CN118311624A

CN118311624A - Installation position recommending method and related equipment

Info

Publication number: CN118311624A
Application number: CN202410431298.5A
Authority: CN
Inventors: 吕卓; 陈子冲; 丑博星
Original assignee: Weilan Continental Beijing Technology Co ltd
Current assignee: Weilan Continental Beijing Technology Co ltd
Priority date: 2024-04-10
Filing date: 2024-04-10
Publication date: 2024-07-09

Abstract

The embodiment of the application provides an installation position recommending method and related equipment, which relate to the technical field of autonomous mobile equipment, and the installation position recommending method comprises the following steps: acquiring all satellite observation data acquired by moving the autonomous mobile equipment in a working area, and determining a plurality of recommended positions in the working area according to all satellite observation data; acquiring a first installation position corresponding to a first positioning device, wherein the first positioning device is used for indicating the positioning device to be installed, which is recommended by the position, and the positioning device to be installed is a base station or a charging pile; acquiring installation requirement parameters; and determining a second installation position corresponding to a second positioning device in each recommended position according to the installation requirement parameters and the first installation position, wherein the second positioning device is a positioning device to be installed except the first positioning device, and the number of the common-view satellites in the second installation position is larger than the preset number. According to the application, the positioning precision of the autonomous mobile equipment is improved.

Description

Installation position recommending method and related equipment

Technical Field

The application relates to the technical field of autonomous mobile equipment, in particular to a method for recommending an installation position and related equipment.

Background

In the field of autonomous mobile equipment, a base station refers to a control center of the autonomous mobile equipment, and the base station can provide functions of charging, communication, positioning and monitoring for the autonomous mobile equipment; and the charging pile can supply power for the base station and the autonomous mobile equipment.

The working area of the autonomous mobile equipment is mostly located at the position where satellite signals are blocked, so that when the autonomous mobile equipment is located at different directions of a blocking source, the number of visible satellites of the autonomous mobile equipment is greatly different, the number of common-view satellites of the current position of the autonomous mobile equipment is greatly different, and the number of common-view satellites determines the positioning accuracy of the autonomous mobile equipment.

At present, when the autonomous mobile device moves, whether a signal of the position of the base station meets the positioning requirement of the autonomous mobile device is judged by detecting the number of the co-vision satellites of the position of the base station, and when the autonomous mobile device charges a charging pile, whether the signal of the position of the base station meets the positioning requirement of the autonomous mobile device is judged by the number of the co-vision satellites of the position of the charging pile.

In the exemplary technology, the base station and the charging pile are installed manually, and the number of the common-view satellites corresponding to the positions of the base station and the charging device which are installed manually is not necessarily enough to meet the positioning requirement of the autonomous mobile equipment, so that the positioning precision of the autonomous mobile equipment is lower.

Disclosure of Invention

The application provides a method for recommending an installation position and related equipment, which are used for solving the problem of lower positioning precision of autonomous mobile equipment.

In order to achieve the above object, the embodiment of the present application provides the following technical solutions:

in a first aspect, an embodiment of the present application provides an installation position recommendation method, which is applied to an installation position recommendation device, where the installation position recommendation method includes:

Acquiring all satellite observation data acquired by moving the autonomous mobile equipment in a working area, and determining a plurality of recommended positions in the working area according to all the satellite observation data;

Acquiring a first installation position corresponding to a first positioning device, wherein the first positioning device is used for indicating a positioning device to be installed, which is recommended by a position, and the positioning device to be installed is a base station or a charging pile;

Acquiring installation requirement parameters, wherein the installation requirement parameters comprise at least one of distance range parameters among positioning devices, the number of the positioning devices to be installed, the area of the working area and signal intensity range parameters;

And determining a second installation position corresponding to a second positioning device according to the installation requirement parameters and the first installation position in each recommended position, wherein the second positioning device is a positioning device to be installed except the first positioning device, and the number of the common-view satellites in the second installation position is larger than a preset number.

In the above installation position recommending method, optionally, the step of determining, in each recommended position, a second installation position corresponding to a second positioning device according to the installation requirement parameter and the first installation position includes:

Determining a plurality of first recommended positions in the recommended positions according to the first installation positions, wherein the number of the common-view satellites corresponding to the first recommended positions is larger than a preset number;

And determining a second installation position corresponding to the second positioning device in each first recommended position according to the installation requirement parameters and the first installation positions.

In the above-described installation position recommending method, optionally, the step of determining a plurality of first recommended positions among the recommended positions according to the first installation position includes:

Sequentially determining each recommended position as a second recommended position, and sequentially combining the second recommended position, the first installation position and each third recommended position to obtain a plurality of sets corresponding to each second recommended position, wherein the third recommended position is the recommended position except the second recommended position;

Determining the number of the common-view satellites corresponding to the set according to satellite observation data corresponding to each position in the set;

Determining the number of the common-view satellites of the second recommended position according to the number of the common-view satellites of each set corresponding to the second recommended position;

And determining the first recommended position in each second recommended position according to the number of the common-view satellites in the second recommended position, wherein the number of the common-view satellites in the first recommended position is larger than a preset number.

In the above installation position recommending method, optionally, the step of determining, in each of the first recommended positions, a second installation position corresponding to the second positioning device according to the installation requirement parameter and the first installation position includes:

Determining satellite observation values of the first recommended positions according to satellite observation data corresponding to the first recommended positions;

Determining signal strength parameters corresponding to the first recommended position according to satellite observation values corresponding to the first recommended position and the number of the common-view satellites;

And determining a second installation position of the second positioning device in each first recommended position according to the signal intensity parameter of each first recommended position and the installation requirement parameter.

In the above installation position recommending method, optionally, the step of determining the satellite observation value of the first recommended position according to the satellite observation data corresponding to the first recommended position includes:

Determining a plurality of to-be-processed observation values of the first recommended position according to satellite observation data corresponding to the first recommended position, wherein the to-be-processed observation values comprise at least two of signal strength, signal strength standard deviation, altitude angle and unlocking probability;

And determining the satellite observation value corresponding to the first recommended position according to each observation value to be processed and the corresponding weight.

In the above installation position recommending method, optionally, the step of determining the plurality of observation values to be processed of the first recommended position according to satellite observation data corresponding to the first recommended position includes:

determining an area in which a first recommended position is located, and determining a fourth recommended position located in the area, wherein the fourth recommended position is a recommended position except the first recommended position;

And determining an average observed value corresponding to the first recommended position according to the satellite observed data of the first recommended position and the satellite observed data of the fourth recommended position, and taking the average observed value as an observed value to be processed corresponding to the first recommended position.

Determining a plurality of positions to be displayed in each recommended position according to the installation requirement parameters and the first installation position;

displaying each position to be displayed in the map corresponding to the working area;

And when the selected operation of the installation position of the second positioning device is detected, determining the position to be displayed corresponding to the selected operation as a second installation position corresponding to the second positioning device.

In the above installation position recommending method, optionally, the step of displaying each position to be displayed in the map corresponding to the working area includes:

Determining the display color of the position to be displayed in the map according to the signal intensity parameter corresponding to the position to be displayed;

and adjusting the color of the position to be displayed in the map to be the display color corresponding to the position to be displayed.

In the above installation position recommending method, optionally, after the step of adjusting the color of the position to be displayed in the map to the display color corresponding to the position to be displayed, the method further includes:

Determining a first position of the position to be displayed in the map, determining a second position of the first position in a page where the map is located, and setting a control for the second position;

correlating the control with the signal intensity parameter corresponding to the position to be displayed;

and when the operation acting on the control is detected, displaying the signal intensity parameter of the position to be displayed corresponding to the control.

In the above-described installation position recommendation method, optionally, the step of determining a plurality of recommended positions in the working area according to each of the satellite observation data includes:

Determining an acquisition position corresponding to the satellite observation data acquired by the autonomous mobile equipment;

determining target parameters of the acquisition position according to satellite observation data of the acquisition position, wherein the target parameters comprise at least one of the number of visible satellites, signal strength, number of out-of-lock satellites and distance between two adjacent third positions;

and determining a plurality of recommended positions in the acquisition positions of the working area according to the target parameters.

In the above installation position recommendation method, optionally, after the step of determining a plurality of recommended positions in the working area according to the satellite observation data, the method further includes:

Executing the step of acquiring a first installation position corresponding to the first positioning device when the second positioning device is not the first positioning device to be installed for position recommendation;

And when the second positioning device is the first positioning device to be installed for position recommendation, determining a second installation position corresponding to the second positioning device in each recommended position.

In a second aspect, an embodiment of the present application provides an installation location recommendation method, applied to a user terminal, where the installation location recommendation method includes:

Displaying a plurality of positions to be displayed in a map of a working area of the autonomous mobile equipment, wherein signal intensity parameters of the positions to be displayed are larger than a preset threshold value;

And when the selected operation aiming at the position to be displayed is detected, displaying the position to be displayed corresponding to the selected operation as a second installation position of a second positioning device to be installed, wherein the second positioning device is a base station or a charging pile.

In the above installation position recommending method, optionally, the step of displaying a plurality of positions to be displayed in a map of a working area of the autonomous mobile apparatus includes:

acquiring a first installation position of a first positioning device which carries out position recommendation in the map;

and displaying a plurality of positions to be displayed in the map according to the first installation position and satellite observation data of each point in the map.

determining the display color of the position to be displayed in a map of a working area of the autonomous mobile equipment according to the signal intensity parameter corresponding to the position to be displayed;

In the above installation position recommending method, optionally, before the step of displaying the plurality of positions to be displayed in the map of the working area of the automatic mobile device, the method further includes:

Receiving a position acquired by moving the automatic mobile device in the working area;

and constructing and displaying the map according to each acquired position.

In a third aspect, an embodiment of the present application provides an installation position recommendation apparatus, including:

the first acquisition module is used for acquiring all satellite observation data acquired by the movement of the autonomous mobile equipment in a working area and determining a plurality of recommended positions in the working area according to all the satellite observation data;

The second acquisition module is used for acquiring a first installation position corresponding to the first positioning device, the first positioning device is used for indicating the positioning device to be installed, which is subjected to position recommendation, and the positioning device to be installed is a base station or a charging pile;

The third acquisition module is used for acquiring installation requirement parameters, wherein the installation requirement parameters comprise at least one of distance range parameters among positioning devices, the number of the positioning devices to be installed, the area of the working area and signal intensity range parameters;

The determining module is used for determining a second installation position corresponding to a second positioning device in each recommended position according to the installation requirement parameters and the first installation position, the second positioning device is a positioning device to be installed except the first positioning device, and the number of the common-view satellites in the second installation position is larger than a preset number.

In a fourth aspect, an embodiment of the present application provides a client, including:

The first display module is used for displaying a plurality of positions to be displayed in a map of a working area of the autonomous mobile equipment, and the signal intensity parameter of the positions to be displayed is larger than a preset threshold value;

and the second display module is used for displaying the position to be displayed corresponding to the selected operation as a second installation position of a second positioning device to be installed when the selected operation on the position to be displayed is detected, wherein the second positioning device is a base station or a charging pile.

In a fifth aspect, an embodiment of the present application provides a terminal device, including: a memory and a processor;

the memory stores computer-executable instructions;

The processor executes computer-executable instructions stored in the memory to cause the battery detection device to perform the method as described above.

In a sixth aspect, embodiments of the present application provide a computer-readable storage medium having stored therein computer-executable instructions for performing the method as described above when executed by a processor.

According to the installation position recommending method and the related equipment, the plurality of recommended positions are determined through the satellite observation data acquired by moving the autonomous mobile equipment in the working area, and the first installation positions of the base stations or the charging piles for which the position recommendation is performed are obtained, so that the second installation positions of the base stations or the charging piles for which the position recommendation is not performed are determined in the recommended positions through the installation requirement parameters and the first installation positions. According to the method and the device, the first installation position of the base station or the charging pile which is subjected to position recommendation and the installation requirement parameters can be used for determining the second installation position of the base station or the charging pile which is not subjected to position recommendation, and the number of the common-view satellites at the second installation position is larger than the preset number, so that the base station or the charging pile can provide enough common-view satellites for the autonomous mobile equipment, the positioning precision of the autonomous mobile equipment is met, and the positioning precision of the autonomous mobile equipment is improved.

Drawings

In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the application, and other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.

FIG. 1 is a flowchart of a first embodiment of an installation location recommendation method according to the present application;

FIG. 2 is a flowchart illustrating a second embodiment of the installation location recommendation method of the present application;

FIG. 3 is a flowchart illustrating a third embodiment of an installation location recommendation method according to the present application;

FIG. 4 is a flowchart illustrating a fourth embodiment of the installation location recommendation method of the present application;

FIG. 5 is a schematic diagram of the operating area of an autonomous mobile apparatus according to the present application;

FIG. 6 is a flowchart of a fifth embodiment of the installation location recommendation method of the present application;

FIG. 7 is another schematic diagram of the operating area of an autonomous mobile device in accordance with the present application;

FIG. 8 is a flowchart of a sixth embodiment of a method for recommending installation locations according to the present application;

FIG. 9 is an interface diagram of a work area of an autonomous mobile device according to the present application;

FIG. 10 is another interface diagram of a work area of an autonomous mobile device according to the present application;

FIG. 11 is a flowchart of a seventh embodiment of a method for recommending installation locations according to the present application;

FIG. 12 is a flowchart of a first embodiment of a method for recommending installation locations according to the present application;

FIG. 13 is a schematic diagram of a map displayed by a client according to the present application;

FIG. 14 is a schematic diagram of functional modules of a mounting position recommendation device according to the present application;

FIG. 15 is a schematic diagram of a functional module of a client according to the present application;

fig. 16 is a schematic structural view of an electronic device according to the present application.

Specific embodiments of the present application have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.

The inventor discovers that the base station and the charging pile are installed manually, and the number of the common-view satellites corresponding to the positions of the manually installed base station and the charging device is not necessarily capable of meeting the positioning requirement of the autonomous mobile equipment, so that the positioning precision of the autonomous mobile equipment is lower.

The inventor thinks that the first installation position of the base station or the charging pile with the position recommended and the installation requirement parameters can determine the second installation position of the base station or the charging pile without the position recommended, and the number of the common-view satellites of the second installation position is larger than the preset number, so that the base station or the charging pile can provide enough common-view satellites for the autonomous mobile equipment, the positioning precision of the autonomous mobile equipment is met, and the positioning precision of the autonomous mobile equipment is improved.

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Referring to fig. 1, fig. 1 is a flowchart of a first embodiment of an installation position recommending method according to the present application, where the installation position recommending method includes the following steps:

step S101, acquiring all satellite observation data acquired by moving the autonomous mobile equipment in a working area, and determining a plurality of recommended positions in the working area according to all satellite observation data.

In the present embodiment, the execution body is an installation position recommending device, and for convenience of description, the following adopts a device to refer to an installation position recommending device. The apparatus may be an autonomous mobile device, a terminal device or a control apparatus of an autonomous mobile device. The terminal device is, for example, a computer or a mobile phone, and the terminal device can be in communication connection with the autonomous mobile device. The autonomous mobile device may be a mobile device such as a mower, robot, or the like. The autonomous mobile device moves within the work area to collect satellite observations before the base station needs to be installed.

In an example, the apparatus controls the autonomous mobile device to move in the working area according to a set path, where the set path may be a path formed by an outer boundary of the working area, and the set path may also be a path in which the autonomous mobile device works in the working area.

In another example, the apparatus controls the autonomous mobile device to move randomly, i.e., any path the autonomous mobile device moves on the work area. Further, the autonomous mobile device does not repeatedly move in the random moving process, that is, the autonomous mobile device is controlled to move for 1 time on one path.

And the autonomous mobile equipment can position the current position of the autonomous mobile equipment in the moving process, so that satellite observation data of the current position are obtained. Satellite observation data includes observation time stamp, satellite number, signal strength, out-of-lock satellite identification, satellite altitude, satellite azimuth, ENU (local Cartesian coordinates coordinate system, site coordinate system) global positioning, ENU instantaneous doppler horizontal velocity, etc.

Specifically, a GNSS (Global Navigation SATELLITE SYSTEM ) receiver is disposed in the autonomous mobile device, and the GNSS receiver is responsible for receiving electromagnetic wave signals from GNSS satellites received by the GNSS antenna, and analyzing and generating useful GNSS observation data from the electromagnetic wave signals as satellite observation data.

After obtaining the plurality of satellite observations, the apparatus determines a plurality of recommended positions in the work area based on the respective satellite observations. The device obtains each satellite number and the signal intensity corresponding to the satellite number from the satellite observation data, and determines the signal intensity greater than the preset signal intensity as the target signal intensity, wherein the number of each target signal intensity is the number of visible satellites. The device takes the positions corresponding to the number of the visible satellites which are larger than the preset number as recommended positions, wherein the positions corresponding to the number of the visible satellites are the positions where the autonomous mobile equipment collects satellite observation data.

The number of satellites in view refers to: the number of satellites that can be received and used for positioning. Autonomous mobile devices typically require at least 4 satellite signals to be received for accurate positioning. Thus, the greater the number of satellites in view, the better the positioning accuracy and stability will generally be. In addition, in some high-accuracy positioning applications, more satellite signals need to be received to improve positioning accuracy. Thus, the preset number is the minimum number of visible satellites for the application of the positioning of the autonomous mobile device.

Step S102, a first installation position corresponding to a first positioning device is obtained, the first positioning device is used for indicating a positioning device to be installed, which is recommended by a position, and the positioning device to be installed is a base station or a charging pile.

In the working area, a plurality of positioning devices are required to be installed, and the positioning devices are defined as positioning devices to be installed, and the positioning devices to be installed comprise a base station or a charging pile. When the position recommendation of the positioning device to be installed is performed, the installation position of the positioning device to be installed, which is subjected to the position recommendation, needs to be determined, the positioning device to be installed, which is subjected to the position recommendation, is positioned as a first positioning device, and the installation position corresponding to the first positioning device is defined as a first installation position.

After the device obtains each recommended position, the device obtains a first installation position corresponding to the first positioning device from the position recommended record. The first positioning means may be any recommended position.

Step S103, acquiring installation requirement parameters, where the installation requirement parameters include at least one of a distance range parameter between positioning devices, the number of positioning devices to be installed, an area of a working area, and a signal strength range parameter.

After determining the first installation location, the device obtains installation requirement parameters including at least one of a range of distances between the positioning devices, a number of positioning devices to be installed, an area of the working area, and a range of signal strengths parameter.

Step S104, determining a second installation position corresponding to a second positioning device in each recommended position according to the installation requirement parameters and the first installation position, wherein the second positioning device is a positioning device to be installed except the first positioning device, and the number of the common-view satellites in the second installation position is larger than the preset number.

After the device acquires the installation requirement parameters and the first installation positions, determining second installation positions corresponding to the second positioning devices in the recommended positions based on the installation requirement parameters and the first installation positions, wherein the second installation positions are the positioning devices to be installed except the first installation positions.

In the first example, when the installation requirement parameter includes a distance range parameter between the positioning devices, and when the distance range parameter is within 3 meters (3 meters is the target distance), the distance between the first positioning device and the second positioning device should be less than 3 meters, and a recommended position having a distance from the first installation position of less than 3 meters is taken as the installation position of the second positioning device. If there are a plurality of first positioning devices, the installation position corresponding to the second positioning device needs to satisfy the distance range corresponding to each first positioning device, for example, the distance range parameter of the first positioning device a is within 3 meters, the distance range parameter of the first positioning device B is within 2 meters, the distance between the installation position of the second positioning device and the installation position of the first positioning device a is less than 3 meters, and the distance between the installation position of the second positioning device and the installation position of the first positioning device B is less than 2 meters.

In a second example, the installation requirement parameter includes the number of positioning devices to be installed, which may be the number of base stations to be installed within the work area. If the number is smaller than the default number, the overlapping area of the signal radiation areas between the base stations to be installed should be as small as possible, that is, the distance between the base station at the recommended position and the base station at the recommended position is slightly smaller than the maximum signal radiation distance (target distance) between the two base stations. The maximum signal radiation distance is, for example: the maximum signal radiation distance between the base station a and the base station B is 3 meters, and the maximum signal radiation distance between the base station a and the base station B is 6 meters. The above slightly smaller means: the distance between the base station of the recommended position and the base station of the position to be displayed and the maximum signal radiation distance is smaller than a preset difference, the preset difference is a smaller value, for example, the preset difference is less than 0.5 m. When the number of base stations to be installed is greater than or equal to the default number, the overlapping area of the signal radiation areas between the base stations may be slightly larger, but not greater than the set value, that is, the maximum signal radiation distance, the distance between the base station in the recommended position and the base station in the position to be displayed is subtracted, and the obtained difference is smaller than the set value.

In a third example, the first installation requirement parameter includes an area of the working area, and the positioning device to be installed is a base station. The larger the area of the working area, the greater the number of base stations to be installed in the working area. The device firstly determines the number of the base stations to be installed based on the area of the working area, and the area and the number of the base stations to be installed are in positive correlation. In determining the number of base stations to be installed, the recommended positions of the base stations to be installed may be determined by way of a second example. In addition, the number of the base stations to be installed can be determined through the area of the working area and the outline, for example, the device firstly determines the initial number of the base stations to be installed based on the area of the working area, then determines the final number of the base stations to be installed through the outline of the working area, when the outline indicates that the working area is in a preset shape such as a square, a rectangle or a circle, the initial number is used as the final number, and when the outline indicates that the shape of the working area is in a non-preset shape, the initial number is increased to obtain the final number.

In a fourth example, the first installation requirement parameter comprises a signal strength range parameter between the positioning devices to be installed. For example, the signal strength of the signal of the other positioning device detected by the one positioning device should be greater than the set signal strength, and the target distance between the first positioning device and the butylene positioning device can be calculated through the set signal strength, so that the distance between the second positioning device and the first positioning device is smaller than or equal to the target distance.

Based on the above example, the device may determine the target distance between the first positioning device and the second positioning device based on the installation requirement parameter, and thus, the distance between the installation position corresponding to the second positioning device and the installation position of the first positioning device is less than or equal to the target distance. When the installation requirement parameters include any two or more of the four parameters, the device acquires the target distance under each installation requirement parameter, and the distance between the second positioning device and the first positioning device needs to be smaller than or equal to the minimum target distance.

Further, the installation position determining process of the first location-recommended to-be-installed locating device is different from the installation position determining process of the non-first location-recommended to-be-installed locating device.

Specifically, after the device obtains the plurality of recommended positions, if the second positioning device is not the first positioning device to be installed for position recommendation, step S102 is executed, that is, based on steps S102 to S104, the second installation position corresponding to the second positioning device is determined.

In an example, the second positioning device is located at a position away from the user, and the central area of the working area is away from the user, so that the device takes the recommended position located in the central area as the second installation position corresponding to the second positioning device. In another example, the apparatus determines a recommended position of the number of satellites in view greater than the set number among the recommended positions as a second installation position of the second positioning apparatus.

It should be noted that the working area may include a plurality of sub-areas, and the sub-areas may be partitioned, for example, the working area includes two sub-areas of a forecourt and a backcourt. In this case, the device determines a sub-region of the working region to which the second positioning device belongs, and determines a second installation position corresponding to the second positioning device from the recommended positions of the sub-region by the first positioning device in the sub-region and the installation requirement parameters of the sub-region.

In addition, there are a plurality of positioning devices to be installed, the positioning devices to be installed are base stations or charging piles, each positioning device to be installed may be a base station, or each positioning device to be installed may be a charging pile, or each positioning device to be installed includes a base station and a charging pile. When each positioning device to be installed includes a base station and a charging pile, the position of each base station may be recommended first and then the position of each charging pile may be recommended first, the position of each charging pile may be recommended first and then the position of each base station may be recommended first, and the position of one base station may be recommended first and then the position of one charging pile may be recommended first.

In this embodiment, a plurality of recommended positions are determined by moving each acquired satellite observation data in a working area by an autonomous mobile device, and a first installation position of a base station or a charging pile for which position recommendation has been performed is acquired, so that a second installation position of a base station or a charging pile for which position recommendation has not been performed is determined in each recommended position by installing a required parameter and the first installation position. According to the method and the device, the first installation position of the base station or the charging pile which is subjected to position recommendation and the installation requirement parameters can be used for determining the second installation position of the base station or the charging pile which is not subjected to position recommendation, and the number of the common-view satellites at the second installation position is larger than the preset number, so that the base station or the charging pile can provide enough common-view satellites for the autonomous mobile equipment, the positioning precision of the autonomous mobile equipment is met, and the positioning precision of the autonomous mobile equipment is improved.

Referring to fig. 2, fig. 2 is a flowchart of a second embodiment of the installation location recommendation method according to the present application, based on the first embodiment, step S104 includes:

in step S201, a plurality of first recommended positions are determined from the recommended positions according to the first installation positions, where the number of the common view satellites corresponding to the first recommended positions is greater than a preset number.

In this embodiment, the device determines a first recommended position from among the recommended positions through the first installation position, and the number of the common-view satellites corresponding to the first recommended position is greater than a preset number.

Illustratively, the recommended locations have corresponding satellite observations and the first installation location also has corresponding satellite observations, the device satellite observations determining a number of co-viewing satellites between the first installation location and each of the recommended locations. For example, based on satellite observation data of the first installation location, it may be determined that the autonomous mobile apparatus may receive signals of A, B, C, D and E five satellites at the first installation location, and based on satellite observation data of the recommended location, it may be determined that the autonomous mobile apparatus may receive signals of A, B, C, D and F five satellites at the first installation location, so that the autonomous mobile apparatus may receive signals of A, B, C and D four satellites at both the first installation location and the recommended location, and the number of satellites in common view of the first installation location and the recommended location is 4.

After determining the number of the common-view satellites corresponding to each recommended position, the device determines the recommended position corresponding to the number of the common-view satellites larger than the preset number as a first recommended position.

Step S202, determining a second installation position corresponding to the second positioning device in each first recommended position according to the installation requirement parameters and the first installation positions.

After determining each first recommended position, the device can determine a second installation position corresponding to the second positioning device in each first recommended position based on the installation requirement parameters and the first installation position.

The second installation position corresponding to the second positioning device is determined in each first recommended position based on the installation requirement parameter and the first installation position, and is consistent with the process of determining the second installation position corresponding to the second positioning device in each recommended position based on the installation requirement parameter and the first installation position, which is not described herein.

In this embodiment, the first recommended position is selected from the plurality of recommended positions, so that the calculation amount of determining the second installation position of the second positioning device by the device is reduced, and the calculation resource of the device is saved.

Referring to fig. 3, fig. 3 is a flowchart of a third embodiment of the installation position recommendation method according to the present application, based on the second embodiment, step S201 includes:

Step S301, determining each recommended position as a second recommended position in turn, and combining the second recommended position and the first installation position with each third recommended position in turn to obtain a plurality of sets corresponding to each second recommended position, where the third recommended position is a recommended position other than the second recommended position.

In this embodiment, the apparatus needs to determine the number of satellites in common view at each recommended position, and then determine the first recommended position in each recommendation according to the number of satellites in common view.

The number of satellites in common view of the recommended location and the first installation location are related. In this regard, the device sequentially takes each recommended position as a second recommended position, and sequentially combines the second recommended position, the first installation position and each third recommended position to obtain a plurality of sets corresponding to each second recommended position, wherein the third recommended position is a recommended position except the second recommended position. For example, the first installation position is a point a, each recommended position includes B, C, D positions, and first, the point B is taken as the second recommended position, and then each set corresponding to the point B is: (a, B, C), (a, B, D); when C is used as the second recommended position, the corresponding sets of C points are as follows: (a, C, B), (a, C, D); when the D is used as the second recommended position, the respective sets corresponding to the D point are as follows: (A, D, B), (A, D, C).

It should be noted that, when there are a plurality of first positioning devices and a plurality of first installation positions, all the first installation positions and the second recommended positions need to be sequentially combined with each third recommended position, for example, 2 first installation positions are respectively points a and B, the recommended positions include F, G, H points, the point F is first taken as the second recommended position, and each set corresponding to the point F is: (a, B, F, G), (a, B, F, H); when G is taken as the second recommended position, the corresponding sets of G points are as follows: (A, B, G, F), (A, B, G, H); when H is taken as the second recommended position, each set corresponding to the H point is as follows: (A, B, H, F), (A, B, H, G).

Step S302, determining the number of the common-view satellites corresponding to the set according to the satellite observation data corresponding to each position in the set.

After determining each set of each second recommended position, determining a number of common view satellites corresponding to each set. For example, the set (a, B, C) includes A, B, C points, the satellite observation data based on a knows that the signals of the satellites receivable at the point a are the satellites numbered 1,2,3, 4, 5, the satellite observation data based on B knows that the signals of the satellites receivable at the point B are the satellites numbered 1,2,3, 4, 5, and 6, and the satellite observation data based on C knows that the signals of the satellites receivable at the point C are the satellites numbered 2,3, 4, 5, 6, and 7, then A, B, C can receive the signals of the satellites numbered 2,3, 4, and 5, and then the number of common view satellites of the set (a, B, C) is 4.

Step S303, determining the number of the common-view satellites of the second recommended position according to the number of the common-view satellites of each set corresponding to the second recommended position.

After calculating the number of the common-view satellites of each set, the device determines the number of the common-view satellites of the second recommended position based on the number of the common-view satellites of each set corresponding to the second recommended position.

The second recommended position is a point B, and each set corresponding to the point B is: (a, B, C), (a, B, D), the number of co-view satellites of set (a, B, C) is 4, and the number of co-view satellites of set (a, B, D) is 5, then the number of co-view satellites of point B is the sum of the number of co-view satellites of both sets divided by the number of sets corresponding to point B, i.e., the number of co-view satellites of point b= (4+5)/2=4.5.

Step S304, determining a first recommended position in each second recommended position according to the number of the common-view satellites in the second recommended positions, wherein the number of the common-view satellites in the first recommended position is larger than a preset number.

After determining the number of the common-view satellites of each second recommended position, the device determines the first recommended position in the second recommended positions, namely, the second recommended position corresponding to the number of the common-view satellites which is larger than the preset number is used as the first recommended position.

In this embodiment, the device combines the first installation position and the recommended position, and considers the factors of the positioning device to be installed, which has already performed position recommendation, so as to accurately determine the number of satellites in common view of the recommended position.

Referring to fig. 4, fig. 4 is a flowchart of a fourth embodiment of the installation position recommendation method according to the present application, based on the third embodiment, step S202 includes:

in step S401, a satellite observation value of the first recommended position is determined according to satellite observation data corresponding to the first recommended position.

In this embodiment, after determining the number of satellites in common view of the first recommended positions, it is also necessary to determine the second installation position in each of the first recommended positions based on satellite observations of the first recommended positions.

Specifically, the apparatus determines satellite observations of the first recommended position based on satellite observations of the first recommended position.

The apparatus determines a plurality of observations to be processed of the first recommended location based on satellite observations corresponding to the first recommended location, the plurality of observations to be processed including at least two of signal strength, standard deviation of signal strength, altitude angle, and probability of loss of lock. The altitude angle refers to an average value of satellite altitude angles corresponding to satellite labels in satellite observation data, and the unlocking probability refers to satellite unlocking probability. The probability of loss of lock can be determined by the ratio between the number of times of loss of lock of a satellite and the number of times of signal reception of that satellite. Different observation values to be processed have different weights, and the device can determine satellite observation values corresponding to the first recommended position based on each observation value to be processed and the corresponding weight. For example, each observation value to be processed is converted into a numerical value of the same measurement, and the numerical value corresponding to each observation value to be processed and the weight corresponding to the observation value to be processed are weighted and calculated to obtain the satellite observation value.

Further, the device determines the observation value to be processed corresponding to the first recommended position based on the first recommended position and a fourth recommended position adjacent to the first recommended position, namely, determines the observation value to be processed of the first recommended position based on the field data. Specifically, the first recommended position is taken as a circle center, the distance is set as a radius, and the area of the first recommended position in the working area is obtained. The area where the first recommended position is located comprises a plurality of fourth recommended positions, and the recommended positions except the first recommended position in the area are defined as the fourth recommended positions. For example, referring to fig. 5, the circle in fig. 5 is the area where the first recommended position is located, the black dot is the recommended position, and the area formed by the lines is the working area. The device determines an average observed value corresponding to the first recommended position according to the satellite observed data of the first recommended position and the satellite observed data of the fourth recommended position, and the average observed value is used as the to-be-processed observed value corresponding to the first recommended position. Specifically, the first recommended position has a plurality of observation values to be processed, the fourth recommended position has a plurality of observation values to be processed, and average values of the observation values to be processed of the same type in the first recommended position and the fourth recommended position are obtained, so that average observation values can be obtained.

Step S402, determining signal strength parameters corresponding to the first recommended position according to satellite observations corresponding to the first recommended position and the number of co-view satellites.

The device determines a signal strength parameter based on the satellite observations and the number of co-view satellites after acquiring the satellite observations of the first recommended position. The satellite observation value and the number of the common-view satellites have corresponding weights, and the device performs weighted calculation on the satellite observation value of the first recommended position and the number of the common-view satellites of the first recommended position to obtain the signal strength parameter.

Step S403, determining a second installation position of the second positioning device in each first recommended position according to the signal strength parameter and the installation requirement parameter of each first recommended position.

After determining the signal strength parameter for each first recommended position, the device may determine a second installation position for the second positioning device.

The apparatus determines a fifth recommended position among the respective first recommended positions based on the signal strength parameter of the respective first recommended positions, the fifth recommended position being a first recommended position in which the signal strength parameter is greater than the preset signal strength parameter. And determining a second installation position corresponding to the second positioning device in each fifth recommended position by the device through the installation requirement parameters.

The second installation position corresponding to the second positioning device is determined in each fifth recommended position based on the installation requirement parameter and the first installation position, and is consistent with the process of determining the second installation position corresponding to the second positioning device in each recommended position based on the installation requirement parameter and the first installation position, which is not described herein.

It should be noted that the first positioning device of the first positioning device may also determine the signal strength parameter of the recommended position, that is, select, from the recommended positions, the recommended position with the signal strength parameter being greater than the preset signal strength parameter as an alternative recommended position, and then determine the first installation position from the alternative recommended position.

In this embodiment, the device combines the satellite observations of the first recommended position and the number of satellites in common view to determine the signal strength parameter of the first recommended position, thereby determining the second installation position of the second positioning device more accurately.

Referring to fig. 6, fig. 6 is a flowchart of a fifth embodiment of the installation position recommendation method according to the present application, based on any one of the first to fourth embodiments, step S104 includes:

in step S601, a plurality of positions to be displayed are determined in each recommended position according to the installation requirement parameter and the first installation position.

Step S602, displaying each position to be displayed in the map corresponding to the working area.

In this embodiment, the apparatus displays the selectable recommended position on a map of the work area. Specifically, the device determines a plurality of positions to be displayed in each recommended position through the installation requirement parameter and the first installation position, and the determining process of the positions to be displayed refers to the description of the installation requirement parameter and the first installation position to determine the second positioning device, which is not described herein.

The device stores a map of the working area, the map has a coordinate system, the position to be displayed has corresponding coordinates, the device can determine the target position of the position to be displayed in the map based on the coordinates of the position to be displayed, the target position in the map is marked by the device, for example, the target position is marked as a thick line, and the schematic view of the position to be displayed is specifically referred to as a left diagram in fig. 7.

Step S603, when detecting a selected operation of the installation position of the second positioning device, determining the position to be displayed corresponding to the selected operation as the second installation position corresponding to the second positioning device.

The user can select the second installation position of the second positioning device through each position to be displayed on the map. For example, the user may double-click a certain position to be displayed on the map, and then determine the position to be displayed to be the second installation position. Or the user clicks a certain position to be displayed on the map, outputting whether the position to be displayed is used as a selection box of the installation position of the second positioning device, and if the user clicks the selection box, determining the second installation position of the position to be displayed.

It will be appreciated that upon detection of a selected operation of the mounting location of the second positioning device, the device determines the location to be displayed corresponding to the selected operation as the second mounting location. The selection operation is a double click operation of a position to be displayed or a click operation of a menu box.

Further, when the user clicks the position to be displayed, the device displays a base station option box and a charging pile option box, and if the user clicks the base station option box, the position to be displayed is used as a second installation position of the base station; if the user clicks the charging pile option box, the position to be displayed is used as a second installation position of the charging pile. By popping up the base station option box and the charging pile option box, a user can recommend the installation position of the base station and then recommend the installation position of the charging pile, and can recommend the installation position of the charging pile and then recommend the installation position of the charging base station.

In addition, the selecting operation may be a clicking operation, the device determines a position of the clicking operation in the map, if the position is a position to be displayed in the map, determines the position as a second installation position, if the position is not a position to be displayed in the map, determines a distance between the position and each position to be displayed, and if the minimum distance is smaller than a preset distance, determines the position as the second installation position. If the minimum distance is greater than or equal to the preset distance, outputting prompt information to prompt the user that the selected position is not the preferred position to be displayed, if the user confirms based on the prompt information, determining the position as a second positioning device, namely, allowing the user to select any position in the map as a second installation position of the second positioning device by the device, and improving user experience.

It should be noted that, when the user selects the installation position of one positioning device to be installed in the map, the map needs to update the position to be displayed, so that the user can select the installation position of the next positioning device to be installed in the updated positions to be displayed. The reason for updating the position to be displayed is that when the number of the first installation positions is changed, the number of the satellites in common view of the recommended positions is changed (specifically referring to the description of the number of satellites in common view of the second recommended positions), so that the position to be displayed in the map is changed. Specifically, referring to fig. 7, after each position to be displayed is displayed in the map of the left graph, if the user selects a certain position to be displayed in the map as the second installation position, the second installation position is marked by the middle graph, for example, the second positioning device is a base station, and the identifier of the base station is displayed at the second installation position; and when the second installation position is marked, converting the second installation position into a right image, namely updating the position to be displayed in the map, wherein the position to be displayed is a point on a thick line in the map.

In this embodiment, the device displays the positions to be displayed on the map, so that the user can select the installation position of the second positioning device in each position to be displayed, thereby improving user experience.

Referring to fig. 8, fig. 8 is a flowchart of a sixth embodiment of an installation position recommending method according to the present application, and based on the fifth embodiment, step S602 includes:

step S801, according to the signal intensity parameter corresponding to the position to be displayed, determining the display color of the position to be displayed in the map.

In this embodiment, when the position to be displayed is displayed in the map, the target position of the position to be displayed in the map may be marked with a specific color.

Specifically, the device determines the display color of the position to be displayed in the map according to the signal intensity parameter corresponding to the position to be displayed. The determination manner of the signal strength parameter is specifically referred to the above description, and will not be described herein in detail.

In one example, the display colors include hue, brightness, and saturation. The hues of the positions to be displayed in the map may be the same, but the greater the signal strength parameter of the position to be displayed, the greater the brightness of the target position of the position to be displayed in the map. Therefore, the greater the brightness of the position to be displayed in the map, the better the signal quality of the position to be displayed.

In another example, the greater the signal strength parameter of the location to be displayed, the greater the hue and saturation of the target location of the marker of the location to be displayed in the map.

Step S802, the color of the position to be displayed in the map is adjusted to the display color corresponding to the position to be displayed.

After determining the display color corresponding to the position to be displayed, the device adjusts the color of the position to be displayed in the map to the display color corresponding to the position to be displayed.

Referring to fig. 9, fig. 9 is an installation position of a base station selected based on a position to be displayed of a display color, each point of a thick line in fig. 9 is a position to be displayed, and the installation position displays an icon of the base station.

Referring to fig. 10, the installation positions of the charging posts are determined among the respective positions to be displayed of the display colors based on the installation positions of the base stations, and icons of the charging posts are displayed at the installation positions of the charging posts, which are the lightning identifications in fig. 10.

Further, the device determines a position of the position to be displayed in the map, the position being defined as the first position. The device determines that the first position is at a second position of the page where the map is located, and sets a control for the second position, wherein the control is a touch control. The device associates the control with the signal intensity parameter corresponding to the position to be displayed, and displays the signal intensity parameter corresponding to the position to be displayed when the operation acting on the control is detected. It can be understood that a map is displayed in a page, a touch control is set at a position to be displayed in the map, and when a user clicks the touch control, a signal intensity parameter associated with the position to be displayed is displayed.

In this embodiment, the device determines the display color of the position to be displayed in the map according to the signal intensity parameter corresponding to the position to be displayed, and then adjusts the color of the position to be displayed in the map to the display color corresponding to the position to be displayed, so that the user can conveniently select the installation position of the base station or the charging pile based on the positioning of the color to the position with the better signal, and the user experience is improved.

Referring to fig. 11, fig. 11 is a flowchart of a seventh embodiment of an installation position recommending method according to the present application, based on any one of the first to sixth embodiments, step S101 includes:

step S1101, determining an acquisition position corresponding to satellite observation data acquired by the autonomous mobile apparatus.

In this embodiment, each satellite observation data corresponds to a position, where the position is defined as an acquisition position, and the acquisition position is a position where the autonomous mobile device acquires the satellite observation data, and the device determines each acquisition position.

In step S1102, according to the satellite observation data of the acquisition position, a target parameter of the acquisition position is determined, where the target parameter includes at least one of the number of visible satellites, the signal strength, the number of out-of-lock satellites, and the distance between two adjacent third positions.

After determining the acquisition position, the device determines target parameters of the acquisition position based on satellite observation data of the acquisition position, wherein the target parameters comprise the number of visible satellites, the signal strength, the number of satellite unlocking and the distance between two adjacent third positions

In step S1103, a plurality of recommended positions are determined in each acquisition position of the working area according to the target parameters.

After the target parameters are determined, a plurality of recommended positions can be determined in the respective acquisition positions by means of the target parameters.

In one example, the target parameter includes a number of visible satellites. The installation position of the positioning device to be installed is required to meet the positioning requirement of the autonomous mobile equipment, so that the number of the visible satellites of the recommended position is required to be larger than the preset number, and the acquisition position with the number of the visible satellites larger than the preset number is taken as the recommended position.

In another example, the target parameter includes signal strength, and the device needs to screen out the acquisition position with smaller signal strength, that is, determines the acquisition position corresponding to the signal strength greater than the preset signal strength as the recommended position.

In yet another example, the target parameter includes a number of satellite lock-outs. Loss of lock of a satellite generally refers to the loss of tracking and locking of satellite signals by receiving devices in a satellite navigation system. The quantity of the satellite unlocking quantity of the position can reflect the signal strength of the position to a certain extent, for example, if the quantity of the satellite unlocking quantity of the position is more, the signal of the position is weak; and the number of the satellite unlocking corresponding to the position is small, so that the signal of the position is strong. Therefore, the device determines the acquisition positions corresponding to the number of the satellite unlocking times smaller than the preset number of the satellite unlocking times as recommended positions.

In yet another example, the target parameter includes a distance between two adjacent third locations. The interval between satellite observation times acquired by autonomous mobile devices is short, so that there may be multiple acquisition locations, and the distance between recommended locations cannot be too small. Therefore, the device determines two acquisition positions corresponding to a distance smaller than the preset distance, one acquisition position is eliminated from the two acquisition positions, and the rest acquisition positions are used as recommended positions.

Referring to fig. 7, fig. 7 is a schematic view of a working area, and each black point in the working area is a recommended position. The recommended position shown in fig. 7 is located at the boundary of the work area, but the recommended position is not limited to the boundary, and the recommended position may be a position inside the work area.

In this embodiment, the device determines the recommended position by the number of visible satellites in the acquisition position, the signal strength, the number of out-of-lock satellites, and the distance between two adjacent third positions, that is, screens the recommended position from the plurality of acquisition positions, thereby reducing the calculation amount of the device.

Referring to fig. 12, fig. 12 is a flowchart of a first embodiment of an installation location recommendation method provided by the present application, which is applied to a user terminal, where the installation location recommendation method includes:

in step S1201, a plurality of positions to be displayed are displayed in the map of the working area of the autonomous mobile apparatus, and the signal intensity parameter of the positions to be displayed is greater than a preset threshold.

In this embodiment, the execution body is a user terminal, and the user terminal may be a control device of the autonomous mobile apparatus, where the control device has a display screen. The user terminal can also be a mobile phone, a tablet or a computer.

In an example, a user receives acquisition positions of satellite observation data acquired by a mobile device in a working area, and a map is constructed based on each acquisition position. The method for acquiring satellite observation data by the autonomous mobile apparatus is specifically referred to the above description, and will not be described herein.

In another example, the autonomous mobile device builds a map, and the user side receives and displays the map sent by the autonomous mobile device.

The user terminal can determine each position to be displayed by itself, or the user terminal receives each position to be displayed determined by the autonomous mobile device. And the user side displays each position to be displayed in the map. The determination of the position to be displayed is specifically referred to the above description, and will not be described in detail herein.

In step S1202, when a selected operation for the position to be displayed is detected, the position to be displayed corresponding to the selected operation is displayed as a second installation position of a second positioning device to be installed, and the second positioning device is a base station or a charging pile.

When the user side detects the selected operation of the position to be displayed, the position to be displayed corresponding to the selected operation is displayed as the second installation position of the second positioning device to be installed. The position to be displayed is displayed as the second installation position, and detailed description thereof will not be repeated herein with reference to the above description.

In an example, the user side may further perform the following steps:

acquiring a first installation position of a first positioning device which carries out position recommendation in a map;

In this example, the position to be displayed in the map is updated based on the existing installation position and satellite observation data, and the description of the update of the map in the fifth embodiment is specifically referred to, and will not be described herein.

In another example, the user side may further perform the following steps:

Determining the position to be displayed according to the signal intensity parameter corresponding to the position to be displayed, and displaying the color in a map of a working area of the autonomous mobile equipment;

and adjusting the color of the position to be displayed in the map to the display color corresponding to the position to be displayed.

In yet another example, the user side may further perform the following steps:

determining a first position of a position to be displayed in a map, determining a second position of the first position in a page of the map, and setting a control on the second position;

And when the operation on the control is detected, displaying the signal intensity parameter of the position to be displayed corresponding to the control.

Specific details of the foregoing examples, particularly with reference to the foregoing description of embodiments, are not described herein in detail.

In the embodiment, the user side displays the position to be displayed in the map, so that the user selects the position to be displayed, which can meet the positioning requirement of the autonomous mobile equipment, on the displayed map as the installation position of the positioning device to be installed, and user experience is provided.

In an embodiment, before the step of displaying the plurality of positions to be displayed in the map of the working area of the automatic mobile device, the method further includes: receiving a position acquired by moving the automatic mobile device in the working area; and constructing and displaying a map according to each acquired position.

In this embodiment, the user terminal is in communication connection with the autonomous mobile apparatus. When the user terminal is connected with the autonomous mobile device, the user terminal displays a blank map, and displays inquiry information in the blank map, for example, whether to establish a map of the working area. If the user clicks the inquiry information, popping up a yes option box, and if the user clicks the yes option box, regarding that the user side detects the construction operation of the map, sending a map construction instruction to the autonomous mobile device by the user side, enabling the autonomous mobile device to move in a working area based on self positioning, and collecting positions in the moving process to obtain a plurality of collected positions.

The user side builds an initial map based on the collected positions. In addition, the user side can analyze whether the map can be provided with the positioning device to be installed. Specifically, the user side determines the area of the initial map, and if the difference between the area of the initial map and the area of the area occupied by the installation of the positioning device to be installed is smaller than a preset difference, outputs a prompt message, where the prompt message is: the current map is not suitable for installing a positioning device, and the area can be enlarged to search again, namely, the prompt information is used for indicating the enlarged map area. When the user side detects the determining operation based on the prompt information, the mapping instruction is resent, and the resent mapping instruction controls the autonomous mobile equipment to move on a new moving path, wherein the new moving path is closer to the outer edge of the working area than the original moving path (the moving path for constructing the initial map).

And if the difference between the area of the initial map and the area of the area occupied by the installation of the positioning device to be installed is greater than or equal to the preset difference, displaying the map. Referring to fig. 13, the left diagram of fig. 13 is a constructed map, the right diagram is a map showing positions to be displayed, and thick lines in the right diagram are formed for each position to be displayed.

After the map is constructed, the user side controls the autonomous mobile equipment to move in the subarea so as to acquire satellite observation data, wherein the subarea is the area corresponding to the map in the working area. In an example, the autonomous mobile device moves in the sub-area according to a set path, where the set path may be a path formed by an outer boundary of the sub-area, and the set path may also be a path in which the autonomous mobile device operates in the sub-area. In another example, an autonomous mobile device moves in any path within an area. Further, the autonomous mobile device does not repeatedly move in the random moving process, that is, the autonomous mobile device is controlled to move for 1 time on one path.

In this embodiment, the user side constructs the map, so that each position to be displayed is conveniently displayed in the map, so that the user can select the installation position of the positioning device to be installed in the map.

Fig. 14 is a schematic structural diagram of an installation position recommending apparatus according to an embodiment of the present application. As shown in fig. 14, the mounting position recommending apparatus includes:

A first obtaining module 1410, configured to obtain each satellite observation data collected by the autonomous mobile apparatus moving in the working area, and determine a plurality of recommended positions in the working area according to each satellite observation data;

The second obtaining module 1420 is configured to obtain a first installation position corresponding to a first positioning device, where the first positioning device is used to indicate a positioning device to be installed, which is a base station or a charging pile, for which position recommendation has been performed;

A third obtaining module 1430, configured to obtain installation requirement parameters, where the installation requirement parameters include at least one of a distance range parameter between positioning devices, a number of positioning devices to be installed, an area of a working area, and a signal strength range parameter;

The determining module 1440 is configured to determine, according to the installation requirement parameter and the first installation position, a second installation position corresponding to a second positioning device, where the second positioning device is a positioning device to be installed other than the first positioning device, and the number of co-vision satellites in the second installation position is greater than the preset number.

In some embodiments, the installation location recommending means is specifically for:

Determining a plurality of first recommended positions in each recommended position according to the first installation position, wherein the number of the common-view satellites corresponding to the first recommended positions is larger than a preset number;

And determining a second installation position corresponding to the second positioning device in each first recommended position according to the installation requirement parameters and the first installation position.

Sequentially determining each recommended position as a second recommended position, sequentially combining the second recommended position and the first installation position with each third recommended position to obtain a plurality of sets corresponding to each second recommended position, wherein the third recommended position is a recommended position except the second recommended position;

And determining a first recommended position in each second recommended position according to the number of the common-view satellites in the second recommended positions, wherein the number of the common-view satellites in the first recommended position is larger than a preset number.

Determining signal strength parameters corresponding to the first recommended position according to satellite observation values corresponding to the first recommended position and the number of the co-vision satellites;

And determining a second installation position of the second positioning device in each first recommended position according to the signal intensity parameter and the installation requirement parameter of each first recommended position.

determining a plurality of to-be-processed observation values of the first recommended position according to satellite observation data corresponding to the first recommended position, wherein the plurality of to-be-processed observation values comprise at least two of signal strength, signal strength standard deviation, altitude angle and unlocking probability;

determining an area in which the first recommended position is located, and determining a fourth recommended position located in the area, wherein the fourth recommended position is a recommended position except the first recommended position;

And determining an average observed value corresponding to the first recommended position according to the satellite observed data of the first recommended position and the satellite observed data of the fourth recommended position, and taking the average observed value as the to-be-processed observed value corresponding to the first recommended position.

displaying each position to be displayed in a map corresponding to the working area;

determining a collection position corresponding to satellite observation data collected by the autonomous mobile equipment;

And determining a plurality of recommended positions in each acquisition position of the working area according to the target parameters.

when the second positioning device is not the first positioning device to be installed for position recommendation, executing the step of acquiring the first installation position corresponding to the first positioning device;

The installation position recommending device provided by the embodiment of the application can be used for executing the technical scheme of the installation position recommending method in the embodiment, and the implementation principle and the technical effect are similar, and are not repeated here.

Fig. 15 is a schematic structural diagram of a user terminal according to an embodiment of the present application. As shown in fig. 15, the client includes:

A first display module 1510, configured to display a plurality of positions to be displayed in a map of a working area of the autonomous mobile apparatus, where a signal strength parameter of the positions to be displayed is greater than a preset threshold;

The second display module 1520 is configured to, when detecting a selected operation for a position to be displayed, display the position to be displayed corresponding to the selected operation as a second installation position of a second positioning device to be installed, where the second positioning device is a base station or a charging pile.

In some embodiments, the client is specifically configured to:

And constructing and displaying a map according to each acquired position.

The user terminal provided by the embodiment of the application can be used for executing the technical scheme of the installation position recommending method in the embodiment, and the implementation principle and the technical effect are similar and are not repeated here.

It should be noted that, it should be understood that the division of the modules of the above apparatus is merely a division of a logic function, and may be fully or partially integrated into a physical entity or may be physically separated. And these modules may all be implemented in software in the form of calls by the processing element; or can be realized in hardware; the method can also be realized in a form of calling software by a processing element, and the method can be realized in a form of hardware by a part of modules. For example, the first acquisition module 1410 may be a processing element that is set up separately, may be implemented in a chip of the above-described apparatus, or may be stored in a memory of the above-described apparatus in the form of program codes, and the functions of the above-described first acquisition module 1410 may be invoked and executed by a processing element of the above-described apparatus. The implementation of the other modules is similar. In addition, all or part of the modules can be integrated together or can be independently implemented. The processing element here may be an integrated circuit with signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in a software form.

Fig. 16 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 16, the electronic device may include: a transceiver 161, a processor 162, a memory 163.

Processor 162 executes the computer-executable instructions stored in the memory, causing processor 162 to perform the aspects of the embodiments described above. The processor 162 may be a general purpose processor including a central processing unit CPU, a network processor (network processor, NP), etc.; but may also be a digital signal processor DSP, an application specific integrated circuit ASIC, a field programmable gate array FPGA or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

The memory 163 is connected to the processor 162 through a system bus and communicates with each other, and the memory 163 is used for storing computer program instructions.

The transceiver 161 may be used to obtain a task to be run and configuration information for the task to be run.

The system bus may be a peripheral component interconnect (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus, or an extended industry standard architecture (extended industry standard architecture, EISA) bus, among others. The system bus may be classified into an address bus, a data bus, a control bus, and the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus. The transceiver is used to enable communication between the database access device and other computers (e.g., clients, read-write libraries, and read-only libraries). The memory may include random access memory (random access memory, RAM) and may also include non-volatile memory (non-volatile memory).

The embodiment of the application also provides a chip for running the instruction, and the chip is used for executing the technical scheme of the installation position recommending method in the embodiment.

The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores computer instructions, and when the computer instructions run on a computer, the computer is caused to execute the technical scheme of the installation position recommending method in the embodiment.

The embodiment of the application also provides a computer program product, which comprises a computer program stored in a computer readable storage medium, wherein at least one processor can read the computer program from the computer readable storage medium, and the technical scheme of the installation position recommending method in the embodiment can be realized when the at least one processor executes the computer program.

In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, e.g., the division of modules is merely a logical function division, and there may be additional divisions of actual implementation, e.g., multiple modules may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.

The modules illustrated as separate components may or may not be physically separate, and components shown as modules may or may not be physical units, may be located in one place, or may be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to implement the solution of this embodiment.

In addition, each functional module in the embodiments of the present application may be integrated in one processing unit, or each module may exist alone physically, or two or more modules may be integrated in one unit. The units formed by the modules can be realized in a form of hardware or a form of hardware and software functional units.

The integrated modules, which are implemented in the form of software functional modules, may be stored in a computer readable storage medium. The software functional modules described above are stored in a storage medium and include instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or processor to perform some of the steps of the methods of the various embodiments of the application.

It should be appreciated that the Processor may be a central processing unit (Central Processing Unit, abbreviated as CPU), or may be other general purpose Processor, digital signal Processor (DIGITAL SIGNAL Processor, abbreviated as DSP), application SPECIFIC INTEGRATED Circuit (ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in a processor for execution.

The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile memory NVM, such as at least one magnetic disk memory, and may also be a U-disk, a removable hard disk, a read-only memory, a magnetic disk or optical disk, etc.

The bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, an external device interconnect (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the buses in the drawings of the present application are not limited to only one bus or to one type of bus.

The storage medium may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an Application SPECIFIC INTEGRATED Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic control unit or master control device.

Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the method embodiments described above may be performed by hardware associated with program instructions. The foregoing program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In the description of the present application, the schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.

Claims

1. An installation position recommending method, which is applied to an installation position recommending device, the installation position recommending method comprising:

2. The mounting position recommending method according to claim 1, wherein the step of determining a second mounting position corresponding to a second positioning device in each of the recommended positions according to the mounting requirement parameter and the first mounting position comprises:

3. The mounting position recommending method according to claim 2, wherein the step of determining a plurality of first recommended positions among the respective recommended positions according to the first mounting positions includes:

4. A mounting position recommending method according to claim 3, wherein the step of determining the second mounting position corresponding to the second positioning device in each of the first recommended positions according to the mounting requirement parameter and the first mounting position comprises:

5. The mounting location recommendation method of claim 4, wherein determining satellite observations of the first recommended location based on satellite observations corresponding to the first recommended location comprises:

6. The mounting location recommendation method of claim 5, wherein determining a plurality of pending observations of the first recommended location based on satellite observations corresponding to the first recommended location comprises:

7. The mounting position recommending method according to claim 1, wherein the step of determining a second mounting position corresponding to a second positioning device in each of the recommended positions according to the mounting requirement parameter and the first mounting position comprises:

8. The installation position recommending method according to claim 7, wherein the step of displaying each of the positions to be displayed in the map corresponding to the work area includes:

9. The mounting position recommending method according to claim 8, wherein after the step of adjusting the color of the position to be displayed in the map to the display color corresponding to the position to be displayed, further comprising:

10. The installation location recommendation method according to claim 1, wherein the step of determining a plurality of recommended locations in the work area based on the respective satellite observation data comprises:

11. The mounting location recommendation method according to any one of claims 1 to 10, further comprising, after the step of determining a plurality of recommended locations in the work area based on each of the satellite observations:

12. The installation position recommending method is characterized by being applied to a user side, and comprises the following steps:

13. The location recommendation method of claim 12, wherein the step of displaying a plurality of locations to be displayed in a map of a work area of an autonomous mobile apparatus comprises:

14. The location recommendation method of claim 12, wherein the step of displaying a plurality of locations to be displayed in a map of a work area of an autonomous mobile apparatus comprises:

15. The mounting position recommending method according to claim 14, wherein after the step of adjusting the color of the position to be displayed in the map to the display color corresponding to the position to be displayed, further comprising:

16. The mounting location recommendation method according to any one of claims 12 to 15, further comprising, prior to the step of displaying a plurality of locations to be displayed in a map of a work area of an automatic mobile device:

and constructing and displaying the map according to each acquired position.

17. An installation position recommending apparatus, characterized by comprising:

18. A client, comprising:

19. A terminal device, comprising: a memory and a processor;

the memory stores computer-executable instructions;

the processor executing computer-executable instructions stored in memory to cause a battery detection device to perform the method of any one of claims 1 to 16.

20. A computer readable storage medium having stored therein computer executable instructions which when executed by a processor are adapted to carry out the method of any one of claims 1 to 16.