CN-122015913-A - Positioning error optimization method, self-mobile device and storage medium

Abstract

The invention relates to the technical field of positioning navigation and discloses a positioning error optimization method, self-moving equipment and a storage medium, wherein the method comprises the steps of determining the current positioning error in the process of moving the self-moving equipment to a target position; the method comprises the steps of determining a target positioning optimization strategy from a plurality of positioning optimization strategies according to the comparison result of the current positioning error and a plurality of preset thresholds, controlling the self-mobile equipment to execute the target positioning optimization strategy so as to correct the positioning error, starting a progressive and direction-coordinated error optimization flow when the error exceeds the task precision requirement by monitoring the positioning error in real time, gradually trying from low cost to high cost, avoiding continuous accumulation of the positioning error, and improving the navigation precision, the quality and the efficiency of the operation task.

Inventors

• Request for anonymity

Assignees

• 深圳库犸科技有限公司

Dates

Publication Date

20260512

Application Date

20260224

Claims (18)

1. 1. A method of positioning error optimization, the method comprising: Determining a current positioning error in the process of moving the mobile device to the target position; Determining a target positioning optimization strategy from a plurality of positioning optimization strategies according to the comparison result of the current positioning error and a plurality of preset thresholds; And controlling the self-mobile device to execute the target positioning optimization strategy so as to correct positioning errors.
2. 2. The method of claim 1, wherein the plurality of preset thresholds includes a first preset threshold, a second preset threshold, and a third preset threshold, and wherein determining the target positioning optimization strategy from the plurality of positioning optimization strategies based on the comparison of the current positioning error and the plurality of preset thresholds includes: when the current positioning error is larger than the first preset threshold value, determining a first positioning optimization strategy in a plurality of positioning optimization strategies as the target positioning optimization strategy; When the current positioning error is larger than a second preset threshold value and does not exceed the first preset threshold value, determining a second positioning optimization strategy in a plurality of positioning optimization strategies as the target positioning optimization strategy; And when the current positioning error is larger than a third preset threshold, determining a third positioning optimization strategy in a plurality of positioning optimization strategies as the target positioning optimization strategy, wherein the first preset threshold is larger than the second preset threshold, and the third preset threshold is larger than the first preset threshold.
3. 3. The method of claim 2, wherein the first positioning optimization strategy comprises: Searching a key frame position in a first preset range of the current position; When the key frame position is searched, selecting a target key frame position from the key frame positions; and controlling the self-mobile device to move towards the target key frame position so as to correct positioning errors.
4. 4. A method according to claim 3, wherein searching for key frame locations within a first predetermined range of the current location comprises: continuously acquiring a current positioning frame in the moving process of the mobile equipment; Matching the current positioning frame with a map according to the map in a pre-constructed map key frame database; and when the matching is successful, determining that the key frame position is searched.
5. 5. The method of claim 4, wherein selecting a target key frame location from the key frame locations comprises: determining a current navigation direction of the self-mobile device; and selecting a target key frame position from the key frame positions according to the consistency of the key frame positions and the current navigation direction.
6. 6. The method of claim 5, wherein determining a target key frame location among the key frame locations based on a correspondence of the key frame locations to the current navigation direction comprises: calculating the matching confidence between the current environmental observation data and the historical environmental characteristics stored in each key frame position; determining the consistency between the positions of the key frames and the current navigation direction; The target key frame location is determined from the key frame locations based on the match confidence and the consistency.
7. 7. The method of claim 2, wherein the second positioning optimization strategy comprises: And controlling the self-mobile equipment to rotate in situ at the current position, and updating the current pose based on the environmental perception data acquired in the rotation process so as to reduce positioning errors.
8. 8. The method of claim 3, wherein searching for key frame locations within a first predetermined range of the current location comprises: And searching the key frame position in the first preset area taking the current position as the center when the positioning optimization strategy is determined to be the first positioning optimization strategy or the positioning error is still larger than the second preset threshold value after the second positioning optimization strategy is executed.
9. 9. The method of claim 2, wherein the third positioning optimization strategy comprises: Searching for a historical key frame position in a second preset area taking the current position as a center, wherein the searching radius of the second preset area is larger than that of the first preset area; And when the positioning optimization strategy is determined to be a third positioning optimization strategy, or the key frame position is not searched in the first preset area, or the current positioning error is still larger than a preset acceptable threshold after positioning correction is completed based on the target key frame position in the first preset area, executing the third positioning optimization strategy.
10. 10. The method of claim 5, wherein said determining a correspondence between each key frame location and the current navigation direction comprises: When the key frame positions are searched based on the first preset area, calculating the direction deviation between the direction associated with each key frame position and the current navigation direction, and judging the key frame positions with the direction deviation smaller than a first preset angle threshold value as meeting the direction consistency; and when the key frame positions are searched based on the second preset area, calculating a consistency score according to the direction deviation between the direction associated with each key frame position and the current navigation direction and the distance from the key frame position to the current position.
11. 11. The method according to claim 1, wherein the method further comprises: And when the historical key frame position is not searched, controlling the self-mobile device to execute exploratory motion in a third preset range which takes the current position as a center and has a radius not exceeding a preset exploratory radius until the key frame position is searched in the third preset range, wherein the exploratory radius of the third preset range is larger than the searching radius of the first preset range and smaller than the exploratory radius of the second preset area.
12. 12. The method of claim 11, wherein the exploratory motion comprises: And rotating the device along the current straight-going first distance by an angle around the vertical axis of the device, and then rotating the device along the rotated straight-going second distance, wherein the absolute value of the rotating angle does not exceed a preset upper rotation limit angle, and the included angle between the displacement direction of the position at the end of exploration relative to the current position and the current navigation direction does not exceed a preset direction tolerance angle.
13. 13. The method of claim 5, wherein the method further comprises: Acquiring a working stage and/or a working environment of the self-mobile device in a current task; and determining the first preset threshold value, the second preset threshold value and/or the third preset threshold value according to the working stage and/or the working environment.
14. 14. The method of claim 4, further comprising, after controlling the self-mobile device to move to the target keyframe location or to rotate in place at the current location: continuously acquiring a current positioning error; and stopping moving to the target key frame position or rotating in situ at the current position when the current positioning error is smaller than the second preset threshold value, and restoring to execute the task of moving to the target position.
15. 15. The method of claim 4, further comprising, after controlling the movement from the mobile device to the target keyframe location: Starting a timer; stopping moving to the target key frame position and restoring executing the task moving to the target position when the timer reaches a preset time threshold and the current positioning error is still larger than a preset acceptable threshold; or after the current position is rotated in place, further comprising: Starting a timer; And stopping in-situ rotation at the current position and resuming execution of the task moving to the target position when the timer reaches a preset time threshold and the current positioning error is still greater than a preset acceptable threshold.
16. 16. A self-moving device, comprising a controller, the controller comprising: A memory and a processor in communication with each other, the memory having stored therein computer instructions which, upon execution, cause the processor to perform the method of any of claims 1 to 15.
17. 17. The self-moving device of claim 16, wherein the self-moving device is a lawn mower.
18. 18. A computer readable storage medium having stored thereon computer instructions for causing a computer to perform the method of any one of claims 1 to 15.

Description

Positioning error optimization method, self-mobile device and storage medium Technical Field The invention relates to the technical field of positioning navigation, in particular to a positioning error optimization method, self-mobile equipment and a storage medium. Background In a visual navigation system of a self-mobile device, accumulation of positioning errors is a common problem, and even if positioning is not completely lost, as operation time is prolonged and operation distance is increased, the accumulation errors of a visual odometer are gradually increased, so that deviation is generated between an estimated position and a real position of the self-mobile device, and the problems of repeated coverage of operation content of the self-mobile device or low completion degree and precision of the operation content are caused. In the related art, the optimization means for positioning errors are single, the same optimization mode is adopted no matter the error magnitude, and a progressive error optimization method is lacked. Disclosure of Invention The invention provides a positioning error optimization method, self-moving equipment and a storage medium, which are used for solving the problems of low operation completion degree and low precision of the self-moving equipment caused by single error optimization method and lack of progressive error optimization method. In a first aspect, the present invention provides a positioning error optimization method, which includes determining a current positioning error in a process of moving from a mobile device to a target position, determining a target positioning optimization strategy from a plurality of positioning optimization strategies according to a comparison result of the current positioning error and a plurality of preset thresholds, and controlling the mobile device to execute the target positioning optimization strategy so as to correct the positioning error. The invention firstly determines the current positioning error in the process of moving from the mobile equipment to the target position, compares the positioning error with a plurality of preset thresholds, selects one target positioning optimization strategy from the positioning optimization strategies according to the comparison result, and then controls the self-mobile equipment to execute the determined target positioning optimization strategy to correct the positioning error, thereby realizing the dynamic matching of different optimization strategies according to the size of the positioning error, realizing progressive and layered error correction, avoiding the limitation of a single strategy, adopting the most suitable positioning error optimization measures in different error stages, timely processing the positioning error generated in the moving process, avoiding the continuous accumulation of the positioning error, and improving the navigation precision and the operation coverage quality. In an alternative embodiment, the plurality of preset thresholds include a first preset threshold, a second preset threshold and a third preset threshold, and determining the target positioning optimization strategy from the plurality of positioning optimization strategies according to a comparison result of the current positioning error and the plurality of preset thresholds includes determining that the first positioning optimization strategy of the plurality of positioning optimization strategies is the target positioning optimization strategy when the current positioning error is greater than the first preset threshold, determining that the second positioning optimization strategy of the plurality of positioning optimization strategies is the target positioning optimization strategy when the current positioning error is greater than the second preset threshold and does not exceed the first preset threshold, and determining that the third positioning optimization strategy of the plurality of positioning optimization strategies is the target positioning optimization strategy when the current positioning error is greater than the third preset threshold, wherein the first preset threshold is greater than the second preset threshold and the third preset threshold is greater than the first preset threshold. According to the invention, the first preset threshold value, the second preset threshold value and the third preset threshold value are set, wherein the first preset threshold value is larger than the second preset threshold value, the third preset threshold value is larger than the first preset threshold value, the first positioning optimization strategy is determined when the current positioning error is larger than the first preset threshold value according to the comparison result of the current positioning error and the plurality of preset threshold values, the second positioning optimization strategy is determined when the current positioning error is larger than the second preset threshold v