are determined based on the RTK signals received by the mobile device. The system filters the initial RTK coordinates based on the positioning deviation information of the RTK signals to obtain the target RTK coordinates. The system determines the target recharge information of the mobile device based on the target RTK coordinates. Based on the target recharge information, the system performs a recharge operation.

[0026] In one embodiment, the positioning deviation information includes the target positioning deviation value when the RTK signal has a fixed solution; when the processor 1001 filters multiple initial RTK coordinates based on the positioning deviation information of the RTK signal to obtain the target RTK coordinates, it is used to implement: Determine the movement speed of the mobile device when it leaves the charging base station and the preset sampling frequency; determine the number of coordinate filters based on the target positioning deviation value, movement speed and sampling frequency; perform coordinate filtering on multiple initial RTK coordinates based on the number of coordinate filters to obtain the target RTK coordinates.

[0027] In one embodiment, when the processor 1001 determines the number of coordinate filters based on the target positioning deviation value, movement speed, and sampling frequency, it is used to: The distance is calculated based on the target positioning deviation value and the preset return angle error value to obtain the first distance; the deviation sampling time is calculated based on the movement speed and the first distance; and the number of coordinate filters is calculated based on the deviation sampling time and the sampling frequency.

[0028] In one embodiment, when the processor 1001 performs coordinate filtering on multiple initial RTK coordinates based on the number of coordinate filters to obtain the target RTK coordinates, it is used to implement: When the number of initial RTK coordinates exceeds the number of coordinate filters, the initial RTK coordinates that are ranked first are filtered in turn according to the number of coordinate filters and the sampling order of each initial RTK coordinate, and the remaining initial RTK coordinates are determined as the target RTK coordinates.

[0029] In one embodiment, after determining the number of coordinate filters, the processor 1001 is also configured to: When the number of initial RTK coordinates is less than or equal to the number of coordinate filters, the target RTK coordinates are determined by sliding filtering the multiple initial RTK coordinates according to a preset sliding window.

[0030] In one embodiment, when the processor 1001 performs sliding filtering on multiple initial RTK coordinates according to a preset sliding window to determine the target RTK coordinates, it is used to implement: The system slides through multiple initial RTK coordinates using a sliding window. After each slide, the slope of the initial RTK coordinates within the sliding window is calculated to obtain the corresponding slope value. Based on the slope value corresponding to each slide, abnormal slope values ​​are determined. The multiple initial RTK coordinates are then filtered based on the abnormal slope values ​​to determine the target RTK coordinates.

[0031] In one embodiment, when the processor 1001 determines abnormal slope values ​​based on the slope value corresponding to each slide, it is configured to: Calculate the average and variance of all slope values ​​based on the slope value corresponding to each slide; determine the slope range based on the average and variance; and identify the slope values ​​that are outside the slope range for each slide as abnormal slope values.

[0032] In one embodiment, when the processor 1001 determines the target recharging information of the self-moving device based on the target RTK coordinates, it is used to: The system acquires the initial recharge information recorded by the mobile device when it leaves the charging base station. The initial recharge information includes the initial recharge path and the initial recharge angle. The system performs recharge calculations based on the target RTK coordinates to obtain the first recharge path and the first recharge angle. If the absolute value of the difference between the first recharge angle and the initial recharge angle is less than a preset angle threshold, the system generates target recharge information based on the initial recharge path and the initial recharge angle. If the absolute value of the difference between the first recharge angle and the initial recharge angle is greater than or equal to the angle threshold, the system generates target recharge information based on the first recharge path and the first recharge angle.

[0033] The following detailed description, in conjunction with the accompanying drawings, outlines some embodiments of this application. Unless otherwise specified, the following embodiments and features described herein can be combined with each other. Please refer to... Figure 3 , Figure 3This is a schematic flowchart illustrating a recharging method for a self-operated mobile device provided in an embodiment of this application. Figure 3 As shown, the recharging method for the self-moving device includes steps S101 to S104.

[0034] Step S101: Obtain multiple initial RTK coordinates sampled when the mobile device leaves the charging base station. The multiple initial RTK coordinates are determined based on the RTK signal received by the mobile device.

[0035] In some embodiments, after the mobile device leaves the charging base station, it can acquire multiple initial RTK coordinates sampled at the time of departure. These multiple initial RTK coordinates are determined based on the RTK signals received by the mobile device.

[0036] For example, the mobile device can record the initial RTK coordinates it collects while leaving the charging base station. Subsequently, when the mobile device needs to plan its return route, it can read the multiple initial RTK coordinates sampled when leaving the charging base station from its memory.

[0037] It should be noted that, in this embodiment, when the self-moving device leaves the charging base station, it can perform differential positioning based on the RTK signal detected by the device and the RTK signal sent by the charging base station to obtain multiple initial RTK coordinates in the global coordinate system, and store them in the memory. The specific operation of differential positioning can be found in related technologies and is not limited here.

[0038] For example, the initial RTK coordinates may include, but are not limited to, longitude, latitude, and altitude. These initial RTK coordinates are used to calculate the recharge path and recharge angle of the mobile device during recharging.

[0039] It should be noted that in some scenarios, the recharge path can be understood as the line connecting the location of the mobile device at the charging base station to its location when it starts its task after leaving the charging base station; in other scenarios, the recharge path can also be understood as a short path taken by the mobile device from the charging base station to its destination. The recharge angle refers to the heading angle of the recharge path in the global coordinate system.

[0040] In the above embodiments, by acquiring multiple initial RTK coordinates sampled when the mobile device leaves the charging base station, the target recharge information can be determined subsequently based on the multiple initial RTK coordinates.

[0041] Step S102: Filter multiple initial RTK coordinates based on the positioning deviation information of the RTK signal to obtain the target RTK coordinates.

[0042] For example, after obtaining multiple initial RTK coordinates sampled when the mobile device leaves the charging base station, the multiple initial RTK coordinates can be filtered according to the positioning deviation information of the RTK signal to obtain the target RTK coordinates.

[0043] It should be noted that, in this embodiment of the application, by filtering multiple initial RTK coordinates based on the positioning deviation information of the RTK signal, the initial RTK coordinates that are greatly affected by the positioning deviation can be filtered out, ensuring the accuracy of determining the target recharging information based on the target RTK coordinates obtained after filtering, thereby effectively improving the success rate of recharging of the self-moving device.

[0044] The positioning deviation information can include the target positioning deviation value when the RTK signal has a fixed solution. The target positioning deviation value can be expressed as... It should be noted that all RTK signals detected by the self-moving device may have a certain positioning deviation. When the self-moving device is located at a charging base station (i.e., the end of the recharge path), the first RTK signal detected by the self-moving device may have a certain positioning deviation; when the self-moving device is located at any location on the recharge path, the second RTK signal detected by the self-moving device may also have a certain positioning deviation. In this case, if the maximum positioning deviation of the first RTK signal is defined as the first positioning deviation value, and the maximum positioning deviation of the second RTK signal is defined as the second positioning deviation value, then the target positioning deviation value... It can be defined as the sum of the first positioning deviation value and the second positioning deviation value, representing the maximum relative deviation value between the first RTK signal and the second RTK signal.

[0045] For example, assuming the maximum positioning deviation when the RTK signal has a fixed solution is 2cm, the mobile device detects the first RTK coordinate at the charging base station and the second RTK coordinate at a certain point on the recharge path. In an extreme case, the first RTK coordinate shifts by 2cm in one direction, and the second RTK coordinate shifts by 2cm in the opposite direction. Then, the maximum relative deviation between the first and second RTK signals is (2+2) = 4cm, which is the target positioning deviation value. It is 4cm.

[0046] In this embodiment, when the self-moving device acquires multiple initial RTK coordinates, it can determine whether the RTK signal has a fixed solution. If the RTK signal has a fixed solution, the initial RTK coordinates corresponding to the RTK signal with the fixed solution are acquired; if the RTK signal does not have a fixed solution, the initial RTK coordinates corresponding to the RTK signal without the fixed solution are not acquired.

[0047] It should be noted that in RTK positioning technology, fixed solution, floating solution, single point solution, and invalid solution are different levels of positioning accuracy. Among them, fixed solution refers to the accuracy of the RTK signal calculation result (narrow_int) reaching the centimeter to millimeter level.

[0048] In this embodiment of the application, the accuracy of the initial RTK coordinates can be ensured by acquiring the initial RTK coordinates of the RTK signal with a fixed solution.

[0049] Step S103: Determine the target recharging information of the self-moving device based on the target RTK coordinates.

[0050] For example, after filtering multiple initial RTK coordinates to obtain the target RTK coordinates, the target recharging information of the mobile device can be determined based on the target RTK coordinates. The target recharging information can be based on the recharging path and recharging angle.

[0051] For example, path planning can be performed based on the target RTK coordinates to obtain the charging path and charging angle. The specific process of planning the charging path is not limited here.

[0052] By determining the target recharge information based on the target RTK coordinates obtained through filtering, the accuracy of the target recharge information can be ensured.

[0053] Step S104: Based on the target recharge information, perform the recharge operation.

[0054] For example, after determining the target recharging information of the self-mobile device based on the target RTK coordinates, if the self-mobile device needs to recharge, the self-mobile device can perform a recharging operation based on the target recharging information.

[0055] It is understandable that the recharge operation refers to controlling the mobile device to move to the charging base station according to the target recharge information so that the mobile device can be charged through the charging base station.

[0056] For example, when performing a recharge operation, the mobile device can be controlled to move to the charging base station based on the recharge path and recharge angle in the target recharge information.

[0057] The above embodiments filter multiple initial RTK coordinates based on the positioning deviation information of the RTK signal, and determine the target recharge information based on the filtered target RTK coordinates. This can filter initial RTK coordinates that are greatly affected by positioning deviation, ensure the accuracy of the target recharge information, solve the problem of recharge failure of self-moving devices due to positioning deviation in the recharge path, and effectively improve the success rate of recharge of self-moving devices.

[0058] Please see Figure 4 , Figure 4 This is a schematic flowchart of a sub-step for filtering initial RTK coordinates provided in an embodiment of this application. Step S102, which filters multiple initial RTK coordinates, may include the following steps S201 to S203.

[0059] Step S201: Determine the movement speed of the mobile device when it leaves the charging base station and the preset sampling frequency.

[0060] In some embodiments, the movement speed of the mobile device as it leaves the charging base station and a preset sampling frequency can be detected and recorded. The movement speed can be expressed as... The sampling frequency can be expressed as .

[0061] It should be noted that the preset sampling frequency This refers to the number of initial RTK coordinates collected per second by the mobile device. The sampling frequency is... The value can be set according to the actual situation; no specific value is specified here.

[0062] Step S202: Determine the number of coordinate filters based on the target positioning deviation value, movement speed, and sampling frequency.

[0063] It should be noted that the initial RTK coordinates detected by the mobile device may have a certain positioning deviation. The closer the initial RTK coordinates are to the charging base station, the greater the impact of the positioning deviation of the initial RTK coordinates on the charging angle of the charging path, resulting in a larger error in the charging angle.

[0064] Therefore, after determining the movement speed of the mobile device when it leaves the charging base station and the preset sampling frequency, the number of coordinate filters can be calculated based on the target positioning deviation value, movement speed, and sampling frequency in the positioning deviation information. The number of coordinate filters can be expressed as... , represents the number of initial RTK coordinates that are relatively close to the charging base station. These initial RTK coordinates that are relatively close to the charging base station are the initial RTK coordinates that are significantly affected by the positioning deviation.

[0065] By calculating based on the target positioning deviation value, movement speed, and sampling frequency, the number of coordinate filters for the initial RTK coordinates that are significantly affected by the positioning deviation can be determined.

[0066] Step S203: Filter multiple initial RTK coordinates according to the number of coordinate filters to obtain the target RTK coordinates.

[0067] After determining the number of coordinate filters, multiple initial RTK coordinates can be filtered according to the number of coordinate filters to obtain the target RTK coordinates.

[0068] It should be noted that the number of items is filtered based on coordinates. Coordinate filtering for multiple initial RTK coordinates refers to when the number of initial RTK coordinates exceeds the number of coordinates to be filtered. At that time, based on the sampling order of each initial RTK coordinate, the first one in the sequence is selected. The initial RTK coordinates were filtered out.

[0069] In the above embodiments, by filtering multiple initial RTK coordinates according to the number of coordinate filters, it is possible to filter initial RTK coordinates that are greatly affected by positioning deviations, thereby ensuring the accuracy of the target RTK coordinates.

[0070] Please see Figure 5 , Figure 5 This is a schematic flowchart of a sub-step for determining the number of coordinate filters provided in an embodiment of this application. The step S202, which determines the number of coordinate filters, may include the following steps S301 to S303.

[0071] Step S301: Calculate the distance based on the target positioning deviation value and the preset recharge angle error value to obtain the first distance.

[0072] Because the initial RTK coordinates collected by the mobile device when leaving the charging base station have a certain positioning deviation, and the maximum relative positioning deviation between the initial RTK coordinates and the base station RTK coordinates detected by the mobile device on the charging base station is the target deviation value, the first distance can be obtained by calculating the distance based on the target positioning deviation value and the preset recharge angle error value.

[0073] It should be noted that the preset fill angle error value refers to the allowable error value of the calculated fill angle. The fill angle error value can be expressed as: Reflux angle error value The value can be set according to the actual situation; the specific value is not limited here. For example, in some embodiments, the backfill angle error value... It can be set to 5°.

[0074] The first distance refers to the deviation distance of the self-moving device from the charging base station, which is determined by the target positioning deviation value and the recharge angle error value. The first distance can be expressed as... .

[0075] The initial RTK coordinates within the first distance L are relatively close to the distance to the charging base station. The positioning deviation of these initial RTK coordinates may cause the charging angle error of the charging path to be greater than the preset charging angle error. Therefore, if the charging path is long enough, the initial RTK coordinates detected within the first distance can be discarded to reduce the impact of the positioning deviation of these initial RTK coordinates on the charging angle of the charging path.

[0076] The initial RTK coordinates beyond the first distance L are far from the charging base station. Even if the relative positioning deviation between these initial RTK coordinates and the base station RTK coordinates is the target positioning deviation value (i.e., the maximum relative positioning deviation value), the error of the recharge angle will not exceed the preset recharge angle error. Therefore, the initial RTK coordinates detected beyond the first distance can be retained, and these initial RTK coordinates can be used to plan the recharge path.

[0077] In this embodiment, the first distance L can be calculated using the following formula: L=e / tanθ As can be seen from the above formula, based on the target positioning deviation value With refill angle error value Calculate the first distance At that time, the target positioning deviation value can be... With refill angle error value Divide to obtain the first distance For example, when the target positioning deviation value The error value of the return angle is 4cm. When the angle is 5°, the first distance can be calculated. It is 0.46m.

[0078] Step S302: Calculate the deviation sampling time based on the movement speed and the first distance.

[0079] In this embodiment of the application, after the first distance is calculated, the deviation sampling time can be calculated based on the movement speed and the first distance.

[0080] For example, the first distance can be With speed of movement Divide to obtain the sampling time for calculating the deviation. For example, when the first distance The distance is 0.46m, and the speed of movement is... When the speed is 0.2 m / s, the deviation sampling time can be calculated. It takes 2.3 seconds.

[0081] Step S303: Calculate the number of coordinate filters based on the deviation sampling time and sampling frequency.

[0082] In this embodiment of the application, after calculating the deviation sampling time, the number of coordinate filters can be calculated based on the deviation sampling time and the sampling frequency.

[0083] In this embodiment of the application, the number of coordinate filters The following formula can be used to calculate it:

[0084] Based on the above formula, the deviation sampling time can be... With sampling frequency Multiply to get the number of coordinate filters. For example, when the deviation sampling time The sampling time is 2.3s, and the sampling frequency is... At 10Hz, the number of coordinate filters can be calculated. It is 23.

[0085] It should be noted that the number of coordinates filtered With refill angle error value The correlation is negative, and the backfill angle error value The smaller the number, the more coordinates are filtered. The larger the value, the greater the success rate of recharging the mobile device; recharging angle error value The larger the number of coordinate filters The smaller the value, the lower the success rate of recharging the self-moving device. For example, under the conditions described above, when the recharging angle error value... When the angle is less than 5°, the corresponding number of coordinate filters Greater than 23.

[0086] The above embodiments calculate the number of coordinate filters by taking into account the target positioning deviation value, the return angle error value, the movement speed, and the sampling frequency. This can comprehensively consider the influence of factors such as the motion parameters of the self-moving device, the target positioning deviation value, and the return angle error value, thereby improving the accuracy of determining the number of coordinate filters.

[0087] Please see Figure 6 , Figure 6 This is a schematic flowchart illustrating another sub-step for filtering initial RTK coordinates provided in an embodiment of this application. Figure 6 This may include the following steps S401 to S404.

[0088] Step S401: Determine the movement speed of the mobile device when it leaves the charging base station and the preset sampling frequency.

[0089] Step S402: Determine the number of coordinate filters based on the target positioning deviation value, movement speed, and sampling frequency.

[0090] It is understood that steps S401 to S402 are the same as steps S201 to S202 above, and will not be repeated here.

[0091] Step S403: When the number of initial RTK coordinates is greater than the number of coordinate filters, filter the initial RTK coordinates that are ranked first according to the number of coordinate filters and the sampling order of each initial RTK coordinate, and determine the remaining initial RTK coordinates as the target RTK coordinates.

[0092] For example, when the number of initial RTK coordinates exceeds the number of coordinate filters, the initial RTK coordinates that appear first in the list can be filtered sequentially based on the number of coordinate filters and the sampling order of the initial RTK coordinates. Then, the remaining initial RTK coordinates are determined as the target RTK coordinates.

[0093] For example, when the number of coordinates filtered When the value is 23, if the number of multiple initial RTK coordinates is greater than the number of coordinate filters... For example, if the number of initial RTK coordinates is 40, the number can be filtered based on the coordinates. The sampling order of each initial RTK coordinate is used to filter the first 23 initial RTK coordinates. Then, the remaining 17 initial RTK coordinates are determined as the target RTK coordinates.

[0094] In the above embodiments, when the number of initial RTK coordinates is greater than the number of coordinate filters, the initial RTK coordinates that are ranked first can be filtered according to the number of coordinate filters and the sampling order of each initial RTK coordinate. This can filter the initial RTK coordinates that are greatly affected by the positioning deviation, thereby improving the accuracy of the target RTK coordinates.

[0095] Step S404: When the number of multiple initial RTK coordinates is less than or equal to the number of coordinate filters, perform sliding filtering on the multiple initial RTK coordinates according to the preset sliding window to determine the target RTK coordinates.

[0096] In some embodiments, when the number of multiple initial RTK coordinates is less than or equal to the number of coordinate filters, the multiple initial RTK coordinates are slid-filtered according to a preset sliding window to determine the target RTK coordinates.

[0097] It should be noted that when the number of initial RTK coordinates is less than or equal to the number of coordinates to be filtered, if the initial RTK coordinates are filtered sequentially based on the number of coordinates to be filtered and the sampling order of each initial RTK coordinate, no initial RTK coordinates will remain. In this case, an alternative filtering method is needed. For example, a sliding window can be used to filter multiple initial RTK coordinates to determine the target RTK coordinates.

[0098] For example, the size and amplitude of the sliding window can be represented by the number of initial RTK coordinates. For instance, the size of the sliding window can be 5 or 10 initial RTK coordinates, and so on; the sliding amplitude of the sliding window can be 1 initial RTK coordinate, that is, the distance of sliding one initial RTK coordinate each time.

[0099] It should be noted that, in this embodiment of the application, multiple initial RTK coordinates are filtered by sliding window to filter out the initial RTK coordinates corresponding to abnormal slope values ​​that occur during sliding.

[0100] In the above embodiments, when the number of initial RTK coordinates is less than or equal to the number of coordinate filters, the initial RTK coordinates are filtered by sliding according to a preset sliding window. This can filter out the initial RTK coordinates corresponding to abnormal slope values ​​that occur during sliding, and avoid using initial RTK coordinates that are greatly affected by positioning deviations as target RTK coordinates, thereby improving the accuracy of target RTK coordinates.

[0101] Please see Figure 7 , Figure 7 This is a schematic flowchart of a sliding filter sub-step provided in an embodiment of this application, which may include the following steps S501 to S504.

[0102] Step S501: Slide multiple initial RTK coordinates according to the sliding window.

[0103] For example, multiple initial RTK coordinates can be slid across a sliding window. For instance, when the sliding window size is 5 and the sliding increment is 1, the initial RTK coordinates within the sliding window corresponding to the first slide are the 1st to 5th initial RTK coordinates, the initial RTK coordinates within the sliding window corresponding to the second slide are the 2nd to 6th initial RTK coordinates, the initial RTK coordinates within the sliding window corresponding to the third slide are the 3rd to 7th initial RTK coordinates, and so on.

[0104] Step S502: After each slide, calculate the slope of the initial RTK coordinates within the sliding window and obtain the corresponding slope value.

[0105] For example, after each slide, the slope of the initial RTK coordinates within the sliding window can be calculated based on the least squares formula or other linear fitting algorithms to obtain the slope value corresponding to each slide. For instance, after the first slide, the slopes of the 1st to 5th initial RTK coordinates within the sliding window can be calculated to obtain the slope value corresponding to the first slide. Similarly, after the second slide, the slopes of the 2nd to 6th initial RTK coordinates within the sliding window can be calculated to obtain the slope value corresponding to the second slide. And so on, the slope value corresponding to each slide can be calculated.

[0106] The calculation of the slope of the initial RTK coordinates within the sliding window can be understood as: calculating the fitted line of the initial RTK coordinates within the sliding window, and determining the slope of the fitted line as the slope of the initial RTK coordinates within the sliding window.

[0107] Step S503: Determine the abnormal slope value based on the slope value corresponding to each slide.

[0108] After calculating the slope value corresponding to each slide, the abnormal slope value can be determined based on the slope value corresponding to each slide.

[0109] In this embodiment, it is necessary to detect whether there are abnormal slope values ​​from the slope values ​​corresponding to each slide. It can be understood that by detecting whether there are abnormal slope values ​​in the slope values ​​corresponding to each slide, it is possible to determine whether there are abnormal initial RTK coordinates in each initial RTK coordinate, thereby filtering out abnormal initial RTK coordinates.

[0110] Step S504: Filter multiple initial RTK coordinates based on abnormal slope values ​​to determine the target RTK coordinates.

[0111] After determining the abnormal slope value, multiple initial RTK coordinates can be filtered based on the abnormal slope value to determine the target RTK coordinate.

[0112] For example, after the second slide, if the slope values ​​corresponding to the 2nd to 6th initial RTK coordinates within the slide window are abnormal, it indicates that the newly added initial RTK coordinate in the second slide (i.e., the 6th initial RTK coordinate) is an abnormal initial RTK coordinate, and the 6th initial RTK coordinate can be filtered out. Similarly, after the fourth slide, if the slope values ​​corresponding to the 4th to 8th initial RTK coordinates within the slide window are abnormal, it indicates that the newly added initial RTK coordinate in the fourth slide (i.e., the 8th initial RTK coordinate) is an abnormal initial RTK coordinate, and the 8th initial RTK coordinate can be filtered out.

[0113] In the above embodiment, by filtering multiple initial RTK coordinates based on abnormal slope values, it is possible to filter out abnormal initial RTK coordinates added during sliding, thereby determining the target RTK coordinates.

[0114] Please see Figure 8 , Figure 8 This is a schematic flowchart of a sub-step for determining an abnormal slope value provided in an embodiment of this application. In step S503, the abnormal slope value is determined based on the slope value corresponding to each slide, which may include the following steps S601 to S603.

[0115] Step S601: Calculate the average and variance of all slope values ​​based on the slope value corresponding to each slide.

[0116] In some embodiments, the average and variance of all slope values ​​can be calculated based on the slope value corresponding to each slide. The average value can be expressed as... Variance can be expressed as The specific calculation process is not specified here.

[0117] Step S602: Determine the slope range based on the mean and variance.

[0118] After calculating the mean and variance of all slope values, the range of slopes can be determined based on the mean and variance.

[0119] For example, it can be based on the three sigma criterion, according to the average value. and variance The slope range is determined as ( μ - σ , μ + σ For example, it can be based on the three sigma criterion, according to the average value. and variance The slope range is determined as ( μ -2 σ , μ +2 σ ),etc.

[0120] Step S603: Determine the slope values ​​that are not within the slope range in each sliding slope value as abnormal slope values.

[0121] After determining the slope range based on the mean and variance, slope values ​​that are outside the slope range for each slide can be identified as abnormal slope values.

[0122] For example, when the slope range is ( μ - σ , μ + σWhen the slope value corresponding to the second slide is not within the slope range ( ), μ - σ , μ + σ If the slope value corresponding to the second slide is not within the range of (), then the slope value corresponding to the fourth slide can be identified as an abnormal slope value. For example, if the slope value corresponding to the fourth slide is not within the range of (), then the slope value corresponding to the second slide can be identified as an abnormal slope value. μ - σ , μ + σ If the slope value corresponding to the fourth slide is within the range, then the slope value can be determined as the abnormal slope value.

[0123] In the above embodiments, by determining the slope range based on the average and variance of all slope values, it is possible to determine whether the slope value corresponding to each slide is an abnormal slope value based on the slope range.

[0124] In other embodiments, abnormal slope values ​​can be filtered out from all slope values ​​based on one or more of the following parameters: mean, variance, standard deviation, maximum value, minimum value, mode, median, etc.

[0125] This application does not limit the specific method for filtering abnormal slope values.

[0126] Please see Figure 9 , Figure 9 This is a schematic flowchart of a sub-step for determining target recharge information provided in an embodiment of this application. Determining target recharge information in step S104 may include the following steps S701 to S703.

[0127] Step S701: Obtain the initial recharge information recorded by the mobile device when it leaves the charging base station. The initial recharge information includes the initial recharge path and the initial recharge angle.

[0128] In some embodiments, initial recharging information recorded by the mobile device when it leaves the charging base station can be obtained. This initial recharging information may include the initial recharging path and the initial recharging angle.

[0129] It should be noted that, in this embodiment, in addition to the RTK positioning module, the self-moving device may also be equipped with other types of positioning modules, such as at least one of radar, odometer, and other positioning modules. Therefore, when the self-moving device leaves the charging base station, it can record the positioning information collected by each positioning module and integrate the positioning information from multiple positioning modules to perform path planning, thereby obtaining the initial recharge path and initial recharge angle of the self-moving device when recharging.

[0130] Step S702: Perform recharge calculation based on the target RTK coordinates to obtain the first recharge path and the first recharge angle.

[0131] After determining the target RTK coordinates, a recharge calculation can be performed based on these coordinates to obtain the first recharge path and the first recharge angle. The specific recharge calculation process can be found in relevant technical documents and will not be elaborated upon here.

[0132] Step S703: If the absolute value of the difference between the first recharge angle and the initial recharge angle is less than the preset angle threshold, then generate target recharge information based on the initial recharge path and the initial recharge angle.

[0133] After obtaining the first recharge path and the first recharge angle, the first recharge angle can be subtracted from the initial recharge angle. If the absolute value of the difference is less than a preset angle threshold, it indicates that the initial recharge path and the initial recharge angle are reliable, and target recharge information can be generated based on the initial recharge path and the initial recharge angle. The preset angle threshold can be set according to the actual situation, and the specific value is not limited here.

[0134] For example, the initial recharge path and initial recharge angle can be determined as the target recharge information.

[0135] It should be noted that when the absolute value of the difference between the first recharge angle and the initial recharge angle is less than the preset angle threshold, it means that the deviation of the initial recharge angle is within an acceptable range and the deviation of the initial recharge path is small. Therefore, the original initial recharge path and initial recharge angle can be used as the target recharge information.

[0136] In the above embodiments, when the absolute value of the difference between the first recharge angle and the initial recharge angle is less than a preset angle threshold, target recharge information is generated based on the initial recharge path and the initial recharge angle. This allows the original initial recharge path and the initial recharge angle to be used as target recharge information when the deviation of the initial recharge angle is within an acceptable range, thus ensuring the accuracy of the target recharge information.

[0137] Step S704: If the absolute value of the difference between the first recharge angle and the initial recharge angle is greater than or equal to the angle threshold, then generate target recharge information based on the first recharge path and the first recharge angle.

[0138] When the absolute value of the difference between the first return angle and the initial return angle is greater than or equal to the angle threshold, target return information can be generated based on the first return path and the first return angle. For example, the first return path and the first return angle can be determined as target return information.

[0139] It should be noted that since the positioning accuracy of RTK coordinates obtained when the RTK signal has a fixed solution is high, when the absolute value of the difference between the first recharge angle and the initial recharge angle is greater than or equal to the angle threshold, it indicates that the deviation of the initial recharge path is large and the deviation of the initial recharge angle has exceeded the acceptable range. Therefore, it is necessary to correct the initial recharge path and use the current first recharge path and the first recharge angle as the target recharge information.

[0140] In the above embodiments, when the absolute value of the difference between the first recharge angle and the initial recharge angle is greater than or equal to an angle threshold, target recharge information is generated based on the first recharge path and the first recharge angle. This enables the use of the current first recharge path and the first recharge angle as target recharge information when the deviation of the initial recharge angle exceeds an acceptable range, thus ensuring the accuracy of the target recharge information.

[0141] The embodiments of this application also provide a computer-readable storage medium storing a computer program, the computer program including program instructions, and a processor executing the program instructions to implement any of the self-recharging methods for mobile devices provided in the embodiments of this application.

[0142] For example, when the program is loaded by the processor, it can perform the following steps: The system acquires multiple initial RTK coordinates sampled when the mobile device leaves the charging base station. These initial RTK coordinates are determined based on the RTK signals received by the mobile device. The system filters the initial RTK coordinates based on the positioning deviation information of the RTK signals to obtain the target RTK coordinates. The system determines the target recharge information of the mobile device based on the target RTK coordinates. Based on the target recharge information, the system performs a recharge operation.

[0143] The computer-readable storage medium can be an internal storage unit of the self-moving device described in the foregoing embodiments, such as a hard drive or memory of the self-moving device. Alternatively, the computer-readable storage medium can be an external storage device of the self-moving device, such as a plug-in hard drive, smart media card (SMC), secure digital card (SD card), flash card, etc., equipped on the self-moving device.

[0144] Furthermore, a computer-readable storage medium may primarily include a program storage area and a data storage area, wherein the program storage area may store the operating system, programs required for at least one function, etc.; and the data storage area may store data created according to each program, etc.

[0145] The above are merely specific embodiments 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 recharging a self-operated mobile device, characterized in that, The method includes: Multiple initial RTK coordinates sampled when the self-mobile device leaves the charging base station are obtained, and the multiple initial RTK coordinates are determined based on the RTK signal received by the self-mobile device; The target RTK coordinates are obtained by filtering the multiple initial RTK coordinates based on the positioning deviation information of the RTK signal. The target recharge information of the self-mobile device is determined based on the target RTK coordinates, and the target recharge information includes the recharge path and the recharge angle. Based on the target recharge information, perform the recharge operation; The positioning deviation information includes the target positioning deviation value when the RTK signal has a fixed solution. The target positioning deviation value is the sum of the first positioning deviation value and the second positioning deviation value. The first positioning deviation value is the maximum positioning deviation value of the first RTK signal detected when the self-mobile device is located at the charging base station. The second positioning deviation value is the maximum positioning deviation value of the second RTK signal detected when the self-mobile device is located on the recharge path. The step of filtering the multiple initial RTK coordinates based on the positioning deviation information of the RTK signal to obtain the target RTK coordinates includes: determining the movement speed of the mobile device when it leaves the charging base station and a preset sampling frequency; determining the number of coordinate filters based on the target positioning deviation value, the movement speed, and the sampling frequency; and performing coordinate filtering on the multiple initial RTK coordinates based on the number of coordinate filters to obtain the target RTK coordinates. The step of determining the number of coordinate filters based on the target positioning deviation value, the movement speed, and the sampling frequency includes: calculating a first distance based on the target positioning deviation value and a preset return angle error value; calculating a deviation sampling time based on the movement speed and the first distance; and calculating the number of coordinate filters based on the deviation sampling time and the sampling frequency.

2. The recharging method for a self-operated mobile device according to claim 1, characterized in that, The step of filtering the multiple initial RTK coordinates according to the number of coordinate filters to obtain the target RTK coordinates includes: When the number of initial RTK coordinates is greater than the number of coordinate filters, the initial RTK coordinates that are ranked first are filtered sequentially according to the number of coordinate filters and the sampling order of each initial RTK coordinate, and the remaining initial RTK coordinates are determined as the target RTK coordinates.

3. The recharging method for a self-operated mobile device according to claim 1, characterized in that, After determining the number of coordinate filters, the method further includes: When the number of the plurality of initial RTK coordinates is less than or equal to the number of coordinate filters, the plurality of initial RTK coordinates are filtered by a preset sliding window to determine the target RTK coordinates.

4. The recharging method for a self-moving device according to claim 3, characterized in that, The step of determining the target RTK coordinates by performing sliding filtering on the plurality of initial RTK coordinates according to a preset sliding window includes: The sliding window is used to slide the plurality of initial RTK coordinates; After each slide, the slope of the initial RTK coordinates within the sliding window is calculated to obtain the corresponding slope value; Determine the abnormal slope value based on the slope value corresponding to each slide; The target RTK coordinates are determined by filtering the multiple initial RTK coordinates based on the abnormal slope values.

5. The recharging method for a self-moving device according to claim 4, characterized in that, The step of determining abnormal slope values ​​based on the slope value corresponding to each slide includes: Calculate the average and variance of all the slope values ​​based on the slope value corresponding to each slide; The slope range is determined based on the average value and the variance; The slope values ​​that are not within the slope range for each sliding motion are identified as abnormal slope values.

6. The recharging method for a self-moving device according to any one of claims 1-5, characterized in that, Determining the target recharging information of the self-mobile device based on the target RTK coordinates includes: The initial recharge information recorded by the self-mobile device when it leaves the charging base station is obtained, and the initial recharge information includes the initial recharge path and the initial recharge angle. Based on the target RTK coordinates, a recharge calculation is performed to obtain the first recharge path and the first recharge angle; If the absolute value of the difference between the first recharge angle and the initial recharge angle is less than a preset angle threshold, then the target recharge information is generated based on the initial recharge path and the initial recharge angle. If the absolute value of the difference between the first recharge angle and the initial recharge angle is greater than or equal to the angle threshold, then the target recharge information is generated based on the first recharge path and the first recharge angle.

7. A self-moving device, characterized in that, The self-moving 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 recharging method for the self-moving device as described in any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the recharging method for the self-moving device as described in any one of claims 1 to 6.

Images