WO2021114984A1 - 一种地图数据发送、显示方法、装置、设备及存储介质 - Google Patents

一种地图数据发送、显示方法、装置、设备及存储介质 Download PDF

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Publication number
WO2021114984A1
WO2021114984A1 PCT/CN2020/127485 CN2020127485W WO2021114984A1 WO 2021114984 A1 WO2021114984 A1 WO 2021114984A1 CN 2020127485 W CN2020127485 W CN 2020127485W WO 2021114984 A1 WO2021114984 A1 WO 2021114984A1
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boundary
data
map
abnormal
map data
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PCT/CN2020/127485
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English (en)
French (fr)
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章心忆
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苏州宝时得电动工具有限公司
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Publication of WO2021114984A1 publication Critical patent/WO2021114984A1/zh

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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
    • 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
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means

Definitions

  • the embodiments of this specification relate to the field of map drawing technology, and in particular to a method, device, and equipment for sending and displaying map data.
  • the purpose of the embodiments of this specification is to provide a map data transmission and map data display method, device and equipment to solve the problem of how to determine the part with poor signal when drawing the map boundary.
  • a method for sending map data including:
  • the feature information includes signal quality; the signal quality is determined according to at least one of the following information: receivable Number of satellites, signal-to-noise ratio;
  • the preset condition includes at least one of the following: the number of receivable satellites is less than the threshold of the number of satellites; the signal-to-noise ratio is not greater than the threshold of the signal-to-noise ratio;
  • a map data sending device includes:
  • the information collection module is used to collect feature information of positioning signals at multiple boundary location points, the multiple boundary locations are used to fit the map boundary; the feature information includes signal quality; the signal quality is based on at least one of the following Information determination: the number of receivable satellites, signal-to-noise ratio;
  • the marking module is used to mark the boundary positions of the feature information meeting preset conditions on the map data; the preset conditions include at least one of the following: the number of receivable satellites is less than the threshold of the number of satellites; the signal-to-noise ratio is not greater than the signal-to-noise ratio. Noise ratio threshold;
  • the data sending module is used to send the marked map data to the terminal device.
  • a robot is provided with the map data sending device.
  • a method for displaying map data including:
  • the map data includes boundary data, the boundary data includes abnormal boundary data marked with specific information and normal boundary data except for the abnormal boundary data; the boundary data includes a map boundary; the map boundary Corresponding with signal quality; the specific information is used to mark the map boundary for which the corresponding signal quality does not meet the preset condition;
  • the normal boundary data and the abnormal boundary data are displayed differently.
  • a map data display device including:
  • the data receiving module is configured to receive map data, the map data including boundary data, the boundary data including abnormal boundary data marked with specific information and normal boundary data excluding the abnormal boundary data; the boundary data including the map Boundary; the map boundary corresponds to a signal quality; the specific information is used to mark the map boundary for which the corresponding signal quality does not meet a preset condition;
  • the data display module is used to display the normal boundary data and the abnormal boundary data differently when the map data is displayed.
  • a terminal is provided with the map data display device.
  • a storage medium in which computer instructions are set, and the computer instructions are used to implement the map data display method when executed.
  • the map data display method introduced in the embodiments of this specification can use preset conditions based on the characteristic information of the signals collected at various locations on the map boundary when determining the map boundary. To make a judgment, you can mark the location points that meet the preset conditions. After the robot sends the marked map data to the terminal, the terminal can distinguish the abnormal map data in the map data. When viewing the differentiated map data, the user can determine the part that meets the preset condition according to the mark. Through the above method, the user can determine the part of the boundary with poor signal quality, thereby preventing the robot from being damaged by entering the area with poor signal quality in the subsequent process, and ensuring the normal operation of the robot.
  • Figure 1 is a structural diagram of a map data display system according to an embodiment of this specification
  • FIG. 2 is a flowchart of a method for displaying map data according to an embodiment of this specification
  • Fig. 3 is a schematic diagram of a working area according to an embodiment of the specification.
  • FIG. 4 is a schematic diagram of a boundary position point according to an embodiment of the specification.
  • Fig. 5 is a schematic diagram of a map boundary obtained by fitting according to an embodiment of the specification.
  • Fig. 6 is a schematic diagram of a map boundary display according to an embodiment of the specification.
  • Fig. 7 is a schematic diagram of a map boundary display according to an embodiment of the specification.
  • FIG. 8 is a flowchart of a method for sending map data according to an embodiment of this specification.
  • FIG. 9 is a flowchart of a method for displaying map data according to an embodiment of this specification.
  • Fig. 10 is a block diagram of a map data sending device according to an embodiment of the specification.
  • FIG. 11 is a block diagram of a map data display device according to an embodiment of this specification.
  • the robot When the robot cannot receive work instructions, it will affect the normal operation of the robot; when the robot cannot determine its position, it will cause the machine to perform the original operation in the wrong area, which will cause damage to the work area or the robot itself. . Therefore, when determining the boundary of the working area of the robot, it is also necessary to consider the influence of the abnormal signal area on the boundary of the working area.
  • the map data display system includes a robot 110 and a terminal 120.
  • the robot 110 may be a lawn mower robot, a sweeping robot, a detection robot, etc., which can work in a target area without being directly manually manipulated by a user.
  • the robot 110 can obtain position information of a position; the robot 110 can receive data sent by other devices or send data to other devices; the robot 110 can obtain characteristic information of a positioning signal.
  • the terminal 120 includes a mobile phone terminal, a computer terminal, and the like.
  • the terminal 120 can be used to communicate with the robot 110, for example, to receive map data sent by the robot 110; the terminal 120 can parse the map data and display the map data; the terminal 120 can distinguish between the map data The normal map data and the abnormal map data of, display the normal map data and the abnormal map data differently.
  • this specification provides a map data display method, and the method specifically includes:
  • S210 The robot collects feature information of positioning signals at multiple boundary location points, where the multiple boundary location points are used to fit the map boundary.
  • the boundary location point is a point located on the boundary of the work area.
  • the boundary location points correspond to location information, and the location information may be, for example, latitude and longitude or coordinates determined using an actual application scenario as a reference system. There may be a certain distance between the boundary position points.
  • the working area boundary is the boundary of the area where the robot is working, and can be used to determine the working area of the robot.
  • the work area boundary may include the boundary of the lawn and the boundary of the passage and obstacles in the lawn.
  • the shaded part in the figure is the lawn
  • the periphery of the shaded part is the border of the lawn
  • the blank area in the shaded part is the border of the obstacle or passage in the lawn.
  • the boundary of the working area can be preset by the user. For example, when using a robot to determine the boundary location point, the user can control the robot to move on the boundary of the work area by manually pushing the robot or holding the robot; the robot uses the recorded position information on the walking path as Boundary location point. In one embodiment, if the robot is too large or it is inconvenient to push directly, the positioning module on the robot can be disassembled. The user can hold the positioning module and walk on the boundary of the work area, and in this way record the boundary position points on the boundary of the work area.
  • the boundary of the working area can also be obtained by analyzing the data collected by the robot itself. For example, if the robot is a lawn mower robot, and the lawn mower robot has an image acquisition function, the lawn mower robot may determine the boundary of the lawn according to the acquired image to determine the boundary of the work area.
  • the above example is only for further explanation of the boundary of the working area, and does not limit the method of determining the boundary of the working area.
  • the robot when the robot acquires the boundary position point, it may use the current position as the boundary position point and record the position information of the boundary position point after every preset collection time; or, the robot is acquiring the boundary position point.
  • the position point may be that every time the preset collection distance is moved, the current position is taken as the boundary position point and the position information of the boundary position point is recorded.
  • the boundary position point may also be preset by the user, and when the robot moves to a position corresponding to the boundary position point, the characteristic information of the positioning signal of the position is collected.
  • the method of obtaining the boundary location points is not limited to the above examples, and other methods may be used to obtain the boundary location points according to actual needs.
  • the positioning signal is a signal used by the robot to communicate with other devices when determining its own position.
  • the positioning signal may be the signal communicated between the robot and the satellite; when the robot is positioned through the surrounding signal transmitting device such as a router, the positioning signal may be the communication between the robot and the signal transmitting device. signal.
  • the characteristic information may be the properties of the positioning signal itself, such as the phase, amplitude, frequency and other characteristics of the signal.
  • the characteristic information includes the signal quality of the positioning signal.
  • the signal quality may include signal strength, signal stability, and so on.
  • the signal quality may further include at least one of the number of receivable satellites and the signal-to-noise ratio of the signal.
  • the number of receivable satellites indicates the number of satellites that the robot can receive signals when positioning itself.
  • the principle of the satellite positioning system is that the machine that needs positioning sends signals to multiple satellites and receives satellite instantaneous positioning feedback from the satellites. According to the time interval between sending a message and receiving a message, the distance between the current position and the satellite can be obtained, and the specific coordinates of the current position can be obtained by combining the position of the satellite. Therefore, the prerequisite for positioning through the satellite positioning system is to be able to communicate with multiple satellites.
  • the number of receivable satellites at the position to be measured can reflect whether the current position can be accurately positioned.
  • the signal-to-noise ratio is generally the ratio of the effective power of the signal at the output of the device demodulator to the effective power of the noise in the communication system.
  • the larger the signal-to-noise ratio the larger the proportion of effective signals in the output, and the better the signal quality. According to the signal-to-noise ratio of the device, it can be effectively judged whether the current device can normally communicate with other devices, so as to determine that the device can normally receive instructions or effectively transmit data to the outside world.
  • a quantitative evaluation of the signal quality of the positioning signal of the robot at the boundary position can be carried out to further determine the position of the robot at the boundary Whether the point can work normally is conducive to determining the effective boundary of the robot's working area.
  • the robot may directly obtain it according to the positioning signal, or it may calculate the corresponding characteristic information according to the attribute of the positioning signal.
  • the robot when the characteristic information is the number of receivable satellites, the robot can directly determine the number of satellites corresponding to the satellite feedback information received during positioning; when the characteristic information is the signal-to-noise ratio, the robot can determine After the voltage of the effective signal and noise, the signal-to-noise ratio of the positioning signal is calculated by the corresponding formula.
  • the robot When the robot collects the characteristic information of the positioning signal, it can collect the signal in a preset manner after receiving the signal collection instruction; correspondingly, it stops the collection after receiving the collection end instruction, and will receive the signal collection instruction to the receiver.
  • Each position point of the positioning signal obtained between the acquisition end instruction is regarded as the boundary position point.
  • the robot When the robot collects the characteristic information of the positioning signal, it will also acquire the position information of the boundary position points accordingly.
  • the boundary location points are discrete points located on the boundary of the working area, and the boundary of the map cannot be directly defined by these discrete points.
  • it is the display situation of the boundary position points collected by the robot on the map. Therefore, after obtaining the position information of each boundary location point, the boundary points can be fitted to obtain a continuous map boundary. Fitting is a fitting method such as a least squares curve fitting method, which uses a function to include multiple points in a function, so as to obtain a smooth curve according to the function. In the embodiment of this description, as shown in FIG.
  • a smooth and continuous map boundary can be obtained by fitting according to the positions of the collected boundary points.
  • the specific fitting process can be operated according to the actual situation, and will not be repeated here.
  • the method of obtaining the map boundary by fitting the boundary position points can avoid the occurrence of burrs on the map boundary, and optimize the shape of the obtained map boundary.
  • the boundary location points may also correspond to boundary attributes.
  • the boundary attribute can be used to define the area enclosed by the map boundary corresponding to the boundary location point.
  • the boundary attribute includes at least one of a target area boundary attribute, a passage boundary attribute, and an obstacle boundary attribute.
  • the boundary of the map obtained by fitting the boundary location points of the boundary attribute of the target area is the boundary of the target area.
  • the target area boundary is the outermost boundary of the working area, and is used to limit the scope of the working area, that is, the working area is located in the area enclosed by the boundary of the target area. As shown in Figure 3, the boundary of the target area may be the outermost boundary of the lawn.
  • the boundary of the map obtained by fitting the boundary location points of the boundary attribute of the channel is the boundary of the channel.
  • the channel boundary is the boundary of the channel in the target area, and is used to define the channel in the working area, that is, when the device moves in the channel in the target area, it cannot exceed the channel boundary.
  • the robot does not need to work in the channel, and the area where the channel is located can also be determined through the boundary of the channel to ensure the normal operation of the robot.
  • the boundary attribute is the boundary of the obstacle, and the boundary of the map obtained by fitting the boundary position point is the boundary of the obstacle.
  • the obstacle boundary may be the boundary of the obstacle in the working area, and is used to delineate the obstacle in the target area. For example, if there is a trash can in the work area, the trash can can be set as an obstacle, and the boundary of the obstacle corresponding to the trash can is used to delineate the area where the trash can is located.
  • the area enclosed by the obstacle boundary may be regarded as an area where the obstacle exists, and the device cannot pass through the area enclosed by the obstacle boundary.
  • the working area of the robot needs to be determined according to different map boundaries.
  • the outermost map boundary is the target area boundary
  • the map boundary within the target area boundary is the obstacle boundary.
  • the working area of the robot is the area determined by the boundary of the target area and the area determined by the boundary of the obstacle is removed.
  • S220 The robot marks the boundary location points whose feature information meets the preset condition on the map data.
  • the map data may include boundary location points and the map boundary obtained after fitting according to the boundary location points.
  • the map data can be sent to the terminal for display.
  • the preset condition is used to judge the quality of the positioning signal corresponding to the feature information.
  • the preset condition may be that the robot cannot perform correct positioning or cannot communicate with other devices based on the signal condition at the boundary position point.
  • the preset condition includes at least one of the following: the number of receivable satellites is less than the threshold of the number of satellites, and the signal-to-noise ratio is not greater than the signal-to-noise ratio Threshold.
  • the threshold of the number of satellites can be set to 4.
  • the signal-to-noise ratio of the robot during communication will also affect the quality of the robot’s communication.
  • the signal-to-noise ratio threshold may be set to 0 dB, and when the signal-to-noise ratio is not greater than 0 dB, it is determined that the characteristic information does not satisfy a preset condition.
  • the boundary position point may be marked.
  • the marked boundary position points do not change their own attributes, and the mark only serves to classify and distinguish the position boundary position points.
  • the boundary position point may be marked as a signal abnormality position point, and the signal abnormality position point may be used to indicate that the signal quality of the positioning signal at the corresponding boundary position point is poor.
  • the boundary location points are collected and the signal quality corresponding to the boundary location points is judged, and after determining the abnormal boundary location points therein, there may be sporadic distribution of abnormal boundary location points in the abnormal boundary location points. If these sporadically distributed abnormal boundary position points are distinguished from the normal boundary position points, the final display image does not clearly highlight these sporadic abnormal boundary position points. In addition, setting physical boundaries for sporadicly distributed abnormal boundary locations will consume more time and resources. Therefore, after the abnormal boundary location points with general signal quality are obtained, the abnormal boundary location points with relatively scattered distribution can be filtered, and the abnormal boundary location points with relatively concentrated distribution can be selected for marking.
  • the boundary position points whose characteristic information meets the preset conditions can be acquired as the abnormal boundary position points, and then based on the abnormal boundary position
  • the distance between the points filters the abnormal boundary location points, and marks the filtered abnormal boundary location points on the map data.
  • filtering the abnormal boundary location points based on the distance between the abnormal boundary location points may be to determine whether the number of other abnormal boundary location points existing in the preset range corresponding to the abnormal boundary location point is less than the number threshold. For example, if the number of abnormal boundary location points within 5 meters from an abnormal boundary location point is less than 5, it can be considered that the distribution of the abnormal boundary location points is relatively sporadic. After screening, the distribution of such abnormal boundary locations is relatively sporadic. The location point is not marked.
  • Marking the boundary location points may also be before fitting the boundary location points.
  • the boundary position points with markers and the boundary position points without markers can be respectively fitted, and the map boundary obtained by fitting the marked boundary position is regarded as the normal boundary.
  • the map boundary obtained by fitting the unmarked boundary position points as the abnormal boundary data.
  • S230 The robot sends the marked map data to the terminal.
  • the map data includes boundary data.
  • the boundary data includes abnormal boundary data marked with specific information and normal boundary data excluding the abnormal boundary data.
  • the specific information is used to mark the map boundary for which the corresponding signal quality does not meet the preset condition.
  • the boundary location points in the map data are marked first, and then the boundary location points are fitted to obtain the map boundary, that is, the abnormal boundary data and the normal boundary data are obtained by fitting according to the labeling situation of the boundary location, then
  • the boundary data includes the abnormal boundary data and the normal boundary data.
  • the specific information is used to distinguish between normal boundary data and abnormal boundary data obtained by fitting the marked boundary position points.
  • the map data also includes the marked boundary location points.
  • the map data includes boundary data and boundary location points. The specific information is used to distinguish the marked boundary position points.
  • the terminal After receiving the map data, the terminal displays the normal boundary data and abnormal boundary data differently when displaying the map data.
  • the terminal After receiving the map data, the terminal displays the map data.
  • the map data includes boundary data, for example, the map boundary obtained by fitting the location points collected by the robot can be displayed on the terminal.
  • the boundary data includes normal boundary data and abnormal boundary data
  • the normal boundary data and the abnormal boundary data can be displayed differently, as shown in FIG. 6, for the normal boundary data and the abnormal boundary data.
  • An example of differentiated display of data is
  • map data is stored in pixels on the terminal, after receiving the map data, the terminal can analyze the map data to determine whether the corresponding map data at each pixel point is normal map data or abnormal map data.
  • the terminal can analyze the map data to determine whether the corresponding map data at each pixel point is normal map data or abnormal map data.
  • display display directly according to the map data category corresponding to each pixel.
  • the normal boundary number and the abnormal boundary data When differently displaying the normal boundary number and the abnormal boundary data, it is not limited to using different colors for display. As shown in FIG. 7, the normal boundary data and the abnormal boundary data are displayed using different textures. Example of display. Of course, the method of distinguishing display is not limited to the above two, and there is no restriction on this.
  • the robot does not filter the abnormal boundary location points scattered in the map data in step S120, and the terminal needs to filter the abnormal boundary location points. Then, before the terminal displays the normal boundary data and the abnormal boundary data differently, the abnormal boundary data may be filtered based on the distance between the abnormal boundary position points in the abnormal boundary data, and then the normal boundary data and the filtered boundary data may be filtered.
  • the abnormal boundary data is displayed differently, so as not to interfere with the map display effect, it can also avoid the user from spending unnecessary time and resources to arrange the physical boundary of the location corresponding to the scattered abnormal boundary data.
  • a specific method of screening the abnormal boundary data based on the distance between the abnormal boundary position points in the abnormal boundary data reference may be made to the description in step S120, which will not be repeated here.
  • the terminal may also prompt the user to arrange a physical boundary on the map boundary corresponding to the abnormal boundary data.
  • the physical boundary includes at least one of a magnetic strip, a label, a railing, and a fence. Magnetic strips and tags can prompt the device, and the device will stop moving forward after sensing the physical boundary; railings and fences can physically block the robot from moving forward. By setting the physical boundary, it can be ensured that when the robot is working in the working area, it will not enter an area with a poor signal to prevent the robot from failing to work normally or from damage to the equipment.
  • the terminal may also display guidance information when prompting the user to arrange the physical boundary.
  • the guidance information is used to guide the user to the abnormal boundary position corresponding to the abnormal boundary data so as to complete the arrangement of the physical boundary.
  • the guidance information may be a route that guides the user to the abnormal boundary location, for example, marking the walking path on a real-world map, a street view map, or a satellite map to guide the user; the guidance information may also be in Real-time navigation information displayed on the terminal, and prompt information prompting the user to arrange the physical boundary when the abnormal boundary position is reached.
  • the foregoing example is only for explaining the guidance information, and does not limit the method for guiding the user to arrange physical boundaries.
  • a scenario example is used to illustrate the above-mentioned map data display method.
  • the lawn mower needs to mow the lawn, it is necessary to determine the distribution area of the lawn as the working area of the lawn mower. Obstacles such as trees and buildings in the lawn will also affect the working area of the lawn mower. Therefore, it is necessary to determine the boundary of the target area of the lawn, the boundary of the passage and the boundary of the obstacle.
  • the user pushes the lawnmower to walk along the lawn boundary, the passage in the lawn, and the obstacle in the lawn respectively.
  • the lawnmower determines the points on the walking path as the boundary position points, and obtains the points at each boundary position. The number of receivable satellites and signal-to-noise ratio.
  • the lawn mower After walking, the lawn mower analyzes the number of receivable satellites and the signal-to-noise ratio to mark points that do not meet preset conditions among the boundary position points. After that, fitting is performed on the marked boundary position points and the unmarked boundary positions to obtain the abnormal boundary and the normal boundary respectively.
  • the map data including the abnormal boundary and the normal boundary is sent to the terminal, and the terminal displays the abnormal boundary and the normal boundary in a differentiated manner.
  • the user can determine the part of the abnormal boundary by viewing the terminal and set a physical boundary on the abnormal boundary, so as to ensure that the lawn mower does not enter the part with poor signal when it is working.
  • the foregoing scenario example is only for better description of an embodiment of a map data display method in this specification, and does not impose any limitation on this.
  • the map boundary is drawn through the above method, if the signal of some parts of the boundary is poor, the signal can be determined according to the characteristics of the positioning signal. The bad part and show the part to the user. When viewing this area, the user can prevent the robot from entering this part of the area, thereby preventing the machine from being unable to communicate with the outside world or being damaged due to abnormal signals, and ensuring the normal operation of the robot.
  • a method for sending map data is also provided.
  • the execution subject of the method is a robot, and the specific implementation steps of the method are as follows:
  • S810 Collect feature information of positioning signals at multiple boundary location points, where the multiple boundary location points are used to fit the map boundary.
  • step S210 For the specific description of this step, reference may be made to the description in step S210, which will not be repeated here.
  • step S220 For the specific description of this step, reference may be made to the description in step S220, which will not be repeated here.
  • step S230 For the specific description of this step, reference may be made to the description in step S230, which will not be repeated here.
  • a method for sending map data is also provided.
  • the execution subject of the method is a terminal, and the specific implementation steps of the method are as follows:
  • S910 Receive map data, where the map data includes boundary data, and the boundary data includes abnormal boundary data marked with specific information and normal boundary data excluding the abnormal boundary data.
  • step S250 For a detailed description of this step, reference may be made to step S250, which will not be repeated here.
  • the map data sending device may be set on the robot, and the map data sending device includes:
  • the information collection module 1010 is configured to collect feature information of positioning signals at multiple boundary position points, and the multiple boundary positions are used to fit the map boundary;
  • the marking module 1020 is used to mark the boundary locations where the feature information meets the preset conditions on the map data
  • the data sending module 1030 is used to send the marked map data to the terminal device.
  • the following describes an embodiment of a map data display device of this specification with reference to FIG. 11.
  • the map data display device can be installed on the terminal, and the map data display device includes:
  • the data receiving module 1110 is configured to receive map data, the map data including boundary data, the boundary data including abnormal boundary data marked with specific information and normal boundary data excluding the abnormal boundary data;
  • the data display module 1120 is configured to display the normal boundary data and the abnormal boundary data differently when displaying the map data.
  • the following describes an embodiment of a robot in this specification.
  • the robot is provided with a device corresponding to the device described in FIG. 10.
  • the robot may include a memory and a processor.
  • the memory can be implemented in any suitable manner.
  • the memory may be a read-only memory, a mechanical hard disk, a solid state hard disk, or a U disk.
  • the memory can be used to store computer instructions.
  • the processor can be implemented in any suitable manner.
  • the processor may take the form of a microprocessor or a processor and a computer readable medium, logic gates, switches, application specific integrated circuits ( Application Specific Integrated Circuit, ASIC), programmable logic controller and embedded microcontroller form, etc.
  • the processor may execute the computer instructions to implement the following steps: acquire a signal quality parameter at a position to be measured in the target area; determine whether the signal quality parameter is greater than a signal quality threshold; if not greater than, add it on the target area map
  • the position to be measured is marked as a blocking position; and the blocking area is determined in the target area map according to the blocking position.
  • the terminal is provided with a device corresponding to FIG. 11 in this specification.
  • the terminal may include a display screen, a memory, and a processor.
  • the display screen can be implemented in any suitable manner.
  • the display screen may be a cathode ray tube display (CRT), a plasma display PDP, a liquid crystal display LCD, and the like.
  • the display screen can be used to display map data.
  • the memory can be implemented in any suitable manner.
  • the memory may be a read-only memory, a mechanical hard disk, a solid state hard disk, or a U disk.
  • the memory can be used to store computer instructions.
  • the processor can be implemented in any suitable manner.
  • the processor may take the form of a microprocessor or a processor and a computer readable medium, logic gates, switches, application specific integrated circuits ( Application Specific Integrated Circuit, ASIC), programmable logic controller and embedded microcontroller form, etc.
  • the processor may execute the computer instructions to implement the following steps: obtain a signal quality parameter at a position to be measured in the target area; determine whether the signal quality parameter is greater than a signal quality threshold; if not greater than, add it on the target area map
  • the position to be measured is marked as a blocking position; and the blocking area is determined in the target area map according to the blocking position.
  • the computer storage medium includes, but is not limited to, random access memory (Random Access Memory, RAM), read-only memory (Read-Only Memory, ROM), cache (Cache), hard disk (Hard Disk Drive, HDD), and memory card ( Memory Card) and so on.
  • the computer storage medium stores computer program instructions. It is realized when the computer program instructions are executed: the program instructions or modules of the embodiment corresponding to FIG. 8 of this specification; and/or the program instructions or modules of the embodiment corresponding to FIG. 9 of this specification.
  • the improvement of a technology can be clearly distinguished between hardware improvements (for example, improvements in circuit structures such as diodes, transistors, switches, etc.) or software improvements (improvements in method flow).
  • hardware improvements for example, improvements in circuit structures such as diodes, transistors, switches, etc.
  • software improvements improvements in method flow.
  • the improvement of many methods and processes of today can be regarded as a direct improvement of the hardware circuit structure.
  • Designers almost always get the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that the improvement of a method flow cannot be realized by the hardware entity module.
  • a programmable logic device Programmable Logic Device, PLD
  • PLD Programmable Logic Device
  • FPGA Field Programmable Gate Array
  • HDL Hardware Description Language
  • ABEL Advanced Boolean Expression Language
  • AHDL Altera Hardware Description Language
  • HDCal JHDL
  • Lava Lava
  • Lola MyHDL
  • PALASM RHDL
  • Verilog2 Verilog2
  • a typical implementation device is a computer.
  • the computer can be, for example, a personal computer, a laptop computer, a cell phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or Any combination of these devices.
  • This manual can be used in many general-purpose or special-purpose computer system environments or configurations.
  • program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types.
  • This specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network.
  • program modules can be located in local and remote computer storage media including storage devices.

Abstract

一种地图数据发送、显示方法、装置、设备及存储介质。所述地图数据发送方法包括：机器人（110）采集在多个边界位置点上定位信号的特征信息，所述多个边界位置点用于拟合地图边界（S210）；机器人（110）在地图数据上对特征信息满足预设条件的边界位置点进行标记（S220）；机器人（110）将标记后的地图数据发送至终端（120）（S230）。所述地图数据显示方法包括：接收地图数据，所述地图数据包括边界数据，所述边界数据包括标记有特定信息的异常边界数据和除去所述异常边界数据以外的正常边界数据（S910）；在显示所述地图数据时，对所述正常边界数据和所述异常边界数据进行区别显示（S920）。根据所述方法，能够方便准确地确定并显示地图边界中信号异常的部分，从而避免机器因为信号较差而无法正常工作的问题。

Description

一种地图数据发送、显示方法、装置、设备及存储介质
本申请要求了申请日为2019年12月09日，申请号为201911248392.2的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本说明书实施例涉及地图绘制技术领域，特别涉及一种地图数据发送、地图数据显示方法、装置及设备。
背景技术
随着社会的进步和科技的发展，利用无需用户操作的机器人来进行一些工作不仅更加便利，也能够解放劳动力。这些无需用户操作的机器，例如割草机、扫地机器人、探测机器人等，为了实现在目标区域的正常工作，往往需要先获取目标区域的地图信息，尤其是关于目标区域的边界以及目标区域中、通道障碍物的边界等地图信息。一般情况下可以直接控制机器在目标区域内移动，从而完成对目标区域地图的绘制。
但是，在对目标区域中的地图信息进行确定的过程中，可能会经过一些信号较差的区域，例如，位于地图边界上的大棚、树木或房屋等。在这些信号异常区域中机器人可能无法正常接收外界信号，甚至可能会因为这些区域的影响导致机器人接收到被干扰的信号后执行错误的指令。在绘制地图边界的过程中，若机器行走至所述信号异常区域时，可能会无法正常获取自身位置信息和用户发出的工作指令，从而导致机器无法正常工作。在所述信号异常区域中存在水沟、游泳池等会对机器人构成危险的部分的时，容易使机器掉入这些危险区域从而损害机器。因此，为了使机器能够在目标区域中正常工作而不会受到信号异常区域的影响，需要在绘制地图边界的过程中确定其中会影响机器人信号的信号异常区域。
发明内容
本说明书实施例的目的是提供一种地图数据发送、地图数据显示方法、装置及设备，以解决如何在绘制地图边界时如何确定其中信号较差的部分的问题。
为了解决上述技术问题，本说明书实施例所提出的一种地图数据发送、地图数据显示方法、装置及设备是这样实现的：
一种地图数据发送方法，包括：
采集在多个边界位置点上定位信号的特征信息，所述多个边界位置点用于拟合地图边界；所述特征信息包括信号质量；所述信号质量根据以下至少一种信息确定：可接收卫星数量、信号信噪比；
在地图数据上对特征信息满足预设条件的边界位置点进行标记；所述预设条件，包括以下至少一种：可接收卫星数量小于卫星数量阈值；信号信噪比不大于信噪比阈值；
向终端发送标记后的地图数据。
一种地图数据发送装置，包括：
信息采集模块，用于采集在多个边界位置点上定位信号的特征信息，所述多个边界位置用于拟合地图边界；所述特征信息包括信号质量；所述信号质量根据以下至少一种信息确定：可接收卫星数量、信号信噪比；
标记模块，用于在地图数据上对特征信息满足预设条件的边界位置进行标记；所述预设条件，包括以下至少一种：可接收卫星数量小于卫星数量阈值；信号信噪比不大于信噪比阈值；
数据发送模块，用于向终端设备发送标记后的地图数据。
一种机器人，所述机器人中设置有所述地图数据发送装置。
一种存储介质，所述存储介质中存储有计算机程序指令，所述计算机程序指令被执行时实现所述地图数据发送方法。
一种地图数据显示方法，包括：
接收地图数据，所述地图数据包括边界数据，所述边界数据包括标记有特定信息的异常边界数据和除去所述异常边界数据以外的正常边界数据；所述边界数据包括地图边界；所述地图边界对应有信号质量；所述特定信息用于标记对应的信号质量不满足预设条件的地图边界；
在显示所述地图数据时，对所述正常边界数据和所述异常边界数据进行区别显示。
一种地图数据显示装置，包括：
数据接收模块，用于接收地图数据，所述地图数据包括边界数据，所述边界数据包括标记有特定信息的异常边界数据和除去所述异常边界数据以外的正常边界数据；所述边界数据包括地图边界；所述地图边界对应有信号质量；所述特定信息用于标记对应的信号质量不满足预设条件的地图边界；
数据显示模块，用于在显示所述地图数据时，对所述正常边界数据和所述异常边界数据进行区别显示。
一种终端，所述终端中设置有所述地图数据显示装置。
一种存储介质，所述存储介质中设置有计算机指令，所述计算机指令用于被执行时实现所述地图数据显示方法。
由以上本说明书实施例提供的技术方案可见，本说明书实施例所介绍的地图数据显示方法能够在确定地图边界时，根据地图边界上各个位置点所采集得到的信号的特征信息，利用预设条件进行判断，可以对满足预设条件的位置点进行标记。在机器人将标记后的地图数据发送至终端后，终端能够对地图数据中的异常地图数据进行区别显示。用户在查看区别显示的地图数据时，可以根据所述标记确定其中满足预设条件的部分。通过上述方法，用户可以确定边界中信号质量较差的部分，从而防止机器人在后续的过程中因为进入信号质量差的区域导致自身受损，确保了机器人的正常工作。
附图说明
为了更清楚地说明本说明书实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本说明书中记载的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本说明书实施例一种地图数据显示系统的结构图；
图2为本说明书实施例一种地图数据显示方法的流程图；
图3为本说明书实施例一种工作区域的示意图；
图4为本说明书实施例一种边界位置点的示意图；
图5为本说明书实施例一种拟合得到的地图边界的示意图；
图6为本说明书实施例一种地图边界显示的示意图；
图7为本说明书实施例一种地图边界显示的示意图；
图8为本说明书实施例一种地图数据发送方法的流程图；
图9为本说明书实施例一种地图数据显示方法的流程图；
图10为本说明书实施例一种地图数据发送装置的模块图；
图11为本说明书实施例一种地图数据显示装置的模块图。
具体实施方式
下面将结合本说明书实施例中的附图，对本说明书实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本说明书一部分实施例，而不是全部的实施例。基于本说明书中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他 实施例，都应当属于本说明书保护的范围。
当今社会，越来越多的机器人可以通过用户远程遥控或者自身预先设定的程序、接收到的指令自动进行工作，无需用户直接操作机器，减少了消耗的劳动力。这些机器在工作时，无论是确定自身位置还是接收用户指令时，都需要机器能够正常收发信号，与外界保持正常通信。但是，无论机器人工作的区域是室内还是室外，往往会存在信号异常区域。所述信号异常区域，包括一些存在遮挡的区域，例如可以是室外的大棚、树荫，室内的桌底等。在这些信号异常区域，机器人在接收信号时往往会受到影响。在机器人无法接收工作指令的情况下，会影响机器人的正常工作；在机器人无法确定自身位置的情况下，会导致机器在错误的区域执行原有的操作，从而会对工作区域或者机器人本身造成损害。因此，当确定机器人工作区域的边界时同时也需要考虑信号异常区域对所述工作区域边界造成的影响。
为了能够更好地理解本发明的技术构思，如图1所示，首先介绍一种能够实现所述技术构思的地图数据显示系统。所述地图数据显示系统包括机器人110和终端120。
所述机器人110可以是割草机器人、扫地机器人、探测机器人等能够在不直接由用户进行手动操控的情况下在目标区域进行工作的机器人。所述机器人110可以获取所处位置的位置信息；所述机器人110可以接受其他设备发送的数据或向其他设备发送数据；所述机器人110可以获取定位信号的特征信息。
所述终端120包括手机终端、计算机终端等。所述终端120可以用于与所述机器人110进行通信，例如接收机器人110发送的地图数据；所述终端120可以解析地图数据并显示所述地图数据；所述终端120可以区分所述地图数据中的正常地图数据和异常地图数据对所述正常地图数据和所述异常地图数据进行区别显示。
基于所述地图数据显示系统，如图2所示，本说明书提供一种地图数据显示方法，所述方法具体包括：
S210：机器人采集在多个边界位置点上定位信号的特征信息，所述多个边界位置点用于拟合地图边界。
边界位置点是位于工作区域边界上的点。边界位置点对应有位置信息，所述位置信息，例如可以是经纬度或者以实际应用场景作为参照系所确定的坐标。边界位置点之间可以具有一定的间距。
工作区域边界是机器人进行工作的区域的边界，可以用于确定机器人的工作区域。例如，在所述机器人为割草机器人时，对应于所述割草机器人的工作区域为草坪，则工作区域边界可以包括所述草坪的边界以及草坪中的通道和障碍物的边界。如图3所示，图中阴影部分为草坪，阴影部分的外围为草坪的边界，阴影部分中的空白区域为草坪中的障碍物或通道的边 界。
所述工作区域边界可以由用户预先设定。例如，在利用机器人确定边界位置点时，用户可以通过手动推动所述机器人或手持所述机器人的方式，控制所述机器人在工作区域边界上移动；机器人将行走路径上所记录下的位置信息作为边界位置点。在一个实施方式中，若所述机器人过大或直接推动不方便，可以拆卸所述机器人上的定位模块。用户可以手持所述定位模块并在工作区域边界上行走，通过这种方式记录工作区域边界上的边界位置点。
在机器人能够根据自身的判断逻辑确定工作区域的情况下，所述工作区域边界也可以由机器人根据自身所采集到的数据分析得到。例如，若所述机器人为割草机器人，且所述割草机器人具备图像采集功能，所述割草机器人可以根据采集的图像确定草坪的边界从而确定工作区域边界。上述示例只是为了对工作区域边界进行进一步解释，对于确定工作区域边界的方法不做限制。
在实际应用的过程中，机器人获取边界位置点时可以是每间隔预设采集时间后将当前所处位置作为边界位置点并记录所述边界位置点的位置信息；或者，所述机器人在获取边界位置点时可以是每移动预设采集距离后将当前所处位置作为边界位置点并记录所述边界位置点的位置信息。或者，所述边界位置点也可以由用户在预先进行设定，当机器人移动至边界位置点对应的位置时采集该位置的定位信号的特征信息。当然，获取边界位置点的方式不限于上述示例，根据实际需求可以利用其它方法获取所述边界位置点。
定位信号是机器人用于确定自身位置时与其他设备进行交流的信号。例如，在机器人利用GPS进行定位时，定位信号可以是机器人与卫星进行交流的信号；在机器人通过周围的信号发射设备例如路由器进行定位时，定位信号可以是机器人与所述信号发射设备进行交流的信号。
特征信息可以是定位信号本身的属性，例如信号的相位、幅度、频率等特征。特征信息包括定位信号的信号质量。具体的，所述信号质量可以包括信号强度、信号稳定性等。在一个实施方式中，所述信号质量还可以包括可接收卫星数量和信号信噪比中的至少一种。
可接收卫星数量表示机器人在对自身进行定位时能够接收信号的卫星数量。卫星定位系统的原理即为需要定位的机器向多颗卫星发送信号，并接收卫星反馈的卫星瞬时定位。根据发送消息与接收消息之间的时间间隔，可以获取当前位置与卫星之间的距离，结合卫星的位置，即可获取当前位置的具体坐标。因此，通过卫星定位系统进行定位的前提即为能够与多颗卫星进行交流通信。根据所述待测量位置处的可接收卫星数量即可反映当前位置能否准确实现定位。
信号信噪比一般为在通信系统中设备解调器输出端信号的有效功率和噪声的有效功率 的比值。信噪比越大，表明输出端中有效信号的比例越大，则信号质量越好。根据设备的信号信噪比能够有效判断当前设备能否正常与其他设备进行通信，从而确定该设备能够正常接收指令或有效向外界传输数据。
通过利用在边界位置点处机器人所连接的可接收卫星数量和/或信号信噪比，可以对边界位置点处机器人的定位信号的信号质量进行一个定量的评价，进一步确定机器人在所述边界位置点处能否正常进行工作，有利于确定机器人的工作区域的有效的边界。
机器人在采集定位信号的特征信息时，可以根据所述定位信号直接获取，也可以是根据所述定位信号的属性计算得到对应的特征信息。结合上述实施方式进行说明，在特征信息为可接收卫星数量时，机器人可以直接根据定位时所接收到的卫星反馈信息所对应的卫星数量确定；在特征信息为信号信噪比时，可以在确定有效信号和噪声的电压之后，通过相应的公式计算得到定位信号的信号信噪比。
机器人在采集所述定位信号的特征信息时，可以是在接收到信号采集指令之后按照预设的方式进行采集；相应的，在接收到采集结束指令后停止采集，将接收到信号采集指令至接收到采集结束指令之间所获取定位信号的各个位置点作为边界位置点。
机器人在采集定位信号的特征信息时，相应的也会对边界位置点的位置信息进行获取。但是，所述边界位置点是位于工作区域边界上的各个离散的点，直接通过这些离散的点并不能直接地对地图边界进行限定。如图4所示，为机器人采集到的边界位置点在地图上的显示情况。因此，在获取得到各个边界位置点的位置信息之后，可以根据对所述边界点进行拟合，从而得到连续的地图边界。拟合即为利用最小二乘曲线拟合法等拟合方式，利用一个函数将多个点包含在函数内，从而根据所述函数得到一条光滑的曲线。应用于本说明的实施例中，如图5所示，可以根据采集的边界点位置拟合得到光滑连续的地图边界。具体的拟合过程可以根据实际情况进行操作，在此不做赘述。通过对边界位置点进行拟合得到地图边界的方式可以避免地图边界出现毛刺等情况，优化所得到的地图边界的形状。
所述边界位置点，还可以对应有边界属性。边界属性可以用于对边界位置点对应的地图边界所围成的区域进行定义。所述边界属性包括目标区域边界属性、通道边界属性、障碍物边界属性中的至少一种。
边界属性为目标区域边界属性的边界位置点拟合得到的地图边界为目标区域边界。目标区域边界是所述工作区域最外围的边界，用于限制所述工作区域的范围，即工作区域位于所述目标区域边界所围成的区域中。如图3所示，目标区域边界可以是草坪最外围的边界。
边界属性为通道边界属性的边界位置点拟合得到的地图边界为通道边界。所述通道边界是所述目标区域中的通道的边界，用于限定工作区域中的通道，即设备在目标区域中的通道 中移动时，不能超出所述通道边界。在有些情况中，机器人无需在通道中进行工作，也可以通过通道边界确定通道所处的区域从而保障机器人的正常工作。
边界属性为障碍物边界属性的边界位置点拟合得到的地图边界为障碍物边界。所述障碍物边界可以是工作区域中的障碍物的边界，用于圈定目标区域中的障碍物。例如，在工作区域中存在一个垃圾桶，所述垃圾桶可以被设定为障碍物，则对应于所述垃圾桶的障碍物边界用于圈定所述垃圾桶所处的区域。利用障碍物边界围成的区域可以被视为障碍物存在的区域，在所述障碍物边界围成的区域中设备无法通行。
在边界位置点的边界属性包括目标区域边界、通道边界、障碍物边界等不同类别时，确定机器人的工作区域时需要根据不同的地图边界进行确定。例如，如图3所示，最外围的地图边界为目标区域边界，目标区域边界内的地图边界为障碍物边界。则机器人的工作区域即为由目标区域边界确定的区域去除由障碍物边界确定的区域所得到的区域。通过对不同边界位置点设置不同的边界属性，可以准确确定机器人的工作区域，保证机器人的正常工作。
S220：机器人在地图数据上对特征信息满足预设条件的边界位置点进行标记。
地图数据可以包括边界位置点和根据所述边界位置点拟合后得到的地图边界。地图数据可以被发送至终端用于展示。
预设条件用于对特征信息所对应的定位信号的质量进行判定。在一个实施方式中，所述预设条件可以是所述机器人基于边界位置点上的信号条件无法进行正确的定位或无法与其他设备进行通信。
具体的，在所述特征信息包括可接收卫星数量和信号信噪比时，所述预设条件包括以下至少一个：所述可接收卫星数量小于卫星数量阈值、信号信噪比不大于信噪比阈值。
在实际应用的过程中，当机器人基于卫星对自身进行定位时，至少需要接收到四个卫星的信号，从而获取三个位置参数和一个钟差参数，才能实现对自身的定位。因此可以设定所述卫星数量阈值为4，当可接收卫星数量小于卫星数量阈值时，机器人可能无法准确对自身进行定位。此外，机器人在进行通信时信噪比的大小也会影响机器人通信的质量，当所述信号信噪比不大于信噪比阈值时，噪声对于有效信号的干扰较大，可能无法导致机器人与其他设备进行正常通信。例如，可以设定所述信噪比阈值为0dB，当所述信号信噪比不大于0dB，判定所述特征信息不满足预设条件。
若某一边界位置点对应的特征信息满足预设条件，可以对所述边界位置点进行标记。标记后的边界位置点并不会改变自身的属性，所述标记只起到对所述位置边界位置点的分类和区别作用。例如，可以将所述边界位置点标记为信号异常位置点，所述信号异常位置点可以用于说明在对应的所述边界位置点上定位信号的信号质量较差。
实际应用中，采集到边界位置点并对边界位置点对应的信号质量进行判断，确定其中的异常边界位置点后，在所述异常边界位置点中可能会出现零星分布的异常边界位置点。若将这些零星分布的异常边界位置点与正常的边界位置点进行区别显示，在最终的显示图像并不明显地突出这些零星分布的异常边界位置点。且针对零星分布的异常边界位置点设置物理边界会消耗较多的时间和资源。因此，在获取到信号质量一般的异常边界位置点之后，可以对其中分布较为零星的异常边界位置点进行过滤，筛选出分布较为集中的异常边界位置点进行标记。
为了实现上述目的，在一个实施方式中，采集在多个边界位置点上定位信号的特征信息后，可以先获取特征信息满足预设条件的边界位置点作为异常边界位置点，再基于异常边界位置点之间的距离对所述异常边界位置点进行筛选，并在地图数据上对筛选后的异常边界位置点进行标记。具体的，基于异常边界位置点之间的距离对所述异常边界位置点进行筛选可以是判断对应于异常边界位置点的预设范围内所存在的其他异常边界位置点的数量是否小于数量阈值，例如，若与一个异常边界位置点之间距离在5米内的异常边界位置点的数量小于5个，则可以认为所述异常边界位置点分布较为零星，筛选之后对于这类分布较为零星的异常边界位置点不进行标记。
对边界位置点进行标记也可以是在对边界位置点进行拟合之前。这样一来，在对边界位置点进行拟合时，可以分别对存在标记的边界位置点和不存在标记的边界位置点进行拟合，将由被标记的边界位置拟合得到的地图边界作为正常边界数据，将由未被标记的边界位置点拟合得到的地图边界作为异常边界数据。
S230：机器人将标记后的地图数据发送至终端。
所述地图数据，包括边界数据。所述边界数据中包含有标记有特定信息的异常边界数据和除去所述异常边界数据以外的正常边界数据。所述特定信息用于标记对应的信号质量不满足预设条件的地图边界。对于所述预设条件的介绍可以参考步骤S120中的说明，在此不再赘述。
若在之前的步骤中是先对地图数据中的边界位置点进行标记，再拟合所述边界位置点得到地图边界，即根据边界位置的标记情况拟合得到异常边界数据和正常边界数据，则所述边界数据中包括所述异常边界数据和所述正常边界数据。所述特定信息用于区别正常边界数据和根据标记后的边界位置点拟合得到的异常边界数据。
若在之前的步骤中先对边界位置点进行拟合得到地图边界，再对边界位置点进行标记，则所述地图数据中还包括标记后的边界位置点。所述地图数据包括中包含边界数据和边界位置点。所述特定信息用于区别标记后的边界位置点。
S240：终端接收到所述地图数据后，在显示所述地图数据时，对正常边界数据和异常边界数据进行区别显示。
终端在接收到地图数据后，显示所述地图数据。在所述地图数据包括边界数据时，如能够在终端上将由机器人采集到的位置点拟合得到的地图边界进行显示。在所述边界数据包括正常边界数据和异常边界数据时，能够对所述正常边界数据和所述异常边界数据进行区别显示，如图6所示，为针对所述正常边界数据和所述异常边界数据进行区别显示的示例。
由于地图数据在终端上是以像素点进行存储的，终端在接受到地图数据后，可以对所述地图数据进行解析，确定在各个像素点处所对应的地图数据是正常地图数据还是异常地图数据，在显示时，直接根据各个像素点所对应的地图数据类别进行显示。
在针对所述正常边界数和所述异常边界数据进行区别显示时，并不局限与利用不同的颜色进行显示，如图7所示，为利用不同的纹理对正常边界数据和所述异常边界数据进行显示的示例。当然，区别显示的方法并不局限与以上两种，对此不作限制。
在一个实施方式中，机器人在步骤S120中并未在地图数据中零星分布的异常边界位置点进行过滤，且需要由终端对所述异常边界位置点进行筛选。则终端对正常边界数据和异常边界数据进行区别显示之前，可以先基于异常边界数据中异常边界位置点之间的距离对所述异常边界数据进行筛选，再对对所述正常边界数据和筛选后的异常边界数据进行区别显示，从而在不干扰地图展示效果的情况下，还能避免用户耗费不必要的时间和资源对零星分布的异常边界数据对应的位置进行物理边界的布置。具体的基于异常边界数据中异常边界位置点之间的距离对所述异常边界数据进行筛选的方法可以参考步骤S120中的说明，在此不做赘述。
在将正常边界数据和异常边界数据进行区别显示之后，所述终端还可以提示用户在所述异常边界数据对应的地图边界上布置物理边界。所述物理边界包括磁条、标签、栏杆和围墙中的至少一种。磁条和标签可以对设备进行提示，设备在感应到所述物理边界后便会停止继续前进；栏杆和围墙可以从物理上阻隔机器人继续前进。通过设置所述物理边界，可以确保机器人在工作区域工作时，不会因为进入信号较差的区域从而防止机器人无法正常工作或设备受损。
在一个实施方式中，所述终端在提示用户布置物理边界时，还可以展示指引信息。所述指引信息用于指引用户前往异常边界数据所对应的异常边界位置从而完成对于物理边界的布置。具体的，所述指引信息可以是指引用户前往所述异常边界位置的行进路线，例如，将行走路径标记在实景地图、街景地图或卫星地图上来对用户进行指引；所述指引信息还可以是在终端上所展示的实时导航信息，以及在到达所述异常边界位置时提示用户布置物理边界的提示信息。上述示例只是为了对所述指引信息进行说明，对于指引用户进行物理边界布置 的方法并不做限定。
利用一个场景示例对上述地图数据显示方法进行说明。在割草机需要对草坪进行割草之前，需要确定草坪的分布区域作为割草机的工作区域。草坪中存在的树木、建筑等障碍物也会对割草机的工作区域造成影响。因此，需要先确定所述草坪的目标区域边界和通道边界和障碍物边界。用户推动所述割草机分别沿草坪边界、草坪中的通道和草坪中的障碍物行走，在行走的过程中割草机确定行走路径上的点作为边界位置点，并获取在各个边界位置点上的可接收卫星数量和信号信噪比。行走完毕后，割草机通过分析所述可接收卫星数量和所述信号信噪比，对所述边界位置点中不满足预设条件的点进行标记。之后，对所述标记后的边界位置点和未标记的边界位置进行拟合，分别得到异常边界和正常边界。将包含所述异常边界和所述正常边界的地图数据发送至终端，终端对所述异常边界和所述正常边界进行区别显示。用户可以通过查看所述终端确定异常边界的部分并在所述异常边界上设置物理边界，从而确保割草机在工作时不会进入信号较差的部分。上述场景示例只是为了对本说明书一种地图数据显示方法的实施例进行更好说明，并不对此造成任何限制。
基于上述地图数据显示方法的实施例和场景示例的介绍，可以看出，通过上述方法，在绘制地图边界时，若边界中的某些部分信号较差，可以根据定位信号的特征确定其中信号较差的部分，并将该部分展示给用户。用户在查看该区域时能够避免机器人进入该部分区域，从而防止机器因为信号异常而无法与外界进行正常通信或出现机器损坏的情况，保障了机器人工作的正常进行。
在本说明书实施例中，还提供一种地图数据发送方法，如图8所示，所述方法的执行主体为机器人，所述方法的具体实施步骤如下所示：
S810：采集在多个边界位置点上定位信号的特征信息，所述多个边界位置点用于拟合地图边界。
该步骤的具体描述可以参照步骤S210中的描述，在此不做赘述。
S820：在地图数据上对特征信息满足预设条件的边界位置点进行标记。
该步骤的具体描述可以参照步骤S220中的描述，在此不做赘述。
S830：向终端发送标记后的地图数据。
该步骤的具体描述可以参照步骤S230中的描述，在此不做赘述。
在本说明书实施例中，还提供一种地图数据发送方法，如图9所示，所述方法的执行主体为终端，所述方法的具体实施步骤如下所示：
S910：接收地图数据，所述地图数据包括边界数据，所述边界数据包括标记有特定信息的异常边界数据和除去所述异常边界数据以外的正常边界数据。
该步骤的具体描述可以参照步骤S230、S240，在此不再赘述。
S920：在显示所述地图数据时，对所述正常边界数据和所述异常边界数据进行区别显示。
该步骤的具体描述可以参照步骤S250，在此不做赘述。
下面结合图10对本说明书一种地图数据发送装置的实施例进行说明，所述地图数据发送装置可以设置于所述机器人上，所述地图数据发送装置包括：
信息采集模块1010，用于采集在多个边界位置点上定位信号的特征信息，所述多个边界位置用于拟合地图边界；
标记模块1020，用于在地图数据上对特征信息满足预设条件的边界位置进行标记；
数据发送模块1030，用于向终端设备发送标记后的地图数据。
下面结合图11对本说明书一种地图数据显示装置的实施例进行说明，所述地图数据显示装置可以设置与所述终端上，所述地图数据显示装置包括：
数据接收模块1110，用于接收地图数据，所述地图数据包括边界数据，所述边界数据包括标记有特定信息的异常边界数据和除去所述异常边界数据以外的正常边界数据；
数据显示模块1120，用于在显示所述地图数据时，对所述正常边界数据和所述异常边界数据进行区别显示。
下面对本说明书一种机器人的实施例进行说明，所述机器人中设置有对应与图10所述装置。
实际应用中，所述机器人可以包括存储器和处理器。
在本实施例中，所述存储器可以按任何适当的方式实现。例如，所述存储器可以为只读存储器、机械硬盘、固态硬盘、或U盘等。所述存储器可以用于存储计算机指令。
在本实施例中，所述处理器可以按任何适当的方式实现。例如，处理器可以采取例如微处理器或处理器以及存储可由该(微)处理器执行的计算机可读程序代码(例如软件或固件)的计算机可读介质、逻辑门、开关、专用集成电路(Application Specific Integrated Circuit，ASIC)、可编程逻辑控制器和嵌入微控制器的形式等等。所述处理器可以执行所述计算机指令实现以下步骤：在目标区域中的待测量位置处获取信号质量参数；判断所述信号质量参数是否大于信号质量阈值；若不大于，在目标区域地图上将所述待测量位置标记为遮挡位置；根据所述遮挡位置，在所述目标区域地图中确定遮挡区域。
下面对本说明书一种终端的实施例进行说明，所述终端中设置有对应于本说明书图11所述装置。
实际应用中，所述终端可以包括显示屏、存储器和处理器。
在本实施例中，所述显示屏可以按任何适当的方式实现。例如，所述显示屏可以为阴极 射线管显示屏(CRT)，等离子显示屏PDP，液晶显示屏LCD等。所述显示屏可以用于显示地图数据。
在本实施例中，所述存储器可以按任何适当的方式实现。例如，所述存储器可以为只读存储器、机械硬盘、固态硬盘、或U盘等。所述存储器可以用于存储计算机指令。
在本实施例中，所述处理器可以按任何适当的方式实现。例如，处理器可以采取例如微处理器或处理器以及存储可由该(微)处理器执行的计算机可读程序代码(例如软件或固件)的计算机可读介质、逻辑门、开关、专用集成电路(Application Specific Integrated Circuit，ASIC)、可编程逻辑控制器和嵌入微控制器的形式等等。所述处理器可以执行所述计算机指令实现以下步骤：在目标区域中的待测量位置处获取信号质量参数；判断所述信号质量参数是否大于信号质量阈值；若不大于，在目标区域地图上将所述待测量位置标记为遮挡位置；根据所述遮挡位置，在所述目标区域地图中确定遮挡区域。
本说明书还提供计算机存储介质的一个实施例。所述计算机存储介质包括但不限于随机存取存储器(Random Access Memory，RAM)、只读存储器(Read-Only Memory，ROM)、缓存(Cache)、硬盘(Hard Disk Drive，HDD)、存储卡(Memory Card)等等。所述计算机存储介质存储有计算机程序指令。在所述计算机程序指令被执行时实现：本说明书图8所对应实施例的程序指令或模块；和/或，本说明书图9所对应实施例的程序指令或模块。
在20世纪90年代，对于一个技术的改进可以很明显地区分是硬件上的改进(例如，对二极管、晶体管、开关等电路结构的改进)还是软件上的改进(对于方法流程的改进)。然而，随着技术的发展，当今的很多方法流程的改进已经可以视为硬件电路结构的直接改进。设计人员几乎都通过将改进的方法流程编程到硬件电路中来得到相应的硬件电路结构。因此，不能说一个方法流程的改进就不能用硬件实体模块来实现。例如，可编程逻辑器件(Programmable Logic Device，PLD)(例如现场可编程门阵列(Field Programmable Gate Array，FPGA))就是这样一种集成电路，其逻辑功能由用户对器件编程来确定。由设计人员自行编程来把一个数字系统“集成”在一片PLD上，而不需要请芯片制造厂商来设计和制作专用的集成电路芯片。而且，如今，取代手工地制作集成电路芯片，这种编程也多半改用“逻辑编译器(logic compiler)”软件来实现，它与程序开发撰写时所用的软件编译器相类似，而要编译之前的原始代码也得用特定的编程语言来撰写，此称之为硬件描述语言(Hardware Description Language，HDL)，而HDL也并非仅有一种，而是有许多种，如ABEL(Advanced Boolean Expression Language)、AHDL(Altera Hardware Description Language)、Confluence、CUPL(Cornell University Programming Language)、HDCal、JHDL(Java Hardware Description Language)、Lava、Lola、MyHDL、PALASM、RHDL(Ruby Hardware Description Language) 等，目前最普遍使用的是VHDL(Very-High-Speed Integrated Circuit Hardware Description Language)与Verilog2。本领域技术人员也应该清楚，只需要将方法流程用上述几种硬件描述语言稍作逻辑编程并编程到集成电路中，就可以很容易得到实现该逻辑方法流程的硬件电路。
上述实施例阐明的系统、装置、模块或单元，具体可以由计算机芯片或实体实现，或者由具有某种功能的产品来实现。一种典型的实现设备为计算机。具体的，计算机例如可以为个人计算机、膝上型计算机、蜂窝电话、相机电话、智能电话、个人数字助理、媒体播放器、导航设备、电子邮件设备、游戏控制台、平板计算机、可穿戴设备或者这些设备中的任何设备的组合。
通过以上的实施方式的描述可知，本领域的技术人员可以清楚地了解到本说明书可借助软件加必需的通用硬件平台的方式来实现。基于这样的理解，本说明书的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在存储介质中，如ROM/RAM、磁碟、光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本说明书各个实施例或者实施例的某些部分所述的方法。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于系统实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
本说明书可用于众多通用或专用的计算机系统环境或配置中。例如：个人计算机、服务器计算机、手持设备或便携式设备、平板型设备、多处理器系统、基于微处理器的系统、置顶盒、可编程的消费电子设备、网络PC、小型计算机、大型计算机、包括以上任何系统或设备的分布式计算环境等等。
本说明书可以在由计算机执行的计算机可执行指令的一般上下文中描述，例如程序模块。一般地，程序模块包括执行特定任务或实现特定抽象数据类型的例程、程序、对象、组件、数据结构等等。也可以在分布式计算环境中实践本说明书，在这些分布式计算环境中，由通过通信网络而被连接的远程处理设备来执行任务。在分布式计算环境中，程序模块可以位于包括存储设备在内的本地和远程计算机存储介质中。
虽然通过实施例描绘了本说明书，本领域普通技术人员知道，本说明书有许多变形和变化而不脱离本说明书的精神，希望所附的权利要求包括这些变形和变化而不脱离本说明书的精神。

Claims (16)

  1. 一种地图数据发送方法，其特征在于，所述方法包括：
    采集在多个边界位置点上定位信号的特征信息，所述多个边界位置点用于拟合地图边界；所述特征信息包括信号质量；所述信号质量根据以下至少一种信息确定：可接收卫星数量、信号信噪比；
    在地图数据上对特征信息满足预设条件的边界位置点进行标记；所述预设条件，包括以下至少一种：可接收卫星数量小于卫星数量阈值；信号信噪比不大于信噪比阈值；
    向终端发送标记后的地图数据。
  2. 如权利要求1所述的方法，其特征在于，所述边界位置点对应有边界属性；所述边界属性，包括以下至少一种：目标区域边界属性、通道边界属性、障碍物边界属性。
  3. 如权利要求1所述的方法，其特征在于，所述在地图数据上对特征信息满足预设条件的边界位置点进行标记，包括：
    在地图数据上将特征信息满足预设条件的边界位置点标记为信号异常位置点。
  4. 如权利要求1所述的方法，其特征在于，所述在地图数据上对特征信息满足预设条件的边界位置点进行标记，包括：
    获取特征信息满足预设条件的边界位置点作为异常边界位置点；
    基于异常边界位置点之间的距离对所述异常边界位置点进行筛选；
    在地图数据上对筛选后的异常边界位置点进行标记。
  5. 如权利要求1所述的方法，其特征在于，所述标记后的地图数据包括边界数据；所述边界数据包括对应于存在标记的边界位置点的异常边界数据和对应于未标记的边界位置的正常边界数据。
  6. 一种地图数据发送装置，其特征在于，所述装置包括：
    信息采集模块，用于采集在多个边界位置点上定位信号的特征信息，所述多个边界位置用于拟合地图边界；所述特征信息包括信号质量；所述信号质量根据以下至少一种信息确定：可接收卫星数量、信号信噪比；
    标记模块，用于在地图数据上对特征信息满足预设条件的边界位置进行标记；所述预设 条件，包括以下至少一种：可接收卫星数量小于卫星数量阈值；信号信噪比不大于信噪比阈值；
    数据发送模块，用于向终端设备发送标记后的地图数据。
  7. 一种机器人，其特征在于，所述机器人中设置有如权利要求6所述的装置。
  8. 一种存储介质，其上存储有计算机程序指令，所述计算机程序指令被执行时实现如权利要求1-5中任一项所述的方法步骤。
  9. 一种地图数据显示方法，其特征在于，所述方法包括：
    接收地图数据，所述地图数据包括边界数据，所述边界数据包括标记有特定信息的异常边界数据和除去所述异常边界数据以外的正常边界数据；所述边界数据包括地图边界；所述地图边界对应有信号质量；所述特定信息用于标记对应的信号质量不满足预设条件的地图边界；
    在显示所述地图数据时，对所述正常边界数据和所述异常边界数据进行区别显示。
  10. 如权利要求9所述的方法，其特征在于，所述信号质量根据以下至少一种信息确定：可接收卫星数量、信号信噪比；
    所述预设条件包括以下至少一种：可接收卫星数量小于卫星数量阈值；信号信噪比不大于信噪比阈值。
  11. 如权利要求9所述的方法，其特征在于，所述对所述正常边界数据和所述异常边界数据进行区别显示之前，还包括：
    基于异常边界数据中异常边界位置点之间的距离对所述异常边界数据进行筛选；
    相应的，所述对所述正常边界数据和所述异常边界数据进行区别显示，包括：
    对所述正常边界数据和筛选后的异常边界数据进行区别显示。
  12. 如权利要求9所述的方法，其特征在于，所述对所述正常边界数据和所述异常边界数据进行区别显示，包括：
    利用不同的颜色和/或纹理对所述正常边界数据和所述异常边界数据进行区别显示。
  13. 如权利要求9所述的方法，其特征在于，所述在显示所述地图数据时，对所述正常边界数据和所述异常边界数据进行区别显示之后，还包括：
    提示用户在所述异常边界数据对应的地图边界上布置物理边界；所述物理边界包括以下至少一种：磁条、标签、栏杆和围墙。
  14. 一种地图数据显示装置，其特征在于，所述装置包括：
    数据接收模块，用于接收地图数据，所述地图数据包括边界数据，所述边界数据包括标记有特定信息的异常边界数据和除去所述异常边界数据以外的正常边界数据；所述边界数据包括地图边界；所述地图边界对应有信号质量；所述特定信息用于标记对应的信号质量不满足预设条件的地图边界；
    数据显示模块，用于在显示所述地图数据时，对所述正常边界数据和所述异常边界数据进行区别显示。
  15. 一种终端设备，其特征在于，所述终端设备中设置有如权利要求14所述的装置。
  16. 一种存储介质，其上存储有计算机程序指令，所述计算机程序指令被执行时实现如权利要求9-13中任一项所述的方法步骤。
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