CN116243698A - Map construction method, map construction device, electronic equipment and storage medium - Google Patents
Map construction method, map construction device, electronic equipment and storage medium Download PDFInfo
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- CN116243698A CN116243698A CN202210314285.0A CN202210314285A CN116243698A CN 116243698 A CN116243698 A CN 116243698A CN 202210314285 A CN202210314285 A CN 202210314285A CN 116243698 A CN116243698 A CN 116243698A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The present disclosure provides a map construction method, comprising: arranging a positioning device in an area of a map to be established, and enabling the positioning device to be positioned at a first preset position of the boundary of the area of the map to be established; controlling the positioning device to move in the area of the map to be built, and acquiring real-time position information of the positioning device; after traversing the region of the map to be built, the positioning device is controlled to move to a second preset position of the boundary of the region of the map to be built, and the motion trail of the positioning device is obtained according to the real-time position information of the positioning device, wherein the first preset position of the positioning device is used as the starting point of the motion trail of the positioning device, and the second preset position is used as the end point of the motion trail of the positioning device; and obtaining a map of the area of the map to be built according to the motion trail of the positioning device. The disclosure also provides a map construction device, an electronic device and a storage medium.
Description
Technical Field
The disclosure relates to a map construction method, a map construction device, electronic equipment and a storage medium.
Background
Unattended intelligent mowers have been widely used in the european and american countries. In general, an operating area of an intelligent mower is set by using an electric cable buried underground as a boundary line, and a current signal of a characteristic is required to be applied on the boundary line to generate an operating area signal.
In addition, due to the fact that the intelligent mower is considered in safety, the safety regulation limits that the protective cover of the intelligent mower cannot be too high, and cutting energy cannot be too high, so that high-density grass cutting capacity of the intelligent mower is limited. It is often required to cut grass for the first time, requiring the garden to be cut through first time using a hand propelled mower, ensuring that there is no high density grass that is stationary. And then, the intelligent mower performs daily maintenance cutting according to the set time of the user.
In general, the border line is installed according to the specification accurately according to the general requirement, and nails are fixed on the lawn or buried under the lawn every 0.5m, so that the installation process is time-consuming and labor-consuming, the larger the garden area is, the longer the border line is, and the more difficult the installation is.
Meanwhile, the traditional intelligent mower with the boundary line can not acquire garden maps, and generally can only adopt a random cutting mode, so that the mowing efficiency is low.
Disclosure of Invention
In order to solve one of the above technical problems, the present disclosure provides a map construction method, a map construction device, an electronic device, and a storage medium.
According to one aspect of the present disclosure, there is provided a map construction method, including:
arranging a positioning device in an area of a map to be established, and enabling the positioning device to be positioned at a first preset position of the boundary of the area of the map to be established;
controlling the positioning device to move in the area of the map to be built, and acquiring real-time position information of the positioning device; the positioning device is arranged on the handheld cleaning tool, and the control positioning device moves in an area where a map is to be built and comprises: the user manually controls the handheld cleaning tool to move in the area of the map to be built, and the handheld cleaning tool is in a working state; the acquiring the real-time position information of the positioning device comprises the following steps: acquiring a motion track of a positioning device while a user manually controls a handheld cleaning tool to operate in an area where a map is to be built;
After traversing the region of the map to be built, the positioning device is controlled to move to a second preset position of the boundary of the region of the map to be built, and the motion trail of the positioning device is obtained according to the real-time position information of the positioning device, wherein the first preset position of the positioning device is used as the starting point of the motion trail of the positioning device, and the second preset position is used as the end point of the motion trail of the positioning device; and
and obtaining a map of the area of the map to be built according to the motion trail of the positioning device.
According to a map construction method of at least one embodiment of the present disclosure, the positioning module is detachable from a current hand-held cleaning tool and is mounted to an autonomous cleaning tool, which obtains the map and operates autonomously within an area of the map according to the map.
According to the map construction method of at least one embodiment of the present disclosure, the motion trail of the positioning device includes a working path of the hand-held cleaning tool when working in the area where the map is to be constructed.
According to the map construction method of at least one embodiment of the present disclosure, the positioning device is in communication connection with the handheld cleaning tool, and the positioning device further obtains positioning information of the positioning device according to the current position of the handheld cleaning tool; and/or the positioning device also acquires or corrects the starting point and the end point of the movement track of the positioning device according to the working state of the handheld cleaning tool.
According to the map construction method of at least one embodiment of the present disclosure, the positioning device corrects the movement track of the positioning device according to the on-off information of the cleaning component of the hand-held cleaning tool.
According to the map construction method of at least one embodiment of the present disclosure, when the hand-held cleaning tool pauses operation, the positioning device records a pause point, and the motion trajectory of the positioning device includes a motion trajectory from a start point to the pause point and a motion trajectory from the pause point to an end point.
According to the map construction method of at least one embodiment of the present disclosure, the positioning device is started according to a start signal, and positioning information when the positioning device is started is used as a starting point of a motion track; and/or the positioning device is closed according to the closing signal, and the positioning information when the positioning device is closed is used as the end point of the movement track.
According to a map construction method of at least one embodiment of the present disclosure, obtaining a map of an area of a map to be built according to a motion trajectory of the positioning device includes:
obtaining the outer boundary of the region corresponding to the motion trail according to the motion trail, and obtaining the outer contour of the region to be built with the map according to the outer boundary; and
And obtaining an inner boundary of the region corresponding to the motion trail according to the motion trail, and obtaining an outer contour of the obstacle in the outer contour of the region to be mapped according to the inner boundary, wherein the inner boundary is positioned in the outer boundary.
The map construction method according to at least one embodiment of the present disclosure further includes: editing and/or confirming the map of the area to be built with the map, and transmitting the edited and/or confirmed map to the positioning device.
According to another aspect of the present disclosure, there is provided a map construction apparatus, including:
the positioning device can obtain real-time position information of the positioning device; and
the handheld cleaning tool is manually operated by a user to move in an area of a map to be built and realize cleaning operation, and meanwhile, the positioning device arranged on the handheld cleaning tool moves in the area of the map to be built to acquire real-time position information of the positioning device;
and after traversing the region of the map to be built by the positioning device, obtaining a motion track of the positioning device according to the real-time position information of the positioning device, and obtaining a map of the region of the map to be built according to the motion track of the positioning device.
According to the map construction device of at least one embodiment of the present disclosure, the movement track of the positioning device includes a working path of the hand-held cleaning tool when working in the area where the map is to be constructed.
According to the map construction device of at least one embodiment of the present disclosure, when the handheld cleaning tool starts cleaning the area of the map to be built, the positioning device is located at a first preset position of the boundary of the area of the map to be built; when the handheld cleaning tool finishes cleaning the region of the map to be built, the positioning device is located at a second preset position of the boundary of the region of the map to be built, wherein the first preset position of the positioning device is used as a starting point of a motion track of the positioning device, and the second preset position is used as an ending point of the motion track of the positioning device.
According to the map construction device of at least one embodiment of the present disclosure, the positioning device is in communication connection with the handheld cleaning tool, and the positioning device further obtains positioning information of the positioning device according to the current position of the handheld cleaning tool; and/or the positioning device also acquires or corrects the starting point and the end point of the movement track of the positioning device according to the working state of the handheld cleaning tool.
According to the map construction device of at least one embodiment of the present disclosure, the positioning device corrects the movement track of the positioning device according to the on-off information of the cleaning component of the hand-held cleaning tool.
According to the map construction device of at least one embodiment of the present disclosure, when the hand-held cleaning tool pauses operation, the positioning device records a pause point, and the motion trajectory of the positioning device includes a motion trajectory from a start point to the pause point and a motion trajectory from the pause point to an end point.
According to the map construction device of at least one embodiment of the present disclosure, the positioning device is started according to a start signal, and positioning information when the positioning device is started is used as a starting point of a motion track; and/or the positioning device is closed according to the closing signal, and the positioning information when the positioning device is closed is used as the end point of the movement track.
The map construction apparatus according to at least one embodiment of the present disclosure, obtaining a map of an area where a map is to be constructed according to a motion trajectory of the positioning apparatus, includes:
obtaining the outer boundary of the region corresponding to the motion trail according to the motion trail, and obtaining the outer contour of the region to be built with the map according to the outer boundary; and
And obtaining the inner boundary of the region corresponding to the motion trail according to the motion trail, and obtaining the obstacle in the outer outline of the region to be mapped according to the inner boundary.
The map construction apparatus according to at least one embodiment of the present disclosure further includes: editing and/or confirming the map of the area to be built with the map, and transmitting the edited and/or confirmed map to the positioning module.
According to the map construction device of at least one embodiment of the present disclosure, the positioning module is detachable from a current hand-held cleaning tool and is mounted to an autonomous cleaning tool, which obtains the map and operates autonomously within an area of the map according to the map.
According to another aspect of the present disclosure, there is provided an electronic device, including:
a memory storing execution instructions; and
and the processor executes the execution instructions stored in the memory, so that the processor executes the method.
According to another aspect of the present disclosure, there is provided a readable storage medium having stored therein execution instructions which when executed by a processor are adapted to carry out the method described above.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.
Fig. 1 is a flow diagram of a map construction method according to one embodiment of the present disclosure.
Fig. 2 is a schematic diagram of a map storage space when a map is not being constructed according to one embodiment of the present disclosure.
Fig. 3 and 4 are schematic diagrams of map storage space when constructing a map according to one embodiment of the present disclosure.
Fig. 5 is a schematic structural view of a map constructed by the map construction method according to one embodiment of the present disclosure.
Fig. 6 is a schematic structural view of a map construction apparatus according to an embodiment of the present disclosure.
The reference numerals in the drawings specifically are:
10 positioning device
20 hand-held cleaning tool.
Detailed Description
The present disclosure is described in further detail below with reference to the drawings and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant content and not limiting of the present disclosure. It should be further noted that, for convenience of description, only a portion relevant to the present disclosure is shown in the drawings.
In addition, embodiments of the present disclosure and features of the embodiments may be combined with each other without conflict. The technical aspects of the present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Unless otherwise indicated, the exemplary implementations/embodiments shown are to be understood as providing exemplary features of various details of some ways in which the technical concepts of the present disclosure may be practiced. Thus, unless otherwise indicated, features of the various implementations/embodiments may be additionally combined, separated, interchanged, and/or rearranged without departing from the technical concepts of the present disclosure.
The use of cross-hatching and/or shading in the drawings is typically used to clarify the boundaries between adjacent components. As such, the presence or absence of cross-hatching or shading does not convey or represent any preference or requirement for a particular material, material property, dimension, proportion, commonality between illustrated components, and/or any other characteristic, attribute, property, etc. of a component, unless indicated. In addition, in the drawings, the size and relative sizes of elements may be exaggerated for clarity and/or descriptive purposes. While the exemplary embodiments may be variously implemented, the specific process sequences may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in reverse order from that described. Moreover, like reference numerals designate like parts.
When an element is referred to as being "on" or "over", "connected to" or "coupled to" another element, it can be directly on, connected or coupled to the other element or intervening elements may be present. However, when an element is referred to as being "directly on," "directly connected to," or "directly coupled to" another element, there are no intervening elements present. For this reason, the term "connected" may refer to physical connections, electrical connections, and the like, with or without intermediate components.
For descriptive purposes, the present disclosure may use spatially relative terms such as "under … …," under … …, "" under … …, "" lower, "" above … …, "" upper, "" above … …, "" higher "and" side (e.g., as in "sidewall"), etc., to describe one component's relationship to another (other) component as illustrated in the figures. In addition to the orientations depicted in the drawings, the spatially relative terms are intended to encompass different orientations of the device in use, operation, and/or manufacture. For example, if the device in the figures is turned over, elements described as "under" or "beneath" other elements or features would then be oriented "over" the other elements or features. Thus, the exemplary term "below" … … can encompass both an orientation of "above" and "below". Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, when the terms "comprises" and/or "comprising," and variations thereof, are used in the present specification, the presence of stated features, integers, steps, operations, elements, components, and/or groups thereof is described, but the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof is not precluded. It is also noted that, as used herein, the terms "substantially," "about," and other similar terms are used as approximation terms and not as degree terms, and as such, are used to explain the inherent deviations of measured, calculated, and/or provided values that would be recognized by one of ordinary skill in the art.
Fig. 1 is a flow diagram of a map construction method according to one embodiment of the present disclosure.
As shown in fig. 1, the present disclosure provides a map construction method, which includes: 102. arranging a positioning device 10 in an area of a map to be established, and enabling the positioning device 10 to be positioned at a first preset position of the boundary of the area of the map to be established; 104. controlling the positioning device 10 to move in the area of the map to be built, and acquiring real-time position information of the positioning device 10; 106. after the positioning device 10 traverses the region of the map to be built, controlling the positioning device 10 to move to a second preset position of the boundary of the region of the map to be built, and obtaining a motion track of the positioning device 10 according to the real-time position information of the positioning device 10, wherein the first preset position of the positioning device 10 is used as a starting point of the motion track of the positioning device 10, and the second preset position is used as an ending point of the motion track of the positioning device 10; and 108, obtaining a map of the area of the map to be built according to the motion trail of the positioning device 10.
The steps of the map construction method of the present disclosure are described in detail below.
102, the area where the map is to be built may be a lawn of a user's home, where the lawn is a working area of a handheld cleaning tool and an intelligent cleaning tool. When a map is created for the work area and the cleaning tool is an autonomous cleaning tool, such as an intelligent mower, the intelligent mower obtains the map and autonomously works in the work area according to the map without leaving the work area. Of course, the area to be built can also be the ground and the like which need to be cleaned indoors of the user, and the map building method can also build the map of the area, and enable the devices such as the sweeping robot and the like to move according to the map so as to realize the cleaning operation of the ground to be cleaned.
In the present disclosure, the positioning device 10 is required to be used in the map construction; preferably, the positioning device 10 may comprise a positioning module, which may comprise a GPS antenna or receiver, which may be used to obtain position information of the positioning device 10, for example when used for mapping of lawns; when used for indoor mapping, the positioning module may be a receiver, which may be a UWB receiver, and the base station may be a UWB base station or the like, in consideration of the fact that the position information of the positioning device 10 cannot be obtained through the GPS antenna at this time, and the position information of the positioning device 10 is obtained by receiving signals transmitted from the base station provided in the indoor.
When the map is built, the positioning device 10 may be located at a first preset position of the boundary of the area to be built, where the first preset position is the starting point of the motion trail of the positioning device 10. Of course, the positioning device 10 may not be disposed at the boundary position of the area where the map is to be built, but in consideration of the accuracy of the built map, in this case, the starting point of the motion trail of the positioning device 10 needs to be corrected, and a specific correction method will be described in detail below.
104, controlling the positioning device 10 to move in the area where the map is to be built, and acquiring real-time position information of the positioning device 10. Wherein, acquiring real-time position information of the positioning device 10 includes: and acquiring a motion track of the positioning device while the hand-held cleaning tool is controlled to operate in the region where the map is to be built by the motion manual operation.
As a preference, in the present disclosure, the protection cover of the intelligent mower cannot be too high and the cutting energy cannot be too high in view of safety when the intelligent mower is in use, which limits the high density grass cutting capability of the intelligent mower. Therefore, before the intelligent mower cuts the mowing area, the lawn (garden) is cut once by the hand-push mower or the hand-push mower, so that the positioning device 10 can be combined with the hand-push mower or the hand-push mower, and when a user mows the lawn by the hand-push mower or the mower, the map is constructed. The autonomous cleaning tool obtains the constructed map and autonomously works in the area of the map (namely the area of the map to be constructed) according to the map. That is, the present disclosure is capable of building a map for an intelligent clearance tool by pushing the clearance tool.
Specifically, the positioning device 10 may be disposed on the handheld cleaning tool 20, and the handheld cleaning tool 20 is manually controlled to perform operations in the area where the map is to be built, and at the same time, real-time position information of the positioning device 10 is obtained.
The hand-held cleaning tool 20 may include a hand-pushed mower or a hand-pushed mower, and may include a ground cleaning tool such as a handle, which will be described below by way of example, and those skilled in the art will recognize that the hand-pushed mower of the present disclosure is the hand-held cleaning tool 20, and may be replaced by a mower.
As an implementation form, the positioning device 10 may be disposed above the hand-held cleaning tool 20, and of course, the positioning device 10 may also be located on a side of the hand-held cleaning tool 20, for example, on a front portion, a rear portion, a left portion, a right portion, etc. of the positioning device 10, so long as the positioning module of the positioning device 10 is not blocked, and can continuously receive signals.
For example, the user moves the hand mower to an open position (e.g. a border position) of the lawn, then installs the positioning device 10 on the hand mower, activates the positioning device 10, the user controls the hand mower to move within the lawn, e.g. the user pushes the hand mower to move within the lawn, and causes the hand mower to cut all grass within the lawn, especially when cutting tall grass for the first time, i.e. causes the path of the hand mower to cover all areas of the lawn, thereby enabling the movement track of the positioning device 10 to cover the area where the map is to be built.
At this time, the motion track of the positioning device 10 may be a working path of the hand-held cleaning tool 20 when working in the area where the map is to be built.
106, after the positioning device 10 traverses the region of the map to be built, controlling the positioning device 10 to move to a second preset position of the boundary of the region of the map to be built, and obtaining the motion trail of the positioning device 10 according to the real-time position information of the positioning device 10, wherein the first preset position of the positioning device 10 is used as the starting point of the motion trail of the positioning device 10, and the second preset position is used as the end point of the motion trail of the positioning device 10.
More preferably, in order to accurately obtain the motion trail of the positioning device 10, as an implementation form, the positioning device 10 is in communication connection with the hand-held cleaning tool 20, and the positioning device 10 further obtains positioning information of the positioning device 10 according to the current position of the hand-held cleaning tool 20; and/or, the positioning device 10 further obtains or corrects the starting point and the end point of the movement track of the positioning device 10 according to the working state of the handheld cleaning tool 20.
In the present disclosure, when the hand-held cleaning tool 20 is a hand-pushed mower, the cleaning component of the hand-held cleaning tool 20 is a mowing unit of the hand-pushed mower.
As an implementation form, the hand-push mower may include a chassis unit, an energy device, a control unit, a mowing unit, a communication unit, and the like.
The chassis unit is formed to be the bottom of the hand-push mower, and other components of the hand-push mower are arranged on the chassis unit, for example, a mowing unit of the hand-push mower is arranged on the chassis unit, and the mowing unit is driven by the chassis unit to move along a lawn, so that the mowing unit cuts grass of the lawn.
Wherein the chassis unit may include moving wheels, as one implementation, the number of moving wheels may be 4, and a portion of the four moving wheels may be provided as steering wheels capable of steering the hand mower so that the hand mower is conveniently controlled.
At this time, the chassis unit may include an odometer equidistant sensor, whereby a distance of movement of the hand-propelled mower with respect to the starting point can be obtained by the distance sensor, and further, the positioning device 10 can obtain the position information of the positioning device 10 according to the starting point of the hand-propelled mower and the distance of movement; the positioning device 10 may also obtain the position information of the current time of the positioning device 10 according to the difference between the position information of the previous time of the positioning device 10 and the moving distance from the previous time to the current time.
Of course, the information such as the moving distance of the hand mower relative to the starting point can be obtained according to the information such as the diameter and the rotating speed of the moving wheel.
Thereby, the positioning device 10 can correct the position information of the positioning device 10 according to the position information obtained by the odometer, so that the position information of the positioning device 10 is more accurate; also, in a case where the positioning device 10 cannot obtain the position information, for example, when the GPS antenna of the positioning device 10 cannot receive a signal, the positioning device 10 may use the position information obtained from the odometer as the position information of the positioning device 10.
The energy source device can provide energy for the hand mower, for example, the energy source device can be an energy storage device such as a rechargeable battery.
The control unit is used for realizing control of the hand-push mower, for example, the control unit can comprise an operation interface, so that a user can select a working mode of the hand-push mower when the user operates the operation interface, or control the opening and closing of a mowing unit of the hand-push mower, or adjust the output power of the mowing unit and the like.
The hand propelled mower may include a switch button, and when the switch button is triggered, the energy system may provide electrical energy to the control unit and cause the control unit to be in an operational state.
In the disclosure, when the hand propelled mower is moved to the boundary of the area where the map is to be built, the mowing unit may be started at this time; and when the grass in the area of the map to be built is cleaned, the hand-push mower can be moved to the boundary of the area of the map to be built, and the mowing unit can be closed at the moment.
As another implementation form, the mowing unit can also be controlled to start and stop by a mode key, for example, when the mode key is triggered, the mowing unit is started, and when the mode key is triggered again, the mowing unit is closed.
The control unit of the hand mower can be in signal connection with the positioning device 10 through a communication unit, so that starting and stopping signals of the mower unit can be sent to the positioning device 10, and the working state of the control unit can be also sent to the positioning device 10.
In the present disclosure, the position information of the positioning device 10 when the hand-held cleaning tool 20 is started may be used as a starting point of a motion track of the positioning device 10; the position information of the positioning device 10 when the hand-held cleaning tool 20 is closed is used as the end point of the movement track of the positioning device 10.
At this time, the positioning device 10 may further correct the movement track of the positioning device 10 according to the on-off information of the cleaning component of the hand-held cleaning tool 20.
In the present disclosure, the position information of the positioning device 10 when the cleaning component (i.e., the mowing unit) is started may be used as a starting point of a movement track of the positioning device 10; the movement locus of the positioning device 10 is corrected by taking the position information of the positioning device 10 when the cleaning member (mowing unit) is closed as the end point of the movement locus of the positioning device 10.
As another implementation form, considering that there may be a situation of suspending operation of the hand mower when cleaning the grass of the lawn, when the hand mower is suspended, the control unit of the hand mower is in an on state, and the mowing unit is in an off state; at this time, the positioning device 10 records a pause point, and the motion trajectory of the positioning device 10 includes a motion trajectory from a start point to the pause point and a motion trajectory from the pause point to an end point.
More preferably, when there are a plurality of pause points, the motion profile of the positioning device 10 further includes a motion profile between adjacent pause points.
As a further embodiment, the positioning device 10 and the hand-held cleaning tool 20 may be connected without communication, i.e. no signal transmission takes place between the positioning device 10 and the hand-held cleaning tool 20, each independently operating.
At this time, the positioning device 10 is started according to the start signal, and positioning information when the positioning device 10 is started is used as a starting point of a motion track; and/or the positioning device 10 is closed according to the closing signal, and the positioning information when the positioning device 10 is closed is used as the end point of the movement track; that is, after the positioning device 10 is activated, real-time position information is recorded until the user turns off the positioning device 10 or removes the positioning device 10 from the hand-held cleaning tool 20.
In the present disclosure, the hand-held cleaning tool 20 further includes an auxiliary positioning unit, when the positioning device 10 is disposed in the auxiliary positioning unit, the positioning device 10 receives a start signal, and starts the positioning device 10 accordingly; alternatively, the positioning device 10 is turned off when the positioning device 10 is removed from the auxiliary positioning unit.
108, obtaining a map of the area to be mapped according to the motion trail of the positioning device 10 includes: obtaining an outer boundary of the motion trail according to the motion trail, and obtaining an outer contour of an area to be built with a map according to the outer boundary; and obtaining an inner boundary of the motion trail according to the motion trail, and obtaining an obstacle in the outer outline of the area to be mapped according to the inner boundary.
When the map is constructed, the outer boundary of the area where the map is to be constructed is mainly required to be confirmed, so that the intelligent mower cannot cross the boundary and generate danger; further, it is also necessary to confirm that there is an obstacle, such as a flower bed, inside the outer boundary, at which time the intelligent mower cannot enter the area marked as an obstacle on the map.
Based on this, as shown in fig. 2, before the map is started to be built, the map storage space is reset, and all points in the map space are marked with the first mark, for example, black.
In creating the map, as shown in fig. 3 and 4, considering that the movement locus of the positioning device 10 may be linear, the width of the movement locus of the positioning device 10 may be set to a preset value, and the first mark in the map storage space is changed to the second mark according to the movement locus of the positioning device 10, for example, the first mark (black) at the position where the movement locus passes is changed to the second mark (white).
Then, as shown in fig. 5, the boundary contour of the area with white color is extracted, that is, the outer boundary of the area corresponding to the motion trail is obtained, and the outer boundary is formed as the outer contour of the area to be mapped. Correspondingly, extracting the outer boundary of a black region in a region with white color to obtain the inner boundary of a region corresponding to the motion track, wherein the inner boundary is an obstacle in the outer contour of the region of the map to be built.
In the disclosure, after obtaining the map of the area to be built, the map of the area to be built may be edited and confirmed to prevent errors, that is, unreasonable outer contours and obstacles, in the map.
In the present disclosure, editing and confirmation of a map may be completed at an APP or a WEB end, that is, the positioning device 10 transmits an automatically generated map to a server or to an intelligent mobile device with an APP through a communication unit, after a user edits the map, the positioning device 10 may download the edited and confirmed map from the server or the intelligent mobile device with the APP, and the intelligent mower may perform path planning and obstacle avoidance according to the edited and confirmed map, for example.
In the disclosure, the positioning device 10 may be a positioning device 10 of an intelligent mower, that is, when a map needs to be built, the positioning device 10 of the intelligent mower may be detached and then mounted to the handheld cleaning tool 20, and the map is built; when the map is constructed, the positioning device 10 is installed on the intelligent mower, and the intelligent mower can work according to the map established by the positioning device 10.
In the present disclosure, the positioning device 10 may be a stand-alone device and can be matched to a variety of devices, such as a watering robot, a patrol robot, etc. outdoors; the positioning device 10 may be combined with a hand propelled mower when it is desired to map the lawn. After the map is built, the positioning device 10 can be detached from the hand-push mower (i.e. the hand-held cleaning tool) and mounted to an autonomous cleaning tool, such as an intelligent mower, a watering robot, a patrol robot, etc.
Fig. 6 is a schematic structural view of a map construction apparatus according to an embodiment of the present disclosure.
According to another aspect of the present disclosure, as shown in fig. 6, the present disclosure provides a map construction apparatus, including: a positioning device 10 and a hand-held cleaning tool 20.
The positioning device 10 can obtain real-time position information of the positioning device 10; the positioning device 10 is arranged on the hand-held cleaning tool 20, the hand-held cleaning tool 20 is manually operated by a user to move in an area of a map to be built and realize cleaning operation, and meanwhile, the positioning device 10 arranged on the hand-held cleaning tool 20 is enabled to move in the area of the map to be built, so that real-time position information of the positioning device 10 is obtained; after the positioning device 10 traverses the region of the map to be built, a motion track of the positioning device 10 is obtained according to the real-time position information of the positioning device 10, and a map of the region of the map to be built is obtained according to the motion track of the positioning device 10.
The area where the map is to be built can be a lawn of a user's home, and at this time, the intelligent mower can move on the lawn according to the map to automatically cut grass on the lawn. Of course, the area to be built can also be the ground and the like which need to be cleaned indoors of the user, and the map building method can also build the map of the area, and enable the devices such as the sweeping robot and the like to move according to the map so as to realize the cleaning operation of the ground to be cleaned.
In the present disclosure, the positioning device 10 is required to be used in the map construction; preferably, the positioning device 10 may comprise a positioning module, which may comprise a GPS antenna or receiver, which may be used to obtain position information of the positioning device 10, for example when used for mapping of lawns; when used for indoor mapping, the positioning module may be a receiver, which may be a UWB receiver, and the base station may be a UWB base station or the like, in consideration of the fact that the position information of the positioning device 10 cannot be obtained through the GPS antenna at this time, and the position information of the positioning device 10 is obtained by receiving signals transmitted from the base station provided in the indoor.
When the handheld cleaning tool starts to clean the region to be mapped, the positioning device 10 may be located at a first preset position of the boundary of the region to be mapped, where the first preset position is the starting point of the motion trail of the positioning device 10. Of course, the positioning device 10 may not be disposed at the boundary position of the area where the map is to be built, but in consideration of the accuracy of the built map, in this case, the starting point of the motion trail of the positioning device 10 needs to be corrected, and a specific correction method will be described in detail below.
As a preference, in the present disclosure, the protection cover of the intelligent mower cannot be too high and the cutting energy cannot be too high in view of safety when the intelligent mower is in use, which limits the high density grass cutting capability of the intelligent mower. Therefore, before the intelligent mower cuts the mowing area, the lawn (garden) is cut once by the hand-push mower or the hand-push mower, so that the positioning device 10 can be combined with the hand-push mower or the hand-push mower, and when a user mows the lawn by the hand-push mower or the mower, the map is constructed. The autonomous cleaning tool obtains the constructed map and autonomously works in the area of the map (namely the area of the map to be constructed) according to the map. That is, the present disclosure is capable of building a map for an intelligent clearance tool by pushing the clearance tool.
Specifically, the positioning device 10 may be disposed on the handheld cleaning tool 20, and the handheld cleaning tool 20 is manually controlled to perform operations in the area where the map is to be built, and at the same time, real-time position information of the positioning device 10 is obtained.
The hand-held cleaning tool 20 may include a hand-push mower or a grass cutter, and may include a ground cleaning tool such as a handle, which will be described below as an example, and those skilled in the art will recognize that the hand-push mower of the present disclosure is the hand-held cleaning tool 20, and may be replaced by a grass cutter.
As an implementation form, the positioning device 10 may be disposed above the hand-held cleaning tool 20, and of course, the positioning device 10 may also be located on a side of the hand-held cleaning tool 20, for example, on a front portion, a rear portion, a left portion, a right portion, etc. of the positioning device 10, so long as the positioning module of the positioning device 10 is not blocked, and can continuously receive signals.
For example, the user moves the hand mower to an open position (e.g. a border position) of the lawn, then installs the positioning device 10 on the hand mower, activates the positioning device 10, the user controls the hand mower to move within the lawn, e.g. the user pushes the hand mower to move within the lawn, and causes the hand mower to cut all grass within the lawn, especially when cutting tall grass for the first time, i.e. causes the path of the hand mower to cover all areas of the lawn, thereby enabling the movement track of the positioning device 10 to cover the area where the map is to be built.
At this time, the motion track of the positioning device 10 may be a working path of the hand-held cleaning tool 20 when working in the area where the map is to be built.
After the positioning device 10 traverses the region of the map to be built, the positioning device 10 is controlled to move to a second preset position of the boundary of the region of the map to be built, and the motion track of the positioning device 10 is obtained according to the real-time position information of the positioning device 10, wherein the first preset position of the positioning device 10 is used as the starting point of the motion track of the positioning device 10, and the second preset position is used as the ending point of the motion track of the positioning device 10.
More preferably, in order to accurately obtain the motion trail of the positioning device 10, as an implementation form, the positioning device 10 is in communication connection with the hand-held cleaning tool 20, and the positioning device 10 further obtains positioning information of the positioning device 10 according to the current position of the hand-held cleaning tool 20; and/or, the positioning device 10 further obtains or corrects the starting point and the end point of the movement track of the positioning device 10 according to the working state of the handheld cleaning tool 20.
In the present disclosure, when the hand-held cleaning tool 20 is a hand-pushed mower, the cleaning component of the hand-held cleaning tool 20 is a mowing unit of the hand-pushed mower.
As an implementation form, the hand-push mower may include a chassis unit, an energy device, a control unit, a mowing unit, a communication unit, and the like.
The chassis unit is formed to be the bottom of the hand-push mower, and other components of the hand-push mower are arranged on the chassis unit, for example, a mowing unit of the hand-push mower is arranged on the chassis unit, and the mowing unit is driven by the chassis unit to move along a lawn, so that the mowing unit cuts grass of the lawn.
Wherein the chassis unit may include moving wheels, as one implementation, the number of moving wheels may be 4, and a portion of the four moving wheels may be provided as steering wheels capable of steering the hand mower so that the hand mower is conveniently controlled.
At this time, the chassis unit may include an odometer equidistant sensor, whereby a distance of movement of the hand-propelled mower with respect to the starting point can be obtained by the distance sensor, and further, the positioning device 10 can obtain the position information of the positioning device 10 according to the starting point of the hand-propelled mower and the distance of movement; the positioning device 10 may also obtain the position information of the current time of the positioning device 10 according to the difference between the position information of the previous time of the positioning device 10 and the moving distance from the previous time to the current time.
Of course, the information such as the moving distance of the hand mower relative to the starting point can be obtained according to the information such as the diameter and the rotating speed of the moving wheel.
Thereby, the positioning device 10 can correct the position information of the positioning device 10 according to the position information obtained by the odometer, so that the position information of the positioning device 10 is more accurate; also, in a case where the positioning device 10 cannot obtain the position information, for example, when the GPS antenna of the positioning device 10 cannot receive a signal, the positioning device 10 may use the position information obtained from the odometer as the position information of the positioning device 10.
The energy source device can provide energy for the hand mower, for example, the energy source device can be an energy storage device such as a rechargeable battery.
The control unit is used for realizing control of the hand-push mower, for example, the control unit can comprise an operation interface, so that a user can select a working mode of the hand-push mower when the user operates the operation interface, or control the opening and closing of a mowing unit of the hand-push mower, or adjust the output power of the mowing unit and the like.
The hand propelled mower may include a switch button, and when the switch button is triggered, the energy system may provide electrical energy to the control unit and cause the control unit to be in an operational state.
In the disclosure, when the hand propelled mower is moved to the boundary of the area where the map is to be built, the mowing unit may be started at this time; and when the grass in the area of the map to be built is cleaned, the hand-push mower can be moved to the boundary of the area of the map to be built, and the mowing unit can be closed at the moment.
As another implementation form, the mowing unit can also be controlled to start and stop by a mode key, for example, when the mode key is triggered, the mowing unit is started, and when the mode key is triggered again, the mowing unit is closed.
The control unit of the hand mower can be in signal connection with the positioning device 10 through a communication unit, so that starting and stopping signals of the mower unit can be sent to the positioning device 10, and the working state of the control unit can be also sent to the positioning device 10.
In the present disclosure, the position information of the positioning device 10 when the hand-held cleaning tool 20 is started may be used as a starting point of a motion track of the positioning device 10; the position information of the positioning device 10 when the hand-held cleaning tool 20 is closed is used as the end point of the movement track of the positioning device 10.
At this time, the positioning device 10 may further correct the movement track of the positioning device 10 according to the on-off information of the cleaning component of the hand-held cleaning tool 20.
In the present disclosure, the position information of the positioning device 10 when the cleaning component (i.e., the mowing unit) is started may be used as a starting point of a movement track of the positioning device 10; the movement locus of the positioning device 10 is corrected by taking the position information of the positioning device 10 when the cleaning member (mowing unit) is closed as the end point of the movement locus of the positioning device 10.
As another implementation form, considering that there may be a situation of suspending operation of the hand mower when cleaning the grass of the lawn, when the hand mower is suspended, the control unit of the hand mower is in an on state, and the mowing unit is in an off state; at this time, the positioning device 10 records a pause point, and the motion trajectory of the positioning device 10 includes a motion trajectory from a start point to the pause point and a motion trajectory from the pause point to an end point.
More preferably, when there are a plurality of pause points, the motion profile of the positioning device 10 further includes a motion profile between adjacent pause points.
As a further embodiment, the positioning device 10 and the hand-held cleaning tool 20 may be connected without communication, i.e. no signal transmission takes place between the positioning device 10 and the hand-held cleaning tool 20, each independently operating.
At this time, the positioning device 10 is started according to the start signal, and positioning information when the positioning device 10 is started is used as a starting point of a motion track; and/or the positioning device 10 is closed according to the closing signal, and the positioning information when the positioning device 10 is closed is used as the end point of the movement track; that is, after the positioning device 10 is activated, real-time position information is recorded until the user turns off the positioning device 10 or removes the positioning device 10 from the hand-held cleaning tool 20.
In the present disclosure, the hand-held cleaning tool 20 further includes an auxiliary positioning unit, when the positioning device 10 is disposed in the auxiliary positioning unit, the positioning device 10 receives a start signal, and starts the positioning device 10 accordingly; alternatively, the positioning device 10 is turned off when the positioning device 10 is removed from the auxiliary positioning unit.
In the present disclosure, obtaining a map of an area of a map to be built according to a motion trajectory of the positioning device 10 includes: obtaining an outer boundary of the motion trail according to the motion trail, and obtaining an outer contour of an area to be built with a map according to the outer boundary; and obtaining an inner boundary of the motion trail according to the motion trail, and obtaining an obstacle in the outer outline of the area to be mapped according to the inner boundary.
When the map is constructed, the outer boundary of the area where the map is to be constructed is mainly required to be confirmed, so that the intelligent mower cannot cross the boundary and generate danger; further, it is also necessary to confirm that there is an obstacle, such as a flower bed, inside the outer boundary, at which time the intelligent mower cannot enter the area marked as an obstacle on the map.
Based on this, the map storage space is reset before the creation of the map is started, and all points in the map space are marked with a first mark, for example black.
In creating the map, considering that the movement locus of the positioning device 10 may be linear, the width of the movement locus of the positioning device 10 may be set to a preset value, and the first mark in the map storage space may be changed to the second mark according to the movement locus of the positioning device 10, for example, the first mark (black) at the position where the movement locus passes may be changed to the second mark (white).
And extracting the boundary outline of the area with white color, namely obtaining the outer boundary of the area corresponding to the motion trail, wherein the outer boundary is the outer outline of the area to be built with the map.
Correspondingly, extracting the outer boundary of a black region in a region with white color to obtain the inner boundary of a region corresponding to the motion track, wherein the inner boundary is an obstacle in the outer contour of the region of the map to be built.
In the disclosure, after obtaining the map of the area to be built, the map of the area to be built may be edited and confirmed to prevent errors, that is, unreasonable outer contours and obstacles, in the map.
In the present disclosure, editing and confirmation of a map may be completed at an APP or a WEB end, that is, the positioning device 10 transmits an automatically generated map to a server or to an intelligent mobile device with an APP through a communication unit, after a user edits the map, the positioning device 10 may download the edited and confirmed map from the server or the intelligent mobile device with the APP, and the intelligent mower may perform path planning and obstacle avoidance according to the edited and confirmed map, for example.
In the disclosure, the positioning device 10 may be a positioning device 10 of an intelligent mower, that is, when a map needs to be built, the positioning device 10 of the intelligent mower may be detached and then mounted to the handheld cleaning tool 20, and the map is built; when the map is constructed, the positioning device 10 is installed on the intelligent mower, and the intelligent mower can work according to the map established by the positioning device 10.
In the present disclosure, the positioning device 10 may be a stand-alone device and can be matched to a variety of devices, such as a watering robot, a patrol robot, etc. outdoors; the positioning device 10 may be combined with a hand propelled mower when it is desired to map the lawn. After the map is built, the positioning device 10 can be detached from the hand-push mower (i.e. the hand-held cleaning tool) and mounted to an autonomous cleaning tool, such as an intelligent mower, a watering robot, a patrol robot, etc.
Therefore, when the map construction device disclosed by the invention is used, the map construction is realized when the map construction device is used for first mowing or cutting high grass (high-density grass) through the combination of the positioning device and the hand-push mower or the hand-push mower, so that the boundary line is not required to be arranged, no additional operation is required, the map construction is simple and practical, and no additional installation cost is generated. The autonomous cleaning tool obtains the constructed map and autonomously works in the area of the map (namely the area of the map to be constructed) according to the map. That is, the present disclosure is capable of building a map for an intelligent clearance tool by pushing the clearance tool. In addition, particularly, compared with the technical scheme that a user walks on a lawn boundary and builds a map through a mobile phone remote control intelligent mower in the prior art, the remote control in the step has the problems of troublesome control and inaccurate map building, the method utilizes the step of cleaning high grass on the lawn for the first time by using the necessary handheld mower to build the map, saves the step of independently building the map by the remote control, and ensures that the map boundary is accurate and effective by manually pushing the handheld mower to build the map.
The present disclosure also provides an electronic device, including: a memory storing execution instructions; and a processor or other hardware module that executes the memory-stored execution instructions, causing the processor or other hardware module to perform the method described above.
The present disclosure also provides a readable storage medium having stored therein execution instructions which when executed by a processor are adapted to carry out the above-described method.
In the description of the present specification, reference to the terms "one embodiment/manner," "some embodiments/manner," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/manner or example is included in at least one embodiment/manner or example of the present application. In this specification, the schematic representations of the above terms are not necessarily for the same embodiment/manner or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/modes or examples described in this specification and the features of the various embodiments/modes or examples can be combined and combined by persons skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.
It will be appreciated by those skilled in the art that the above-described embodiments are merely for clarity of illustration of the disclosure, and are not intended to limit the scope of the disclosure. Other variations or modifications will be apparent to persons skilled in the art from the foregoing disclosure, and such variations or modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. A map construction method, comprising:
arranging a positioning device in an area of a map to be established, and enabling the positioning device to be positioned at a first preset position of the boundary of the area of the map to be established;
controlling the positioning device to move in the area of the map to be built, and acquiring real-time position information of the positioning device; the positioning device is arranged on the handheld cleaning tool, and the control positioning device moves in an area where a map is to be built and comprises: the user manually controls the handheld cleaning tool to move in the area of the map to be built, and the handheld cleaning tool is in a working state; the acquiring the real-time position information of the positioning device comprises the following steps: acquiring a motion track of a positioning device while a user manually controls a handheld cleaning tool to operate in an area where a map is to be built;
After traversing the region of the map to be built, the positioning device is controlled to move to a second preset position of the boundary of the region of the map to be built, and the motion trail of the positioning device is obtained according to the real-time position information of the positioning device, wherein the first preset position of the positioning device is used as the starting point of the motion trail of the positioning device, and the second preset position is used as the end point of the motion trail of the positioning device; and
and obtaining a map of the area of the map to be built according to the motion trail of the positioning device.
2. The map construction method of claim 1, wherein the positioning module is detachable from a current hand-held cleaning tool and is mounted to an autonomous cleaning tool that obtains the map and operates autonomously within an area of the map according to the map.
3. The map construction method according to claim 2, wherein the movement locus of the positioning device includes a work path of the hand-held cleaning tool when working in an area where a map is to be established.
4. The map construction method of claim 2, wherein the positioning device is in communication connection with the hand-held cleaning tool, the positioning device further obtaining positioning information of the positioning device according to a current position of the hand-held cleaning tool; and/or the positioning device also acquires or corrects the starting point and the end point of the movement track of the positioning device according to the working state of the handheld cleaning tool.
5. The map construction method of claim 4, wherein the positioning device corrects a movement trace of the positioning device according to the on-off information of the cleaning member of the hand-held cleaning tool.
6. The map construction method according to one of claims 1 to 4, wherein the positioning device records a pause point when the hand-held cleaning tool is paused, and the movement locus of the positioning device includes a movement locus from a start point to a pause point and a movement locus from a pause point to an end point;
optionally, the positioning device is started according to a starting signal, and positioning information when the positioning device is started is used as a starting point of a motion track; and/or the positioning device is closed according to the closing signal, and positioning information when the positioning device is closed is used as the end point of the movement track;
optionally, obtaining the map of the area where the map is to be built according to the motion trail of the positioning device includes:
obtaining the outer boundary of the region corresponding to the motion trail according to the motion trail, and obtaining the outer contour of the region to be built with the map according to the outer boundary; and
obtaining an inner boundary of an area corresponding to the motion trail according to the motion trail, and obtaining an outer contour of an obstacle in an outer contour of an area to be mapped according to the inner boundary, wherein the inner boundary is positioned in the outer boundary;
Optionally, the method further comprises: editing and/or confirming the map of the area to be built with the map, and transmitting the edited and/or confirmed map to the positioning device.
7. A map construction apparatus, characterized by comprising:
the positioning device can obtain real-time position information of the positioning device; and
the handheld cleaning tool is manually operated by a user to move in an area of a map to be built and realize cleaning operation, and meanwhile, the positioning device arranged on the handheld cleaning tool moves in the area of the map to be built to acquire real-time position information of the positioning device;
and after traversing the region of the map to be built by the positioning device, obtaining a motion track of the positioning device according to the real-time position information of the positioning device, and obtaining a map of the region of the map to be built according to the motion track of the positioning device.
8. The map construction apparatus according to claim 7, wherein the movement locus of the positioning means includes a work path of the hand-held cleaning tool when working in an area where a map is to be established;
Optionally, when the handheld cleaning tool starts cleaning the region to be mapped, the positioning device is located at a first preset position of the boundary of the region to be mapped; when the handheld cleaning tool finishes cleaning the region of the map to be built, the positioning device is positioned at a second preset position of the boundary of the region of the map to be built, wherein the first preset position of the positioning device is used as a starting point of a motion track of the positioning device, and the second preset position is used as an ending point of the motion track of the positioning device;
optionally, the positioning device is in communication connection with the handheld cleaning tool, and the positioning device also obtains positioning information of the positioning device according to the current position of the handheld cleaning tool; and/or the positioning device also acquires or corrects the starting point and the end point of the motion track of the positioning device according to the working state of the handheld cleaning tool;
optionally, the positioning device corrects the motion track of the positioning device according to the switch information of the cleaning component of the handheld cleaning tool;
optionally, when the hand-held cleaning tool pauses operation, the positioning device records a pause point, and the motion track of the positioning device comprises a motion track from a start point to the pause point and a motion track from the pause point to an end point;
Optionally, the positioning device is started according to a starting signal, and positioning information when the positioning device is started is used as a starting point of a motion track; and/or the positioning device is closed according to the closing signal, and positioning information when the positioning device is closed is used as the end point of the movement track;
optionally, obtaining the map of the area where the map is to be built according to the motion trail of the positioning device includes:
obtaining the outer boundary of the region corresponding to the motion trail according to the motion trail, and obtaining the outer contour of the region to be built with the map according to the outer boundary; and
obtaining an inner boundary of an area corresponding to the motion trail according to the motion trail, and obtaining an obstacle in the outer outline of the area to be mapped according to the inner boundary;
optionally, the method further comprises: editing and/or confirming a map of an area to be built with the map, and transmitting the edited and/or confirmed map to a positioning module;
optionally, the positioning module is detachable from the current hand-held cleaning tool and is mounted to an autonomous cleaning tool, which obtains a map of the area of the map to be built and works autonomously within the area of the map according to the map.
9. An electronic device, comprising:
a memory storing execution instructions; and
a processor executing the memory-stored execution instructions, causing the processor to perform the method of any one of claims 1 to 6.
10. A readable storage medium having stored therein execution instructions which when executed by a processor are adapted to carry out the method of any one of claims 1 to 6.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210314285.0A CN116243698A (en) | 2022-03-28 | 2022-03-28 | Map construction method, map construction device, electronic equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210314285.0A CN116243698A (en) | 2022-03-28 | 2022-03-28 | Map construction method, map construction device, electronic equipment and storage medium |
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| CN116243698A true CN116243698A (en) | 2023-06-09 |
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| CN202210314285.0A Pending CN116243698A (en) | 2022-03-28 | 2022-03-28 | Map construction method, map construction device, electronic equipment and storage medium |
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| Country | Link |
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| CN (1) | CN116243698A (en) |
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- 2022-03-28 CN CN202210314285.0A patent/CN116243698A/en active Pending
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