Self-moving equipment and shielding detection method thereof

Abstract

The invention discloses a self-moving device and a shielding detection method thereof. The self-moving device includes: a housing; the walking assembly comprises walking wheels and a walking motor, and the walking assembly is coupled to the shell; the internet communication module is configured to download first ephemeris data from the internet; the mobile station comprises a satellite receiving antenna and a radio station; the satellite receiving antenna is configured to acquire a satellite signal, and the satellite signal comprises satellite observation data of the mobile station; the radio station is configured to receive a radio signal from the base station, and the radio signal comprises satellite observation data of the base station; wherein the self-moving device further comprises a controller, and the controller is configured to detect the shielding condition of the mobile station according to the satellite observation data of the mobile station and the first ephemeris data. According to the invention, adverse effects caused by shielding of foreign objects in the positioning and navigation control process of the self-moving equipment can be reduced.

Claims

1. A self-propelled device, characterized in that: include: case; A walking assembly, comprising a walking wheel and a walking motor, wherein the walking assembly is coupled to the housing; An Internet communication module, configured to download first ephemeris data from the Internet; Mobile stations, including satellite receiving antennas and radio stations; The satellite receiving antenna is configured to acquire satellite signals, wherein the satellite signals include satellite observation data of the mobile station; The radio station is configured to receive a radio signal from a base station, wherein the radio signal includes satellite observation data of the base station; Wherein, the self-moving device further includes: a controller configured to detect the shielding condition of the mobile station according to the satellite observation data of the mobile station and the first ephemeris data.

2. The self-moving device according to claim 1, characterized in that: The controller is configured to obtain second ephemeris data of the mobile station based on satellite observation data of the mobile station; compare satellites in the first ephemeris data with satellites in the second ephemeris data, and determine the shielding condition of the mobile station based on satellites that exist in the first ephemeris data but not in the second ephemeris data.

3. The self-moving device according to claim 2, characterized in that: The controller is configured to, at least, calculate the coordinates of the mobile station based on the satellite observation data of the mobile station, and convert the coordinates of each satellite in the first ephemeris data and the coordinates of the mobile station into the navigation coordinate system of the mobile device; filter out the satellites in the first ephemeris data based on the connection vectors of each satellite and the mobile station in the navigation coordinate system to obtain a first observable satellite whose satellite elevation angle is greater than a preset elevation angle threshold; compare the first observable satellite in the first ephemeris data with the second observable satellite in the second ephemeris data to determine the blocked satellite that exists in the first ephemeris data but does not exist in the second ephemeris data.

4. The self-moving device according to claim 3, characterized in that: The controller is configured to determine the blocking condition of the mobile station based on at least the number of the blocking satellites and the satellite azimuth angles.

5. The self-moving device according to claim 3, characterized in that: The controller is configured to determine the blocking direction of the self-moving device according to the satellite azimuth of the blocking satellite, and plan and control the walking path of the walking component according to the blocking direction.

6. The self-moving device according to claim 1, characterized in that: The controller is further configured to detect an obstruction condition of the base station based on the satellite observation data of the base station and the first ephemeris data.

7. The self-moving device according to claim 6, characterized in that: The controller is configured to obtain the third ephemeris data of the base station based on the satellite observation data of the base station; compare the satellites in the first ephemeris data with those in the third ephemeris data, and determine the obstruction status of the base station based on the satellites that exist in the first ephemeris data but not in the third ephemeris data.

8. The self-moving device according to any one of claims 1 to 7, characterized in that: The controller is further configured to transmit the shielding status of the mobile station or the base station to an external device through the Internet communication module.

9. The self-moving device according to any one of claims 1 to 7, characterized in that: The self-equipped device further comprises: an alarm device configured to issue an alarm prompt when the shielding condition of the mobile station or the base station is serious.

10. A method for detecting occlusion of a mobile device, characterized in that: include: The satellite receiving antenna of the mobile station of the self-mobile device acquires a satellite signal including satellite observation data of the mobile station; The Internet communication module of the mobile device downloads the first ephemeris data from the Internet; The controller of the self-mobile device detects the shielding condition of the mobile station according to the satellite observation data of the mobile station and the first ephemeris data.

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