WO2022242717A1

WO2022242717A1 - Map selection method, self-moving device, and electronic terminal

Info

Publication number: WO2022242717A1
Application number: PCT/CN2022/093850
Authority: WO
Inventors: 廖亮亮; 查霞红; 季晟; 李梦磊
Original assignee: 苏州宝时得电动工具有限公司
Priority date: 2021-05-19
Filing date: 2022-05-19
Publication date: 2022-11-24
Also published as: CN117321527A; CN115391380A

Abstract

Provided are a map selection method, a self-moving device, an electronic terminal, and a computer readable storage medium. The map selection method comprises: sending a map information acquisition request to a cloud server (S901), the map information acquisition request carrying the current location information of the self-moving device; receiving target map information of a target service area (S902), wherein the target map information is obtained by the cloud server according to the location information, and map information comprises boundary information of a service area; and controlling, according to the target map information, the self-moving device to execute a service operation in the target service area (S903). The self-moving device does not need manual connection establishment and settings of the self-moving device, so that the matching efficiency is improved, and manpower and material resources are saved, thereby improving user experience.

Description

A map selection method, self-mobile device, electronic terminal

technical field

The present disclosure relates to the technical field of mobile devices, and in particular to a map selection method, mobile devices, and electronic terminals.

Background technique

With the development of science and technology, self-mobile devices such as sweeping robots, mopping robots, and intelligent lawn mowers have brought convenience to people's production and life. Before the self-mobile device works, it needs to establish and store a working map of a single service area to limit its driving range. Therefore, when the self-mobile device changes the service area, the user needs to recreate the service map. In particular, when the same self-mobile device needs to serve areas such as lawns of multiple different user families, the staff needs to operate the robot multiple times to establish a working map of the current area. This repeated mapping operation has relatively high requirements for operators. Time-consuming and labor-intensive, the user experience effect is not good.

Contents of the invention

In order to overcome the problems existing in related technologies, the present disclosure provides a method for selecting a map, a self-mobile device, and an electronic terminal.

According to the first aspect of the embodiments of the present disclosure, there is provided a method for automatically matching a service area, including: acquiring current location information and a service area identification information set from a mobile device, and the service area identification information set includes one or more different The identification information associated with the service area of the boundary; according to the location information and the service area identification information set, determine the area to be served corresponding to the location information.

In a possible implementation manner, the identification information includes a service area index associated with coordinate information of different service areas, or a specific area identifier associated with a specific marker.

In a possible implementation manner, the service area identification information set includes a plurality of service area indexes associated with coordinate information of different service areas, and according to the location information and the service area identification information set, Determining an area to be served corresponding to the position information includes: acquiring a service area index closest to the coordinates of the position information, and preliminarily determining the service area corresponding to the service area index as the area to be served.

In a possible implementation manner, after initially determining that the service area corresponding to the service area index is the area to be served, it further includes: obtaining the distance between the location information and the service area index, if the distance If it is less than or equal to the first preset value, it means that the current location is within the service area, and the service area is finally determined as the area to be served.

In a possible implementation manner, after the acquiring the distance between the location information and the service area index, it further includes: if the distance is greater than the first preset value, restarting in the service area index The area identification information set traverses other service area indexes closest to the location information; if all the service area indexes in the service area identification information set do not satisfy the distance less than or equal to the first preset value, an error message is generated Or send prompt information to the operator.

In a possible implementation manner, the determining the to-be-served area corresponding to the location information according to the location information and the service area identification information set includes: obtaining the first location closest to the location information A service area index and the next closest second service area index; judging the difference between the distance between the location information and the first service area index and the second service area index and the second preset value relationship, if the difference is greater than the second preset value, determine that the first service area is the area to be served, and if the difference is less than or equal to the second preset value, generate an error prompt or send a message to the operator Prompt information.

In a possible implementation manner, the coordinate information of the service area includes at least one of the following: the coordinates of the center or center of gravity of the inscribed geometric figure of the service area boundary, the extremum of the inscribed geometric figure of the service area boundary Point coordinates, preset position coordinates within the service area.

In a possible implementation manner, the identification information includes a specific area identification associated with a specific marker, and according to the location information and the service area identification information set, determine the location corresponding to the location information The area to be served includes: identifying a specific marker corresponding to the position information, and determining a service area corresponding to a specific area identifier associated with the specific marker as the area to be served.

In a possible implementation manner, the method further includes: acquiring map information of the area to be served, and controlling the self-mobile device to perform a corresponding service operation in the area to be served according to the map information, The map information includes coordinate sets corresponding to areas within the boundary range of the area to be served.

In a possible implementation manner, the acquiring the map information of the area to be served includes: acquiring the map information of the area to be served from the mobile device itself or an external device.

In a possible implementation manner, the obtaining the current location information of the mobile device includes: obtaining the current location information of the mobile device from the mobile device itself or an external device.

In a possible implementation manner, the external device includes at least one of the following: a removable hard disk, an electronic terminal, or a cloud server device.

According to a second aspect of an embodiment of the present disclosure, there is provided an apparatus for automatically matching a service area, including: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the Examples of any of the methods described.

According to the third aspect of the embodiments of the present disclosure, there is provided a self-mobile device that automatically matches a service area, which is characterized in that it includes: a positioning module configured to obtain the current location information and service area identification information set of the self-mobile device, so that The service area identification information set includes identification information associated with one or more service areas with different boundaries; the processing module determines the service area corresponding to the location information according to the location information and the service area identification information set area.

In a possible implementation manner, the positioning module uses satellite positioning or real-time dynamic RTK positioning.

According to a fourth aspect of the present disclosure, a system for automatically matching service areas is provided, the system includes a self-mobile device and a server, the self-mobile device includes a positioning unit, the server includes a storage unit and a processing unit, and the positioning unit , used to obtain the current location information of the device, and send the location information to the server; the storage unit is used to store one or more service area identification information sets with different borders; the processing unit is Configured to perform the Automatch Service Territory method described.

According to a fifth aspect of the present disclosure, a system for automatically matching a service area is provided, the system includes a terminal device and the self-mobile device, the terminal device is used to determine the current location information of the self-mobile device and/or the An area to be served corresponding to the location; the self-mobile device is used to obtain map information corresponding to the area to be served, and the self-mobile device performs corresponding service operations in the area to be served according to the map information.

The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects: the self-mobile device can automatically determine the area to be served corresponding to the location information according to the current location information and the pre-stored service area identification information set, without It is necessary to manually establish a connection and setting with the self-mobile device, which not only improves the matching efficiency, but also saves manpower and material resources, and improves the user experience.

According to the sixth aspect of the embodiments of the present disclosure, there is provided a map selection method, including: sending a map information acquisition request to a cloud server, the map information acquisition request carrying the current location information of the mobile device; receiving the target service area Target map information, wherein the target map information is obtained by the cloud server according to the location information, and the map information includes the boundary information of the service area; according to the target map information, the self-mobile device is controlled in the Perform service operations in the target service region.

In one embodiment, the target map information of the target service area is received, wherein the target map information is selected from at least one map information by the electronic terminal, and the at least one map information is the cloud server according to the location information obtained.

In one embodiment, the cloud server stores a service area identification information set, and the service area identification information set includes a service area index associated with one or more map information of different boundaries; correspondingly, the at least One piece of map information is obtained by the cloud server according to the location information, wherein the at least one piece of map information is determined by the cloud server according to the service area index that satisfies a preset condition with the location information.

In one embodiment, the at least one piece of map information is determined by the cloud server according to the service area index satisfying a preset distance condition with the location information.

In one embodiment, the service area index includes at least one of the following: coordinates of the center or center of gravity of the inscribed geometric figure of the map information, extreme point coordinates of the inscribed geometric figure of the map information, The mapping start coordinates in the map information, and the preset position coordinates in the map information.

In one embodiment, when the cloud server acquires at least two map information according to the location information, the target map information is selected from the at least two map information from the cloud server through the electronic terminal.

In an embodiment, when the cloud server obtains a piece of map information according to the location information, the map information is used as the target map information.

In one embodiment, after controlling the self-mobile device to execute the service operation in the target service area according to the target map information, the method further includes: detecting whether the service operation in the target service area is completed; if completed , then control the self-mobile device to move to the next target service area; when arriving at the next target service area, control the self-mobile device to perform service operations therein based on the received map information of the next target service area.

In one embodiment, the map information of the next target service area is selected by the electronic terminal from at least one area to be served, and the at least one area to be served includes: At least one service region in scope where the service operation needs to be performed.

Before sending the map information acquisition request to the cloud server, the method further includes: acquiring the current location information of the self-mobile device from the self-mobile device itself or an external device.

According to a seventh aspect of an embodiment of the present disclosure, there is provided an autonomous mobile device, including: a housing; a locator configured to be installed on the housing to obtain current location information of the autonomous mobile device; a controller configured to The control module is connected to the moving mechanism and the working module with signals, and controls the self-mobile device to automatically walk and/or work in the service area defined by the boundary; the control module sends a map information acquisition request to the cloud server, The map information acquisition request carries the current location information of the mobile device; receiving the target map information of the target service area, wherein the target map information is obtained by the cloud server according to the location information, and the map information Including boundary information of a service area; controlling the self-mobile device to perform a service operation in the target service area according to the target map information.

According to an eighth aspect of an embodiment of the present disclosure, a map selection method is provided, including: receiving at least one piece of location attribute information sent by a cloud server, the at least one piece of location attribute information is obtained by the cloud server based on the current location information from the mobile device , the location attribute information is related to the map information; displaying the location attribute information; in response to a confirmation instruction triggered for any location attribute information, sending the location attribute identifier of the target service area to the cloud server, wherein, The location attribute identifier corresponds to the location attribute information, the target map identifier is used to query the target map information corresponding to the target service area, the target map information is used to send to the self-mobile device, and the location attribute The data volume of the information is smaller than the map information corresponding to the location attribute information.

In an embodiment, the method may further include: sending a map information acquisition request to the cloud server; and displaying the received target map information.

In one embodiment, the cloud server stores a service area identification information set, and the service area identification information set includes a service area index associated with one or more map information of different boundaries; correspondingly, the at least One piece of location attribute information is obtained by the cloud server according to the location information, wherein the at least one piece of location attribute information is determined by the cloud server according to the service area index that satisfies a preset condition with the location information of.

In one embodiment, the at least one piece of location attribute information is determined by the cloud server according to the service area index satisfying a preset distance condition with the location information.

In an embodiment, the method may further include: receiving a service operation completion instruction sent by the cloud server, the service operation completion instruction being used to instruct the mobile device to complete the service operation in the target service area; displaying at least one The location attribute information of the area to be served, the at least one area to be served includes: at least one service area where the self-mobile device needs to perform service operations within a preset time range; in response to any location attribute information to be served The triggered determination instruction sends the attribute identifier of the location to be served in the selected next target service area to the cloud server.

According to a ninth aspect of the embodiments of the present disclosure, there is provided an electronic terminal, including: a processor and a memory, the memory stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, the The at least one program, the code set or the instruction set is loaded and executed by the processor to implement the map selection method according to any one of the embodiments of the present disclosure.

According to a tenth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, the computer-readable storage medium stores at least one instruction, at least one program, a code set or an instruction set, and the at least one instruction, all The at least one program, the code set or the instruction set is loaded and executed by the processor to implement the map selection method according to any one of the embodiments of the present disclosure.

The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects: when the self-mobile device starts working, the cloud server obtains target map information according to the location information, so that the self-mobile device can be in the target service area according to the target map information Executing service operations does not require staff to repeatedly build maps for the required work areas, which not only improves matching efficiency, but also saves manpower and material resources, and improves user experience and saves time and effort.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description serve to explain the principles of the disclosure.

Fig. 1 shows a flowchart of a method for automatically matching service areas according to an embodiment of the present disclosure.

Fig. 2 shows an application scenario diagram of a method for automatically matching service areas according to an embodiment of the present disclosure.

Fig. 3 shows a block diagram of a mobile device according to an embodiment of the present disclosure.

Fig. 4 shows a schematic structural diagram of a mobile device according to an embodiment of the present disclosure.

Fig. 5 shows a block diagram of a system for automatically matching service areas according to an embodiment of the present disclosure.

Fig. 6 shows a block diagram of a system for automatically matching service areas according to an embodiment of the present disclosure.

Fig. 7 shows a block diagram of a terminal according to an embodiment of the present disclosure.

Fig. 8 shows a block diagram of a server according to an embodiment of the present disclosure.

Fig. 9 shows a schematic diagram of a map selection method according to an embodiment of the present disclosure;

Fig. 10 shows a data interaction workflow diagram of a map selection method according to an embodiment of the present disclosure;

11-13 show a specific application scenario according to an embodiment of the present disclosure;

Fig. 14 shows a schematic diagram of a map selection method according to another embodiment of the present disclosure.

Detailed ways

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present disclosure as recited in the appended claims.

Considering that when receiving multiple mowing tasks from different users, the staff needs to serve the lawns and other areas of different user families every day, especially for the situation that the staff serve the same lawn area at different times at the same time, at this time The staff need to operate the robot multiple times to build a working map of the current area. This kind of mapping operation has relatively high requirements for the operator, which is time-consuming and laborious, and the user experience effect is not good. Based on this, as shown in FIG. 9 , the present application proposes a map selection method. It should be noted that although the present disclosure provides method operation steps as shown in the following embodiments or drawings, more or less operation steps may be included in the method based on routine or no creative effort. In steps that do not logically have a necessary causal relationship, the execution order of these steps is not limited to the execution order provided by the embodiments of the present disclosure.

Specifically, an embodiment of a map selection method provided by the present disclosure is shown in FIG. 9 . The method can be applied to automatic mobile devices, electronic terminals or removable hard disks, and can include:

S901: Send a map information acquisition request to the cloud server, where the map information acquisition request carries the current location information of the mobile device.

In an embodiment of the present application, before the mobile device is controlled to plan a route according to the location information and target map information, it can be controlled to send a map information acquisition request to the cloud server, so as to ensure that it can perform service operations normally.

Specifically, sending a map information acquisition request to the cloud server may be triggered based on but not limited to at least one of the following operations, including: when the current location information is obtained, starting the self-mobile device, and controlling the self-mobile device to perform service operations . Detecting that the self-mobile device arrives at a starting position. When the mobile device arrives near the working area of the required service, the user turns on the mobile device, so that the mobile device sends a map information acquisition request to the cloud server.

S902: Receive target map information of a target service area, where the target map information is acquired by the cloud server according to the location information, and the map information includes boundary information of the service area.

In this embodiment, first the cloud server obtains at least one map information according to the current location information of the mobile device, and then selects the target map information from the at least one map information through the electronic terminal, and then the cloud server sends the target map information to the mobile device .

In one embodiment of the present application, a service area identification information set is stored in the cloud server, and the service area identification information set includes a service area index associated with one or more map information of different boundaries, which may include but not limited to the following At least one of: the coordinates of the center or center of gravity of the inscribed geometric figure in the map information, the extreme point coordinates of the inscribed geometric figure in the map information, the starting coordinates of mapping in the map information, and the preset position of the user in the map information coordinate.

In one embodiment, the cloud server can select at least one map information from the memory according to the location information in the following manner, including: according to the distance between the obtained location information and the service area index of different maps, select a map that meets the preset distance requirement (such as 1km) map as the target map. When the self-mobile device sequentially uses multiple maps satisfying the preset distance requirement to perform service operations, safe free switching can be realized.

In another embodiment, the cloud server can also select at least one map information from the memory according to the location information in the following manner, including: according to the acquired location information, the community or the club where the location information is located (such as a club with multiple stadiums) , using multiple map information in the community or club as the target map.

Specifically, when the cloud server obtains a map information according to the location information, the map information may be directly used as the target map information. When the cloud server obtains one or more map information according to the location information, the target map information can be determined from at least one map information from the cloud server through the electronic terminal. When the cloud server fails to obtain the map information according to the position information, it sends error prompt information to the electronic terminal, where the error prompt information is used to indicate that the map information is not obtained according to the position information.

Further, when the cloud server obtains one or more map information according to the location information, the electronic terminal can follow the schematic diagram of a map selection method according to another embodiment of the present disclosure as shown in FIG. 14 to realize the selection of the target service area ( In the following embodiments of automatically matching the service area (also referred to as the destination of the area to be served), the following steps are included:

S1401: Receive at least one location attribute information sent by the cloud server, the at least one location attribute information is obtained by the cloud server according to the current location information of the mobile device, and the location attribute information is related to the map information;

S1402: Display the location attribute information;

S1403: In response to a confirmation instruction triggered for any location attribute information, send the location attribute identifier of the target service area to the cloud server, wherein the location attribute identifier corresponds to the location attribute information, and the target map The identification is used to query the target map information corresponding to the target service area, the target map information is used to send to the self-mobile device, and the data volume of the location attribute information is smaller than the map information corresponding to the location attribute information.

The location attribute information may be location information associated with map information. For example, the location attribute information may be the latitude and longitude coordinates of the map information or the communication address.

In this embodiment, the electronic terminal displays the acquired location attribute information corresponding to at least one map information, and the staff selects the location attribute information that needs to perform service operations from the mobile device from the information, and sends the location attribute information through the cloud server Transfer to the mobile device so that the corresponding map can be loaded from the mobile device. Further, sending location attribute information with a small amount of data to the electronic terminal can reduce traffic consumption.

After the electronic terminal sends the location attribute identifier of the target service area to the cloud server, the electronic terminal can send a map information acquisition request to the cloud server, load and display the target map information from the cloud server for the staff to check the working conditions of the equipment in real time.

The present embodiment is described below through the data interaction workflow shown in FIG. 10. Specifically, the following steps may be included:

S1001: Sending a map information acquisition request from the mobile device to the cloud server;

S1002: The cloud server receives a map information acquisition request;

S1003: The cloud server selects at least one piece of map information that meets preset requirements according to the location information;

S1004: The cloud server sends at least one location attribute information corresponding to the map information to the electronic terminal display;

S1005: The electronic terminal receives location attribute information;

S1006: The electronic terminal displays location attribute information;

S1007: After viewing the displayed information, the user selects the location attribute information to be used by the mobile device, so as to send the location attribute identifier to the cloud server;

S1008: The cloud server receives the location attribute identifier;

S1009: The cloud server queries the target map information corresponding to the location attribute identifier;

S1010: Send the target map information to the mobile device through the cloud server;

S1011: Receive target map information from the mobile device;

S1012: Control the mobile device to perform service operations based on the received target map information.

After the cloud server determines at least one piece of map information according to the way that the service area index and the current location information of the self-mobile device satisfy the preset distance condition, the cloud server can send the corresponding location attribute information to the electronic terminal, so that the display of the electronic terminal The location attribute information is displayed for the user to select. When there are multiple location attribute information displayed, the user can select the corresponding target service area according to the assigned task of the required operation, and the electronic terminal can send the target map identification of the target service area to the cloud server, and the cloud server Identify and query the target map information corresponding to the target service area and send it to the self-mobile device, so that the self-mobile device performs service operations in the target service area according to the target map information. Similarly, the electronic terminal can also send a map information acquisition request to the cloud server and display the received target map information.

In another embodiment, the cloud server fails to select map information that meets the requirements from the memory according to the location information, so as to send and display an error message to the electronic terminal. The error message is used to indicate that the location attribute is not obtained according to the location information. information.

In the embodiment of the present application, after the mobile device arrives at the current location to be set off for work, at least one map information that meets certain requirements is obtained through the cloud server based on the current location information, and then the at least one map information is obtained from the electronic terminal. Select the map that needs to be worked in, and the mobile device can perform service operations based on the map after receiving the map, so that the staff does not need to repeatedly build maps for the required work area, saving time and effort.

S903: Control the self-mobile device to perform a service operation in the target service area according to the map information.

In this embodiment, after controlling the self-mobile device to execute the service operation in the target service area according to the map information, the method may further include: detecting whether the self-mobile device has completed the service operation in the target service area; if completed, controlling The self-mobile device moves to the next target service area; when the next service area is reached, the self-mobile device is controlled to perform a service operation therein based on the received map information of the next target service area. That is, after completing the work in the target service area, the self-mobile device can automatically acquire the map of the next target service area and automatically walk to the next target service area to perform service operations.

The map information of the next target service area may be selected from at least one piece of map information through the electronic terminal. For a specific selection method, reference may be made to the method for selecting target map information in the preceding embodiments. In another embodiment, the electronic terminal may select from at least one area to be served, and the at least one area to be served includes: at least one service area where the mobile device needs to perform service operations within a preset time range, for example: All service areas that need to be serviced for the day received by staff prior to server operations.

At this time, the electronic terminal can select the next target service area according to the following steps, which may include:

The electronic terminal receives the service operation completion instruction sent by the cloud server, and the service operation completion instruction is used to instruct the self-mobile device to complete the service operation in the target service area;

The electronic terminal displays the location attribute information of at least one area to be served, and the at least one area to be served includes: at least one service area where the mobile device needs to perform a service operation within a preset time range;

The electronic terminal sends the attribute identifier of the location to be served in the selected next target service area to the cloud server in response to a determination instruction triggered by any location attribute information to be served. When the cloud server receives the attribute identifier of the location to be served, it sends it to the self-mobile device, so that the self-mobile device loads the map information of the next target service area.

The map selection method in this application will be described below through a specific application scenario. The self-mobile device in this scenario is the lawnmower 500 shown in FIG. 4 . It should be noted that this application scenario is only used to describe an embodiment of the present application, and does not limit the present application in any way.

As shown in Figure 11-13, the worker Xiao Wang received the task of mowing lawns A and C. When he arrived at point D as shown in Figure 11, he started the mower, so that The server sends the current location D. According to steps S901 to S902 and S1401 to S1403, the cloud server obtains the map within 500m from the current location, so a display window as shown in Figure 12 will pop up on Xiaowang's mobile phone, which shows The queried two map information A, C (shown as a circle) and the current location (shown as a highlighted triangle, shown in grayscale in the figure), the latitude and longitude of A and C, and the distance between A and C and the current location D Approximate distance between. Xiao Wang chooses the lawn C that is closer to the current location, so that the mower loads the map shown in Figure 13 from the cloud server and executes the mowing work according to the loaded map. After finishing the mowing work on lawn C, select the finish button on the lawn mower, so that Xiao Wang can check on the mobile phone that lawn A is still not working, select lawn C on the mobile phone, and the lawn mower receives the map of lawn C After and control the execution of mowing work.

Fig. 1 shows a flowchart of a method for automatically matching service areas according to an embodiment of the present disclosure. It should be noted that although the present disclosure provides method operation steps as shown in the following embodiments or drawings, more or less operation steps may be included in the method based on routine or no creative work. In the steps where logically there is no necessary causal relationship, the execution order of these steps is not limited to the execution order provided by the embodiments of the present disclosure.

Specifically, an embodiment of a method for automatically matching a service area provided by the present disclosure is shown in FIG. 1 , and the method can be applied to an automatic mobile device, an electronic terminal or a server, including:

Step S101, obtaining the current location information and service area identification information set from the mobile device, the service area identification information set including identification information associated with one or more service areas with different boundaries;

Step S102, according to the location information and the service area identification information set, determine the area to be served corresponding to the location information.

In the embodiment of the present disclosure, the self-moving equipment may include automatic lawn mowers, automatic snow plows, automatic sprinklers, etc., and can drive or exercise freely according to a preset planned route without human participation to complete Corresponding functions such as mowing, snow plowing and watering. In the embodiment of the present disclosure, the service area may include a working area of the mobile device, such as a mowing area of a lawnmower. The user may also be used as a unit, and the service area includes the user's residence, the work area in the courtyard, and other buildings. The identification information may be used to uniquely identify the service area, and may include a service area index associated with coordinate information of different service areas, for example, the coordinates of a preset location within the service area are used as the service area index The identification information may also include a specific area identification associated with a specific marker, for example, the house number of the user's residence; the identification information may also include preset marker information, and the preset marker may be The information is placed in a preset location, for example, the QR code, barcode and other identifiable codes corresponding to the service area. In the embodiment of the present disclosure, the current location information obtained from the mobile device in step S101 may be obtained through a positioning module (in this application, also referred to as a locator) set by the mobile device itself, and the locator may include satellite positioning, LiDAR positioning, wifi positioning, etc., are not limited in this disclosure.

In the embodiment of the present disclosure, step S102 determines the area to be served corresponding to the location information according to the location information and the service area identification information set, which may include: In an example, the service area identification information set A specific area identifier associated with a specific marker at the current location of the self-mobile device may be preset. For example, the self-mobile device may use a visual sensor to obtain the house number of the user's house, so as to determine the waiting room that matches the house number. Service Area. In an example, the set of service area identification information may include an index of a service area associated with coordinate information of different service areas, for example, the index is the coordinates of the center position of the service area, calculated from the current location information of the mobile device For the distance to the index, the service area corresponding to the index with the shortest distance is determined as the area to be served. In an example, the service area identification information set may include preset sign information, for example, at the entrance of the user's lawn boundary, a sign is set with identification information printed on it, and the self-mobile device approaches the For the sign, the identification information is obtained from the mobile device using a laser radar sensor, so as to determine the area to be served that matches the identification information. It should be noted that, according to the location information and the service area identification information set, the method of determining the setting of the area to be served corresponding to the location information is not limited to the above examples, and those skilled in the art can understand the technical essence of this application Under the inspiration, other changes may also be made, but as long as the functions and effects realized are the same or similar to those of the present application, they shall all be covered within the protection scope of the present application.

Fig. 2 shows an application scenario diagram of a method for automatically matching service areas according to an embodiment of the present disclosure. Referring to FIG. 2, the self-mobile device 200 is placed within the service area boundary 201, and the self-mobile device 200 may be provided with a positioning module to determine its location information. After the mobile device 200 obtains its current location information, according to the location information and the service area identification information set, for example, the service includes the index of the service area associated with the coordinate information of different service areas, for example, the index is the coordinate of the center position of the service area, calculate the distance from the current location information of the mobile device 200 and the index, and determine the service area corresponding to the index with the shortest distance as the area to be served. The self-mobile device 200 can also identify the house number information on the user's residence 202, and use the association relationship between the house number and the service area stored in the service area identification information set to determine the area to be served that matches the house number.

In the embodiment of the present disclosure, the self-mobile device can automatically determine the area to be served corresponding to the location information according to the current location information and the pre-stored service area identification information set, without manually establishing a connection with the self-mobile device and The setting not only improves the matching efficiency, but also saves manpower and material resources, and improves the user experience.

In a possible implementation manner, the service area identification information set may include multiple service area indexes associated with coordinate information of different service areas.

In a possible implementation manner, step S102, according to the location information and the service area identification information set, determines the area to be served corresponding to the location information, which may include:

Obtain the service area index closest to the location information coordinates, and preliminarily determine that the service area corresponding to the service area index is the area to be served.

In the embodiment of the present disclosure, the service area identification information set may include a plurality of service area indexes associated with coordinate information of different service areas. The coordinates of the center position of each service area are used as the service area index corresponding to the service area. In the embodiment of the present disclosure, the acquisition of the service area index closest to the position information coordinates, in an example, for example, the service area index can be expressed as C(x ₁ , y ₁ ), from the current position of the mobile device The information can be expressed as D(x ₂ , y ₂ ), and the service area identification information set can include service area indexes corresponding to multiple service areas, that is, there are multiple service area indexes, which can be calculated by the following formula Distance between service area index and current location:

The corresponding service area index with the smallest distance may be used as the service area index with the closest distance to the location information coordinates. In the embodiment of the present disclosure, the service area index may be associated with the coordinate information of the service area, and the service area index closest to the current location information coordinates of the self-mobile device may represent the service area closest to the self-mobile device. Therefore, the present disclosure An embodiment may initially use the nearest service area as an area to be served.

In the embodiments of the present disclosure, by obtaining the service area index closest to the location information coordinates, the service area corresponding to the service area index can be preliminarily determined as the area to be served, and the distance between the location information coordinates and the service area index can be calculated. , the service area closest to the location of the self-mobile device can be quickly and accurately determined, and the closest service area, generally speaking, can be determined as the service area corresponding to the location, and has a higher hit rate.

In a possible implementation manner, after initially determining that the service area corresponding to the service area index is the area to be served, it may further include:

Obtain the distance between the location information and the service area index, if the distance is less than or equal to a first preset value, it means that the current location is within the service area, and finally determine that the service area is the area to be served.

In the embodiments of the present disclosure, according to the closest service area index determined in the above embodiments, there is still a possibility that the current location information of the mobile device does not fall within the service area. For example, the self-mobile device is currently in user A's courtyard, but the coordinate information of user A's service area has not been stored, that is, there is no user A's service area index and corresponding map information in the service area identification information set. According to the above embodiment, the determined service area index closest to the position information coordinates may be the service area index of its neighbor user B, therefore, it is necessary to verify whether the self-mobile device is located within the service area of user A. In an example, by obtaining the distance between the location information and the service area index, if the distance is less than or equal to a first preset value, it means that the current location is within the service area, and finally determine The service area is the area to be served.

In the embodiments of the present disclosure, by acquiring the distance between the location information and the service area index and comparing it with the first preset value, the service area matching the location information of the mobile device can be determined more accurately.

In a possible implementation manner, after the acquiring the distance between the location information and the service area index, it may further include:

If the distance is greater than the first preset value, re-traversing other service area indexes closest to the location information in the service area identification information set;

If all the service area indexes in the service area identification information set do not meet the requirement that the distance is less than or equal to the first preset value, an error prompt is generated or a prompt message is sent to the operator.

In the embodiment of the present disclosure, if the distance between the current location information of the mobile device and the index of the closest service area is greater than the first preset value, it means that the mobile device is not in the service area with the closest distance. A possible remote cause is that the determined service area index with the closest distance is wrong, therefore, in an example, traverse other service area indexes closest to the location information in the service area identification information set again, and calculate From the distance between the current location information of the mobile device and the nearest service area index traversed, if all the service area indexes in the service area identification information set do not meet the distance less than or equal to the first preset value, then Generate an error message or send a message to the operator. In the later stage, the service area of the self-mobile device is manually determined by the operator.

It should be noted that the embodiment of the present disclosure does not limit the specific size of the first preset value, which can be set by those skilled in the art according to needs and actual conditions.

In the embodiment of the present disclosure, by comparing the distance with a first preset value, if the distance is greater than the first preset value, re-traversing other services closest to the location information in the service area identification information set The area index can prevent the error caused by determining the nearest service area index for the first time, and retraverse to obtain the nearest service area so as to improve the matching accuracy, and all service area indexes in the service area identification information set are determined If the distance is not less than or equal to the first preset value, an error prompt may be generated or a prompt message may be sent to the operator to issue an alarm or allow the operator to determine the service area, so as to improve the work efficiency of the self-mobile device.

In a possible implementation manner, step S102 determines an area to be served corresponding to the location information according to the location information and the service area identification information set, which may include:

Obtain the first service area index closest to the location information and the second closest second service area index;

judging the relationship between the distance difference between the location information and the first service area index and the second service area index and a second preset value, if the difference is greater than the second preset value, Then it is determined that the first service area is the area to be served, and if the difference is less than or equal to the second preset value, an error prompt is generated or a prompt message is sent to the operator.

In the embodiment of the present disclosure, the first service area index closest to the current location information of the mobile device and the second closest second service area index may correspond to the first service area and the second service area respectively. In this embodiment of the present disclosure, it is possible to determine whether the first service area is located by judging the relationship between the distance difference between the location information, the first service area index, and the second service area index, and a second preset value. Can be used as an area to be served. In an example, for example, the distance between the location information and the first service area index is 16m, and the distance between the location information and the second service area index is 17m, indicating that the mobile device is located between the first service area and the second service area index. Between the two service areas, the difference between the above two distances is 1m, assuming that the second preset value is 5m, it can be determined that the distance between the location information and the first service area index and the second service area index is respectively The difference between the distances is smaller than the second preset value, that is, the difference between the above two distances is small. In this case, due to factors such as positioning, the second closest service area may actually be the self-moving The area to be served by the device. Therefore, in this case, an error message is generated or a prompt is sent to the operator. Later, the service area of the mobile device is manually determined, which can avoid the situation of wrongly confirming the area to be served and improve the accuracy of determining the area to be served. Regional accuracy and efficiency. In another example, for example, the distance between the location information and the first service area index is 18m, the distance between the location information and the second service area index is 30m, and the difference between the above two distances is 12m, then it can be determined that the If the distance difference between the location information and the first service area index and the second service area index is greater than the second preset value, that is, if the difference between the above two distances is large, it means that the service area with the closest distance is is the to-be-served area of the self-mobile device. In this case, the embodiments of the present disclosure can accurately and quickly determine that the closest service area is the to-be-served area. In the embodiment of the present disclosure, a second preset value can be set to constrain the above-mentioned distance difference, greater than the second preset value indicates that the above-mentioned difference is large, and less than or equal to the second preset value indicates that the above-mentioned difference is small Of course, the embodiment of the present disclosure does not limit the specific size of the second preset value, which can be determined by those skilled in the art according to needs and actual conditions.

In a possible implementation manner, the coordinate information of the service area may include at least one of the following:

The coordinates of the center or center of gravity of the inscribed geometric figure of the service area boundary, the extreme point coordinates of the inscribed geometric figure of the service area boundary, and the preset position coordinates within the service area.

In the embodiment of the present disclosure, considering that the boundary of the service area may have an irregular shape, such as the boundary of the service area 201 in FIG. The center or center of gravity coordinates of the inscribed geometric figure of the area boundary are used as the service area index; in another example, the extreme point coordinates of the inscribed geometric figure of the service area boundary can be used as the service area index, and the extreme point coordinates It can be the coordinates of the vertices of the inscribed geometric figure as the service area index; in another example, the preset position coordinates within the service area can be used as the service area index, for example, the position coordinates 15 meters away from the service area boundary are used as The service territory index for this service territory. It should be noted that the coordinate information of the service area is not limited to the above examples, and those skilled in the art may make other changes under the inspiration of the technical essence of this application, as long as the functions and effects realized are the same as those of this application or Similar, should be covered within the protection scope of this application.

In the embodiment of the present disclosure, any one of the coordinates of the center or center of gravity of the inscribed geometric figure of the service area boundary, the extreme point coordinates of the inscribed geometric figure of the service area boundary, and the preset position coordinates in the service area is set as the service area The coordinate information can adapt to the boundary shape of different service areas, and improve environmental adaptability and flexibility.

In a possible implementation manner, the identification information includes a specific area identification associated with a specific marker,

In a possible implementation manner, step S102 determines an area to be served corresponding to the location information according to the location information and the service area identification information set, and may further include:

A specific marker corresponding to the location information is identified, and a service area corresponding to a specific area identifier associated with the specific marker is determined as the area to be served.

In the embodiment of the present disclosure, the specific markers include the user's house, porch, landscape in the lawn, etc., and the corresponding specific area identifiers associated with the specific markers may include the house number in front of the house, the preset number on the porch, etc. There are two-dimensional codes, identification symbols on the landscape, etc., and the corresponding service area can be uniquely identified through the specific area identification.

In an example, the identifying the specific marker corresponding to the location information, and determining the service area corresponding to the specific area identifier associated with the specific marker as the area to be served may include, in an example, the The specific marker is the user's house, and the self-mobile device is placed in front of the door of the house, and the self-mobile device determines the service area matching the house number by scanning the house number; in another example Wherein, the specific marker is the user's landscape, and the sub-mobile device is placed in front of the landscape, and the self-mobile device scans the two-dimensional code on the landscape to determine the service that matches the two-dimensional code area.

In the embodiment of the present disclosure, by identifying the specific marker corresponding to the location information, the service area corresponding to the specific area identifier associated with the specific marker is determined as the area to be served, and the rapid matching of the service area can be realized based on the specific marker , using the uniqueness and uniqueness of specific markers to accurately determine the area to be served.

In a possible implementation manner, the method for automatically matching a service area may further include:

Obtain map information of the area to be served, and control the self-mobile device to perform corresponding service operations in the area to be served according to the map information.

In this embodiment of the present disclosure, the map information may include a coordinate set corresponding to an area within a boundary range of the area to be served. The controlling the self-mobile device to perform corresponding service operations in the area to be served according to the map information may specifically include: according to the pre-planned driving route in the map information, controlling the self-mobile device in the planned Drive on the driving path and complete the corresponding work. In one example, for example, the self-moving device is a lawn mower, and the self-moving device is controlled to complete the mowing work in the corresponding service area; in another example, for example, the self-moving device is a snowplow , then control the self-mobile device to complete the work of sweeping snow in the corresponding service area; in another example, for example, the self-mobile device is sweeping, then control the self-mobile device to complete the work of sweeping the floor in the corresponding service area .

In the embodiments of the present disclosure, by acquiring the map information of the area to be served, and controlling the self-mobile device to perform corresponding service operations in the area to be served according to the map information, the working area at the current location can be automatically identified, and the obtained Map information, performing service operations based on the map information can improve the work efficiency of the self-mobile device, and can reduce user operations and save labor costs.

In a possible implementation manner, the acquiring the map information of the area to be served may include: acquiring the map information of the area to be served from the mobile device itself or an external device.

In a possible implementation manner, the current location information obtained from the mobile device may include:

The current location information of the self-mobile device is obtained from the self-mobile device itself or an external device.

In the embodiment of the present disclosure, the map information can be stored in the internal memory of the mobile device, and the map information can also be provided by an external device. In an example, the external device can include a removable hard disk, an electronic terminal or a cloud server equipment. The removable hard disk is such as a U disk, and the electronic terminal may include, for example, a mobile phone, a tablet computer, or a notebook computer. The map information is obtained by using a storage medium such as a U disk, a mobile hard disk, a mobile phone, a tablet computer or a notebook computer. In an example, the removable hard disk and the electronic terminal may be connected to a self-mobile device to acquire the map information. In another example, the self-mobile device may also be connected to a cloud server device to acquire the map information.

In the embodiment of the present disclosure, by acquiring the map information and/or location information of the area to be served from the self-mobile device itself or an external device, the speed of obtaining map information and/or location information can be improved, thereby improving the work of the self-mobile device. efficiency.

Referring to FIG. 3 , the self-mobile device 200 that automatically matches the service area may include:

The positioning module 210 is configured to obtain the current location information and service area identification information set from the mobile device, and the service area identification information set includes identification information associated with one or more service areas with different boundaries;

The processing module 220 is configured to determine an area to be served corresponding to the location information according to the location information and the service area identification information set.

The self-mobile device in the embodiment of the present disclosure can automatically determine the service area corresponding to the location information according to the current location information and the pre-stored service area identification information set, without manually establishing a connection and setting with the self-mobile device , not only improves matching efficiency, but also saves manpower and material resources, and improves user experience.

The following takes the self-moving pen as an example of mowing equipment for an exemplary introduction. Referring to FIG. 4, a mowing equipment 500 may include:

The lawnmower body 501 is provided with a working module 502 (also referred to as a blade) on the lawnmower main body 501 , and a driving motor for driving the working module 502 to work. The working module 502 may include a cutting blade, which may be driven by a cutting motor. The center of the working module 502 is located on the central axis of the main body of the mowing equipment 501 , arranged below the main body of the mowing equipment 501 , between the auxiliary wheel and the driving wheel, and can also be located on the left or right side of the main body of the mowing equipment 501 .

The positioning module 210 is arranged on the main body 501 of the mowing equipment, and is used for determining the position information of the mobile equipment. The positioning module may include satellite positioning, laser radar positioning, wifi positioning and the like. The lawn mower installed with the positioning module can be remotely controlled to walk along the boundary to obtain the map information of the service area; the user can obtain the map information of the service area by walking along the boundary with the user's hand-held positioning module; or the user can push the small pusher installed with the positioning module The car walks along the boundary to obtain the map information of the service area, which is not limited in this application.

According to the device for automatically matching a service area according to any embodiment of the present disclosure, the device is arranged on the main body of the mobile device, and is electrically connected with the positioning module and the working module.

A moving module (also called a traveling wheel), the moving module includes a wheel set and a driving motor for driving the wheel set to move. Generally, the wheel set includes a driving wheel 503 driven by a traveling motor and an auxiliary wheel 504 for assisting in supporting the main body 501 of the mowing equipment. It is understood that the mobile module may include a track structure. wheel, the right drive wheel and the left drive wheel are each equipped with a travel motor to achieve differential output control steering; Drive wheel and left drive wheel to achieve differential output control steering.

A control module (also referred to as a controller), the control module is electrically connected to the device for identifying obstacles and the mobile module, and is used to control the movement and operation of the mowing equipment. The control module receives the identification signal transmitted by the device for identifying obstacles, and executes preset obstacle avoidance measures when it is determined that there is an obstacle area ahead. The obstacle avoidance measures include turning or making a U-turn when the distance from the obstacle is preset, so as to change the driving direction.

In the embodiment of the present disclosure, the mowing equipment 500 may further include a marker identification module, a power supply module, a communication module, and a display module. The marker identification module may include visual sensors, infrared sensors, microwave sensors, etc., for identifying specific markers. The power supply module is used to provide power for the movement and movement of the robot. The power supply module is fixed or detachably installed in the casing, and may include a battery pack and the like. When working, the battery pack releases electric energy to keep the mower working and walking. When not working, the battery can be connected to an external power source to supplement power; the automatic lawn mower can also automatically find a base station to supplement power when it detects that the power is insufficient. The communication module can be used for communication between the mower and the client or server. The display module can be used for the user to input data to the mowing equipment, such as inputting the height of the grass or inputting the sensitivity value of the ultrasonic sensor.

In a possible implementation manner, the positioning module includes a satellite positioning module and an RTK module, so as to use satellite positioning or real-time dynamic RTK positioning.

In the embodiment of the present disclosure, the satellite positioning module can include signals sent from the combined global navigation satellite system GNSS, and can also include signals sent by independent navigation satellite systems, such as GPS in the United States, Glonass in Russia, and Galileo in Europe. As well as China's Beidou satellite navigation system, which can also include related augmentation systems such as the United States' WAAS (Wide Area Augmentation System), Europe's EGNOS (European Geostationary Navigation Overlay System) and Japan's MSAS (Multi-Purpose Transport Satellite Augmentation System) etc., may also include signals sent by other satellite navigation systems under construction and to be constructed in the future. In one example, the satellite positioning module can be combined with real-time dynamic carrier phase difference technology RTK (Real Time Kinematic, real-time dynamic) to achieve more accurate positioning. The working principle of the RTK module includes: installing another satellite navigation and positioning receiver on the base station, continuously receiving satellite positioning signals, and sending the position information of the base station and the received satellite positioning signals to the self-stationary station in real time through radio transmission equipment. The wireless receiving device of the mobile device uses the satellite positioning signal received from the satellite navigation positioning receiver of the mobile device and the position information about the reference station and the satellite positioning signal data received by the wireless receiving device, according to the principle of relative positioning, real-time Calculate the 3D coordinates from the location of the mobile device.

The positioning module of the embodiments of the present disclosure obtains current location information from a mobile device by using satellite positioning or real-time dynamic RTK positioning, and can accurately and quickly realize positioning and obtain location information.

As shown in FIG. 5 , the system includes a self-mobile device 200 and a server 300, the self-mobile device 200 includes a positioning unit 201, and the server includes a storage unit 301 and a processing unit 302,

The positioning unit is used to obtain the current location information of the device, and send the location information to a server;

The storage unit is configured to store one or more service area identification information sets with different boundaries;

The processing unit is configured to execute the method for automatically matching service areas.

In the embodiment of the present disclosure, the self-mobile device can locate and obtain the location information by itself, and then send its own location information to the cloud server, so that the processing unit of the server can obtain the current location information and service area identification information set of the self-mobile device, And according to the location information and the service area identification information set, determine the area to be served corresponding to the location information, after the server determines the service area, the map of the service area that can be determined is sent to the self-mobile device, and the self-mobile After the device receives the map information of the area to be served transmitted by the cloud server, it can perform corresponding service operations in the area to be served according to the map information. This process is less dependent on labor and can automatically complete the service area. Match and load the map, and perform corresponding work, improving the work efficiency of mobile devices.

As shown in FIG. 6, the system includes a terminal device 400 and the mobile device 200,

The terminal device 400 is used to determine the current location information of the self-mobile device 200 and/or the area to be served corresponding to the location;

The self-mobile device 200 is configured to obtain map information corresponding to the service area, and the self-mobile device performs corresponding service operations in the service area according to the map information.

In the embodiment of the present disclosure, the terminal device is connected with the self-mobile device and realizes interaction, and the terminal device is used to locate the self-mobile device, and determine the service area corresponding to the location of the self-mobile device, and the self-mobile device obtains its corresponding waiting area from the terminal device. After the service area is obtained, the map information corresponding to the area to be served is obtained, and according to the map information, the self-mobile device performs corresponding service operations in the area to be served. Through the above system, the embodiment of the present disclosure can reduce self-movement The calculation cost of the device is low, and there is no need to manually establish a connection and setting with the mobile device, which not only improves the matching efficiency, but also saves manpower and material resources, and improves the user experience.

Fig. 7 shows a block diagram of a terminal according to an embodiment of the present disclosure. The terminal 800 shows possible implementations of the aforementioned terminal equipment and electronic terminals. For example, the terminal 800 can be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistants and more.

7, the terminal 800 may include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814, and communication component 816 .

The processing component 802 generally controls the overall operations of the terminal 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the above method. Additionally, processing component 802 may include one or more modules that facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802 .

The memory 804 is configured to store various types of data to support operations at the terminal 800 . Examples of such data include instructions for any application or method operating on the terminal 800, contact data, phonebook data, messages, pictures, videos, etc. The memory 804 can be implemented by any type of volatile or non-volatile storage device or their combination, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic or Optical Disk.

The power supply component 806 provides power to various components of the terminal 800 . Power components 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for terminal 800 .

The multimedia component 808 includes a screen providing an output interface between the terminal 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may not only sense a boundary of a touch or swipe action, but also detect duration and pressure associated with the touch or swipe action. In some embodiments, the multimedia component 808 includes a front camera and/or a rear camera. When the terminal 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have focal length and optical zoom capability.

The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a microphone (MIC), which is configured to receive an external audio signal when the terminal 800 is in an operation mode, such as a call mode, a recording mode and a voice recognition mode. Received audio signals may be further stored in memory 804 or sent via communication component 816 . In some embodiments, the audio component 810 also includes a speaker for outputting audio signals.

The I/O interface 812 provides an interface between the processing component 802 and a peripheral interface module, which may be a keyboard, a click wheel, a button, and the like. These buttons may include, but are not limited to: a home button, volume buttons, start button, and lock button.

The sensor component 814 includes one or more sensors for providing various aspects of a state assessment of the terminal 800 . For example, the sensor component 814 can detect the open/closed state of the terminal 800, the relative positioning of components, such as the display and the keypad of the terminal 800, and the sensor component 814 can also detect the position change of the terminal 800 or a component of the terminal 800 , the presence or absence of the user's contact with the terminal 800 , the orientation or acceleration/deceleration of the terminal 800 and the temperature change of the terminal 800 . Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact. Sensor assembly 814 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor or a temperature sensor.

The communication component 816 is configured to facilitate wired or wireless communication between the terminal 800 and other devices. The terminal 800 can access a wireless network based on communication standards, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra Wide Band (UWB) technology, Bluetooth (BT) technology and other technologies.

In an exemplary embodiment, terminal 800 may be programmed by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A gate array (FPGA), controller, microcontroller, microprocessor or other electronic component implementation for performing the methods described above.

In an exemplary embodiment, there is also provided a non-transitory computer-readable storage medium including instructions, such as the memory 804 including instructions, which can be executed by the processor 820 of the terminal 800 to complete the above method. For example, the non-transitory computer readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

Fig. 8 shows a block diagram of a server according to an embodiment of the present disclosure. For example, server 1900 may be provided as a server. Referring to FIG. 8 , server 1900 includes processing component 1922 , which further includes one or more processors, and a memory resource represented by memory 1932 for storing instructions executable by processing component 1922 , such as application programs. The application programs stored in memory 1932 may include one or more modules each corresponding to a set of instructions. In addition, the processing component 1922 is configured to execute instructions to perform the above method.

Server 1900 may also include a power component 1926 configured to perform power management of server 1900 , a wired or wireless network interface 1950 configured to connect server 1900 to a network, and an input-output (I/O) interface 1958 . The server 1900 can operate based on an operating system stored in the memory 1932, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™ or the like.

In an exemplary embodiment, there is also provided a non-transitory computer-readable storage medium including instructions, such as the memory 1932 including instructions, which can be executed by the processing component 1922 of the server 1900 to implement the above method. For example, the non-transitory computer readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

Other embodiments of the present disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, and these modifications, uses or adaptations follow the general principles of the present disclosure and include common knowledge or conventional technical means in the technical field not disclosed in the present disclosure . The specification and examples are to be considered exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It should be understood that the present disclosure is not limited to the precise constructions which have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

A map selection method, characterized in that, comprising:

Sending a map information acquisition request to the cloud server, the map information acquisition request carrying the current location information of the mobile device;

receiving target map information of a target service area, wherein the target map information is obtained by the cloud server according to the location information, and the map information includes boundary information of the service area;

controlling the self-mobile device to perform a service operation in the target service area according to the target map information.
The method according to claim 1, wherein the target map information of the target service area is received, wherein the target map information is selected from at least one map information by an electronic terminal, and the at least one map information is the obtained by the cloud server according to the location information.
The method according to claim 2, wherein the cloud server stores a service area identification information set, and the service area identification information set includes a service area index associated with one or more map information of different boundaries ;corresponding,

The at least one map information is obtained by the cloud server according to the location information, wherein the at least one map information is the service area index of the cloud server according to the location information that satisfies a preset condition definite.
The method according to claim 2, wherein the at least one piece of map information is determined by the cloud server according to the service area index satisfying a preset distance condition with the location information.
The method according to claim 2, wherein the service area index comprises at least one of the following:

The coordinates of the center or center of gravity of the inscribed geometric figure in the map information, the extreme point coordinates of the inscribed geometric figure in the map information, the starting coordinates of mapping in the map information, the preset position in the map information coordinate.
The method according to claim 2, wherein when the cloud server acquires at least two map information according to the location information, the electronic terminal selects from the at least two map information from the cloud server The target map information.
The method according to claim 2, wherein when the cloud server obtains a piece of map information according to the location information, the map information is used as the target map information.
The method according to claim 1, characterized in that, after controlling the self-mobile device to perform a service operation in the target service area according to the target map information, the method further comprises:

Detecting whether the service operation in the target service area is completed;

If completed, then controlling the self-mobile device to move to the next target service area;

When arriving at the next target service area, controlling the self-mobile device to perform a service operation therein based on the received map information of the next target service area.
The method according to claim 8, wherein the map information of the next target service area is selected from at least one area to be served by the electronic terminal, and the at least one area to be served includes: the At least one service area in which the mobile device needs to perform service operations within a preset time frame.
The method according to claim 1, characterized in that, before sending the map information acquisition request to the cloud server, the method further comprises:

The current location information of the self-mobile device is obtained from the self-mobile device itself or an external device.
From mobile devices, including:

case;

A locator configured to be installed on the housing to acquire the current location information of the self-mobile device;

A controller, the control module is connected to the mobile mechanism and the working module with signals, and controls the self-mobile device to automatically walk and/or work in the service area defined by the boundary;

It is characterized in that the control module sends a map information acquisition request to the cloud server, and the map information acquisition request carries the current location information of the mobile device; receives target map information of the target service area, wherein the target map information Acquired by the cloud server according to the location information, the map information includes boundary information of a service area; controlling the self-mobile device to perform a service operation in the target service area according to the target map information.
A map selection method, characterized in that, comprising:

receiving at least one location attribute information sent by the cloud server, the at least one location attribute information is obtained by the cloud server according to the current location information of the mobile device, and the location attribute information is related to the map information;

displaying the location attribute information;

In response to a confirmation instruction triggered for any location attribute information, the location attribute identifier of the target service area is sent to the cloud server, wherein the location attribute identifier corresponds to the location attribute information, and the target map identifier uses In order to query the target map information corresponding to the target service area, the target map information is used to send to the self-mobile device, and the data volume of the location attribute information is smaller than the map information corresponding to the location attribute information.
The method of claim 12, further comprising:

Sending a map information acquisition request to the cloud server;

Displaying the received target map information.
The method according to claim 12, wherein a service area identification information set is stored in the cloud server, and the service area identification information set includes a service area index associated with one or more map information of different boundaries ;corresponding,

The at least one location attribute information is obtained by the cloud server according to the location information, wherein the at least one location attribute information is obtained by the cloud server according to the service that satisfies a preset condition with the location information. The region index is determined.
The method according to claim 14, wherein the at least one location attribute information is determined by the cloud server according to the service area index satisfying a preset distance condition with the location information.
The method of claim 12, further comprising:

receiving a service operation completion instruction sent by the cloud server, where the service operation completion instruction is used to instruct the mobile device to complete the service operation in the target service area;

Displaying at least one service location attribute information of an area to be served, where the at least one area to be served includes: at least one service area where the self-mobile device needs to perform a service operation within a preset time range;

In response to a determination instruction triggered for any location attribute information to be served, the attribute identifier of the location to be served in the selected next target service area is sent to the cloud server.
An electronic terminal, the electronic terminal includes: a processor and a memory, at least one instruction, at least one program, code set or instruction set are stored in the memory, the at least one instruction, the at least one program, the The code set or instruction set is loaded and executed by the processor to realize the map selection method according to any one of claims 12 to 16.
A computer-readable storage medium, characterized in that at least one instruction, at least one program, code set or instruction set is stored in the computer-readable storage medium, and the at least one instruction, the at least one program, the The code set or instruction set is loaded and executed by the processor to implement the map selection method as described in any one of claims 12 to 16 above.