CN110033497A - Region labeling method, apparatus, electronic equipment and computer readable storage medium - Google Patents
Region labeling method, apparatus, electronic equipment and computer readable storage medium Download PDFInfo
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- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/203—Drawing of straight lines or curves
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Abstract
The embodiment of the present disclosure discloses a kind of region labeling method, apparatus, electronic equipment and computer readable storage medium.The described method includes: obtaining the map datum including predeterminated position；Receive first calibration information of the user on the map datum；The first area that user is demarcated is obtained according to the map datum and first calibration information.The embodiment of the present disclosure quickly and efficiently can carry out boundary setting to required working region, carry out boundary demarcation without carrying out cable or other hardware devices；Existing cartographic information can be directly utilized, working region is accurately drawn a circle to approve out on the basis of cartographic information, cost can be saved, facilitate operation, accuracy is higher.
Description
Technical field
This disclosure relates to field of artificial intelligence, and in particular to a kind of region labeling method, apparatus, electronic equipment and meter
Calculation machine readable storage medium storing program for executing.
Background technique
Intelligent movable equipment such as grass trimmer etc., it usually needs first plan good berth region, then control intelligent movable again
Equipment mobile working in working region.In prior art, such as intelligent grass-removing, the sideband signals such as cable are laid with by setting
Line, or by the way that multiple wireless transmitters are arranged, so that the ray that multiple wireless reflectors issue surrounds one as boundary line
The mode of the electric network of closed area forms the working region of grass trimmer.For another example clean robot can also be by room
The mode that interior walking is one time determines indoor boundary, and delimits working region.
Summary of the invention
The embodiment of the present disclosure provides a kind of region labeling method, apparatus, electronic equipment and computer readable storage medium.
In a first aspect, providing a kind of region labeling method in the embodiment of the present disclosure, comprising:
Obtain the map datum including predeterminated position；
Receive first calibration information of the user on the map datum；
The first area that user is demarcated is obtained according to the map datum and first calibration information.
Optionally, the predeterminated position includes current position location or the position that is received externally.
Optionally, the map datum including predeterminated position is obtained, comprising:
The GPS map data including predeterminated position are imported by network interface.
Optionally, the map datum including predeterminated position is obtained, comprising:
Obtain the region local map data established by sensor.
Optionally, the sensor includes at least one of: UWB equipment, radar, imaging sensor, ZigBee equipment,
WIFI equipment, bluetooth equipment.
Optionally, first calibration information for receiving the user on the map datum, comprising:
It receives the user and clicks position on the display interface of the map datum；
According to it is described click position determine in the relative position on the map datum described in click the longitude and latitude degree of position
According to.
Optionally, first calibration information for receiving the user on the map datum, comprising:
It receives the user and clicks position on the display interface of the map datum；
According to it is described click position on the map datum relative position determine described in click position in the map
Coordinate data in data；Wherein, the coordinate data is the coordinate in the coordinate system established on the map datum in advance
Data.
Optionally, first calibration information for receiving the user on the map datum, comprising:
Receive the longitude and latitude data or coordinate data of user's input, wherein the coordinate data is in advance describedly
The coordinate data in coordinate system established on diagram data.
Optionally, the position that clicks includes multiple；It is obtained according to the map datum and first calibration information
The first area that user is demarcated, comprising:
Determine multiple lines for clicking the corresponding coordinate data in position or the formation of longitude and latitude data in the map number
According to the region of middle delineation.
Optionally it is determined that multiple lines for clicking the corresponding coordinate data in position or the formation of longitude and latitude data are described
The region drawn a circle to approve in map datum, comprising:
By the multiple corresponding coordinate data in position or longitude and latitude data of clicking according to predetermined direction head and the tail connection, formed
Closed curve；
The closed curve is adjusted to the curve of preset shape；
Determine the first area that the region that the closed curve of the preset shape is drawn a circle to approve is demarcated by the user.
Optionally it is determined that the region that multiple lines for clicking position formation are drawn a circle to approve in the map datum, comprising:
By the multiple corresponding coordinate data in position or longitude and latitude data of clicking according to predetermined direction head and the tail connection, formed
Closed curve；
The closed curve is supplied to user；
The closed curve is adjusted according to the input of user；
Determine the first area that the region of the closed curve delineation adjusted is demarcated by the user.
Optionally, before first calibration information for receiving the user on the map datum, comprising:
Drawing interface is provided for user.
Optionally, first calibration information for receiving the user on the map datum, comprising:
Receive the figure that user is drawn on the map datum by the drawing interface；
The longitude and latitude data of the figure are determined according to relative position of the figure on the map datum.
Optionally, first calibration information for receiving the user on the map datum, comprising:
Receive the figure that user is drawn on the map datum by the drawing interface；
Determine the figure on the map datum in the relative position on the map datum according to the figure
Coordinate data；Wherein, the coordinate data is the coordinate data in the coordinate system established on the map datum in advance.
Optionally, the method also includes:
Obtain the current GPS location information of intelligent movable equipment；
By comparing the boundary information for the first area that the current GPS location information and the user are demarcated, drive
The intelligent movable equipment is moved to move in the first area that the user is demarcated.
Optionally, the method also includes:
Obtain the current local location information that the position sensor being arranged in intelligent movable equipment senses；
By comparing the boundary information for the first area that the current local location information and the user are demarcated, drive
The intelligent movable equipment is moved to move in the first area that the user is demarcated.
Optionally, the intelligent movable equipment is grass trimmer；The first area that the user is demarcated is the grass trimmer
Working region.
Optionally, the method also includes:
Receive second calibration information of the user in the first area；
The second area in the first area is determined according to second calibration information.
Optionally, the method also includes:
Obtain the current GPS location information of intelligent movable equipment；
By comparing the side of first area and second area that the current GPS location information and the user are demarcated
Boundary's information drives the intelligent movable equipment to move between the first area that the user is demarcated and second area.
Optionally, the method also includes:
Obtain the current local location information that the position sensor being arranged in intelligent movable equipment senses；
The first area demarcated by comparing the current local location information and the user and second area
Boundary information, driving intelligent movable equipment move between the first area that the user is demarcated and second area.
Optionally, the intelligent movable equipment is grass trimmer；First area that the user is demarcated and second area it
Between third region be the grass trimmer working region.
Second aspect, the embodiment of the present disclosure provide a kind of region labeling device, comprising:
First obtains module, is configured as obtaining the map datum including predeterminated position；
First receiving module is configured as receiving first calibration information of the user on the map datum；
Second obtains module, is configured as being marked according to the map datum and first calibration information acquisition user
Fixed first area.
Optionally, the predeterminated position includes current position location or the position that is received externally.
Optionally, described first module is obtained, comprising:
Submodule is imported, is configured as importing the GPS map data including predeterminated position by network interface.
Optionally, the first acquisition module is stated, comprising:
First acquisition submodule is configured as obtaining the region local map data established by sensor.
Optionally, the sensor includes at least one of: UWB equipment, radar, imaging sensor, ZigBee equipment,
WIFI equipment, bluetooth equipment.
Optionally, first receiving module, comprising:
First receiving submodule is configured as receiving point bit selecting of the user on the display interface of the map datum
It sets；
First determination submodule is configured as clicking relative position determination of the position on the map datum according to
The longitude and latitude data for clicking position.
Optionally, first receiving module, comprising:
Second receiving submodule is configured as receiving point bit selecting of the user on the display interface of the map datum
It sets；
Second determination submodule is configured as clicking relative position determination of the position on the map datum according to
The coordinate data that position is clicked on the map datum；Wherein, the coordinate data is in advance in the map datum
Coordinate data in the coordinate system of upper foundation.
Optionally, first receiving module, comprising:
Third receiving submodule is configured as receiving the longitude and latitude data or coordinate data of user's input, wherein described
Coordinate data is the coordinate data in the coordinate system established on the map datum in advance.
Optionally, the position that clicks includes multiple；Described second obtains module, comprising:
Third determines submodule, is configured to determine that and multiple described clicks the corresponding coordinate data in position or longitude and latitude data
The region that the line of formation is drawn a circle to approve in the map datum.
Optionally, the third determines submodule, comprising:
First formed submodule, be configured as by it is multiple it is described click the corresponding coordinate data in position or longitude and latitude data by
It is connected according to predetermined direction head and the tail, forms closed curve；
The first adjustment submodule is configured as the closed curve being adjusted to the curve of preset shape；
4th determines submodule, is configured to determine that the region that the closed curve of the preset shape is drawn a circle to approve is the use
The first area that family is demarcated.
Optionally, the third determines submodule, comprising:
Second formed submodule, be configured as by it is multiple it is described click the corresponding coordinate data in position or longitude and latitude data by
It is connected according to predetermined direction head and the tail, forms closed curve；
Submodule is provided, is configured as the closed curve being supplied to user；
Second adjustment module is configured as being adjusted the closed curve according to the input of user；
5th determines submodule, is configured to determine that the region of the closed curve delineation adjusted is the user institute
The first area of calibration.
Optionally, before first receiving module, comprising:
Module is provided, is configured as providing drawing interface for user.
Optionally, first receiving module, comprising:
4th receiving submodule is configured as receiving what user was drawn on the map datum by the drawing interface
Figure；
6th determine submodule, be configured as according to the figure on the map datum relative position determine described in
The longitude and latitude data of figure.
Optionally, first receiving module, comprising:
5th receiving submodule is configured as receiving what user was drawn on the map datum by the drawing interface
Figure；
7th determine submodule, be configured as according to the figure on the map datum relative position determine described in
Coordinate data of the figure on the map datum；Wherein, the coordinate data is established on the map datum in advance
Coordinate data in coordinate system.
Optionally, described device further include:
Third obtains module, is configured as obtaining the current GPS location information of intelligent movable equipment；
First drive module is configured as what the current GPS location information and the user by comparing were demarcated
The boundary information of first area drives the intelligent movable equipment to move in the first area that the user is demarcated.
Optionally, described device further include:
4th obtains module, be configured as obtaining the position sensor that is arranged in intelligent movable equipment sense it is current
Local location information；
Second drive module is configured as what the current local location information and the user by comparing were demarcated
The boundary information of first area drives the intelligent movable equipment to move in the first area that the user is demarcated.
Optionally, the intelligent movable equipment is grass trimmer；The first area that the user is demarcated is the grass trimmer
Working region.
Optionally, described device further include:
Second receiving module is configured as receiving second calibration information of the user in the first area；
Determining module is configured as determining the second area in the first area according to second calibration information.
Optionally, described device further include:
5th obtains module, is configured as obtaining the current GPS location information of intelligent movable equipment；
Second drive module is configured as what the current GPS location information and the user by comparing were demarcated
The boundary information of first area and second area, drive the intelligent movable equipment in the first area that the user is demarcated and
It is moved between second area.
Optionally, described device further include:
6th obtains module, be configured as obtaining the position sensor that is arranged in intelligent movable equipment sense it is current
Local location information；
Third drive module is configured as what the current local location information and the user by comparing were demarcated
The boundary information of first area and second area drives intelligent movable equipment in the first area that the user is demarcated and second
It is moved between region.
Optionally, the intelligent movable equipment is grass trimmer；First area that the user is demarcated and second area it
Between third region be the grass trimmer working region.
The function can also execute corresponding software realization by hardware realization by hardware.The hardware or
Software includes one or more modules corresponding with above-mentioned function.
It include memory and processor, the memory in the structure of region labeling device in a possible design
The computer instruction of region labeling method in above-mentioned first aspect is executed for storing one or more support area caliberating device,
The processor is configured to for executing the computer instruction stored in the memory.The region labeling device can be with
Including communication interface, for region labeling device and other equipment or communication.
The third aspect, the embodiment of the present disclosure provide a kind of intelligent movable equipment, including position detecting module, memory and
Processor；Wherein, the position detecting module is used to detect the current location information of the intelligent movable equipment；The memory
For storing one or more computer instruction, wherein one or more computer instruction by the processor execute with
Realize method and step described in first aspect.
Optionally, the position detecting module includes at least one of: GPS positioning module, UWB, radar, image sensing
Device, ZigBee equipment, bluetooth equipment, WIFI equipment.
Optionally, the intelligent movable equipment is intelligent grass-removing.
Fourth aspect, the embodiment of the present disclosure provide a kind of electronic equipment, including memory and processor；Wherein, described
Memory is for storing one or more computer instruction, wherein one or more computer instruction is by the processor
It executes to realize method and step described in first aspect.
5th aspect, the embodiment of the present disclosure provide a kind of computer readable storage medium, for storage region calibration dress
Computer instruction used is set, it includes refer to for executing computer involved in region labeling method in above-mentioned first aspect
It enables.
The technical solution that the embodiment of the present disclosure provides can include the following benefits:
The embodiment of the present disclosure passes through use by first obtaining the map datum of intelligent movable equipment working region position
Certain region that the mode of family input is demarcated on map datum, in this way, user can be based on obtainedly
Figure, finds out the region to be demarcated, and directly fix manually in map subscript from map easily.The embodiment of the present disclosure, can
Quickly and efficiently to carry out boundary setting to required working region, side is carried out without carrying out cable or other hardware devices
Boundary mark is fixed；Existing cartographic information can be directly utilized, accurately draws a circle to approve out working region on the basis of cartographic information, it can
Cost is saved, facilitates operation, accuracy is higher.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
In conjunction with attached drawing, by the detailed description of following non-limiting embodiment, the other feature of the disclosure, purpose and excellent
Point will be apparent.In the accompanying drawings:
Fig. 1 shows the flow chart of the region labeling method according to one embodiment of the disclosure；
Fig. 2 shows the flow charts of the step S102 of embodiment according to Fig. 1；
Fig. 3 shows the another flow chart of the step S102 of embodiment according to Fig. 1；
Fig. 4 shows the another flow chart of the step S102 of embodiment according to Fig. 1；
Fig. 5 shows the another flow chart of the step S102 of embodiment according to Fig. 1；
Fig. 6 is shown in the region labeling method according to one embodiment of the disclosure and is set using first area driving intelligent movable
The flow chart of standby part；
Fig. 7 is shown in the region labeling method according to one embodiment of the disclosure and is set using first area driving intelligent movable
The another flow chart of standby part；
Fig. 8 shows the flow chart that second area calibration is carried out in the region labeling method according to one embodiment of the disclosure；
Fig. 9 is shown in the region labeling method according to one embodiment of the disclosure and is driven using first area and second area
The flow chart of intelligent movable equipment；
Figure 10 is shown in the region labeling method according to one embodiment of the disclosure and is driven using first area and second area
The another flow chart of dynamic intelligent movable equipment；
Figure 11 shows the structural block diagram of the region labeling device according to one embodiment of the disclosure；
Figure 12 shows the structural block diagram of the intelligent movable equipment according to one embodiment of the disclosure；
Figure 13 is adapted for the structure for realizing the electronic equipment of the region labeling method according to one embodiment of the disclosure
Schematic diagram.
Specific embodiment
Hereinafter, the illustrative embodiments of the disclosure will be described in detail with reference to the attached drawings, so that those skilled in the art can
Easily realize them.In addition, for the sake of clarity, the portion unrelated with description illustrative embodiments is omitted in the accompanying drawings
Point.
In the disclosure, it should be appreciated that the term of " comprising " or " having " etc. is intended to refer to disclosed in this specification
Feature, number, step, behavior, the presence of component, part or combinations thereof, and be not intended to exclude other one or more features,
A possibility that number, step, behavior, component, part or combinations thereof exist or are added.
It also should be noted that in the absence of conflict, the feature in embodiment and embodiment in the disclosure
It can be combined with each other.The disclosure is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Fig. 1 shows the flow chart of the region labeling method according to one embodiment of the disclosure.As shown in Figure 1, the region
Scaling method includes the following steps S101-S103:
In step s101, the map datum including predeterminated position is obtained；
In step s 102, first calibration information of the user on the map datum is received；
In step s 103, first demarcated according to the map datum and first calibration information acquisition user
Region.
In the present embodiment, which can be runs in intelligent movable equipment such as grass trimmer, is also possible to
It is run on remote server such as Cloud Server.User can pass through the man-machine interactive interface that is arranged in intelligent movable equipment calibration the
One region can also demarcate first area by the app on user terminal.The first area demarcated can be directed into mobile intelligence
Energy equipment, to define the working region of intelligent movable equipment.For example, user can be by being arranged on grass trimmer for grass trimmer
Man-machine interactive interface or mowing region is demarcated by app on mobile phone, and the mowing region demarcated is supplied to mowing
Machine, so as to the grass trimmer activity in the first area that user is demarcated at work.
Predeterminated position can be any position in the first area that user to be demarcated or neighbouring, predeterminated position packet
The position for including current position location or being received externally, such as can be in place by positioning current intelligent movable equipment institute
It sets, or positioning user position obtains；Perhaps it is directly inputted by user or is obtained from remote server.Map datum
Can be GPS map, be also possible to specific map, the map such as established by the base station UWB/zigbee, laser radar point cloud atlas,
It takes photo by plane map etc..
After obtaining map datum, map datum can be supplied to user, such as be shown in the aobvious of intelligent movable equipment
Show on device, or is exported by communication network to the display interface on user terminal app.It is understood that giving user
When showing map, predeterminated position region is shown to user, user can zoom in or out shown based on self-demand
Map, and the region to be demarcated therefrom is found, input calibration information.For example, user can be by be demarcated on map
The boundary in region specifies the mode of multiple points to input calibration information, can also be by way of scribing line by the side in the region demarcated
It draws out on boundary.
After the calibration information for receiving user's input, it can be determined from map datum according to calibration information position
The first area to be demarcated of user.The first area can be a closed bulk portion, be also possible to multiple discontinuous
Region.It can also be remaining region after removing one or more zonule inside a bulk portion.For example, for grass trimmer
Working region, user can obtain map datum where user family position when demarcating oneself lawn, and grass is selected from map
Level ground region selects multiple location point inputs on lawn boundary, to define the boundary on lawn；Certainly selected lawn boundary it
Afterwards, the region that can also there is barrier such as to set inside lawn, then demarcated, barrier region is excluded in workspace
Except domain.The embodiment of the present disclosure can make the mark of the working region of intelligent movable equipment in such a way that this user demarcates
It is simple and easily operated to determine process, and accuracy rate is higher, voluntarily takes a round compared to setting fence, intelligent movable equipment
The mode of record delimitation position is easier, easily operated, and can greatly save cost, improves user experience.
In an optional implementation of the present embodiment, the step S101 obtains the map including predeterminated position
The step of data, further comprises:
The GPS map data including predeterminated position are imported by network interface.
In the optional implementation, it can be imported where predeterminated position by communication network from GPS map supplier
Map datum.Such as map datum is imported from the interface of the offers such as google map, Baidu map.Such as the application in grass trimmer
Under scene, after grass trimmer is placed in oneself lawn by user, it can be obtained currently by the GPS positioning module being arranged on grass trimmer
GPS positioning position, the map datum where obtaining GPS positioning position from GPS map supplier by network interface again later, and
The map datum of acquisition is shown on the display interface or user terminal of grass trimmer on corresponding app.User can be with base
Lawn boundary and barrier region etc. are demarcated in shown map.
In an optional implementation of the present embodiment, the step S101 obtains the map including predeterminated position
The step of data, further comprises:
Obtain the region local map data established by sensor.
In the optional implementation, region local map data, which can be, specially to be established for some small region
Local map, such as the local map for foundation such as community, park, market, family, an interiors.Region local map data
In location information can be the longitude and latitude data of global location, may not be longitude and latitude data, but when establishing map
The coordinate data in space coordinates voluntarily established.Third party can be obtained by corresponding channel in the embodiment of the present disclosure to establish
Local map data, can be the map datum that this method application system itself is established.Local map data can pass through
Some sensors are established.For example, for indoor map indoor cloud map can be obtained by laser radar, for room
Outer a certain region, can be taken photo by plane map by acquisition of taking photo by plane.Certainly it can also pass through other sensors such as UWB equipment, bluetooth
Equipment, WIFI equipment and image sensing apparatus etc. establish local map.When establishing map using these sensors, can first select
A fixed object of reference, and using the selected object of reference position as origin, one is established referring to space coordinates, passes through sensing later
Device is sensed in the region for the map established at a distance between object of reference, and then is established each position in the region and established again
Referring to the coordinate data in space coordinates, region local map data are obtained.
The sensor used when establishing local map data include but is not limited to UWB equipment, radar, imaging sensor,
ZigBee equipment, WIFI equipment and bluetooth equipment.When establishing local map data, a kind of above-mentioned sensor can be used,
Region local map can be established using multiple sensors cooperation.It can specifically select according to the actual situation, details are not described herein.
In an optional implementation of the present embodiment, as shown in Fig. 2, the step S102, i.e., described in the described reception
User further comprises the steps S201-S202 the first calibration information on the map datum the step of:
In step s 201, it receives the user and clicks position on the display interface of the map datum；
In step S202, described bit selecting is determined according to the relative position for clicking position on the map datum
The longitude and latitude data set.
In the optional implementation, for GPS map data, what user selected to be demarcated in GPS map data
Region, and multiple location point inputs are selected in zone boundary.For example, if regular quadrilateral when the region to be demarcated,
Can be by the position at touch display screen four angles in touch area boundary directly on map, or pass through the point-seleecting devices such as mouse
Select the position at four angles；Of course, it should be understood that for irregular shape, can by way of choosing multiple points or
Calibration information is directly inputted in a manner of scribing line.Since GPS map data have latitude and longitude information, user institute can be passed through
Relative position of the position again on GPS map is clicked, determines that user clicks the longitude and latitude data of position.
In an optional implementation of the present embodiment, as shown in figure 3, the step S102, i.e., described in the described reception
User further comprises the steps S301-S302 the first calibration information on the map datum the step of:
In step S301, receives the user and click position on the display interface of the map datum；
In step s 302, described bit selecting is determined according to the relative position for clicking position on the map datum
Set the coordinate data on the map datum；Wherein, the coordinate data is the seat established on the map datum in advance
Coordinate data in mark system.
In the optional implementation, it can be directed to established regional area map datum, it is suitable former by selecting
After point, xy axis direction, a space coordinates are pre-established, so that each point on regional area map is in the space coordinates
Coordinate known to；And user selects one or more points bit selecting to postpone on regional area map, it can be according to this or more
A relative position clicked on position and the regional area map datum, determines the coordinate position in the space coordinates.
The optional implementation is suitable for not using the regional area map datum of GPS longitude and latitude positional information, it is of course possible to understand
, GPS map data are also applied for, only location information not instead of GPS latitude and longitude information, the space oneself established is sat
Coordinate data in mark system.It should be noted that the space coordinates can be reference space when establishing region local map
Coordinate system can also be other space coordinates determined with the positional relationship of the reference space coordinates.
In an optional implementation of the present embodiment, the step S102 is that is, described to receive the user described
It the step of the first calibration information on map datum, further includes steps of
Receive the longitude and latitude data or coordinate data of user's input, wherein the coordinate data is in advance describedly
The coordinate data in coordinate system established on diagram data.
In the optional implementation, for GPS map data, user is in the latitude and longitude information for determining the region demarcated
In the case where, the longitude and latitude data for the zone boundary demarcated can be directly inputted, and for non-GPS map data, such as area
Domain local map data, determine the region to be demarcated based on the local map data of region reference space coordinates in
Coordinate data when, coordinate data can also be directly inputted.This mode can more accurately demarcate what user to be demarcated
Region.
In an optional implementation of the present embodiment, the position that clicks includes multiple；The step S102, i.e. root
The step of obtaining the first area that user is demarcated according to the map datum and first calibration information, further comprise with
Lower step:
Determine multiple lines for clicking the corresponding coordinate data in position or the formation of longitude and latitude data in the map number
According to the region of middle delineation.
In the optional implementation, if only selection has input the multiple of demarcated zone boundary when user demarcates
If point, multiple points can be in turn connected into line, such as two neighboring point according to preset direction according to preset rules
Between be linked to be straight line, or by way of predetermined manner is linked to be curve, can specifically be arranged according to the actual situation, not limit herein
System.The position coordinates of each point on be linked to be line are determined later, and then determine that user demarcates the location information in region.It can be with one
It is kind feasible to be achieved in that, if user to be demarcated be regular shape region, e.g. quadrangle, then user can be with
By clicking or other modes input the position on four vertex, system can be according to presetting this four vertex connection shape
At a quadrangle.Certainly, for the sake of accurate, for irregular area, user can be selected, and multiple spot selects or input several positions
It sets, it might even be possible to the input area boundary position in a manner of scribing line.
In an optional implementation of the present embodiment, determines and multiple described click the corresponding coordinate data in position or warp
It the step of region that the line that latitude data is formed is drawn a circle to approve in the map datum, further includes steps of
By the multiple corresponding coordinate data in position or longitude and latitude data of clicking according to predetermined direction head and the tail connection, formed
Closed curve；
The closed curve is adjusted to the curve of preset shape；
Determine the first area that the region that the closed curve of the preset shape is drawn a circle to approve is demarcated by the user.
In the optional implementation, the multiple points for obtaining demarcated zone boundary from user are postponed, can pass through by
The mode that multiple point head and the tail connect into line forms closed curve, such as adjacent two o'clock can be connected and be in line, or according to pre-
If rule connects into the curve etc. with certain radian.Closed curve can also be adjusted to rule according to preparatory setting later
Closed curve.The region that closed curve adjusted is drawn a circle to approve may include the region that closed curve is drawn a circle to approve before adjusting.Example
Such as the closed curve then can be adjusted to similar rule by the shape of detection closed curve close to which kind of regular shape
Shape then can be with for example, multiple points that user is inputted are linked to be the shape for forming closed curve after line close to a circle
The closed curve is adjusted to circular curve.It is, of course, understood that can not also be adjusted to it, or by user
Closed curve is finely adjusted.
In an optional implementation of the present embodiment, determines and multiple described click the corresponding coordinate data in position or warp
It the step of region that the line that latitude data is formed is drawn a circle to approve in the map datum, further includes steps of
By the multiple corresponding coordinate data in position or longitude and latitude data of clicking according to predetermined direction head and the tail connection, formed
Closed curve；
The closed curve is supplied to user；
The closed curve is adjusted according to the input of user；
Determine the first area that the region of the closed curve delineation adjusted is demarcated by the user.
In the optional implementation, multiple points that user inputs is connected after forming closed curve, this can also be closed
It closes curve and is supplied to user, i.e., closed curve is shown and be supplied to user on map.And adjustment interface is provided, so that user can
Closed curve is adjusted to an optimal position by way of to the closed curve dragging, so that curve adjusted is just
It is covered on the boundary in the region that user is demarcated well.In this way, the region accuracy demarcated is higher, and implements
It is relatively simple.
In an optional implementation of the present embodiment, receive the user on the map datum first
Before calibration information, comprising:
Drawing interface is provided for user.
In the optional implementation, first area is demarcated on map datum in order to which user is convenient, can provide and draw
Figure interface.User can be used the menu option in drawing interface and calibrate first area on map.Drawing interface for example may be used
To be similar to the drawing tools in visio, user can choose arrow, curve, figure in drawing tools etc. in map subscript
Fixed corresponding region.
In an optional implementation of the present embodiment, as shown in figure 4, the step S102, i.e., described in the described reception
User further comprises the steps S401-S402 the first calibration information on the map datum the step of:
In step S401, the figure that user is drawn on the map datum by the drawing interface is received；
In step S402, the longitude and latitude of the figure is determined according to relative position of the figure on the map datum
Degree evidence.
In the optional implementation, for GPS map data, user is drawn on map by drawing interface and institute
The consistent figure in region is demarcated, relative position of the system according to user's institute's graphing in GPS map data determines and use
The longitude and latitude data of family graphing institute, institute overlay area, and then determine the first area that user is demarcated.
In an optional implementation of the present embodiment, as shown in figure 5, the step S102, i.e., described in the described reception
User further comprises the steps S501-S502 the first calibration information on the map datum the step of:
In step S501, the figure that user is drawn on the map datum by the drawing interface is received；
In step S502, determine the figure described according to relative position of the figure on the map datum
Coordinate data on map datum；Wherein, the coordinate data is in the coordinate system established on the map datum in advance
Coordinate data.
In the optional implementation, the non-GPS map data of needle, such as region local map data, user passes through drawing
Interface draws the figure consistent with the region demarcated in the local map of region, and system is according to user institute graphing in area
Relative position in the local map of domain determines the coordinate data of user graphing institute, institute overlay area, and then determines user institute
The first area of calibration.
In an optional implementation of the present embodiment, as shown in fig. 6, the method further includes following steps
S601-S602:
In step s 601, the current GPS location information of intelligent movable equipment is obtained；
In step S602, the first area demarcated by comparing the current GPS location information and the user
Boundary information, drive the intelligent movable equipment to move in the first area that the user is demarcated.
In the optional implementation, map datum obtained be GPS map data, and user calibration the firstth area
Domain is to obtain the current GPS location information of intelligent movable equipment when demarcating in GPS map data, and work as by comparing
The GPS position information of preceding GPS position information and first area boundary, driving intelligent movable equipment move in first area.Example
Such as, grass trimmer, by comparing the boundary position of current location and first area, controls intelligent movable equipment according to pre- when mowing
If route mow in first area.Pass through the side on the working region boundary of the intelligent movable equipment of embodiment of the present disclosure acquisition
Formula, it is simple and practical, without forming fence etc. on working region periphery, cost can be saved, and accuracy is higher.
In an optional implementation of the present embodiment, as shown in fig. 7, the method further includes following steps
S701-S702:
In step s 701, the current local location that the position sensor being arranged in intelligent movable equipment senses is obtained
Information；
In step S702, the first area demarcated by comparing the current local location information and the user
Boundary information, drive the intelligent movable equipment to move in the first area that the user is demarcated.
The region local map data established in the optional implementation for sensor namely non-GPS map number
According to, can be detected by the position sensor that is arranged in intelligent movable equipment intelligence sensor the region established locally
Position data in the reference space coordinates of diagram data, and then simultaneously by comparing current local location information and first area side
The location information on boundary, driving intelligent movable equipment move in first area.For example, can be in the workspace of intelligent movable equipment
The base station UWB is arranged in domain periphery, a UWB equipment is arranged in intelligent movable equipment, UWB equipment obtains between the base station UWB in real time
Range information, and then determined further according to coordinate data of the base station UWB in the reference space coordinates of region local map data
The current local location information of intelligent movable equipment.
In one embodiment, intelligent movable equipment can be grass trimmer, and first area can be the working region of grass trimmer,
Such as lawn.
In an optional implementation of the present embodiment, as shown in figure 8, the method further includes following steps
S801-S802:
In step S801, second calibration information of the user in the first area is received；
In step S802, the second area in the first area is determined according to second calibration information.
In the optional implementation, user after having demarcated first area, can also in second area further into
Rower is fixed, to determine a second area.For example, if there is barrier in lawn, such as a certain piece of ecological region planting has for grass trimmer
Tree or other plant, or when being placed with other articles, these barriers are collided during mowing in order to place grass trimmer,
Then user can also further demarcate barrier region, i.e. second area after calibrating lawn in lawn, certainly, can
With understanding, second area is not limited to barrier region, is also possible to other users and is not desired to the region that grass is trimmed away.Example
Such as, user wants to retain the grass in lawn in a certain piece of region, so that the block grass and the grass in other regions form a contrast, in turn
So that the grass in this block region retained forms the region of a specific shape, the effect beautified the environment can be played.
In an optional implementation of the present embodiment, as shown in figure 9, the method further includes following steps
S901-S902:
In step S901, the current GPS location information of intelligent movable equipment is obtained；
In step S902, the first area demarcated by comparing the current GPS location information and the user
With the boundary information of second area, drive the intelligent movable equipment in the first area that the user is demarcated and second area
Between move.
In the optional implementation, user has demarcated while having demarcated first area, also in first area
In the case where two regions, what it is for acquisition is GPS map data, and user be the case where being demarcated on GPS map, can be with
By comparing the boundary information of intelligent movable equipment current GPS location information and first area and second area, mobile intelligence is controlled
Energy equipment moves in the region between the boundary of first area and the boundary of second area.
In an optional implementation of the present embodiment, as shown in Figure 10, the method further includes following steps
S1001-S1002:
In step S1001, the current local position that the position sensor being arranged in intelligent movable equipment senses is obtained
Confidence breath；
In step S1002, the firstth area for being demarcated by comparing the current local location information and the user
The boundary information in domain and second area, driving intelligent movable equipment the first area that the user is demarcated and second area it
Between move.
In the optional implementation, user has demarcated while having demarcated first area, also in first area
In the case where two regions, what it is for acquisition is non-GPS map data, i.e. region local map data, and user is in region office
The case where being demarcated on portion's map, can be by comparing the current local location information of intelligent movable equipment and the firstth area obtained
It is mobile to control region of the mobile device between first area boundary and second area boundary for domain boundary, second area boundary.
In one embodiment, position sensor includes but is not limited to that UWB equipment, radar, imaging sensor, ZigBee are set
Standby, WIFI equipment and bluetooth equipment.
In above-mentioned Fig. 9 and embodiment illustrated in fig. 10, intelligent movable equipment can be grass trimmer, first area and second area
Between third region be grass trimmer working region, i.e. lawn.Second area can be the barrier region in lawn, can also
To be that other users are not desired to the careless region of trimming.
Following is embodiment of the present disclosure, can be used for executing embodiments of the present disclosure.
Figure 11 shows the structural block diagram of the region labeling device according to one embodiment of the disclosure, which can be by soft
Part, hardware or both are implemented in combination with as some or all of of electronic equipment.As shown in figure 11, the region labeling dress
It sets and obtains module 1101 including first, the first receiving module 1102 and second obtains module 1103:
First obtains module 1101, is configured as obtaining the map datum including predeterminated position；
First receiving module 1102 is configured as receiving first calibration information of the user on the map datum；
Second obtains module 1103, is configured as obtaining user according to the map datum and first calibration information
The first area demarcated.
In an optional implementation of the present embodiment, the predeterminated position includes current position location or from outside
The position received.
In an optional implementation of the present embodiment, described first obtains module, comprising:
Submodule is imported, is configured as importing the GPS map data including predeterminated position by network interface.
In an optional implementation of the present embodiment, described first obtains module, comprising:
First acquisition submodule is configured as obtaining the region local map data established by sensor.
In an optional implementation of the present embodiment, the sensor includes at least one of: UWB equipment, thunder
It reaches, imaging sensor, ZigBee equipment, WIFI equipment, bluetooth equipment.
In an optional implementation of the present embodiment, first receiving module, comprising:
First receiving submodule is configured as receiving point bit selecting of the user on the display interface of the map datum
It sets；
First determination submodule is configured as clicking relative position determination of the position on the map datum according to
The longitude and latitude data for clicking position.
In an optional implementation of the present embodiment, first receiving module, comprising:
Second receiving submodule is configured as receiving point bit selecting of the user on the display interface of the map datum
It sets；
Second determination submodule is configured as clicking relative position determination of the position on the map datum according to
The coordinate data that position is clicked on the map datum；Wherein, the coordinate data is in advance in the map datum
Coordinate data in the coordinate system of upper foundation.
In an optional implementation of the present embodiment, first receiving module, comprising:
Third receiving submodule is configured as receiving the longitude and latitude data or coordinate data of user's input, wherein described
Coordinate data is the coordinate data in the coordinate system established on the map datum in advance.
In an optional implementation of the present embodiment, the position that clicks includes multiple；Described second obtains module,
Include:
Third determines submodule, is configured to determine that and multiple described clicks the corresponding coordinate data in position or longitude and latitude data
The region that the line of formation is drawn a circle to approve in the map datum.
In an optional implementation of the present embodiment, the third determines submodule, comprising:
First formed submodule, be configured as by it is multiple it is described click the corresponding coordinate data in position or longitude and latitude data by
It is connected according to predetermined direction head and the tail, forms closed curve；
The first adjustment submodule is configured as the closed curve being adjusted to the curve of preset shape；
4th determines submodule, is configured to determine that the region that the closed curve of the preset shape is drawn a circle to approve is the use
The first area that family is demarcated.
In an optional implementation of the present embodiment, the third determines submodule, comprising:
Second formed submodule, be configured as by it is multiple it is described click the corresponding coordinate data in position or longitude and latitude data by
It is connected according to predetermined direction head and the tail, forms closed curve；
Submodule is provided, is configured as the closed curve being supplied to user；
Second adjustment module is configured as being adjusted the closed curve according to the input of user；
5th determines submodule, is configured to determine that the region of the closed curve delineation adjusted is the user institute
The first area of calibration.
In an optional implementation of the present embodiment, before first receiving module, comprising:
Module is provided, is configured as providing drawing interface for user.
In an optional implementation of the present embodiment, first receiving module, comprising:
4th receiving submodule is configured as receiving what user was drawn on the map datum by the drawing interface
Figure；
6th determine submodule, be configured as according to the figure on the map datum relative position determine described in
The longitude and latitude data of figure.
In an optional implementation of the present embodiment, first receiving module, comprising:
5th receiving submodule is configured as receiving what user was drawn on the map datum by the drawing interface
Figure；
7th determine submodule, be configured as according to the figure on the map datum relative position determine described in
Coordinate data of the figure on the map datum；Wherein, the coordinate data is established on the map datum in advance
Coordinate data in coordinate system.
In an optional implementation of the present embodiment, device further include:
Third obtains module, is configured as obtaining the current GPS location information of intelligent movable equipment；
First drive module is configured as what the current GPS location information and the user by comparing were demarcated
The boundary information of first area drives the intelligent movable equipment to move in the first area that the user is demarcated.
In an optional implementation of the present embodiment, device further include:
4th obtains module, be configured as obtaining the position sensor that is arranged in intelligent movable equipment sense it is current
Local location information；
Second drive module is configured as what the current local location information and the user by comparing were demarcated
The boundary information of first area drives the intelligent movable equipment to move in the first area that the user is demarcated.
In an optional implementation of the present embodiment, the intelligent movable equipment is grass trimmer；The user is marked
Fixed first area is the working region of the grass trimmer.
In an optional implementation of the present embodiment, device further include:
Second receiving module is configured as receiving second calibration information of the user in the first area；
Determining module is configured as determining the second area in the first area according to second calibration information.
In an optional implementation of the present embodiment, device further include:
5th obtains module, is configured as obtaining the current GPS location information of intelligent movable equipment；
Second drive module is configured as what the current GPS location information and the user by comparing were demarcated
The boundary information of first area and second area, drive the intelligent movable equipment in the first area that the user is demarcated and
It is moved between second area.
In an optional implementation of the present embodiment, device further include:
6th obtains module, be configured as obtaining the position sensor that is arranged in intelligent movable equipment sense it is current
Local location information；
Third drive module is configured as what the current local location information and the user by comparing were demarcated
The boundary information of first area and second area drives intelligent movable equipment in the first area that the user is demarcated and second
It is moved between region.
In an optional implementation of the present embodiment, the intelligent movable equipment is grass trimmer；The user is marked
Third region between fixed first area and second area is the working region of the grass trimmer.
Above-mentioned zone caliberating device is corresponding with region labeling method in Fig. 1-10 illustrated embodiment consistent, and detail can join
See the above-mentioned description to region labeling method, details are not described herein.
Figure 12 shows the structural representation according to the intelligent movable equipment of application region scaling method in disclosure embodiment
Figure.
As shown in figure 12, intelligent movable equipment 1200 includes: position detecting module 1201, memory 1202 and processor
1203；Wherein, the position detecting module 1201 is used to detect the current location information of the intelligent movable equipment；The storage
Device 1202 is for storing one or more computer instruction, wherein one or more computer instruction is by the processor
The step of 1201 execution are to realize above-mentioned zone scaling method.
The detail of above-mentioned zone scaling method can be found in the description of region labeling method in Fig. 1-10 illustrated embodiment,
Details are not described herein.
In an optional implementation of the present embodiment, the position detecting module includes at least one of: GPS is fixed
Position module, UWB equipment, radar, imaging sensor, ZigBee equipment, bluetooth equipment, WIFI equipment.
In an optional implementation of the present embodiment, the intelligent movable equipment is intelligent grass-removing.
The structure that Figure 13 is adapted for for realizing the electronic equipment of the region labeling method according to disclosure embodiment is shown
It is intended to.
As shown in figure 13, electronic equipment 1300 includes central processing unit (CPU) 1301, can be read-only according to being stored in
Program in memory (ROM) 1302 is loaded into the journey in random access storage device (RAM) 1303 from storage section 1308
Sequence and execute the various processing in above-mentioned embodiment shown in FIG. 1.In RAM1303, it is also stored with the behaviour of electronic equipment 1300
Various programs and data needed for making.CPU1301, ROM1302 and RAM1303 are connected with each other by bus 1304.Input/defeated
(I/O) interface 1305 is also connected to bus 1304 out.
I/O interface 1305 is connected to lower component: the importation 1306 including keyboard, mouse etc.；Including such as cathode
The output par, c 1307 of ray tube (CRT), liquid crystal display (LCD) etc. and loudspeaker etc.；Storage section including hard disk etc.
1308；And the communications portion 1309 of the network interface card including LAN card, modem etc..Communications portion 1309 passes through
Communication process is executed by the network of such as internet.Driver 1310 is also connected to I/O interface 1305 as needed.It is detachable to be situated between
Matter 1311, such as disk, CD, magneto-optic disk, semiconductor memory etc. are mounted on as needed on driver 1310, so as to
In being mounted into storage section 1308 as needed from the computer program read thereon.
Particularly, according to embodiment of the present disclosure, it is soft to may be implemented as computer above with reference to Fig. 1 method described
Part program.For example, embodiment of the present disclosure includes a kind of computer program product comprising be tangibly embodied in and its readable
Computer program on medium, the computer program include the program code for executing the method for Fig. 1.In such implementation
In mode, which can be downloaded and installed from network by communications portion 1309, and/or from detachable media
1311 are mounted.
Flow chart and block diagram in attached drawing illustrate system, method and computer according to the various embodiments of the disclosure
The architecture, function and operation in the cards of program product.In this regard, each box in course diagram or block diagram can be with
A part of a module, section or code is represented, a part of the module, section or code includes one or more
Executable instruction for implementing the specified logical function.It should also be noted that in some implementations as replacements, institute in box
The function of mark can also occur in a different order than that indicated in the drawings.For example, two boxes succeedingly indicated are practical
On can be basically executed in parallel, they can also be executed in the opposite order sometimes, and this depends on the function involved.Also it wants
It is noted that the combination of each box in block diagram and or flow chart and the box in block diagram and or flow chart, Ke Yiyong
The dedicated hardware based system of defined functions or operations is executed to realize, or can be referred to specialized hardware and computer
The combination of order is realized.
Being described in unit or module involved in disclosure embodiment can be realized by way of software, can also
It is realized in a manner of through hardware.Described unit or module also can be set in the processor, these units or module
Title do not constitute the restriction to the unit or module itself under certain conditions.
As on the other hand, the disclosure additionally provides a kind of computer readable storage medium, the computer-readable storage medium
Matter can be computer readable storage medium included in device described in above embodiment；It is also possible to individualism,
Without the computer readable storage medium in supplying equipment.Computer-readable recording medium storage has one or more than one journey
Sequence, described program is used to execute by one or more than one processor is described in disclosed method.
Above description is only the preferred embodiment of the disclosure and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the disclosure, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed in the disclosure
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (10)
1. a kind of region labeling method characterized by comprising
Obtain the map datum including predeterminated position；
Receive first calibration information of the user on the map datum；
The first area that user is demarcated is obtained according to the map datum and first calibration information.
2. region labeling method according to claim 1, which is characterized in that the predeterminated position includes current position location
Or the position being received externally.
3. region labeling method according to claim 1, which is characterized in that the map datum including predeterminated position is obtained,
Include:
The GPS map data including predeterminated position are imported by network interface.
4. region labeling method according to claim 1, which is characterized in that the map datum including predeterminated position is obtained,
Include:
Obtain the region local map data established by sensor.
5. region labeling method according to claim 4, which is characterized in that the sensor includes at least one of:
UWB equipment, radar, imaging sensor, ZigBee equipment, WIFI equipment, bluetooth equipment.
6. region labeling method according to claim 1, which is characterized in that described to receive the user in the map number
According to the first upper calibration information, comprising:
It receives the user and clicks position on the display interface of the map datum；
According to it is described click position determine in the relative position on the map datum described in click the longitude and latitude data of position.
7. a kind of region labeling device characterized by comprising
First obtains module, is configured as obtaining the map datum including predeterminated position；
First receiving module is configured as receiving first calibration information of the user on the map datum；
Second obtains module, is configured as obtaining what user was demarcated according to the map datum and first calibration information
First area.
8. a kind of intelligent movable equipment, which is characterized in that including position detecting module, memory and processor；Wherein, institute's rheme
Detection module is set for detecting the current location information of the intelligent movable equipment；The memory is for storing one or more
Computer instruction, wherein one or more computer instruction is executed by the processor to realize that claim 1-6 is any
Method and step described in.
9. a kind of electronic equipment, which is characterized in that including memory and processor；Wherein,
The memory is for storing one or more computer instruction, wherein one or more computer instruction is by institute
Processor is stated to execute to realize method and step described in any one of claims 1-6.
10. a kind of computer readable storage medium, is stored thereon with computer instruction, which is characterized in that the computer instruction quilt
Processor realizes method and step described in any one of claims 1-6 when executing.
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| CN201810028184.0A CN110033497B (en) | 2018-01-11 | 2018-01-11 | Region calibration method, device, electronic equipment and computer readable storage medium |
| CN202110110764.6A CN112950743A (en) | 2018-01-11 | 2018-01-11 | Region calibration method and device, electronic equipment and computer readable storage medium |
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| CN114489401A (en) * | 2022-01-18 | 2022-05-13 | 北京京东振世信息技术有限公司 | Map boundary line generation and device |
| CN115695063A (en) * | 2021-07-28 | 2023-02-03 | 海信集团控股股份有限公司 | Method and device for controlling intelligent equipment |
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| CN113950144B (en) * | 2021-10-01 | 2024-03-22 | 南宁市安普康商贸有限公司 | Monitoring method, system, device and computer program product |
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| CN112950743A (en) | 2021-06-11 |
| CN110033497B (en) | 2023-12-12 |
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