CN115811702A

CN115811702A - Work area determination method, device and equipment and readable storage medium

Info

Publication number: CN115811702A
Application number: CN202111074228.1A
Authority: CN
Inventors: 黄亚丁; 周亚婷; 李锟; 付雷; 张海容
Original assignee: Ecovacs Robotics Suzhou Co Ltd
Current assignee: Ecovacs Robotics Suzhou Co Ltd
Priority date: 2021-09-14
Filing date: 2021-09-14
Publication date: 2023-03-17

Abstract

After the electronic equipment identifies a boundary establishing instruction input by a user, responding to the boundary establishing instruction, determining a first moving track of the electronic equipment relative to a base station of the self-moving robot, and determining a working area of the self-moving robot according to the first moving track. By adopting the scheme, the self-moving robot does not need to move for a circle along the boundary of the working area under the guidance, the pushing or the remote control of a user or a manufacturer, but the electronic equipment for controlling the self-moving robot can establish the working area by moving for a circle around the boundary, so that the time and the labor are saved, the efficiency is high and the precision is high.

Description

Work area determination method, device and equipment and readable storage medium

Technical Field

The present application relates to the field of robotics, and in particular, to a method, an apparatus, a device, and a readable storage medium for determining a working area.

Background

With the development of Artificial Intelligence (AI) technology, various robots increasingly enter people's lives, such as logistics robots, floor sweeping robots, mowing robots, greeting robots, and the like.

In the working process of the robot, in order to ensure that the robot works in a certain area or prohibit the robot from entering the certain area, physical sensors such as magnetic stripes and coils are often arranged on the edge of the certain area, so that the certain area becomes a working area or a working forbidden area. However, this method has high hardware cost and high labor cost. To solve this problem, the industry defines the working area of the robot by positioning techniques. In this way, a user or a manufacturer controls the robot to make a circle at the boundary of the working area to obtain a closed area, and the closed area is used as the working area.

However, the positioning-based solution is affected by various factors such as the motion capability of the robot and the skill level of the user, and has low efficiency and poor precision.

Disclosure of Invention

According to the method, the device, the equipment and the readable storage medium for determining the working area, the working area is established by using the terminal equipment such as a mobile phone, and the like, so that the efficiency and the precision are high.

In a first aspect, an embodiment of the present application provides a method for determining a working area, where the method is applied to an electronic device, and the method includes:

identifying a boundary creation instruction;

in response to the boundary creating instruction, determining a first movement track of the electronic equipment moving relative to a base station of the self-moving robot, wherein the electronic equipment and the base station are in the same coordinate system;

determining a working area of the self-moving robot according to the first moving track;

and sending indication information to the self-moving robot, wherein the indication information is used for indicating the working area.

In a second aspect, an embodiment of the present application provides a work area determining method, which is applied to an electronic device, and the method includes:

determining the boundary of a working area from an image displayed on a shooting interface of electronic equipment according to the operation of a user on the shooting interface;

when the electronic equipment moves from a first position to a second position, determining the position coordinates of each point on the boundary relative to a base station of the self-moving robot according to the first position and the second position, wherein the distance between the first position and the second position is larger than a preset distance, and the electronic equipment and the base station are in the same coordinate system;

determining the working area according to the position coordinates of each point on the boundary;

In a third aspect, an embodiment of the present application provides a work area determining apparatus, including:

the identification module is used for identifying a boundary establishing instruction;

the processing module is used for responding to the boundary establishing instruction and determining a first moving track of the electronic equipment moving relative to a base station of the self-moving robot, and the electronic equipment and the base station are in the same coordinate system;

the determining module is used for determining a working area of the self-moving robot according to the first moving track;

and the transceiver module is used for sending indication information to the self-moving robot, and the indication information is used for indicating the working area.

the recognition module is used for determining the boundary of a working area from an image displayed on a shooting interface of the electronic equipment according to the operation of a user on the shooting interface;

a processing module, configured to determine, when the electronic device moves from a first location to a second location, a location coordinate of each point on the boundary relative to a base station of the self-moving robot according to the first location and the second location, where a distance between the first location and the second location is greater than a preset distance, and the electronic device and the base station are in a same coordinate system

The determining module is used for determining the working area according to the position coordinates of each point on the boundary;

In a fifth aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory and a computer program stored on the memory and executable on the processor, the processor when executing the computer program causing the electronic device to carry out the method according to the first aspect or the various possible implementations of the first aspect.

In a sixth aspect, an embodiment of the present application provides an electronic device, including: a processor, a memory and a computer program stored on the memory and executable on the processor, the processor executing the computer program to cause the electronic device to implement the method as described above in the second aspect or in various possible implementations of the second aspect.

In a seventh aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer instructions are stored, and when executed by a processor, the computer instructions are used to implement the method according to the first aspect or the various possible implementation manners of the first aspect.

In an eighth aspect, embodiments of the present application provide a computer-readable storage medium, in which computer instructions are stored, and when executed by a processor, the computer instructions are used to implement the method according to the second aspect or various possible implementation manners of the second aspect.

In a ninth aspect, embodiments of the present application provide a computer program product including a computer program, which when executed by a processor, implements the method according to the first aspect or the various possible implementations of the first aspect.

In a tenth aspect, embodiments of the present application provide a computer program product including a computer program, which when executed by a processor, implements the method according to the second aspect or the various possible implementations of the second aspect.

According to the work area determining method, the work area determining device, the work area determining equipment and the readable storage medium, after the electronic equipment identifies the boundary creating instruction input by the user, the electronic equipment responds to the boundary creating instruction, determines the first moving track of the electronic equipment relative to the base station of the self-moving robot, and determines the work area of the self-moving robot according to the first moving track. By adopting the scheme, the self-moving robot does not need to move for a circle along the boundary of the working area under the guidance, the pushing or the remote control of a user or a manufacturer, but the electronic equipment for controlling the self-moving robot can establish the working area by moving for a circle around the boundary, so that the time and the labor are saved, the efficiency is high and the precision is high.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic view of an implementation environment of a work area determining method provided in an embodiment of the present application;

fig. 2 is a scene schematic diagram of a work area determining method according to an embodiment of the present application

Fig. 3 is a flowchart of a work area determining method according to an embodiment of the present application;

fig. 4 is a schematic view of an interface change of an electronic device in a work area determination method provided in an embodiment of the present application;

fig. 5 is a schematic diagram of a coordinate system of a base station in a method for determining a working area according to an embodiment of the present application;

fig. 6 is a schematic process diagram of determining a first movement trajectory in the work area determining method according to the embodiment of the present application;

fig. 7 is a schematic view of a scene of a work area determining method according to an embodiment of the present application;

fig. 8 is a schematic diagram of a mosaic map in the work area determination method provided in the embodiment of the present application;

fig. 9 is a flowchart of a work area determining method according to an embodiment of the present application;

fig. 10 is a schematic diagram of calculating position coordinates of a point on a boundary in a work area determination method according to an embodiment of the present application;

fig. 11 is a schematic diagram of coordinate system alignment in the working area determination method provided in the embodiment of the present application;

fig. 12 is a schematic view of a scene in a work area determining method according to an embodiment of the present application;

fig. 13 is a schematic view of another scenario in the working area determining method according to the embodiment of the present application;

fig. 14 is a schematic view of another scenario in the working area determining method according to the embodiment of the present application;

fig. 15 is a schematic diagram of a work area determining apparatus according to an embodiment of the present application;

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

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, the following detailed description of the embodiments of the present application will be made with reference to the accompanying drawings.

Different from indoor robots, outdoor robots such as mowers and the like work, due to the fact that physical boundaries such as walls do not exist, work areas of the outdoor robots are often required to be designated. Some indoor robots also require a work area to be defined. In one approach, sensors such as coils, magnetic strips, etc. are placed at the boundary of the work area to prevent the robot from moving beyond the boundary. However, this method has high hardware cost and high labor cost, and has a dead zone due to the influence of the performance of the sensor and the like.

In another mode, the robot is limited to work within a specified range by positioning technology. The method for positioning the designated boundary has low cost, convenience and quickness, but has certain technical difficulty. At present, when a boundary is specified based on Positioning, the boundary is often determined based on a Positioning System of the robot, such as a Global Positioning System (GPS), a camera, a laser radar, and the like. And the user or the manufacturer pushes, remotely controls or guides the robot to make a circle at the boundary of the working area to obtain a closed area, so that the closed area is used as the working area.

However, positioning-based solutions are subject to robot motion capabilities, user proficiency in operation. The positioning capability of the robot and other factors, low efficiency, poor precision and poor user experience.

After the work area is designated, the robot needs to construct an environment map in the work area based on a simultaneous localization and mapping (SLAM) technology and the like. In the process of drawing, the robot based on self-positioning often loses self-positioning due to factors such as environment and sensor precision. For example, when the robot encounters a single environment in the process of traveling, such as a large white wall, a glass wall and the like, the image sensor cannot capture pictures with obvious characteristics; for another example, a ferrous corridor or the like causes deviation of the GPS positioning; as another example, the lidar is obscured, and so on. After a period of time, the positioning of the robot is restored. During this time the robot is likely to move some distance or remain stationary in place, with a positioning vacuum period. The environment map established before the robot positioning is lost and the environment map established after the positioning is recovered have fracture. In this case, the robot cannot perform navigation planning between the two environmental maps, cannot return to the base station for charging, and the like.

Based on this, embodiments of the present application provide a method, an apparatus, a device, and a readable storage medium for determining a working area, where a working area is established by using a terminal device such as a mobile phone, and the method is efficient and accurate.

Fig. 1 is a schematic implementation environment diagram of a work area determining method provided in an embodiment of the present application. Referring to fig. 1, the implementation environment includes: a self-moving robot 11, an electronic device 12, and a base station 13.

The self-moving robot 11 may also be referred to as a self-moving device, an autonomous moving device, a robot, or the like. The self-moving robot is, for example, a mowing robot, a sweeping robot, an air cleaning robot, a window cleaning robot, a solar cell panel cleaning robot, a housekeeper robot, an unmanned aerial Vehicle, an Automatic Guided Vehicle (AGV), a security robot, a welcome robot, a nursing robot, or the like.

The electronic device 12 is an electronic device such as a mobile phone, a tablet computer, and a personal computer, which is installed with an android operating system, a microsoft operating system, a saiban operating system, a Linux operating system, or an apple iOS operating system. The electronic device 12 is also installed with an Application (APP) or an applet from the mobile robot 11.

The base station 13 is arranged in a fixed position, such as a position where the base station 13 is fixed on a wall or the like, and the base station 13 is also called a base, a maintenance station, a dust collection station, a charging station, a dust collection holder, a cleaning holder, a charging pile or the like.

When the electronic device 12 and the base station 13 are located in the same coordinate system, the user holds the electronic device 12 to go around along the boundary of the work area, and the electronic device 12 can determine the work area and transmit the work area to the self-moving robot 11. Or, the electronic device 12 shoots the boundary of the working area, and the user continuously adjusts the pose of the electronic device 12 during the shooting process, so that the image in the shooting interface of the electronic device continuously changes. For example, the working area is a circle, and the user rotates 360 degrees around the center of the circle holding the electronic device 12. The electronic equipment determines a working area according to sliding operation, touch operation and the like of a user on a shooting interface.

Next, a working area determination method according to an embodiment of the present application will be described in detail based on an implementation environment shown in fig. 1.

Fig. 2 is a schematic view of a scene of a work area determining method according to an embodiment of the present application. Referring to fig. 2, the self-moving robot is specifically a lawn mowing robot, and the work area desired by the user is shown as a circle in the figure. To create the work area, the user holds the electronic device around the perimeter of the work area to cause the electronic device to determine the work area.

Fig. 3 is a flowchart of a work area determining method according to an embodiment of the present application, where an execution subject of the embodiment is an electronic device. Fig. 4 is a schematic view of an interface change of an electronic device in a work area determination method according to an embodiment of the present application. The embodiment comprises the following steps:

301. a boundary creation instruction is identified.

Referring to fig. 2 and 4, after holding the electronic device to any point on the boundary of the work area, the user clicks the "add work area" button to send a boundary creation instruction to the electronic device. The electronic equipment identifies the boundary creating instruction, and any one point is a starting point.

302. And determining a first movement track of the electronic equipment moving relative to a base station of the self-moving robot in response to the boundary creating instruction, wherein the electronic equipment and the base station are in the same coordinate system.

After the electronic equipment identifies the boundary establishing instruction, continuously acquiring data by using various sensors in the process that a user takes the electronic equipment to move from a starting point, for example, acquiring images by using a camera; collecting angular velocity, acceleration and the like by using an Inertial Measurement Unit (IMU); position coordinates and the like are collected using a GPS. The electronic device generates a first movement trajectory of the electronic device relative to a base station of the self-moving robot using the sensor data.

In the process of moving the electronic device, a first moving track is displayed on the display screen, as shown by a thick black solid line in the figure. After the electronic device moves for one circle, the first moving track is shown as a circle formed by a dotted line and a solid line in fig. 4.

303. And determining a working area of the self-moving robot according to the first moving track.

For example, the first movement trajectory forms a closed area, and the electronic device regards the closed area as a work area of the self-moving robot.

For another example, the first movement track forms an open area, and the electronic device connects the start point and the end point of the first movement track to obtain the working area.

In addition, after a work area is established, if the user wants to continue to establish a new work area, the user continues to move to the boundary of the new work area and clicks the "add work area" button, so that the new work area is established.

Generally, the working area in the embodiment of the present application is an enclosed area, such as a circle, a rectangle, an irregular shape, and the like. However, the embodiment of the present application is not limited, and the work area determined according to the first movement track may also be an "8" shape, and the like.

304. And sending indication information to the self-moving robot, wherein the indication information is used for indicating the working area.

After obtaining the work area, the electronic device transmits a boundary map including the work area to the self-moving robot. For example, the user holds the mobile phone to start moving from the starting point, returns to the starting point again, and clicks the "end" button, thereby triggering the electronic device to transmit instruction information for instructing the work area to the mobile phone.

For another example, after the user sends the electronic device from the base station to any point on the boundary of the working area, the user clicks "increase the working area", and keeps moving continuously with the electronic device and returns to the starting point, and then returns to the base station, and places the electronic device at the target position on the base station. After that, the electronic device transmits instruction information for instructing the work area to the self-moving robot.

According to the working area determining method provided by the embodiment of the application, after the electronic equipment identifies the boundary creating instruction input by the user, the electronic equipment responds to the boundary creating instruction, determines the first moving track of the electronic equipment moving relative to the base station of the self-moving robot, and determines the working area of the self-moving robot according to the first moving track. By adopting the scheme, the self-moving robot does not need to move for a circle along the boundary of the working area under the guidance, the pushing or the remote control of a user or a manufacturer, but the electronic equipment for controlling the self-moving robot can establish the working area by moving for a circle around the boundary, so that the time and the labor are saved, the efficiency is high and the precision is high.

In the above embodiment, the electronic device determines the work area and transmits the work area to the self-moving robot, so that the self-moving robot works in the work area. When the self-moving robot works in a working area, an environment map needs to be established based on the SLAM technology. If the environment map is not established, the self-moving robot is not familiar with the environment in the working area, and the phenomenon of getting lost is easy to occur. In the process of establishing the environment map, if the self-moving robot has the problems of positioning loss and the like, the environment map established before the positioning loss and the environment map established after the positioning loss need to be spliced. Next, a process of establishing a work area and a process of stitching an environment map are described in detail.

The process of establishing the working area comprises an alignment phase, a working area establishing phase and a working area transmitting phase.

First, an alignment phase.

According to the embodiment of the application, the working area boundary is established through a sensor of electronic equipment, such as a GPS, an IMU or a camera, and the working area boundary is transmitted to the self-moving robot. Therefore, it is necessary to ensure that the coordinate system of the electronic device and the coordinate system of the self-moving robot coincide with each other. The coordinate system of the self-moving robot is typically the coordinate system of the base station. In order to ensure that the coordinate system of the electronic device and the coordinate system of the self-moving robot coincide, it is necessary to align the coordinate system of the electronic device and the coordinate system of the base station. After the coordinate system is aligned, a working area is determined according to a first movement track of the electronic equipment moving relative to a base station of the self-moving robot and is transmitted to the self-moving robot.

In one mode, the coordinate system of the electronic device and the coordinate system of the base station are aligned by using a third coordinate system other than the coordinate system of the electronic device and the coordinate system of the base station as a reference coordinate system, and the coordinate system of the electronic device and the coordinate system of the base station are aligned by aligning the coordinate system of the electronic device and the coordinate system of the base station.

In another method, the coordinate system of the electronic device and the coordinate system of the base station are directly referenced to the coordinate system of the base station. For example, please refer to fig. 5.

Fig. 5 is a schematic diagram of a coordinate system of a base station in a method for determining a working area according to an embodiment of the present application. Referring to fig. 5, the coordinate system of the base station is shown by the dotted line, and a target position is set on the base station, as shown by the diagonal line filling part in the figure. In the alignment process, a user opens an APP on the electronic device, clicks an "alignment" button on an APP interface, and the APP outputs prompt information to prompt the user to place the electronic device at a target position, for example, to insert into a card slot shown by an oblique line filling portion in fig. 5. After the electronic equipment detects that the electronic equipment is located at the target position, automatically aligning a coordinate system of the electronic equipment and a coordinate system of the self-moving robot, wherein the position coordinate of the electronic equipment after alignment is a first position coordinate. After the alignment is successful, the APP prompts the user that the alignment is successful, and prompts the user to create a working area. For example, APP prompts the user through speech: please walk to the work area boundary and click the add work area button to create a new work area.

By adopting the scheme, the aim of aligning the coordinate system of the self-moving robot and the coordinate system of the electronic equipment is fulfilled. In addition, the base station is provided with the card slot, so that the operation of a user can be facilitated, and the alignment precision of the coordinate system can be improved.

Second, a work area phase is established.

After the coordinate system is aligned, the user picks up the electronic device from the target position, and at this time, the APP acquires information of each sensor of the electronic device. Simultaneously, the APP prompts the user to hold the electronic equipment to go to a work area. After the boundary of the working area is reached, the user clicks an 'increase working area' button on the APP interface, and therefore a boundary creation instruction is sent to the electronic equipment. And then, the user holds the electronic equipment to walk along the boundary of the working area, and in the walking process, all sensors of the electronic equipment continuously acquire data. The electronic equipment utilizes the data to calculate a first moving track of the electronic equipment relative to the base station in real time. Or, after the user holds the electronic device and walks one circle along the boundary, the user clicks an end button, and the electronic device calculates a first movement track by using data collected by each sensor in the period of time. The first movement locus limits the working area of the self-moving robot.

Fig. 6 is a schematic process diagram of determining a first movement trajectory in the work area determining method provided in the embodiment of the present application. Referring to fig. 6, the electronic device mainly uses a camera, an IMU, a GPS, and the like to acquire data. In the process that the electronic equipment responds to the boundary establishing instruction, the camera is used for acquiring an environment image in the moving process of the electronic equipment, and feature extraction and matching are carried out on the environment image so as to obtain image features. The electronic equipment obtains angular velocity, linear acceleration and the like by utilizing the IMU to obtain IMU data integral, and further obtains the absolute position, the direction, the moving speed and the like of the electronic equipment according to the IMU data integral. The electronic device obtains position coordinates of each point on the first movement track by using a GPS, where the position coordinates are, for example, latitude and longitude, and the like, and determines position information of the electronic device based on GPS positioning. And then, the electronic equipment fuses the data of each sensor to optimize the position, the moving direction and the moving speed of the electronic equipment, and further determines the boundary of the working area according to the optimized position, the optimized moving direction and the optimized moving speed.

By adopting the scheme, the purpose that the electronic equipment accurately determines the first moving track is achieved.

In the process of establishing the working area, the electronic device determines the working area before the electronic device returns to the target position of the base station again. In this way, after the electronic device identifies the boundary creation instruction, the initial position of the electronic device is used as a starting point, the position where the user clicks the "end" button is used as an end point, and the starting point and the end point of the first movement track are communicated to obtain the boundary of the working area, where the boundary of the working area includes the first movement track.

For example, the position coordinates of the starting point and the terminal are the same, which indicates that the user returns to the starting point, that is, the first movement trajectory forms a closed area, and the closed area is a working area.

If the position coordinates of the starting point and the terminal are different, it is indicated that the user does not return to the starting point, and the first moving track does not form a closed area, the electronic device communicates the starting point with the end point, the connected line segment and the first moving track form a closed area, and the closed area is a working area.

By adopting the scheme, the purpose that the electronic equipment quickly determines the working area is achieved.

In addition, the electronic device can also determine the operating region after the electronic device returns to the target location of the base station. In this method, after the electronic device and the base station are aligned with each other, the user picks up the electronic device from the target position of the base station, and the sensor such as the GPS of the electronic device starts operating. The user then walks with the electronic device to the boundary of the work area, for example, by walking 10 meters to the boundary of the work area. After the boundary is reached, the user clicks the "add work area" button to send a boundary creation instruction to the electronic device, and the user walks along the boundary while holding the electronic device. After the electronic equipment identifies the boundary creating instruction, a first moving track of the electronic equipment moving relative to the base station is determined according to data collected by each sensor of the electronic equipment. The user walks for a circle and then returns to the starting point again, and continues moving towards the base station.

And after the base station is reached, the user places the electronic equipment at the target position, and the electronic equipment determines the second position coordinate. Before, after the electronic device is placed to the target position and aligned with the base station, the position coordinate of the electronic device is the first position coordinate. Theoretically, the two position coordinates are the same. However, due to sensor accuracy or the like, the two position coordinates do not coincide with each other, and the electronic device considers that the electronic device does not return to the target position on the base station. At this time, the electronic device corrects the first movement track according to the first position coordinate and the second position coordinate, and determines the working area according to the corrected first movement track. For example, the electronic device corrects the second position coordinates so that the second position coordinates and the first position coordinates coincide, calculates an error or the like, and corrects the coordinates of each point on the first movement trajectory in accordance with the error. And then, determining the working area according to the corrected first moving track, the starting point, the position when the working area returns to the starting point again and the like.

By adopting the scheme, when a user holds the electronic equipment, returns to the base station and places the electronic equipment on the target position, the electronic equipment is triggered to correct the first movement track and determine the working area, so that the aim of accurately determining the working area is fulfilled.

Alternatively, in the above embodiment, a work area may include an area where the self-moving robot does not need to work. Taking the self-moving robot as an example of the mowing robot, the oval in fig. 2 shows a pool into which the user does not want the mowing robot to enter. Also illustrated in fig. 2 is a tree, which the user does not want the mower to injure. In the scheme, a work forbidden zone can be established in the work area. In the process of establishing the work forbidden zone, a user holds the electronic equipment to walk to the boundary of the work forbidden zone, clicks a 'create work forbidden zone' button on an APP interface, and then sends a work forbidden zone creation instruction to the electronic equipment. After the electronic equipment identifies the work forbidden zone creating instruction, in the process of responding to the work forbidden zone creating instruction, a second moving track of the electronic equipment moving relative to the base station is determined according to data collected by each sensor in the moving process of the electronic equipment. And then, determining a work forbidden zone of the self-moving robot according to the second moving track.

Referring to fig. 2, after the user holds the electronic device and walks a circle along the pool, the electronic device determines a work exclusion zone according to the second movement track. For example, the start point and the end point of the second movement track are communicated, so that a work forbidden zone is obtained. For another example, after the user places the electronic device on the target position and aligns with the coordinate system, the user walks to the lawn boundary with the electronic device and clicks the "increase work area" button, and after walking a circle, the user clicks the "end" button. Then walk to the pool boundary and click the "create work exclusion zone" button. After one turn along the pool, click the "end" button. And then, walking to the front of the big tree, clicking a 'increase work forbidden zone' button, and walking a circle near the big tree. Thereafter, the user holds the electronic device back to the base station and places the electronic device at the target location. At the moment, the electronic equipment calculates the first moving track and the two second moving tracks, corrects the moving tracks, and then determines a working area and a working forbidden area by using the corrected moving tracks.

Fig. 7 is a schematic view of a scene of a work area determining method according to an embodiment of the present application. Referring to fig. 7, the black rectangles represent base stations installed at the wall of a house. After the coordinate systems are aligned, the user holds the electronic device and walks to a certain point on the boundary of the working area, where the point is the starting point of the first movement track, as shown by the black filled circle in the figure. The user clicks the "add work area" button at the start point and the handheld electronic device walks along the border. After one circle of movement, the "end" button is clicked, and at this time, the electronic device is located at the end point of the first movement track, and the end point is shown as a gray filled circle in the figure.

Then, the user walks near the tree with the mobile phone, clicks the "create work exclusion zone" button, and walks around the tree for a circle. After the electronic equipment identifies the work forbidden zone creating instruction, various sensors are utilized to collect data in the moving process of the electronic equipment. After walking a circle, the user clicks the "end" button and takes the electronic device back to the charging stand. After detecting that the electronic equipment is located at the designated position, the electronic equipment calculates a first moving track and a second moving track, and corrects the first moving track and the second moving track to obtain a working area and a working forbidden area.

In the above embodiment, in the process of creating the work exclusion zone, the user does not need to select whether the work exclusion zone is in the work area or out of the work area. If an area is in the work area, the electronic device considers the area as a work forbidden area. The self-moving robot can also automatically judge which areas are forbidden areas and which areas need to work in a working area according to the attributes of the inner circle and the outer circle.

By adopting the scheme, when the area which does not need to work from the mobile robot exists in one working area, a user holds the electronic equipment and walks a circle along the areas to complete the establishment of the internal boundary of the working area, so that the working forbidden zone is established, the flexibility is high, and the establishment mode is simple.

Finally, the work area stage is transmitted.

In the above embodiment, after the user holds the electronic device and respectively walks a circle along the work area and the work restricted area, the user holds the electronic device and returns to the base station, and places the electronic device at the target position, for example, the user returns to the base station and inserts the electronic device into a card slot on the base station. After the base station detects the electronic device, or after the electronic device detects that the electronic device is located at the target position, the electronic device sends indication information for indicating a work area and a work forbidden zone to the self-moving robot through Bluetooth and the like. Or the electronic equipment sends indication information for indicating the work forbidden zone and the work area to the cloud server, and the server sends the indication information to the self-moving robot.

After the self-moving robot determines the working area and the working forbidden zone according to the indication information, the self-moving robot works in the working area and does not enter the working forbidden zone in the working process.

In addition, it is considered that the user may not strictly walk according to the boundary in the process of walking with the electronic device. Therefore, in the embodiment of the application, the self-moving robot has the boundary identification capability, and after the self-moving robot determines the working area, the self-moving robot does not work strictly according to the working area, but reasonably redefines and updates the boundary by combining the self-identification result. Taking the self-moving robot as an example of the mowing robot, the mowing robot has a lawn dividing capability, and may not establish a work forbidden zone after a user establishes a work area, but a large stone exists in the work area, and the mowing robot automatically divides the work forbidden zone after recognizing the large stone.

The process of splicing the environment map comprises a coordinate system alignment stage, an environment map splicing stage and an environment map transmission stage.

First, the coordinate system is aligned.

Similar to the coordinate system alignment phase in the process of establishing the work area, the user places the electronic device at the target position on the base station, thereby aligning the coordinate system of the electronic device and the coordinate system of the base station. After the alignment, the user picks up the electronic device from the target position for the next operation.

In addition, the coordinate system of the electronic equipment and the coordinate system of the base station are aligned in the process of establishing the working area. Therefore, this step can be omitted in the process of stitching the environment map. The reason why the coordinate system of the electronic equipment and the coordinate system of the base station are realigned in the process of splicing the environment map is to prevent the coordinate system of the electronic equipment and the coordinate system of the base station from being not aligned any more due to errors and the like after a long time.

And secondly, splicing the environment map.

By way of example, environmental localization is also referred to as a localization map, an interior map, and the like. After the self-moving robot determines the working area according to the indication information of the cloud server or the electronic equipment, the self-moving robot is not familiar with the internal situation of the working area. Therefore, it is necessary to build an environment map based on the SLAM technique or the like. Due to factors such as the environment in the working area and the instability of the sensor of the self-moving robot, the phenomenon of positioning loss may occur in the process of establishing the environment map. After leaving the location lost area, the self-moving robot can re-establish the environment map. Hereinafter, for the sake of clarity, the environment map created from the mobile robot before the loss of localization is referred to as a first environment map, the environment map created from the mobile robot after the recovery of localization is referred to as a second environment map, an area corresponding to the first environment map is referred to as a first area, and an area corresponding to the second environment map is referred to as a second area.

The second environment map is constructed based on the SLAM after the self-moving robot is lost and recovered to be positioned, but the self-moving robot does not know the position relation of the first area and the second area because the self-moving robot does not collect positioning information in the positioning loss stage, and does not know how to plan the path of the first area and the second area. Therefore, the first environment map and the second environment map need to be stitched. In the embodiment of the application, after the self-moving robot establishes the second environment map, second prompt information is sent to the electronic device to prompt a user that the self-moving robot cannot determine the position relationship between the first area and the second area. The self-moving robot also transmits a first environment map established before the loss of localization and a second environment map established after the localization to the electronic device.

And after receiving the second prompt message, the electronic equipment prompts a user to determine the position relationship between the first area and the second area from mobile equipment Wangfean, and the electronic equipment is required to help the mobile equipment to splice the environment map. Similar to the process of establishing a work area described above, the user places the electronic device at the target location to align the coordinate system of the electronic device with the coordinate system of the base station. After alignment, the user picks up the electronic device from the target position, and the APP outputs third prompt information to prompt the user to move from the first area to the second area, or prompt the user to move from the second area to the first area.

Taking the example of moving from the first area to the second area, the user holds the electronic device to walk in the first area for a period of time, and establishes a stable first map feature. And then, the APP prompts the user to walk to the second area, and after the user walks to the second area with the electronic equipment, the user walks in the second area for a period of time to establish stable second map features. In the process that the user moves from the first area to the second area, the electronic equipment passes through the positioning lost area.

After the electronic equipment obtains the first map feature and the second map feature, the relative pose between the first environment map and the second environment map is determined according to the two map features, and the first environment map and the second environment map are spliced. The user can see the splicing result of the two environment maps on the user interface of the APP. If the result is correct, the user clicks an 'end splicing' button on the APP. And if the result is incorrect, clicking a're-splicing' button by the user, and moving between the first area and the second area again until the environment map is spliced correctly.

Fig. 8 is a schematic diagram of a mosaic map in the work area determination method provided in the embodiment of the present application. Referring to fig. 8, a solid bold line rectangle shows a boundary of a work area in which the self-moving robot works. A first environment map of area A is established after a period of mobile operation, such as 5 minutes of operation. After that, the positioning of the self-moving robot is lost, and the self-moving robot continues to move and work. After a period of time, for example 1 minute, from the recovery of the positioning of the mobile robot, the mobile robot continues to build a second environment map, for example, an environment map of the B area. Since there is a 1-minute positioning vacuum period, the self-moving robot cannot determine the relative positional relationship of the a-region and the B-region. For example, for the self-moving robot, the B area may be a B1 area, a B2 area, or a B3 area, and the possible trajectory of the self-moving robot after the positioning loss is shown by a dotted line (1), a dotted line (2), and a dotted line (3). However, in practice, the trajectory of the robot after a positioning loss is shown by the solid line (4) in the figure.

After the self-moving robot establishes a second environment map in the area B, second prompt information, the first environment map in the area A and the second environment map in the area B are sent to the electronic equipment. And after receiving the third prompt information, the electronic equipment outputs the third prompt information in a voice or animation mode to prompt the user to move from the area A to the area B or from the area B to the area A. For example, APP utters speech: "please walk in area a for 5 seconds before going to area B and walk in area B for 5 seconds". When the user is in the area A, an environment image and the like in the area A are collected, and a first map feature is established based on the SLAM technology. And when the user is in the area B, acquiring an environment image in the area B and establishing a second map feature.

As another example, APP utters speech: "please walk to and within area a". After the user holds electronic equipment and walks to A region, after electronic equipment established stable first map feature, APP sent pronunciation: "please walk to and within area a". After the user holds electronic equipment and walks to B region, after electronic equipment established stable second map characteristic, APP sent pronunciation: "the environment map is being stitched, please rest".

And finally, an environment map transmission stage.

Illustratively, after completing the splicing of the first environment map and the second environment map, the electronic device prompts the user that the splicing is successful. And after the user clicks 'quit splicing', the electronic equipment sends the spliced environment map to a server of the self-moving robot or the cloud. After the spliced environment map is obtained from the mobile robot, the path between the area A and the area B can be planned.

With continued reference to fig. 8, assuming that the base station is located in the area a, after the spliced environment map is obtained from the mobile robot, the path between the area a and the area B can be planned. When the self-moving robot is located in the area B and needs to be charged, the self-moving robot can move from the area B to the area A to be charged.

By adopting the scheme, after the self-moving robot is lost and recovered to be positioned, the electronic equipment assists the self-moving robot to splice and position the environmental maps before and after the loss, so that the environmental maps are prevented from being broken, and the accurate navigation of the self-moving robot is realized.

In the above embodiment, in order to determine the working area, the user needs to hold the electronic device to go around along the boundary of the whole working area. When the working area is large, the scheme is time-consuming and labor-consuming and has low efficiency. Based on this, the embodiment of the present application further provides a method for determining a working area, which does not need to walk along the entire working area for one turn.

Fig. 9 is a flowchart of a work area determination method according to an embodiment of the present application. The embodiment comprises the following steps:

901. according to the operation of a user on a shooting interface of the electronic equipment, the boundary of a working area is determined from an image displayed on the shooting interface.

Illustratively, the user opens the APP of the self-moving robot and calls the camera, and at this time, the display screen of the electronic device displays a shooting interface, and the content in the shooting interface is a scene in the field of view of the camera. The user selects the boundary in the shooting interface, and for example, slides along the boundary to form a sliding track. The sliding trajectory represents a partial boundary. And the user continues to move the electronic equipment, so that the shooting interface is displayed without a boundary in the shooting interface, and the user continues to slide to obtain another sliding track.

902. When the electronic equipment moves from a first position to a second position, determining the position coordinates of each point on the boundary relative to the base station of the self-moving robot according to the first position and the second position.

The distance between the first position and the second position is larger than a preset distance, and the electronic device and the base station are in the same coordinate system.

Illustratively, when the complete working area is displayed on the shooting interface, the user slides along the boundary of the working area on the shooting interface to obtain a sliding track, and the sliding track comprises all the boundaries. Then, the user moves the electronic device from the first position to the second position, and the distance between the first position and the second position is greater than a preset distance, for example, 10 centimeters. Thereafter, the electronic device determines the position coordinates of each point on the boundary according to the distance between the first position and the second position, and the like.

When the working area is large and all boundaries can be selected only by sliding the electronic equipment on the shooting interface for multiple times by the user, a sliding track is obtained by sliding each time. After the movement, it is equivalent to moving the electronic device from the first position to the second position, at which time the electronic device calculates the position coordinates of each point on the last sliding track.

Fig. 10 is a schematic diagram of calculating position coordinates of points on a boundary in the working area determination method according to the embodiment of the present application. Referring to fig. 10, the sliding track obtained by the user sliding in the shooting range is shown as a thick black circle in the figure. The electronic device divides the sliding trajectory into individual points. The point P1 corresponds to a point P on the real boundary. After the electronic device moves from the point O1 to the point O2, the electronic device can determine the displacement, the angle P1O 2, and the angle P2O 1 between O1O2 by using data collected by the IMU, the camera, and the like. Then, the electronic device can determine the position coordinates of the point P on the real boundary relative to the base station according to the principle of triangulation.

903. And determining the working area according to the position coordinates of each point on the boundary.

After the electronic equipment determines the position coordinates of each point on the boundary, a closed area can be obtained, and the closed area is a working area.

904. And sending indication information to the self-moving robot, wherein the indication information is used for indicating the working area.

By adopting the scheme, a user does not need to hold the electronic equipment and walk along the boundary of the whole working area for a circle, but can establish the complete working area by slightly moving the electronic equipment, so that the time and the labor are saved.

Optionally, similar to the above-mentioned manner in which the user holds the electronic device and walks for a circle along the boundary of the working area to establish the working area, in this scheme, the coordinate system of the electronic device and the coordinate system of the base station also need to be aligned before establishing the working area.

In the process of aligning the coordinate system, the electronic equipment acquires the image of the base station and determines the position coordinate of the electronic equipment relative to the base station according to the image of the base station. In practical implementation, a user opens an APP of the self-moving robot on the electronic device, calls out a camera, and acquires an image of the base station facing the base station. Thereafter, the electronic device identifies the base station in the image using an AI algorithm or the like. Since the size of the base station is known, the electronic device can calculate the position of the electronic device relative to the base station when the camera is facing the base station. And when a working area is subsequently established, the coordinate system of the base station is taken as a reference, so that the position coordinates of each point on the working area relative to the base station are determined.

Fig. 11 is a schematic diagram of coordinate system alignment in a work area determination method provided in an embodiment of the present application. Referring to FIG. 11, rectangle ABCD represents a base station, and the length of side AB and side BC is known. In the case of an electronic device, abcd on the imaging interface indicates a base station, and the length of the side length ab or bc can be calculated from the number of pixels or the like. Then, the length aA can be calculated from the length AB and the length AB, and finally the position of the electronic device relative to the base station is calculated.

By adopting the scheme, the aim of aligning the coordinate system of the electronic equipment and the coordinate system of the base station is fulfilled.

In the following, several scenarios are described to determine the working area without having to go around the border when slightly moving the electronic device. For example, please refer to fig. 12, fig. 13 and fig. 14.

Fig. 12 is a schematic view of a scene in the work area determining method according to the embodiment of the present application. Referring to fig. 12, in the present embodiment, the working area is relatively small, or the electronic device is relatively far away from the working area, so that when the shooting interface can display the whole working area, a user can obtain a closed sliding track by sliding once, as shown by a thick black circle in the figure. And after the user determines the boundary through sliding operation on the shooting interface, the electronic equipment is moved. And then, determining the position coordinates of each point on the boundary of the working area in the real physical environment according to the moving distance and the like.

When the working area is larger or the electronic equipment is closer to the working area, the shooting interface displays part of the working area. In this case, the electronic device needs to be moved many times to change the pose of the electronic device, so that the image in the shooting interface changes, and only then, the electronic device can acquire a complete boundary. In two adjacent sliding processes, the end point of the sliding track of the first sliding process is the same as the starting point of the sliding track of the second sliding process. And the electronic equipment determines the boundary of the working area according to the sliding track of the at least two sliding.

Fig. 13 is a schematic view of another scenario in the work area determination method according to the embodiment of the present application. Referring to fig. 13, the sliding trajectory obtained by the first sliding is shown by a thick black solid line in the figure. After that, the electronic device is moved, and the user slides on the shooting interface again to obtain a second sliding track, as shown by the dotted line in the figure. The two movement tracks form a closed area which represents the boundary of the working area. And after the electronic equipment moves, acquiring a second moving track, and calculating the position coordinates of each point on the first moving track relative to the base station based on the moving distance and the like. Or after the electronic equipment acquires the second moving track, the electronic equipment continues to move, and the electronic equipment calculates the position coordinates of the points on the first moving track and the second moving track according to the moving distance.

By adopting the scheme, when the working area is larger or the electronic equipment is closer to the working area, the aim of accurately determining the working area by the electronic equipment is fulfilled.

In the embodiments shown in fig. 12 and 13 described above, the user is outside the work area, and the electronic device faces the work area. When the user is in the work, the shooting interface of the electronic equipment can only display part of the boundary. In this case, the electronic device recognizes a touch point of the user within the photographing interface. When the electronic equipment changes the position and the pose of the electronic equipment so that the image in the shooting interface changes, the electronic equipment determines the boundary of the working area according to the pixels passing through the touch point.

Fig. 14 is a schematic view of another scenario in the work area determination method according to the embodiment of the present application. Referring to fig. 14, a user holds an electronic device in a work area. During the process of creating the work area, the user continuously touches any point on the shooting interface, for example, the position shown by the thumb in the figure is the touch point. And in the continuous touch process, the user rotates the electronic equipment by 360 degrees while holding the electronic equipment, the content on the shooting interface of the electronic equipment is continuously changed in the rotation process, and the electronic equipment takes the track formed by the pixel points passing through the touch points as the boundary of the working area.

By adopting the scheme, when the electronic equipment is positioned in the working area, the purpose of determining the working area by utilizing the electronic equipment is realized.

The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.

Fig. 15 is a schematic diagram of a work area determining apparatus according to an embodiment of the present application. The work area determination apparatus 1500 includes: an identification module 1501, a processing module 1502, a determination module 1503 and a transceiver module 1504.

An identifying module 1501 configured to identify a boundary creation instruction;

a processing module 1502, configured to determine, in response to the boundary creation instruction, a first movement trajectory of the electronic device moving relative to a base station of the self-moving robot, where the electronic device and the base station are in a same coordinate system;

a determining module 1503, configured to determine a working area of the self-moving robot according to the first movement trajectory;

a transceiver module 1504, configured to send instruction information to the self-moving robot, where the instruction information is used to instruct the work area.

In a possible implementation manner, the output module is further configured to output a prompt message for prompting a user to place the electronic device at a target location on the base station before the identification module 1501 identifies the boundary creation instruction;

the processing module 1502 is further configured to detect that the electronic device is located at the target position, align a coordinate system of the electronic device and a coordinate system of the self-moving robot, and after alignment, a position coordinate of the electronic device is a first position coordinate.

In a possible implementation manner, the determining module 1503 is configured to correct the first moving trajectory according to the first position coordinate and the second position coordinate when the first position coordinate and the second position coordinate are not coincident, where the second position coordinate is a position coordinate when the electronic device returns to the target position; and determining the working area according to the corrected first movement track.

In a possible implementation manner, the determining module 1503 is configured to communicate a start point and an end point of the first movement trajectory to obtain a boundary of the working area, where the boundary of the working area includes the first movement trajectory.

In a possible implementation manner, the processing module 1502 is configured to, in response to the boundary creating instruction, obtain at least one of an environment image, a speed, and position information during the movement of the electronic device; determining a first movement track of the electronic device relative to a base station of a self-moving robot according to at least one of the environment image, the speed and the position information.

In a possible implementation manner, the identifying module 1501 is further configured to identify a work exclusion zone creating instruction after the determining module 1503 determines the work area of the self-moving robot according to the first movement track;

the processing module 1502 is further configured to determine, in response to the work exclusion zone creating instruction, a second movement track of the electronic device moving in the work area relative to the base station;

the determining module 1503 is further configured to determine a work exclusion zone of the self-moving robot according to the second moving trajectory, where the work exclusion zone is located in the work zone.

In a possible implementation manner, the transceiver module 1504 is further configured to receive, after the determining module 1503 determines the working area of the self-moving robot according to the first movement track, second prompt information, a first environment map and a second environment map from the self-moving robot, where the second prompt information is used to prompt a user that the self-moving robot cannot determine a location relationship between a first area corresponding to the first environment map and a second area corresponding to the second environment map, the first environment map is an environment map established before the self-moving robot loses positioning, and the second environment map is an environment map established after the self-moving robot recovers positioning; outputting third prompt information, wherein the third prompt information is used for prompting the user to move from the first area to the second area, or the third prompt information is used for prompting the user to move from the second area to the first area;

the processing module 1502 is further configured to collect a first map feature in the first area and a second map feature in the second area, where the first area and the second area are located in the working area; and splicing the first environment map and the second environment map according to the first map feature and the second map feature.

The working area determining apparatus provided in the above embodiment may execute an action of the electronic device when the user holds the electronic device and walks a circle along the boundary of the working area in the above embodiment, and the implementation principle and the technical effect are similar, and are not described herein again.

In a possible implementation manner, the identifying module 1501 is configured to determine a boundary of a working area from an image displayed on a shooting interface of an electronic device according to an operation performed by a user on the shooting interface;

a processing module 1502, configured to determine, according to a first location and a second location, position coordinates of each point on the boundary relative to a base station of the self-moving robot when the electronic device moves from the first location to the second location, where a distance between the first location and the second location is greater than a preset distance, and the electronic device and the base station are in a same coordinate system

A determining module 1503, configured to determine the working area according to the position coordinates of each point on the boundary;

In a possible implementation manner, the identifying module 1501 is configured to identify a sliding trajectory that a user slides at least twice in a shooting interface of the electronic device when the electronic device pose changes so that an image in the shooting interface changes, where in two adjacent sliding motions, an end point of the sliding trajectory of the first sliding motion is the same as a start point of the sliding trajectory of the second sliding motion; and determining the boundary of the working area according to the sliding track of the at least two sliding.

In a possible implementation manner, the identifying module 1501 is configured to identify a touch point of the user in the shooting interface; and when the electronic equipment pose changes to enable the image in the shooting interface to change, determining the boundary of the working area according to the pixels passing through the touch point.

In a possible implementation manner, the processing module 1502 is further configured to acquire an image of the base station before the identifying module 1501 determines the boundary of the working area from the shooting interface according to the operation performed by the user on the shooting interface of the electronic device; and determining the position coordinate of the electronic equipment relative to the base station according to the image of the base station.

The working area determining apparatus provided in the above embodiment may execute the motion of the electronic device in the above embodiment, and the user may determine the working area without holding the electronic device and walking a circle along the boundary, but moving the preset distance.

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 1600 includes:

a processor 1601 and a memory 1602;

the memory 1602 stores computer instructions;

the processor 1601 executes computer instructions stored by the memory 1602, causing the processor 1601 to perform a method as implemented by an electronic device.

For a specific implementation process of the processor 1601, reference may be made to the above method embodiments, which implement principles and technical effects similar to each other, and details of this embodiment are not described herein again.

Optionally, the electronic device 1600 also comprises a communication component 1603. The processor 1601, the memory 1602, and the communication unit 1603 may be connected by a bus 1604.

Embodiments of the present application also provide a computer-readable storage medium, in which computer instructions are stored, and when executed by a processor, the computer instructions are used to implement the method implemented by the electronic device.

Embodiments of the present application also provide a computer program product, which contains a computer program that, when executed by a processor, implements the method as implemented by an electronic device.

Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A work area determination method is applied to an electronic device, and comprises the following steps:

identifying a boundary creation instruction;

2. The method of claim 1, wherein the identifying the boundary creation instruction is preceded by:

outputting prompt information, wherein the prompt information is used for prompting a user to place the electronic equipment at a target position on the base station;

detecting that the electronic device is located at the target location;

and aligning the coordinate system of the electronic equipment and the coordinate system of the self-moving robot, wherein the position coordinate of the electronic equipment after alignment is a first position coordinate.

3. The method of claim 2, wherein determining the working area of the self-moving robot from the first movement trajectory comprises:

when the first position coordinate and the second position coordinate are not coincident, correcting the first moving track according to the first position coordinate and the second position coordinate, wherein the second position coordinate is the position coordinate when the electronic equipment returns to the target position;

and determining the working area according to the corrected first movement track.

4. The method of claim 1, wherein determining the working area of the self-moving robot from the first movement trajectory comprises:

and communicating the starting point and the end point of the first movement track to obtain the boundary of the working area, wherein the boundary of the working area comprises the first movement track.

5. The method of any of claims 1-4, wherein determining a first movement trajectory of the electronic device relative to a base station of a self-moving robot in response to the boundary creation instruction comprises:

responding to the boundary establishing instruction, and acquiring at least one of environment images, speed and position information in the moving process of the electronic equipment;

determining a first movement track of the electronic device relative to a base station of a self-moving robot according to at least one of the environment image, the speed and the position information.

6. The method according to any one of claims 1-4, wherein after determining the working area of the self-moving robot according to the first movement track, the method further comprises:

identifying a work forbidden zone establishing instruction;

in response to the work forbidden zone creating instruction, determining a second movement track of the electronic equipment moving in the work area relative to the base station;

and determining a work forbidden zone of the self-moving robot according to the second moving track, wherein the work forbidden zone is positioned in the work zone.

7. The method according to any one of claims 1-4, wherein after determining the working area of the self-moving robot according to the first movement trajectory, further comprising:

receiving second prompt information, a first environment map and a second environment map from the self-moving robot, wherein the second prompt information is used for prompting a user that the self-moving robot cannot determine the position relationship between a first area corresponding to the first environment map and a second area corresponding to the second environment map, the first environment map is an environment map established before the self-moving robot loses positioning, and the second environment map is an environment map established after the self-moving robot recovers positioning;

outputting third prompt information, wherein the third prompt information is used for prompting the user to move from the first area to the second area, or the third prompt information is used for prompting the user to move from the second area to the first area;

collecting a first map feature in the first area and a second map feature in the second area, the first area and the second area being located within the work area;

and splicing the first environment map and the second environment map according to the first map feature and the second map feature.

8. A work area determination method is applied to an electronic device, and comprises the following steps:

when the electronic equipment moves from a first position to a second position, determining the position coordinates of each point on the boundary relative to a base station of the self-moving robot according to the first position and the second position, wherein the distance between the first position and the second position is greater than a preset distance, and the electronic equipment and the base station are in the same coordinate system;

9. The method of claim 8, wherein the determining the boundary of the work area from the image displayed on the shooting interface according to the operation of the user on the shooting interface of the electronic device comprises:

when the position and the posture of the electronic equipment change so that the image in the shooting interface changes, identifying sliding tracks of a user sliding at least twice in the shooting interface of the electronic equipment, wherein in two adjacent sliding processes, the terminal point of the sliding track of the first sliding process is the same as the starting point of the sliding track of the second sliding process;

and determining the boundary of the working area according to the sliding track of the at least two sliding.

10. The method of claim 8, wherein the determining the boundary of the working area from the shooting interface of the electronic device according to the operation of the user on the shooting interface comprises:

identifying a touch point of the user in the shooting interface;

and when the electronic equipment pose changes to enable the image in the shooting interface to change, determining the boundary of the working area according to the pixels passing through the touch point.

11. The method according to any one of claims 8-10, before determining the boundary of the work area from the shooting interface according to the operation of the user on the shooting interface of the electronic device, further comprising:

acquiring an image of the base station;

and determining the position coordinates of the electronic equipment relative to the base station according to the image of the base station.

12. A work area determining apparatus, comprising:

the processing module is used for responding to the boundary establishing instruction, determining a first moving track of the electronic equipment moving relative to a base station of the self-moving robot, wherein the electronic equipment and the base station are in the same coordinate system;

13. A work area determining apparatus, comprising:

a processing module, configured to determine, according to a first position and a second position, a position coordinate of each point on the boundary relative to a base station of the self-moving robot when the electronic device moves from the first position to the second position, where a distance between the first position and the second position is greater than a preset distance, and the electronic device and the base station are located in a same coordinate system

14. An electronic device comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the computer program, causes the electronic device to carry out the method of any one of claims 1 to 11.

15. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 11.