CN116106957A - Automatic mower satellite navigation system and SLAM fusion positioning method - Google Patents
Automatic mower satellite navigation system and SLAM fusion positioning method Download PDFInfo
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- CN116106957A CN116106957A CN202211674754.6A CN202211674754A CN116106957A CN 116106957 A CN116106957 A CN 116106957A CN 202211674754 A CN202211674754 A CN 202211674754A CN 116106957 A CN116106957 A CN 116106957A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
The invention discloses a method for fusing and positioning a satellite navigation system and SLAM of an automatic mower, when satellite signals are shielded and GPS positioning is unavailable, a robot system is automatically switched to a position coordinate of a VSLAM system in a current operation map and carries out subsequent operation, and after RTK positioning is recovered, the robot system is automatically switched to an RTK positioning module. Because the robot has the problem of accumulated error in the operation process of utilizing the Vslam navigation, the robot cannot work for a long time by using the Vslam navigation, and the invention sets the calibration flow in a targeted manner for carrying out the calibration work under different conditions, thereby reducing the error; the invention can further reduce errors in the Vslam navigation process by setting the compensation coefficient, wherein the compensation coefficient is a real-time empirical value obtained by calculating by taking data under the combined operation of machine GPS navigation and VSLAM navigation as empirical data, has higher accuracy and can correct certain deviation in real time.
Description
Technical Field
The invention belongs to the technical field of mowers, and particularly relates to a method for fusing and positioning a satellite navigation system and SLAM of an automatic mower.
Background
Current robotic lawnmowers are divided into bordered and borderless lawnmowers, where borderless lawnmowers mainly use two technical methods of RTK and inertial navigation, but both methods and combinations thereof have drawbacks. When a tree or a building is shielded by the RTK positioning mode, satellite signals can be shielded, so that positioning is lost. Inertial navigation suffers from accumulated errors, which can not provide stable and reliable positioning data for a long time. The fusion of these two data is positioned in areas with more obstacles and serious shielding of buildings or trees, and cannot work stably for a long time.
With the current continuous progress of algorithms based on monocular cameras, binocular cameras, RGBD cameras and laser technology development, VSLAM and laser SLAM, the application scene of the method can be gradually developed from indoor to outdoor.
In addition, as the VSLAM or the laser SLAM technology is used in a scene, the more the reference objects are, the more the feature points are, and the visual positioning or the laser positioning is facilitated.
The satellite navigation system has technical complementarity with VSLAM and laser SLAM technologies. In general, when the satellite navigation signal is good and stable, the machine positioning is mainly performed by a satellite navigation system, but when the satellite navigation signal is lost, the VSLAM or the laser SLAM is required to be used for compensation, but compared with the satellite navigation, the VSLAM and the laser SLAM have larger errors, and the accumulated errors exist in the use of the time, so that the problems are all required to be solved.
Disclosure of Invention
The invention provides a method for combining a satellite navigation system and SLAM of an automatic mower, which solves the problem that a machine cannot work normally when positioning is unavailable because a satellite is shielded, and simultaneously provides a calibration means for improving positioning accuracy when VSLAM or laser SLAM is adopted.
The technical solution for achieving the above purpose is as follows:
a satellite navigation system and SLAM fusion positioning method of an automatic mower, when satellite signals are shielded and GPS positioning is unavailable, a robot system is automatically switched to a position coordinate of a VSLAM system in a current operation map and carries out subsequent operation, and after the GPS positioning is recovered, the robot system is automatically switched to a GPS positioning module.
Further, the method specifically comprises the following steps:
A. after the robot is started, a GPS navigation system and a VSLAM navigation system are started at the same time, under the condition that a GPS navigation signal is good, real-time position data of the robot in VSLAM mapping data are converted into a coordinate system of a satellite positioning navigation system, and the VSLAM position data are started to be accumulated, and then the robot starts to operate and operates by adopting the GPS navigation signal; when the GPS navigation signal does not meet the condition for navigation, the VSLAM navigation is adopted for operation, and VSLAM position data is started to be accumulated;
B. when the GPS navigation signal of the robot is converted from good to unsatisfied for use, the robot is stopped at the moment, the last GPS position data (x 0, y0, alpha 0) before the signal loss is recorded, a VSLAM navigation system of the robot is restarted, real-time position data of the machine in the VSLAM mapping data are converted into a coordinate system of a satellite positioning navigation system, and the VSLAM navigation data are utilized for navigation;
C. when the robot continuously uses the VSLAM navigation data to navigate for more than a preset time t, the robot stops, the converted VSLAM position data (x '0, y'0 and alpha '0) are recorded, the robot VSLAM navigation system is restarted, the real-time position data of the robot in the VSLAM mapping data are converted according to (x', y 'and alpha'), and then the operation is continued;
D. and when the GPS navigation signal of the robot is recovered well, the robot is recovered to operate by using the GPS navigation.
Further, the step B specifically includes:
after the VSLAM navigation system is restarted, the initial VSLAM position data (x ', y ', alpha ') is (0, 0), the conversion process is to add the VSLAM position data (x ', y ', alpha ') obtained in real time and the last GPS position data (x 0, y0, alpha 0) before signal loss, so as to obtain processed data (x ' +x0, y ' +y0, alpha ' +alpha 0), and the processed data is used as position data for navigation.
Further, the step C specifically includes:
after the VSLAM navigation system is restarted, the initial VSLAM position data (x ', y ', alpha ') is (0, 0), the conversion process is to add the VSLAM position data (x ', y ', alpha ') obtained in real time and the VSLAM position data (x '0, y '0, alpha ' 0), so as to obtain processed data (x ' +x '0, y ' +y '0, alpha ' +alpha ' 0), and the processed data is used as position data for navigation.
Further, the method specifically comprises the following steps:
a. after the robot is started, a GPS navigation system and a VSLAM navigation system are started at the same time, under the condition that a GPS navigation signal is good, real-time position data of the robot in VSLAM mapping data are converted into a coordinate system of a satellite positioning navigation system, and the VSLAM position data are started to be accumulated, and then the robot starts to operate and operates by adopting the GPS navigation signal; when the GPS navigation signal does not meet the condition for navigation, the VSLAM navigation is adopted for operation, and VSLAM position data is started to be accumulated;
b. when the GPS navigation signal of the robot is well converted to be unsatisfied for use, the robot is stopped at the moment, the last GPS position data (x 0, y0, alpha 0) and the last VSLAM position data (x '0, y '0, alpha ' 0) of the robot before the signal is lost are recorded, the VSLAM navigation system is restarted, the real-time position data of the robot in the VSLAM mapping data are converted into a coordinate system of a satellite positioning navigation system, and the VSLAM navigation data are utilized for navigation;
c. when the robot continuously uses the VSLAM navigation data to navigate for more than a preset time t, the robot stops, the converted VSLAM position data (x '1, y'1 and alpha '1) are recorded, the robot VSLAM navigation system is restarted, the real-time position data of the machine in the VSLAM mapping data are converted according to (x', y 'and alpha'), and then the operation is continued;
d. and when the GPS navigation signal of the robot is recovered well, the robot is recovered to operate by using the GPS navigation.
Further, the step b specifically includes:
the last GPS position data (x 0, y0, alpha 0) before signal loss and the last robot VSLAM position data (x '0, y '0, alpha ' 0) are utilized to obtain compensation coefficients a, b and c, specifically a=x0/x '0, b=y0/y '0, c=α0/alpha '0, after the VSLAM navigation system is restarted, the initial VSLAM position data (x ', y ', alpha ') is (0, 0), the conversion process is to process the VSLAM position data (x ', y ', alpha ') obtained in real time and the last GPS position data (x 0, y0, alpha 0) before signal loss and the compensation coefficients a, b and c, so as to obtain processed data (ax ' +x0, by ' +y0, calpha ' +α0), and the data is utilized as position data for navigation.
Further, the step c specifically includes:
after the VSLAM navigation system is restarted, the initial VSLAM position data (x ', y ', alpha ') is (0, 0), the conversion process is to process the VSLAM position data (x ', y ', alpha ') obtained in real time and the VSLAM position data (x '1, y '1, alpha ' 1) to obtain processed data (ax ' +x '1, by ' +y '1, c alpha ' +alpha ' 1), and the data is used as position data for navigation, wherein the compensation coefficients a, b and c adopted in the step are the values of the compensation coefficients recorded in the system last time.
Further, the time t does not exceed 2min.
Further, after the robot is started in the charging station for the first time and enters the map building mode, the position and the course angle of the robot in the current GPS positioning mode and the VSLAM positioning mode are recorded, the robot leaves and retreats for a certain distance, then an entering guide point is arranged, the position of the current guide point and the course angle of the charging station are recorded, the position and the course angle information output by the VSLAM system are consistent through coordinate conversion, and the robot can accurately return to the charging station in the two positioning modes respectively.
Further, when the robot is in the process of returning to the charging station and the GPS positioning is lost, starting a VSLAM system positioning mode, firstly running to a guide point of the returning to the charging station, and then returning to the charging station at the guide point according to the recorded course angle of the returning to the charging station
Compared with the prior art, the invention has the advantages that:
(1) Because the robot has the problem of accumulated error in the running process of utilizing the Vslam navigation, the robot cannot work for a long time by using the Vslam navigation, and therefore, the invention sets a calibration flow in a targeted manner, is used for carrying out calibration work under different conditions, and reduces the error;
(2) The error in the Vslam navigation process can be further reduced by setting the compensation coefficient, the compensation coefficient is a real-time experience value obtained by calculating by taking data under the combined operation of machine RTK navigation and VSLAM navigation as experience data, the accuracy is high, and a certain deviation can be corrected in real time.
Description of the drawings:
FIG. 1 is a schematic diagram of a satellite positioning navigation system creating a map.
Fig. 2 is a schematic diagram of a VSLAM system creating a map.
The specific embodiment is as follows:
the invention discloses a fusion positioning method of a satellite navigation system and SLAM of an automatic mower.
The following is exemplified by a fusion of RTK positioning and VSLAM positioning, and the RTK navigation is taken as a main positioning method, and the VSLAM positioning is taken as a navigation position auxiliary positioning method.
(1) Origin of coordinates creation
The coordinate system used by the VSLAM system to create the map differs from the coordinate system used by the satellite navigation positioning system.
In connection with fig. 1, a satellite positioning navigation system uses a geographic coordinate system, and the heading data of the machine in the position and the posture in the working map are absolute values, for example, the heading data determines that the north position is 0 degrees. As shown in fig. 1, during operation, the machine 2 is operating in the working area 1, the machine coordinate system XOY is established by means of geographical coordinates, and after the origin o is set manually or automatically, no change occurs. Typically, the origin is located on the operating area boundary line or at the base station 10. The data of each position point includes coordinate data (x, y) and attitude data α, which is a heading angle of the machine at that time. The positioning is performed by satellite positioning navigation, and the positioning data is accurate, but since satellite signals need to be received at all times, navigation cannot be performed in the region 101 where satellite signals are weak.
With reference to fig. 2, when the VSLAM mapping function is started, the origin of the operating map of the coordinate system of the VSLAM system is that the position and the posture when the mapping function is started are taken as the origin O ', the coordinate system X' O 'Y' is established, and along with the movement of the machine on the site, the functions of an odometer and the like contained in the VSLAM are utilized to gradually establish a complete map of the operating area of the machine. All positions and postures of the machine recorded during the VSLAM mapping are related to the position and posture of the camera-initiated mapping. The data of each position point includes coordinate data (x ', y ') and attitude data α ', which is a heading angle of the machine at that time. The VSLAM map is adopted for navigation, so that signal loss is not required, but errors are continuously accumulated in the navigation process of the VSLAM system, and the navigation accuracy exceeds a tolerance range for a certain time.
Meanwhile, because the coordinate systems of the two navigation maps are different, when two positioning methods are fused, the first step is to convert real-time position data of a machine in the VSLAM mapping data into the coordinate system of the satellite positioning navigation system, and when the machine is in a normal running state, RTK positioning data and VSLAM positioning data are simultaneously generated, and the RTK positioning data are mainly used as position data references of the machine in navigation.
The data conversion is performed by translating and steering a coordinate system in the VSLAM mapping data, overlapping the coordinate system X 'O' Y 'with XOY, and correspondingly converting the data in the coordinate system X' O 'Y', so that the data acquired through the VSLAM can be used for navigation.
(2) Positioning mode switching
When satellite signals are blocked, for example, a machine is in a dead zone 101, RTK positioning is unavailable, the robot system automatically switches to a position coordinate of the VSLAM system in a current operation map and performs subsequent operation, after the RTK positioning is recovered, the robot system automatically switches to an RTK positioning module, and because the machine has the problem of accumulated error in the operation process of utilizing the Vslam navigation, the machine cannot work for a long time by using the Vslam navigation, the following calibration flow is set for performing calibration work under different conditions, and the error is reduced:
A. starting a machine at a base station, starting an RTK navigation system and a VSLAM navigation system at the same time, under the condition that an RTK navigation signal is good, converting real-time position data of the machine in VSLAM mapping data into a coordinate system of a satellite positioning navigation system, starting to accumulate the VSLAM position data, and starting to operate the machine by adopting the RTK navigation signal; when the RTK navigation signal does not meet the condition for navigation, the VSLAM navigation is adopted for operation, and VSLAM position data is started to be accumulated (the situation that the robot loses RTK data when being started is specifically corresponding to the situation that the robot is started, and the VSLAM navigation is directly started at the moment);
B. when the RTK navigation signal of the machine is converted from good to unsatisfied for use, the machine is stopped at the moment, the last RTK position data (x 0, y0, alpha 0) before the signal loss is recorded, a VSLAM navigation system of the machine is restarted, real-time position data of the machine in the VSLAM mapping data are converted into a coordinate system of a satellite positioning navigation system, and the VSLAM navigation data are utilized for navigation;
C. when the machine continuously uses the VSLAM navigation data to navigate for more than a preset time t, the machine stops, the converted VSLAM position data (x '0, y'0 and alpha '0) are recorded, the machine VSLAM navigation system is restarted, the real-time position data of the machine in the VSLAM mapping data are converted according to (x', y 'alpha'), and then the operation is continued;
D. when the machine RTK navigation signal is recovered well, the operation is recovered by using the RTK navigation.
The specific conversion process in the step B is that, after the VSLAM navigation system is restarted, the initial VSLAM position data (x ', y ', α ') is (0, 0), the conversion process is to add the VSLAM position data (x ', y ', α ') obtained in real time and the last RTK position data (x 0, y0, α0) before signal loss, so as to obtain processed data (x ' +x0, y ' +y0, α ' +α0), and use the processed data as position data for navigation.
The specific conversion process in the step C is that, after the VSLAM navigation system is restarted, the initial VSLAM position data (x ', y ', α ') is (0, 0), the conversion process is to add the VSLAM position data (x ', y ', α ') obtained in real time and the VSLAM position data (x '0, y '0, α ' 0), to obtain processed data (x ' +x '0, y ' +y '0, α ' +α ' 0), and to use the processed data as position data for navigation. The purpose of this step is to eliminate the accumulated error of the VSLAM during the use process, and in the operation process of the VSLAM navigation system, besides the mechanical error of the VSLAM navigation system, the accumulated error increases along with the increase of the use time, and the restart is performed at a certain time, so that the accumulated error can be eliminated.
The preset time t is typically not more than 2 minutes.
The following provides a navigation scheme with higher precision, which is specifically as follows:
a. starting a machine at a base station, starting an RTK navigation system and a VSLAM navigation system at the same time, under the condition that an RTK navigation signal is good, converting real-time position data of the machine in VSLAM mapping data into a coordinate system of a satellite positioning navigation system, starting to accumulate the VSLAM position data, and starting to operate the machine by adopting the RTK navigation signal; when the RTK navigation signal does not meet the condition for navigation, performing operation by adopting VSLAM navigation, and starting to accumulate VSLAM position data;
b. when the machine RTK navigation signal is converted from good to unsatisfied for use, the machine is stopped at the moment, the last RTK position data (x 0, y0, alpha 0) and the last machine VSLAM position data (x '0, y '0, alpha ' 0) before the signal is lost are recorded, the VSLAM navigation system is restarted, the real-time position data of the machine in the VSLAM mapping data are converted into a coordinate system of the satellite positioning navigation system, and the VSLAM navigation data are utilized for navigation;
c. when the machine continuously uses the VSLAM navigation data to navigate for more than a preset time t, the machine stops, the converted VSLAM position data (x '1, y'1, alpha '1) at the moment is recorded, a machine VSLAM navigation system is restarted, real-time position data of the machine in VSLAM mapping data are converted according to (x', y ', alpha'), and then the operation is continued;
d. when the machine RTK navigation signal is recovered well, the operation is recovered by using the RTK navigation.
The specific conversion process in the above step B is to obtain the compensation coefficients a, B and c by using the last RTK position data (x 0, y0, α0) before the signal loss and the last machine VSLAM position data (x '0, y'0, α0), specifically a=x0/x '0, b=y0/y' 0, c=α0/α0 ', after the VSLAM navigation system is restarted, the initial VSLAM position data (x', y ', α') is (0, 0), and the conversion process is to process the VSLAM position data (x ', y', α ') obtained in real time and the last RTK position data (x 0, y0, α0) before the signal loss and the compensation coefficients a, B, c, to obtain the processed data (ax' +x0, by '+y0, cα' +α0), and navigate by using the data as the position data.
The specific conversion process in the step C is that, after the VSLAM navigation system is restarted, the initial VSLAM position data (x ', y ', α ') is (0, 0), the conversion process is to process the VSLAM position data (x ', y ', α ') and the VSLAM position data (x '1, y '1, α ' 1) obtained in real time, obtain processed data (ax ' +x '1, by ' +y '1, cα ' +α ' 1), and use the data as position data to navigate, wherein, the compensation coefficients a, b, C used in the step are the values of the compensation coefficients recorded last time in the system. The purpose of this step is to eliminate the accumulated error of the VSLAM during the use process, and in the operation process of the VSLAM navigation system, besides the mechanical error of the VSLAM navigation system, the accumulated error increases along with the increase of the use time, and the restart is performed at a certain time, so that the accumulated error can be eliminated.
The preset time t is typically not more than 2 minutes.
The error in the Vslam navigation process can be further reduced by setting the compensation coefficient, the compensation coefficient is a real-time experience value obtained by calculating by taking data under the combined operation of machine RTK navigation and VSLAM navigation as experience data, the accuracy is high, and a certain deviation can be corrected in real time.
Map creation
When a user uses the mower, the user needs to remotely control the machine to create a polygon in a dotting mode along the turning points of the boundary of the lawn. When the operation map is created, the machine extracts the visual characteristic points, tracks and initial map values for the first time in a strange environment, and the visual odometer function is used at this stage because the operation map is not created. In terms of working principle, since the visual odometer only considers key frames in adjacent time, it is unavoidable that there is a certain accumulated drift problem.
When the machine enters the satellite shielded area, when the machine is switched to and is in the RTK positioning mode, the position and heading data at the latest moment are recorded and updated, the deviation value of the output data of the odometer is corrected in real time according to the position and heading data, and after the machine enters the satellite shielded area, the subsequent map creation work is carried out by using the positioning data provided by the visual calendar.
After the map is built, the machine traverses mowing operation by means of two positioning modes of RTK positioning and visual odometer. Meanwhile, a VSLAM real-time mapping function is operated in the mower system, and when the whole working area is covered by the mower traversing path, the VSLAM map is created.
Because the VSLAM is in the fusion positioning of the high-precision navigation system and the VSLAM system, the following position information in several working states needs to be processed:
1. when the machine is started in the charging station for the first time and enters a map building mode, the position and the course angle of the machine in the current RTK positioning mode and the VSLAM positioning mode are recorded, the machine is set to enter a station guiding point after going out and backing back for a certain distance, the position of the current guiding point and the course angle of the charging station are recorded, the position and the course angle information output by the VSLAM system are consistent through coordinate conversion, and the machine can accurately return to the charging station in the two positioning modes respectively.
2. When the machine is in the process of returning to the charging station and the RTK positioning is lost, starting a VSLAM system positioning mode, firstly running to a guide point of the returning to the charging station, and then returning to the charging station at the guide point according to the recorded course angle of the returning to the charging station.
The foregoing has outlined and described the basic principles, features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A method for combining a satellite navigation system and SLAM of an automatic mower is characterized in that when satellite signals are shielded and GPS positioning is unavailable, a robot system is automatically switched to a position coordinate of a VSLAM system in a current operation map and performs subsequent operation, and after the GPS positioning is recovered, the robot system is automatically switched to a GPS positioning module.
2. The method for positioning a satellite navigation system and SLAM of a robotic mower according to claim 1, comprising the steps of:
A. after the robot is started, a GPS navigation system and a VSLAM navigation system are started at the same time, under the condition that a GPS navigation signal is good, real-time position data of the robot in VSLAM mapping data are converted into a coordinate system of a satellite positioning navigation system, and the VSLAM position data are started to be accumulated, and then the robot starts to operate and operates by adopting the GPS navigation signal; when the GPS navigation signal does not meet the condition for navigation, the VSLAM navigation is adopted for operation, and VSLAM position data is started to be accumulated;
B. when the GPS navigation signal of the robot is converted from good to unsatisfied for use, the robot is stopped at the moment, the last GPS position data (x 0, y0, alpha 0) before the signal loss is recorded, a VSLAM navigation system of the robot is restarted, real-time position data of the machine in the VSLAM mapping data are converted into a coordinate system of a satellite positioning navigation system, and the VSLAM navigation data are utilized for navigation;
C. when the robot continuously uses the VSLAM navigation data to navigate for more than a preset time t, the robot stops, the converted VSLAM position data (x '0, y'0 and alpha '0) are recorded, the robot VSLAM navigation system is restarted, the real-time position data of the robot in the VSLAM mapping data are converted according to (x', y 'and alpha'), and then the operation is continued;
D. and when the GPS navigation signal of the robot is recovered well, the robot is recovered to operate by using the GPS navigation.
3. The method for positioning the satellite navigation system and the SLAM of the automatic mower according to claim 2, wherein the step B is specifically:
after the VSLAM navigation system is restarted, the initial VSLAM position data (x ', y ', alpha ') is (0, 0), the conversion process is to add the VSLAM position data (x ', y ', alpha ') obtained in real time and the last GPS position data (x 0, y0, alpha 0) before signal loss, so as to obtain processed data (x ' +x0, y ' +y0, alpha ' +alpha 0), and the processed data is used as position data for navigation.
4. The method for positioning a satellite navigation system and SLAM of a robotic lawnmower of claim 3, wherein step C is specifically:
after the VSLAM navigation system is restarted, the initial VSLAM position data (x ', y ', alpha ') is (0, 0), the conversion process is to add the VSLAM position data (x ', y ', alpha ') obtained in real time and the VSLAM position data (x '0, y '0, alpha ' 0), so as to obtain processed data (x ' +x '0, y ' +y '0, alpha ' +alpha ' 0), and the processed data is used as position data for navigation.
5. The method for positioning a satellite navigation system and SLAM of a robotic mower according to claim 1, comprising the steps of:
a. after the robot is started, a GPS navigation system and a VSLAM navigation system are started at the same time, under the condition that a GPS navigation signal is good, real-time position data of the robot in VSLAM mapping data are converted into a coordinate system of a satellite positioning navigation system, and the VSLAM position data are started to be accumulated, and then the robot starts to operate and operates by adopting the GPS navigation signal; when the GPS navigation signal does not meet the condition for navigation, the VSLAM navigation is adopted for operation, and VSLAM position data is started to be accumulated;
b. when the GPS navigation signal of the robot is well converted to be unsatisfied for use, the robot is stopped at the moment, the last GPS position data (x 0, y0, alpha 0) and the last VSLAM position data (x '0, y '0, alpha ' 0) of the robot before the signal is lost are recorded, the VSLAM navigation system is restarted, the real-time position data of the robot in the VSLAM mapping data are converted into a coordinate system of a satellite positioning navigation system, and the VSLAM navigation data are utilized for navigation;
c. when the robot continuously uses the VSLAM navigation data to navigate for more than a preset time t, the robot stops, the converted VSLAM position data (x '1, y'1 and alpha '1) are recorded, the robot VSLAM navigation system is restarted, the real-time position data of the machine in the VSLAM mapping data are converted according to (x', y 'and alpha'), and then the operation is continued;
d. and when the GPS navigation signal of the robot is recovered well, the robot is recovered to operate by using the GPS navigation.
6. The method for positioning a satellite navigation system and SLAM of a robotic lawnmower of claim 5, wherein step b is specifically:
the last GPS position data (x 0, y0, alpha 0) before signal loss and the last robot VSLAM position data (x '0, y '0, alpha ' 0) are utilized to obtain compensation coefficients a, b and c, specifically a=x0/x '0, b=y0/y '0, c=α0/alpha '0, after the VSLAM navigation system is restarted, the initial VSLAM position data (x ', y ', alpha ') is (0, 0), the conversion process is to process the VSLAM position data (x ', y ', alpha ') obtained in real time and the last GPS position data (x 0, y0, alpha 0) before signal loss and the compensation coefficients a, b and c, so as to obtain processed data (ax ' +x0, by ' +y0, calpha ' +α0), and the data is utilized as position data for navigation.
7. The method for positioning the satellite navigation system and SLAM of the automatic mower according to claim 6, wherein said step c is specifically:
after the VSLAM navigation system is restarted, the initial VSLAM position data (x ', y ', alpha ') is (0, 0), the conversion process is to process the VSLAM position data (x ', y ', alpha ') obtained in real time and the VSLAM position data (x '1, y '1, alpha ' 1) to obtain processed data (ax ' +x '1, by ' +y '1, c alpha ' +alpha ' 1), and the data is used as position data for navigation, wherein the compensation coefficients a, b and c adopted in the step are the values of the compensation coefficients recorded in the system last time.
8. The automated mower satellite navigation system and SLAM fusion positioning method of any one of claims 2-7, wherein said time t does not exceed 2 minutes.
9. The method for positioning a satellite navigation system and a SLAM of a robotic mower according to any one of claims 2-7, wherein after the robot is started in a charging station for the first time and enters a mapping mode, the position and heading angle of the robot in a current GPS positioning mode and a VSLAM positioning mode are recorded, an inbound guiding point is set after the robot goes out and retreats for a certain distance, the position of the current guiding point and the heading angle of a recharging station are recorded, and the position and heading angle information output by the VSLAM system are consistent through coordinate conversion, so that the robot can accurately return to the charging station in both positioning modes.
10. The automated mower satellite navigation system and SLAM fusion positioning method of claim 9, wherein when the robot is in the process of recharging the station and the GPS positioning is lost, the VSLAM system positioning mode is started, first the robot is operated to a guidance point of the recharging station, and then the recharging station is recharged at the guidance point according to the recorded recharging station heading angle.
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| CN117249834B (en) * | 2023-11-17 | 2024-01-30 | 未岚大陆(北京)科技有限公司 | Path planning method, device, equipment and storage medium |
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