CN116753968A

CN116753968A - Mapping method, mapping device, self-mobile equipment and storage medium

Info

Publication number: CN116753968A
Application number: CN202310555028.0A
Authority: CN
Inventors: 李超; 刘元财; 张泫舜; 陈浩宇
Original assignee: Ecoflow Technology Ltd
Current assignee: Ecoflow Technology Ltd
Priority date: 2023-05-16
Filing date: 2023-05-16
Publication date: 2023-09-15

Abstract

The application is applicable to the technical field of self-mobile equipment, and provides a graph building method, a graph building device, self-mobile equipment and a storage medium, wherein the method comprises the following steps: recording track information of the self-mobile device and monitoring the residual electric quantity of the self-mobile device when the self-mobile device executes a mapping operation; when the residual electric quantity meets the preset early warning condition, sending electric quantity early warning information to terminal equipment in communication connection with the self-mobile equipment; according to the charging instruction, controlling the self-mobile device to store track information, suspending execution of the mapping operation, and executing the charging operation; after the charging operation is completed, continuing to execute the mapping operation according to the stored track information; and when the preset completion condition is met, finishing the mapping operation and obtaining the operation map of the self-mobile equipment. By the method, after the self-mobile device is charged, the drawing construction operation can be continuously executed on the basis of the stored track information, the drawing is not required to be re-established, and the drawing construction efficiency of the self-mobile device is improved.

Description

Mapping method, mapping device, self-mobile equipment and storage medium

Technical Field

The present application relates to the field of intelligent robots, and in particular, to a mapping method, a mapping apparatus, a self-mobile device, and a computer storage medium.

Background

With the development of self-mobile devices in recent years, the environment of the self-mobile device application is wider, such as a mowing robot capable of autonomously completing a mowing task. The self-mobile device can autonomously plan a forward route and can also drive according to the route which is constructed. The route of drawing can be planned by a user through the mobile phone APP for the self-mobile device, so that the self-mobile device can better execute a mowing task in a corresponding area according to the drawing effect of the user. However, in the related art, when the self-mobile device executes the mapping task, if the electric quantity of the self-mobile device is insufficient, the self-mobile device cannot support the mapping task, the user can only discard the mapping task, wait for the self-mobile device to charge, and then re-perform mapping, thereby influencing the mapping efficiency and the user experience. Therefore, a method for improving the efficiency of the image construction is needed.

As can be seen, the related art is unable to complete the mapping task at one time, resulting in low mapping efficiency of the self-mobile device.

Disclosure of Invention

The embodiment of the application provides a graph building method, a graph building device, self-mobile equipment and a computer storage medium, which can solve the problems of lower graph building efficiency and influence on user experience in the related technology to a certain extent and improve the graph building efficiency of the self-mobile equipment.

In a first aspect, an embodiment of the present application provides a mapping method, including:

recording track information of the self-mobile device and monitoring the residual electric quantity of the self-mobile device when the self-mobile device executes a mapping operation;

when the residual electric quantity meets the preset early warning condition, sending electric quantity early warning information to terminal equipment in communication connection with the self-mobile equipment;

when a charging instruction fed back by the terminal equipment is received, controlling the self-mobile equipment to store track information according to the charging instruction, suspending execution of the drawing construction operation, and executing the charging operation;

after the charging operation is completed, continuing to execute the mapping operation according to the stored track information;

and when the preset completion condition is met, finishing the mapping operation, and constructing the operation map of the self-mobile equipment according to the recorded track information.

In a second aspect, an embodiment of the present application further provides a mapping apparatus, including:

the data monitoring module is used for recording track information of the self-mobile equipment and monitoring the residual electric quantity of the self-mobile equipment when the self-mobile equipment executes the mapping operation;

the data early warning module is used for sending electric quantity early warning information to terminal equipment in communication connection with the self-mobile equipment when the residual electric quantity meets preset early warning conditions;

the instruction execution module is used for controlling the self-mobile equipment to store track information according to the charging instruction when receiving the charging instruction fed back by the terminal equipment, suspending the execution of the drawing construction operation and executing the charging operation;

the continuous operation module is used for continuously executing the drawing construction operation according to the stored track information after the charging operation is completed;

and the data judging module is used for ending the drawing construction operation when the preset finishing condition is met, and constructing the operation map of the self-mobile equipment according to the recorded track information.

In a third aspect, embodiments of the present application also provide a self-mobile device comprising a processor, a memory, a computer program stored on the memory and executable by the processor, and a data bus for enabling a connected communication between the processor and the memory, wherein the computer program, when executed by the processor, implements the steps of any of the methods of mapping as provided in the present description.

In a fourth aspect, embodiments of the present application further provide a storage medium for computer readable storage, where the storage medium stores one or more programs, and the one or more programs are executable by one or more processors to implement the method steps of mapping any one of the embodiments provided in the present specification.

The embodiment of the application provides a method, a device, a self-mobile device and a storage medium for drawing, wherein the method is used for recording track information of the self-mobile device and monitoring the residual electric quantity of the self-mobile device when the self-mobile device executes drawing operation. And when the residual electric quantity meets the preset early warning condition, sending electric quantity early warning information from the mobile equipment to the terminal equipment in communication connection with the mobile equipment. After the user checks the electric quantity early-warning information displayed on the terminal device, the terminal device can be operated, so that the terminal device feeds back corresponding instructions, such as charging instructions, to the self-mobile device. When the charging instruction fed back by the terminal equipment is received from the mobile equipment, the mobile equipment is controlled to save track information, the drawing operation is stopped, and the charging operation is executed. And after the charging operation of the self-mobile equipment is finished, returning to the position point during charging according to the stored track information, and further continuing to execute the mapping operation. And when the preset completion condition is met, finishing the mapping operation, and constructing the operation map of the self-mobile equipment according to the recorded track information.

When the residual electric quantity of the self-mobile device is low, the method sends electric quantity early warning information to the terminal device. And after receiving a charging instruction fed back by the terminal equipment, storing track information of the self-mobile equipment according to the charging instruction and enabling the self-mobile equipment to perform charging operation. After the charging operation is finished, the self-mobile device continuously completes the drawing construction operation according to the stored track information, and drawing construction is not required to be restarted, so that the drawing construction efficiency of the self-mobile device is improved, and further user experience is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of a mapping method according to an embodiment of the present application;

FIG. 2 is a flowchart corresponding to one embodiment of the step S140 in FIG. 1;

FIG. 3 is a schematic diagram illustrating a charge command executed during a mapping process according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a instruction for executing a continue operation in a mapping process according to an embodiment of the present application;

fig. 5 is a schematic block diagram of a mapping apparatus according to an embodiment of the present application;

fig. 6 is a schematic block diagram of a self-mobile device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.

It is to be understood that the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

Taking the self-moving device as a mowing robot as an example, when a user uses the terminal device to map a travel route of the mowing robot for mowing on a lawn, when a lawn area is large and the residual electric quantity of the mowing robot is not large, the residual electric quantity of the mowing robot may not support the map of the residual lawn area. In the related art, when a user encounters such a scene, the user can only give up to execute the mapping operation, so that after the lawn mowing robot finishes charging, the lawn needs to be subjected to mapping again, and the mapping efficiency is low.

Therefore, there is a need for a mapping method to improve the mapping efficiency of the self-mobile device.

The self-moving device in the method provided by the embodiment of the application can be electronic devices with self-moving functions such as a mowing robot, a sweeping robot, a lightning removing robot, a cruising robot and the like. The terminal device may be a mobile phone, a tablet computer, a notebook computer, or other electronic devices, where the terminal device may communicate with the self-mobile device, for example, an Application (APP) corresponding to the self-mobile device may be installed on the mobile phone, and a user may operate the APP in the mobile phone to trigger the mobile phone and the self-mobile device to establish a communication connection.

The communication connection may include one or more of a bluetooth connection, a Wi-Fi connection, a Long Range Radio (Lora) connection, and the like.

Some embodiments of the application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.

Referring to fig. 1, fig. 1 is a flow chart of a mapping method according to an embodiment of the application.

As shown in fig. 1, the mapping method includes steps S110 to S150.

S110: and recording track information of the self-mobile device and monitoring the residual electric quantity of the self-mobile device when the self-mobile device executes the mapping operation.

And when the self-mobile device executes the mapping operation, recording the moving track information of the self-mobile device in real time. The track information may be position information in a world coordinate system, position information in a charging pile coordinate system, or position information in other coordinate systems. For example, when the self-mobile device performs mapping operation, the satellite positioning module may acquire position information in the world coordinate system as track information.

The trajectory information is used to determine the boundaries of the work area.

For example, when the self-moving device is a mower, the recorded track information may be continuous coordinate information in a world coordinate system when the mower performs a mapping operation. After the mapping operation is completed, the mower may determine a closed boundary line according to the recorded track information, and determine an area within the boundary line as a working area. When the mower executes mowing work subsequently, a working path can be planned according to the working area, and the mower moves according to the working path, so that the corresponding mowing work is completed.

In some embodiments, the track information may include speed information of the self-mobile device, whether an obstacle is encountered, the current remaining power of the self-mobile device, and the like, in addition to the location information. The embodiment of the application does not limit the type of information contained in the track information.

In some embodiments, when the self-mobile device performs the mapping operation, the remaining power of the self-mobile device may be monitored in real time, so as to determine whether the self-mobile device can continue mapping according to the remaining power.

For example, at time T1, the remaining power from the mobile device is 90%. At time T2, the remaining power of the self-mobile device is 10%, and the self-mobile device detects that the remaining power is small, so that an early warning can be sent out to enable a user who is building a graph to know the current situation of the remaining power of the self-mobile device, and further a corresponding decision is made.

S120: and when the residual electric quantity meets the preset early warning condition, sending electric quantity early warning information to terminal equipment in communication connection with the self-mobile equipment.

In some embodiments, the self-mobile device is provided with a preset early-warning condition, and when the information of the residual electric quantity meets the preset early-warning condition, the self-mobile device can send the electric quantity early-warning information to the terminal device in communication connection with the self-mobile device so as to remind a user whether the residual electric quantity of the self-mobile device is low or not to continue to execute the mapping operation.

For example, assuming that the preset early-warning condition is that the remaining power is lower than or equal to 10%, if the self-mobile device detects that the remaining power is 30% at the time T1, the preset early-warning condition is not triggered; if the self-mobile device detects that the residual electric quantity is 10% at the time T2, a preset early warning condition is triggered, and then electric quantity early warning information is sent to terminal equipment in communication connection with the self-mobile device. The electric quantity early warning information can be a text message style or a voice style.

When the terminal equipment receives the electric quantity early-warning information, the terminal equipment sends out a corresponding signal according to the electric quantity early-warning information, and further the user is reminded that the current residual electric quantity of the self-mobile equipment is lower. The user can make corresponding decision according to the electric quantity early warning information, and perform corresponding operation on the terminal equipment. The terminal device may generate a corresponding instruction according to the operation of the user on the electric quantity early warning information, and send the corresponding instruction to the self-mobile device, for example, the instruction may be a charging instruction or a drawing continuing instruction.

And S130, when a charging instruction fed back by the terminal equipment is received, controlling the self-mobile equipment to store track information according to the charging instruction, suspending the execution of the mapping operation and executing the charging operation.

In some embodiments, after receiving a charging instruction fed back by the terminal device from the mobile device, the mobile device may save the track information that has been recorded currently, stop performing the mapping operation, perform the charging operation, and return to the charging pile to perform the charging operation.

For example, after receiving a charging instruction fed back by the terminal device from the mobile device, the mobile device can obtain the position information of the charging pile, plan a recharging path according to the position information of the charging pile, and reach the charging pile along the recharging path to perform charging operation.

And S140, after the charging operation is completed, continuing to execute the mapping operation according to the stored track information.

In some embodiments, after the self-mobile device completes the charging operation, the self-mobile device may determine, according to the stored track information, a renewal position of the self-mobile device when the current renewal graph is completed. After the self-mobile device moves to the renewing position, the self-mobile device can continue to execute the mapping operation.

And S150, finishing the mapping operation when the preset completion condition is met, and constructing a working map of the self-mobile equipment according to the recorded track information.

In some embodiments, when the preset completion condition is satisfied, it indicates that the recorded trajectory information satisfies the requirement of building the job map, for example, the requirement of forming a closed boundary line. At this time, the self-mobile device may end the mapping operation, and construct a working map of the self-mobile device according to the recorded trajectory information.

For example, assume that the preset completion condition is that the distance between the current position information of the present continuous map and the target position information of the target position (for example, the position of the charging pile) is less than 45cm. The self-mobile device can calculate the distance between the current position information and the target position information in the mapping process. When the self-mobile device detects that the distance is smaller than 45cm, the self-mobile device can finish the mapping operation and construct a working map of the self-mobile device according to the recorded track information, wherein the preset completion condition is met.

It should be understood that, in the method provided by the embodiment of the present application, the self-mobile device may monitor the remaining power of the self-mobile device when performing the mapping operation. When the residual electric quantity meets the preset early warning condition, electric quantity early warning information is sent to terminal equipment in communication connection with the self-mobile equipment, and corresponding instructions, such as charging instructions, are obtained according to the electric quantity early warning information. After receiving the charging instruction, the self-mobile device may save the trajectory information and perform the charging operation. After the charging operation is finished, the self-mobile device continues to execute the mapping operation according to the stored track information, and the mapping operation does not need to be executed again, so that the mapping efficiency of the self-mobile device is improved, and the use experience of a user is further improved.

In some embodiments, the pre-set pre-warning condition is that the remaining power is less than or equal to the pre-warning power, the pre-warning power is determined according to a power consumption of the self-mobile device performing the mapping operation, and the pre-warning power is greater than or equal to the power consumption.

Specifically, the initial remaining power may be obtained from the mobile device when the mapping operation starts to be performed. After a period of time or a path has been travelled, the current residual electric quantity can be subtracted from the initial residual electric quantity to obtain the consumed electric quantity of the mobile equipment when the mapping operation is executed, and the early warning electric quantity is updated according to the consumed electric quantity. The current early warning electric quantity is larger than or equal to the consumed electric quantity. When the residual electric quantity is smaller than or equal to the early warning electric quantity, the self-mobile device can send electric quantity early warning information to the terminal device in communication connection with the self-mobile device.

For example, when the mobile device starts to perform the mapping operation at point a, the remaining power is 80%. After a period of time, the power consumption reaches the point B, the residual power at the point B is 48%, and the power consumption from the mobile device to the point B at the point A is 32%. If the early warning electric quantity is set to be the consumed electric quantity at this time, it can be known that 32% of the consumed electric quantity is smaller than 48% of the remaining electric quantity, the preset early warning condition is not met, and the self-mobile device cannot send electric quantity early warning information to the terminal device in communication connection with the self-mobile device.

For example, when the mobile device starts to perform the mapping operation at the point a, the remaining power is 80%, the remaining power reaches the point B after a period of time, the remaining power at the point B is 41%, the consumed power of the mobile device reaching the point B at the point a is 39%, if the pre-warning power is set to be the consumed power+3% at this time, it is known that the consumed power is 39% +3% and is equal to 42%, and the remaining power is 41% and is less than 42%, then the pre-warning condition is met, and the mobile device sends power pre-warning information to the terminal device in communication connection with the mobile device.

In other embodiments, the self-mobile device may determine the specific value of the consumed power and the specific value of the early warning power by accumulating the consumed power.

In the above embodiment, the early warning power may change with the power consumed when the self-mobile device performs the mapping operation, and the early warning power may be set to the power consumption, or may be set to the power information greater than the power consumption, and the specific setting may be selected according to the requirement.

In other embodiments, the early warning power level may also be set to a fixed value, such as 20%, 30%, 40%, etc. The embodiment of the application does not limit the specific setting mode and specific numerical value of the early warning electric quantity.

In some embodiments, further comprising clearing a value of the power consumption while suspending execution of the mapping operation; after the charging operation is completed, the value of the statistical power consumption is restarted.

The reference object selected by the calculation mode of the value of the consumed electric quantity is the initial residual electric quantity when the current mapping operation is started. If the charging operation is executed in the process of executing the mapping operation, the value of the consumed electric quantity before the charging operation is cleared, and after the charging operation is executed, the value of the consumed electric quantity is restarted to be counted.

For example, when the initial remaining power of the mobile device is 80% when the mapping operation is performed for the first time, the current power information is 45% after a path is passed, and the power consumption is 35%. If the mobile device pauses to execute the mapping operation after a period of time, charging is carried out. After the charging is completed, the mapping is continued, that is, the initial residual capacity corresponding to the operation of restarting the mapping is 100%, if the current capacity information is 70% after a path is passed, the calculated power consumption should use the residual capacity corresponding to the operation of restarting the mapping to subtract the current residual capacity 70%, instead of subtracting the current capacity information from the residual capacity 80% corresponding to the operation of restarting the mapping to subtract the current capacity information 70%.

In some embodiments, performing a charging operation includes: and controlling the self-mobile equipment to move to the charging base station for charging according to the stored track information.

When the self-mobile device receives a charging instruction fed back by the terminal device, the self-mobile device moves to the charging base station for charging according to the stored track information, namely, automatically returns to the charging pile along a path which has been passed before for charging operation.

For example, when the mobile device sends out a drawing construction operation from the charging pile point C to the point D, and receives a charging instruction fed back by the terminal device, track information is stored, and then the mobile device returns to the charging pile point C for charging according to the stored track information.

The power consumption of the self-mobile device reaches 30% at the point D when the self-mobile device starts to execute the mapping operation from the point C of the charging pile, if the residual power of the self-mobile device is 32% at the moment, if the residual power of the self-mobile device is 33% and the residual power of the self-mobile device is smaller than the early-warning power of 33%, the self-mobile device sends power early-warning information to the terminal device in communication connection with the self-mobile device, and if the self-mobile device receives the charging instruction at the moment, the self-mobile device can reach the point C of the charging pile from the point D according to the residual power of 32%.

According to the example, when the early warning electric quantity is dynamically adjusted and is controlled to be larger than or equal to the consumed electric quantity, the automatic return of enough residual electric quantity of the self-mobile device to the charging pile along the stored track information can be ensured to charge, and the self-mobile device is not required to be manually lifted back to the charging pile by a user, so that user operation is reduced, and user experience is improved.

Referring to fig. 2, in some embodiments, step S140 includes steps S210 to S220, namely, continuing to perform the mapping operation according to the saved track information, including:

s210, determining a renewing position according to the saved track information.

In some embodiments, the self-mobile device may determine a final position when the drawing is built last time according to the saved track information, and use the final position as a renewal position for continuing to build the drawing this time.

For example, as shown in fig. 3, when the final position of the self-mobile device when the mapping operation is executed last time is point F, and the charging pile position is point E, the renewing position of the current continued execution of the mapping operation may be point F.

In other embodiments, the self-mobile device may also determine a location separated from the final location by a predetermined return distance as the renewing location according to the final location.

In other embodiments, the self-mobile device may also determine a renewal range according to the final location and the return distance, and take the locations within the renewal range as renewal locations.

The method for determining the renewing position is not limited in the embodiment of the application.

S220, the self-mobile equipment is controlled to move to the renewing position according to the stored track information to continue to execute the mapping operation.

After moving to the renewing position according to the saved track information, the self-mobile device can continue to execute the drawing operation from the renewing position.

For example, as shown in fig. 3, when the completion information of the self-mobile device mapping is composed by the broken line and the solid line in the figure, the point F is the position where the last mapping operation was stopped. The solid line is track information saved by the self-mobile device, the dotted line is path information (actually, the content of the dotted line is a route expected by a user and is unknown to the self-mobile device) of the self-mobile device, the self-mobile device determines the point F as a renewing position according to the saved track information, returns to the renewing position point F, and further continues to execute the drawing task, namely, the user controls the self-mobile device to continue to move along the dotted line and continues to execute the drawing operation.

In some embodiments, after sending the power warning information to the terminal device communicatively connected to the self-mobile device, the method further includes: and when a drawing continuing instruction fed back by the terminal equipment is received, the drawing operation is kept to be executed.

When the terminal equipment receives the electric quantity early warning information sent by the mobile equipment, if the user judges that the residual electric quantity information can meet the electric quantity requirement of the residual non-mapping task, the user can execute corresponding operation on the terminal equipment. The terminal device may send a continuation map instruction to the self-mobile device in response to an operation of the user. And when the self-mobile equipment receives a continuous mapping instruction fed back by the terminal equipment, maintaining to execute mapping operation.

In some embodiments, when the self-mobile device receives a continuous operation instruction fed back by the terminal device, the function of monitoring the residual electric quantity can be turned off or stopped, so as to prevent the self-mobile device from feeding back electric quantity early-warning information to the terminal device all the time, increase unnecessary electric quantity consumption, and influence normal execution of the mapping operation.

In other embodiments, when the self-mobile device receives the continuous operation instruction fed back by the terminal device, the function of comparing the residual electric quantity with the early-warning electric quantity can be closed, so as to prevent the self-mobile device from feeding back the electric quantity early-warning information to the terminal device all the time.

In other embodiments, when the self-mobile device receives a continuous operation instruction fed back by the terminal device, the function of feeding back the electric quantity early-warning information can be closed, so that the self-mobile device is prevented from feeding back the electric quantity early-warning information to the terminal device all the time.

For example, as shown in fig. 4, when the power consumption from the mobile device to the point N is 30% after the mapping operation is performed from the point M of the charging pile, if the remaining power of the mobile device is 32% at this time, if the early warning power is 33% and the remaining power is less than the early warning power 33%, the mobile device sends power early warning information to the terminal device communicatively connected with the mobile device. If the user estimates that the power possibly consumed by the path information of the incomplete mapping task (dotted line) of the self-mobile device is 20%, and the remaining power is 32% and can support the completion of the incomplete mapping task, the user can send a continuous mapping instruction to the self-mobile device through the terminal device. The self-mobile device can respond to the instruction for continuing to build the map to continue to execute the operation for building the map, and the feedback of the electric quantity early warning information to the terminal device is stopped.

In some embodiments, the preset completion condition is that a distance between a current position of the self-mobile device and a starting position of the self-mobile device for performing the mapping operation is less than or equal to a preset distance, and a map saving instruction sent by the terminal device is received.

The objective of performing the mapping operation from the mobile device may be to construct a closed route, where when the distance between the current position of the mobile device and the starting position of the mobile device where the mapping operation is performed is less than or equal to a preset distance, and the map saving instruction sent by the terminal device is received, the completion of the mapping operation from the mobile device is indicated.

For example, it is assumed that the preset completion condition is that the distance between the current position information of the current continuous map and the initial position information (e.g., the position information of the charging pile) in the recorded trajectory information is less than 50cm, that is, the preset distance is 50cm. And in the process of executing the mapping operation, if the self-mobile equipment detects that the distance between the current position information and the initial position information is smaller than 50cm, the self-mobile equipment indicates that the recorded track information in the mapping is closed. At this time, if the map saving instruction sent by the terminal device is received, the map building operation is completed, and the map building operation can be ended.

Referring to fig. 5, fig. 5 shows a mapping apparatus 300 according to an embodiment of the present application, which is applied to a self-mobile device, the mapping apparatus 300 includes a data monitoring module 301, a data early warning module 302, an instruction execution module 303, a continuous operation module 304, and a data determination module 305.

The data monitoring module 301 is configured to record track information of the self-mobile device and monitor a remaining power of the self-mobile device when the self-mobile device performs a mapping operation.

And the data early-warning module 302 is configured to send electric quantity early-warning information to a terminal device that is in communication connection with the self-mobile device when the remaining electric quantity meets a preset early-warning condition.

And the instruction execution module 303 is configured to control the mobile device to save the track information according to the charging instruction when receiving the charging instruction fed back by the terminal device, and suspend the execution of the mapping operation and execute the charging operation.

And a continuing operation module 304, configured to continue performing the mapping operation according to the saved track information after the charging operation is performed.

The data judging module 305 ends the mapping operation when the preset completion condition is satisfied, and constructs the operation map of the self-mobile device according to the recorded track information.

In some embodiments, the pre-set pre-warning condition in the data pre-warning module 302 is that the remaining power is less than or equal to the pre-warning power, the pre-warning power is determined according to the power consumption of the self-mobile device for performing the mapping operation, and the pre-warning power is greater than or equal to the power consumption.

In some implementations, the data pre-warning module 302 also performs:

when the execution of the mapping operation is suspended, the value of the consumed electric quantity is cleared;

after the charging operation is completed, the value of the statistical power consumption is restarted.

In some implementations, the instruction execution module 303, in performing the charging operation, performs:

and controlling the self-mobile equipment to move to the charging base station for charging according to the stored track information.

In some embodiments, the continue operation module 304 performs, in the process of continuing to perform the mapping operation according to the saved track information:

determining a renewing position according to the stored track information;

and controlling the self-mobile equipment to move to the renewing position according to the stored track information to continue to execute the mapping operation.

In some embodiments, after sending the power warning information to the terminal device communicatively connected to the self-mobile device, further performing:

and when a continuous operation instruction fed back by the terminal equipment is received, maintaining to execute the mapping operation.

In some embodiments, the preset completion condition in the data determining module 305 is that the distance between the current location of the self-mobile device and the starting location of the self-mobile device for performing the mapping operation is less than or equal to the preset distance, and the map saving instruction sent by the terminal device is received.

It should be noted that, for convenience and brevity of description, a person skilled in the art can clearly understand that the specific working process of the above-described apparatus may refer to the corresponding process in the foregoing embodiment of the mapping method, which is not described herein again.

Referring to fig. 6, fig. 6 is a schematic block diagram of a self-mobile device according to an embodiment of the present application.

As shown in fig. 6, the self-mobile device 400 includes a processor 401 and a memory 402, and the processor 401 and the memory 402 are connected by a bus 403, such as an I2C (Inter-integrated Circuit) bus.

In particular, the processor 401 is used to provide computing and control capabilities, supporting the operation of the entire server. The processor 401 may be a central processing unit (Central Processing Unit, CPU), but the processor 401 may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field-programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. Wherein the general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Specifically, the Memory 402 may be a Flash chip, a Read-Only Memory (ROM) disk, an optical disk, a U-disk, a removable hard disk, or the like.

It will be appreciated by those skilled in the art that the structure shown in fig. 6 is merely a block diagram of a portion of the structure associated with an embodiment of the present application and is not intended to limit the self-moving device to which an embodiment of the present application is applied, and that a particular self-moving device may include more or fewer components than shown, or may combine some of the components, or may have a different arrangement of components.

The processor 401 is configured to execute a computer program stored in a memory, and implement the mapping method provided in any embodiment of the present application when the computer program is executed.

In some embodiments, the processor 401 is configured to run a computer program stored in a memory, apply to a self-mobile device, and implement the following steps when executing the computer program:

In some embodiments, the pre-set pre-warning condition in the processor 401 is that the remaining power is less than or equal to the pre-warning power, where the pre-warning power is determined according to the power consumption of the mapping operation performed by the mobile device, and the pre-warning power is greater than or equal to the power consumption.

In some implementations, the processor 401 further performs:

In some implementations, the processor 401, in performing the charging operation, performs:

In some embodiments, the processor 401 performs the following steps in continuing to perform the mapping operation according to the saved trajectory information:

determining a renewing position according to the stored track information;

In some embodiments, the processor 401 further performs, in a process after transmitting the power warning information to the terminal device communicatively connected to the self-mobile device:

In some embodiments, the preset completion condition in the processor 401 is that the distance between the current location of the self-mobile device and the starting location of the self-mobile device for performing the mapping operation is less than or equal to the preset distance, and the map saving instruction sent by the terminal device is received.

It should be noted that, for convenience and brevity of description, a person skilled in the art may clearly understand that, for the specific working process of the self-mobile device described above, reference may be made to the corresponding process in the foregoing mapping method embodiment, which is not repeated herein.

The embodiment of the present application also provides a storage medium for computer readable storage, where the storage medium stores one or more programs, and the one or more programs may be executed by one or more processors to implement the steps of any of the mapping methods provided in the embodiments of the present application.

The storage medium may be an internal storage unit of the self-mobile device in the foregoing embodiment, for example, a self-mobile device memory. The storage medium may also be an external storage device of the mobile device, such as a plug-in hard disk provided on the mobile device, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like.

Those of ordinary skill in the art will appreciate that all or some of the steps of the methods, functional modules/units in the apparatus disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware embodiment, the division between the functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed cooperatively by several physical components. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.

It should be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations. It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments. The present application is not limited to the above embodiments, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the scope of the present application, and these modifications and substitutions are intended to be included in the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims

1. A mapping method, applied to a self-mobile device, the method comprising:

recording track information of the self-mobile equipment and monitoring the residual electric quantity of the self-mobile equipment when the self-mobile equipment executes a mapping operation;

when the residual electric quantity meets a preset early warning condition, electric quantity early warning information is sent to terminal equipment in communication connection with the self-mobile equipment;

when a charging instruction fed back by the terminal equipment is received, controlling the self-mobile equipment to store the track information according to the charging instruction, suspending execution of the mapping operation, and executing charging operation;

after the charging operation is executed, continuing to execute the mapping operation according to the stored track information;

and when the preset completion condition is met, ending the mapping operation, and constructing the operation map of the self-mobile equipment according to the recorded track information.

2. The method of claim 1, wherein the preset pre-warning condition is that the remaining power is less than or equal to a pre-warning power, the pre-warning power being determined according to a power consumption of the self-mobile device to perform the mapping operation, the pre-warning power being greater than or equal to the power consumption.

3. The method according to claim 2, wherein the method further comprises:

and restarting counting the value of the consumed electric quantity after the charging operation is completed.

4. The method of claim 1, wherein the performing a charging operation comprises:

5. The method of claim 1, wherein continuing to perform the mapping operation based on the saved trajectory information comprises:

determining a renewing position according to the saved track information;

and controlling the self-mobile equipment to move to the renewing position according to the saved track information to continue to execute the mapping operation.

6. The method of claim 1, wherein after said sending power warning information to a terminal device communicatively coupled to said self-mobile device, said method further comprises:

and when a continuous operation instruction fed back by the terminal equipment is received, maintaining the execution of the mapping operation.

7. The method of claim 1, wherein the preset completion condition is that a distance between a current location of the self-mobile device and a starting location of the self-mobile device for performing the mapping operation is less than or equal to a preset distance, and a map saving instruction sent by the terminal device is received.

8. A mapping apparatus, comprising:

the data monitoring module is used for recording track information of the self-mobile equipment and monitoring the residual electric quantity of the self-mobile equipment when the self-mobile equipment executes a mapping operation;

the instruction execution module is used for controlling the self-mobile equipment to store the track information according to the charging instruction when receiving the charging instruction fed back by the terminal equipment, suspending the execution of the mapping operation and executing the charging operation;

the continuous operation module is used for continuously executing the mapping operation according to the stored track information after the charging operation is executed;

and the data judging module is used for ending the mapping operation when the preset completion condition is met, and constructing the operation map of the self-mobile equipment according to the recorded track information.

9. A self-mobile device, characterized in that the self-mobile device comprises a first processor, a first memory;

the first memory is used for storing a computer program;

the first processor is configured to execute the computer program and to implement the mapping method according to any one of claims 1 to 7 when the computer program is executed.

10. A computer-readable storage medium, which when executed by one or more processors causes the one or more processors to perform the steps of the mapping method of any of claims 1 to 7.