WO2023165329A1

WO2023165329A1 - Map update method for autonomous mobile device, autonomous mobile device, and storage medium

Info

Publication number: WO2023165329A1
Application number: PCT/CN2023/075986
Authority: WO
Inventors: 罗绍涵; 孙佳佳; 王元超
Original assignee: 追觅创新科技(苏州)有限公司
Priority date: 2022-03-03
Filing date: 2023-02-14
Publication date: 2023-09-07
Also published as: CN116736837A

Abstract

A map update method for an autonomous mobile device, an autonomous mobile device, and a storage medium. The method comprises: controlling the autonomous mobile device to move in a target area according to an area map (201), a forbidden position of a forbidden area in the target area and the first altitude of the forbidden area being marked in the area map; measuring a second altitude of the forbidden area when moving to a target position (202); and updating the area map on the basis of a difference between the first altitude and the second altitude (203). The problem that after the autonomous mobile device generates the area target, an obstacle may be moved, causing that the accuracy of position information of the obstacle in the area map is not high can be solved; and the second altitude of the forbidden area is measured, the area map is updated on the basis of the difference between the first altitude and the second altitude, the area map can be updated according to the change in the altitude of the forbidden area, and therefore, the accuracy of information of the forbidden area in the area map can be improved.

Description

Self-mobile device map update method, self-mobile device and storage medium

This disclosure claims the priority of the following patent application: a Chinese patent application submitted to the China Patent Office on March 3, 2022, with the application number 202210208734.3, and the title of the invention is "map update method from mobile device, self-mobile device and storage medium" ; the entire content of the above patent application is incorporated by reference in this disclosure.

technical field

The disclosure belongs to the technical field of automatic control, and in particular relates to a map updating method of a self-moving device, a self-moving device and a storage medium.

Background technique

Self-moving equipment refers to equipment that can move automatically without manual driving in the target area. Since there may be obstacles affecting the movement of the self-mobile device in the target area, if the self-mobile device collides with the obstacle during the moving process, the work efficiency will be reduced.

When the traditional self-mobile device enters the target area for the first time, it will pre-generate the area map of the target area according to the position information of the obstacles in the target area, and control the self-mobile device according to the pre-generated area map during the subsequent work process. move.

However, after the area map is generated from the mobile device, the obstacles may be moved, which will lead to the problem that the pre-generated area map does not match the actual environment of the work area, and the accuracy of the obstacle position information in the area map is not high.

Contents of the invention

The present disclosure provides a map update method of a self-mobile device, a self-mobile device and a storage medium, which can solve the problem that obstacles may be moved after the area map is generated by the self-mobile device, which will cause the difference between the pre-generated area map and the working area. The actual environment does not match, and the accuracy of the obstacle position information in the area map is not high. The disclosure provides the following technical solutions:

In a first aspect, a method for updating a map from a mobile device is provided, the method comprising:

controlling the self-mobile device to move in the target area according to the area map, the area map is marked with the forbidden position of the forbidden area in the target area and the first height of the forbidden area;

In the case of moving to the target position, detecting the second height of the forbidden position; wherein, the distance between the target position and the forbidden position is less than a preset value;

The area map is updated based on the difference between the first altitude and the second altitude.

Optionally, the updating the area map based on the difference between the first height and the second height includes:

Where the second altitude is different from the first altitude, updating the area map based on the second altitude.

Optionally, the updating the area map based on the second height includes:

In the case that the second height is greater than a preset height, updating the first height in the area map to the second height;

In the case that the second height is less than or equal to a preset height, deleting the forbidden position and the first height in the area map;

Wherein, the preset height is determined based on the surface height of the moving surface on which the mobile device is located.

Optionally, after updating the area map based on the second height, it further includes:

Acquiring sub-area information of a target sub-area within the target area, the target sub-area is determined based on the forbidden position;

Based on the sub-area information, other forbidden positions and third heights of other forbidden areas in the target sub-area are obtained, and the other forbidden areas refer to forbidden areas that are not recorded in the area map area;

Recording the other forbidden positions and the third altitude in the area map.

Optionally, before acquiring the sub-area information of the target sub-area in the target area, the method further includes:

Dividing the target area into at least two sub-areas; determining a sub-area adjacent to the sub-area where the forbidden position is located as the target sub-area;

or,

Taking the forbidden position as a centroid, generate a target sub-area with a preset shape according to a preset size.

Optionally, the acquiring sub-area information of a target sub-area in the target area includes:

Controlling the self-mobile device to collect the position heights of each position in the target sub-area, where the sub-area information includes the position heights.

Optionally, the acquiring other forbidden positions and third heights of other forbidden areas in the target sub-area based on the sub-area information includes:

For each sub-area position in the target sub-area, if the sub-area position is not the no-go position, if the position height of the sub-area position is greater than the preset height, the sub-area position will be The position in the area map is determined as the other forbidden position, and the height of the position is determined as the third height.

Optionally, the area map also includes an obstacle type corresponding to the forbidden position, and the obstacle type includes a movable type and an immovable type; in the case of moving to the target position, the method further includes:

In a case where the obstacle type corresponding to the forbidden position is the movable type, the step of detecting the second height at the forbidden position is triggered to be executed.

In a second aspect, a self-moving device is provided, the self-moving device includes a processor and a memory; a program is stored in the memory, and the program is loaded and executed by the processor to realize the self-moving provided by the first aspect The map of the device is more new method.

In a third aspect, a computer-readable storage medium is provided, wherein a program is stored in the storage medium, and when the program is executed by a processor, the program is used to implement the method for updating a map from a mobile device provided in the first aspect.

The beneficial effects of the present disclosure at least include: by controlling the self-mobile device to move in the target area according to the area map, the area map is marked with the forbidden position of the forbidden area in the target area and the first height of the forbidden area; when moving to the target position In the case of , detect the second height of the forbidden position; wherein, the distance between the target position and the forbidden position is less than the preset value; update the area map based on the difference between the first height and the second height; it can solve the problem of generating the area from the mobile device After the map, obstacles may be moved, resulting in the problem that the accuracy of obstacle position information in the area map is not high; due to the detection of the second height of the no-go area, and updating the area map based on the difference between the first height and the second height , the area map can be updated according to the change of the height of the prohibited area, therefore, the accuracy of the information of the prohibited area in the area map can be improved.

In addition, when the second height is not the same as the first height, it is determined that the forbidden area in the target area has changed. At this time, the area map is updated based on the second height, and the information of the forbidden area in the target area can be updated in time. Make the area map consistent with the actual environment of the target area, and improve the accuracy of the area map.

In addition, because the method of updating the area map based on the second height is determined according to whether the second height is greater than the preset threshold, the first height can be updated to the second height when the second height indicates that the prohibited position is still an impassable position ; In the case that the second height indicates that the prohibited position is a passable position, delete the prohibited position and the first height from the area map. Therefore, the area map update method can be selected according to the size of the second height to improve the accuracy of the area map sex.

In addition, after the area map is updated based on the second height, other prohibited positions and third heights of other prohibited areas in the target sub-area are obtained, and other prohibited positions and third heights are recorded in the area map. Height, in the case of a change in the forbidden area, it can be further determined whether the traffic situation in the target sub-area has changed, and in the case of a change in the traffic situation in the target sub-area, the area map can be updated. Therefore, the area map can be made Conforms to the actual environment of the target area and improves the accuracy of the area map.

In addition, when the movement of the obstacle causes the forbidden area to change, since the moving distance of the obstacle may be very small, the forbidden area generated after the obstacle moves may be located near the forbidden area generated before the obstacle moves, therefore, it will be compared with The sub-area adjacent to the sub-area where the forbidden position is located is determined as the target sub-area, which can narrow the search range of the forbidden area and improve the update efficiency of the regional map.

In addition, since the sub-area information includes the height of each position in the target sub-area, it is possible to determine the other prohibited positions of other prohibited areas in the sub-area and the third position of other prohibited areas in the sub-area according to the height of each position in the sub-area. Height to update the area map and improve the accuracy of the area map.

In addition, since the location of the sub-area is not a prohibited location and the height of the location is greater than the preset height, the area map is updated based on the location of the sub-area and the height of the location, so the accuracy of the area map can be improved.

In addition, since the forbidden position and the first height of the forbidden area formed by movable obstacles can only be changed, the detection of the forbidden position is only performed when the type of obstacle corresponding to the forbidden position is a movable type The second height step above can improve the efficiency of area map update while saving computing resources from mobile devices.

Description of drawings

In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the prior art, the accompanying drawings that need to be used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description These are some implementations of the present disclosure. For those skilled in the art, other drawings can also be obtained according to these drawings without creative work.

FIG. 1 is a schematic structural diagram of a mobile device provided by an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a map updating method from a mobile device provided by an embodiment of the present disclosure;

Fig. 3 is a schematic diagram of an area map provided by an embodiment of the present disclosure;

Fig. 4 is a block diagram of an apparatus for updating a map from a mobile device provided by an embodiment of the present disclosure;

Fig. 5 is a block diagram of an electronic device provided by an embodiment of the present disclosure.

Detailed ways

The technical solutions of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present disclosure, rather than all of them. Hereinafter, the present disclosure will be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, in the case of no conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other.

It should be noted that the terms "first" and "second" in the specification and claims of the present disclosure and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence.

In the disclosure, unless stated to the contrary, the use of orientation words such as "up, down, top, bottom" usually refers to the direction shown in the drawings, or refers to the vertical, vertical Or in the direction of gravity; similarly, for the convenience of understanding and description, "inner and outer" refer to the inner and outer relative to the outline of each component itself, but the above-mentioned orientation words are not used to limit the utility model.

First, several terms involved in the embodiments of the present disclosure are introduced.

Line laser sensor: It is a sensor that includes a laser generating component, a cylindrical objective lens, and a photosensitive component; when in use, the line laser sensor uses a cylindrical objective lens to expand the laser beam generated by the laser generating component into a strip, and the laser beam is generated on the target object. Diffuse reflection, the reflected light is imaged on the photosensitive component, and the position and shape of the target can be measured by checking the position and shape of the image.

Fig. 1 is a schematic structural diagram of a mobile device provided by an embodiment of the present disclosure. Wherein, self-moving devices include but are not limited to: sweeping machines, floor washing machines, sweeping and dragging all-in-one machines and other devices with automatic moving functions. This embodiment does not limit the type of self-moving devices. It can be known from FIG. 1 that the mobile device at least includes a housing 110, an environment sensor 120 and a controller (not shown in the figure).

The casing 110 is the casing of the mobile device. The shape of the casing 110 can be a regular geometric body, such as a circle, a square, or other shapes according to the actual application scene. This embodiment does not limit the shape of the casing 110. Make a limit.

The casing 110 mainly plays a role of protection and support. The casing 110 can be integrally formed, or can be a detachable structure, and this embodiment does not limit the implementation of the casing 110 .

The structure of the housing 110 is generally flat, such as a disc shape, and the shape of the housing 110 is not limited in this embodiment.

The environment sensor 120 is located on the casing and is used for collecting environment information. The environment sensor 120 may be a visual sensor, a laser sensor or a collision sensor, wherein the visual sensor includes but is not limited to: a charge coupled device (Charge Coupled Device, CCD), a metal oxide semiconductor device (Complementary Metal Oxide Semiconductor, CMOS), etc., a wire Laser sensors include but are not limited to: single-line laser radar, multi-line laser radar, etc., and the type of the environment sensor 120 is not limited in this embodiment.

In an example, the environment sensor 120 includes a line laser sensor, and correspondingly, the environment information is a sensing signal collected by the line laser sensor.

In another example, the environment sensor 120 includes a vision sensor, and correspondingly, the environment information is image information collected by the vision sensor.

Optionally, there may be one environmental sensor 120 , or there may be at least two environmental sensors 120 , and this embodiment does not limit the number of environmental sensors 120 .

Optionally, the environmental sensor 120 may be located on the top and/or side of the housing 110, and the collection range of the environmental sensor includes but is not limited to: from the front of the traveling direction of the mobile device, from the left side of the traveling direction of the mobile device, and/or From the right side of the traveling direction of the mobile device, this embodiment does not limit the specific installation location and collection range of the environmental sensor 120 .

The environment sensor 120 is connected with the controller to collect environment information under the control of the controller.

The controller may be a micro-control unit installed inside the mobile device, or any component with a control function, and this embodiment does not limit the type of the controller.

In this embodiment, the controller is used to: control the self-mobile device to move in the target area according to the area map, and the area map is marked with the forbidden position of the forbidden area in the target area and the first height of the forbidden area; In the case of , detect the second height at the prohibited position; wherein, the distance between the target position and the prohibited position is less than a preset value; update the area map based on the difference between the first height and the second height.

Optionally, detecting the second height at the prohibited position includes: determining the second height based on environmental information collected by the environmental sensor 120 at the prohibited position.

In actual implementation, the self-moving device may also include other components, such as a battery pack, a side brush, etc., and this embodiment does not list all the components included in the self-moving device here.

In this embodiment, by controlling the self-mobile device to move in the target area according to the area map, the area map is marked with the forbidden position of the forbidden area in the target area and the first height of the forbidden area; when moving to the target position , detect the second height on the forbidden position; wherein, the distance between the target position and the forbidden position is less than a preset value; update the area map based on the difference between the first height and the second height; can solve the problem after the area map is generated from the mobile device , the obstacle may be moved, resulting in the problem that the accuracy of the obstacle position information in the area map is not high; since the second height of the no-go area is detected, and the area map is updated based on the difference between the first height and the second height, it can be The area map is updated according to the height change of the prohibited area, so the accuracy of the information of the prohibited area in the area map can be improved.

The method for updating a map from a mobile device provided by the present disclosure will be described in detail below.

A method for updating a map from a mobile device provided in this embodiment is shown in FIG. 2 . In this embodiment, the method is used in the self-mobile device shown in FIG. 1 as an example for illustration. In other embodiments, it can also be executed by other devices connected to the self-mobile device, such as: remote control of cleaning devices through mobile phones, computers, tablet computers and other devices. The executive body is limited. The map update method from the mobile device at least includes the following steps:

Step 201, controlling the mobile device to move within the target area according to the area map.

Wherein, the area map is marked with the forbidden position of the forbidden area in the target area and the first height of the forbidden area.

A forbidden area refers to an area where a mobile device cannot pass through, for example, an area where obstacles are located.

The forbidden position refers to the position of the forbidden area. In one example, the no-go location includes an edge location of the no-go area.

The first height refers to the height of the forbidden position recorded in the area map. The first height may be determined when the area map is constructed; or it may be determined when the area map is updated last time. This embodiment does not limit the source of the first height recorded in the area map.

In order to improve the efficiency of map updating, controlling the self-mobile device to move in the target area according to the area map includes: controlling the self-mobile device to move along the forbidden position.

Optionally, controlling the self-mobile device to move along the forbidden position includes: generating a moving track along the edge based on the forbidden position; controlling the self-mobile device to move in the target area according to the moving track along the side.

In an example, generating the edge-along movement track based on the forbidden position includes: moving the forbidden position away from the forbidden area by a preset offset distance to obtain the edge-along movement track.

Wherein, the preset offset distance prevents the self-mobile device from colliding with obstacles, and the environment sensor installed on the self-mobile device can collect the environmental information of the forbidden position.

In actual implementation, other methods can also be used to control the self-mobile device to move in the target area according to the area map, for example: generate the shortest working track of the self-mobile device based on the forbidden position; control the self-mobile device to move in the target area according to the shortest working track Movement, this embodiment does not limit the manner in which the mobile device is controlled to move within the target area according to the area map.

Step 202, in the case of moving to the target position, detect the second height of the forbidden position.

Wherein, the distance between the target position and the prohibited position is smaller than a preset value, so that the prohibited position is within the collection range of the environmental sensor on the mobile device.

Optionally, the preset value is determined according to the farthest information collection distance of the environmental sensor. In an example, the preset value is smaller than the furthest information collection distance of the environmental sensor. For example, if the furthest information collection distance of the environmental sensor is 50 centimeters, the preset value is less than 50 centimeters.

The second height refers to: the current height of the forbidden position.

Optionally, in the case of moving to the target position, detecting the second height of the no-go position includes: determining the current position of the self-mobile device during the movement of the self-mobile device in the target area; In this case, detect the second height of the forbidden position.

Optionally, ways to determine the current location of the mobile device include but are not limited to the following:

The first method: acquire the posture information of the mobile device during the movement; determine the current position of the mobile device based on the posture information.

Wherein, the attitude information includes: the distance and direction angle from the position at each moment of the mobile device relative to the position at the previous moment.

Optionally, the attitude information is collected from an attitude sensor installed in the mobile device. The attitude sensor may be an odometer, or may also be an inertial sensor, and this embodiment does not limit the type of the attitude sensor.

The second type: obtaining the current environment information of the current location of the mobile device; determining the current location of the mobile device based on the similarity between the current environment information and the pre-collected location environment information of different locations in the target area.

Wherein, the pre-collected environmental information of different locations in the target area is pre-stored in the self-mobile device.

Optionally, the environmental information can be collected by a visual sensor. At this time, the environmental information is the image information of the current location; or, it can also be collected by a laser sensor. At this time, the environmental information is the laser sensor signal collected at the current location. This example does not limit the collection equipment of environmental information and the type of environmental information.

In an example, determining the current location of the self-mobile device based on the similarity between the current environment information and the pre-collected location environment information of different locations in the target area includes: determining the location corresponding to the location environment information with the highest similarity to the current environment information Determined as from the current location of the mobile device.

The third method: acquiring the wireless positioning signal of the current location of the mobile device; determining the current location of the mobile device based on the wireless positioning signal.

Optionally, the wireless positioning signal may be a satellite positioning signal, a WiFi signal, a Bluetooth signal, or an ultra-wideband (Ultra Wide Band, UWB) signal, and this embodiment does not limit the type of the wireless positioning signal.

Optionally, determining the second height of the forbidden position based on the environmental information includes but is not limited to the following situations:

In the first case, the environment sensor includes a line laser sensor. Correspondingly, the environment information is a sensing signal obtained by reflecting the line laser from the forbidden position collected by the line laser sensor. At this time, determining the second height of the forbidden position based on the environmental information includes: determining the signal distance between the sudden change signal corresponding to the moving surface where the mobile device is located and the sudden change signal corresponding to the forbidden position in the sensing signal; determining the height based on the signal distance The second height of the no-go position.

Among them, the abrupt change signal is used to indicate the position where the height changes within the sensing range of the line laser sensor.

Optionally, the line laser emitted by the line laser sensor forms a preset angle with the horizontal plane, and the preset angle is not equal to zero. In other words, the line laser is not parallel to the horizontal plane, so that it will not only scan the information of one height of the forbidden position, so as to more comprehensively ensure the scanning to the forbidden position. In one example, the line laser is perpendicular to the horizontal plane, that is, the preset angle is 90 degrees.

Correspondingly, determining the second height of the prohibited position based on the signal distance includes: determining the second height of the prohibited position based on the signal distance and a preset angle.

The second case: the environment sensor includes a vision sensor, and accordingly, the environment information is the image information of the forbidden position. At this time, determining the second height of the prohibited position based on the environmental information includes: determining the projection height of the prohibited position on the image sensing component of the visual sensor based on the image information; obtaining the distance between the visual sensor and the prohibited position; , the distance between the lens of the visual sensor and the image sensing component and the distance between the visual sensor and the prohibited position determine the second height of the prohibited position.

Wherein, the distance between the lens of the visual sensor and the image sensing component is pre-stored in the mobile device.

Optionally, obtaining the distance between the visual sensor and the prohibited location includes: obtaining the distance from the mobile device to the prohibited location; determining the visual sensor and the prohibited location based on the distance from the mobile device to the prohibited location and the installation position of the visual sensor distance.

Optionally, obtaining the distance between the edge of the self-mobile device and the prohibited position includes: obtaining current location information of the mobile device; and determining the distance between the mobile device and the prohibited position based on the current position information of the mobile device.

In an example, the current location information is represented by the centroid position of the self-mobile device, and correspondingly, the distance between the self-mobile device and the forbidden position is the distance between the centroid position of the self-mobile device and the forbidden position.

In one example, when collecting the environmental information of the forbidden location, the visual sensor is facing the forbidden location. distance, including: obtaining the installation distance between the installation position of the vision sensor and the centroid position of the mobile device; The difference between the distance of the walking position and the installation distance is determined as the distance between the vision sensor and the forbidden position.

Wherein, the installation distance is pre-stored in the mobile device.

Optionally, the height of the forbidden position is determined based on the projection height, the distance between the image sensing component and the lens of the visual sensor, and the distance between the visual sensor and the forbidden position, expressed by the following formula:

Among them, H is the second height of the forbidden position; L is the distance between the visual sensor and the forbidden position; h is the projection height; f is the distance between the lens of the visual sensor and the image sensing component.

Step 203, updating the area map based on the difference between the first height and the second height.

Optionally, updating the area map based on the difference between the first height and the second height includes: updating the area map based on the second height when the second height is different from the first height; In the same case, the area map is not updated.

Optionally, updating the area map based on the second height includes: updating the first height in the area map to the second height when the second height is greater than the preset height; In the case of , delete the forbidden position and the first height in the area map.

Wherein, the preset height is determined based on the surface height of the mobile surface on which the mobile device is located.

Optionally, the difference between the preset height and the surface height is less than or equal to the maximum height that can be crossed by the mobile device.

In an example, the difference between the preset height and the surface height is equal to the maximum height that the self-mobile device can cross, and at this time, the self-mobile device cannot pass through a position whose height is greater than the preset height.

Since when the second height is greater than the preset height, although the height of the no-go area changes, the self-mobile device still cannot pass through from the no-go position. Therefore, only the height of the no-go area needs to be updated at this time, that is, the first The altitude is updated to the second altitude to update the area map.

Since when the second height is less than or equal to the preset height, the self-mobile device can pass from the forbidden position, and the forbidden position is no longer an impassable position at this time, therefore, it is necessary to set the forbidden position in the area map and the first height removed to update the area map.

In the case that it is determined that the no-go area changes, in order to further determine whether the traffic situation in the vicinity of the no-go area changes, therefore, after updating the area map based on the second height, it also includes: obtaining the target sub-area in the target area The sub-area information of the target sub-area is determined based on the forbidden position; based on the sub-area information, other forbidden positions and the third height of other forbidden areas in the target sub-area are obtained; other forbidden areas are recorded in the area map location and third height.

Wherein, other prohibited areas refer to: prohibited areas not recorded in the area map.

Other forbidden positions refer to the positions of other forbidden areas. In one example, other forbidden locations include other forbidden The edge position of the region.

The third height refers to: the height of other forbidden positions.

Optionally, before acquiring the sub-area information of the target sub-area in the target area, the method further includes: determining the target sub-area based on the forbidden position.

Optionally, the ways of determining the target sub-area based on the prohibited location include but are not limited to the following:

The first method: divide the target area into at least two sub-areas; determine the sub-areas adjacent to the sub-area where the prohibited position is located as the target sub-area.

Wherein, adjacent sub-regions means: two sub-regions have a common edge, or two sub-regions have a common vertex.

The second type: take the prohibited position as the centroid, and generate a target sub-area of a preset shape according to a preset size.

Wherein, the preset size and preset shape are pre-stored in the self-mobile device. The preset shape can be a circle, and in this case, the preset size is the radius; or, it can also be a square, and in this case, the preset size is the length of the diagonal line. This embodiment does not specify the type of the preset shape and the preset size.

In an example, the preset shape is a circle, with the forbidden position as the centroid, and the target sub-area of the preset shape is generated according to the preset size, including: taking the forbidden position as the center and the preset size as the radius In the circular area, the area other than the area where the obstacle is located is determined as the target sub-area.

In another example, using the forbidden position as the centroid, generating a preset-shaped target sub-area according to a preset size includes: moving the forbidden position to a direction away from the forbidden area by a preset size to obtain the boundary position of the target area ; Determine the area between the forbidden position and the boundary position of the target area as the target sub-area.

The third method: divide the target area into at least two sub-areas; determine the sub-area where the prohibited position is located as the target sub-area.

For example: if the system is divided into four sub-areas of living room, dining room, bedroom, and study, and the forbidden area is located in the study, then the study is determined as the target sub-area.

In actual implementation, the target sub-area may also be determined in other manners, and this embodiment does not limit the manner of determining the target sub-area.

Optionally, the sub-area information includes location height. At this time, acquiring the sub-area information of the target sub-area in the target area includes: controlling the collection of the location heights of each position in the target sub-area from the mobile device.

In an example, controlling the self-mobile device to collect the height of each position in the target sub-area includes: controlling the self-mobile device to move within the target sub-area; the height of each location.

In another example, controlling the collection of the altitude of each position in the target sub-area from the mobile device includes: controlling the self-mobile device to rotate in situ; determining each position in the target sub-area based on the environmental information of the target sub-area collected during the rotation set height.

Optionally, obtaining other forbidden positions and third heights of other forbidden areas in the target sub-area based on the sub-area information includes: for each sub-area position in the target sub-area, if the sub-area position is not In the case of a prohibited position, if the position height of the sub-area position is greater than the preset height, the position of the sub-area position in the area map is determined as another prohibited position, and the height of the position is determined as the third height.

Optionally, the area map also includes the obstacle type corresponding to the forbidden position, the obstacle type includes movable type and immovable type, and in the case of moving to the target position, the method also includes: the obstacle corresponding to the forbidden position When the type is a movable type, trigger the execution of the step of detecting the second height on the forbidden position; in the case that the obstacle type corresponding to the forbidden position is an immovable type, do not perform the detection of the second height on the forbidden position. height steps.

Among them, the movable type refers to the obstacle type whose position can be changed, such as: tables, chairs, trash cans, slippers, wires and other obstacles.

The immovable type refers to the type of obstacle with a fixed position, such as: walls, fixed cabinets and other obstacles.

Since only the prohibited position and the first height formed by movable obstacles can change, the detection of the second height at the prohibited position is performed only when the type of obstacle corresponding to the prohibited position is a movable type The steps can improve the efficiency of area map update and save computing resources from mobile devices at the same time.

In order to more clearly illustrate the method for updating the map from the mobile device provided by the present disclosure, an example is given below for illustration.

As shown in Figure 3, a in Figure 3 is the initial map of the target area, the shaded part is the forbidden area, and there are four obstacles formed by obstacle 1, obstacle 2, obstacle 3 and obstacle 4 in the target area Forbidden area, where obstacle 1 is a movable obstacle. b in Fig. 3 is the updated area map formed after the obstacle 1 is moved. Since the no-go area generated after the obstacle 1 moves (the no-go area corresponding to the obstacle 1 in b in Figure 3) is located in the no-go area generated before the obstacle 1 moves (the no-go area corresponding to the obstacle 1 in the a of Fig. Therefore, when it is determined that the forbidden area changes, the target sub-area is generated based on the forbidden position, which can narrow the search range of the forbidden area and improve the update efficiency of the area map.

To sum up, the method for updating the map of the self-mobile device provided by this embodiment includes: controlling the self-mobile device to move in the target area according to the area map, and the area map is marked with prohibited positions and prohibited areas in the target area. The first height of the area; in the case of moving to the target position, detect the second height of the prohibited position; wherein, the distance between the target position and the prohibited position is less than a preset value; update based on the difference between the first height and the second height Area map; it can solve the problem that obstacles may be moved after the area map is generated from the mobile device, resulting in low accuracy of obstacle position information in the area map; due to the detection of the second height of the forbidden area, and based on the first The difference between the first height and the second height updates the area map, and the area map can be updated according to the height change of the prohibited area, so the accuracy of the information of the prohibited area in the area map can be improved.

This embodiment provides an apparatus for updating a map from a mobile device, as shown in FIG. 4 . In this embodiment, the device is applied to the controller of the self-mobile device shown in FIG. 1 , and the device includes at least the following modules: a movement control module 410 , an altitude detection module 420 and a map update module 430 .

A mobile control module 410, configured to control the self-mobile device to move within the target area according to the area map;

The height detection module 420 is used to detect the second height of the forbidden position when moving to the target position;

A map updating module 430, configured to update the area map based on the difference between the first height and the second height.

For relevant details, refer to the above method and device embodiments.

It should be noted that: when the map updating device of the self-mobile device provided in the above-mentioned embodiment updates the map of the self-mobile device, it only uses the division of the above-mentioned functional modules for illustration. In practical applications, it can be divided into The above function allocation is accomplished by different functional modules, that is, the internal structure of the map update device of the self-mobile device is divided into different functional modules to complete all or part of the functions described above. In addition, the device for updating the map of the self-mobile device provided by the above-mentioned embodiment and the embodiment of the method for updating the map of the self-mobile device belong to the same concept, and its specific implementation process is detailed in the method embodiment, and will not be repeated here.

This embodiment provides an electronic device, as shown in FIG. 5 . The electronic device may be the self-mobile device in FIG. 1 . The electronic device includes at least a processor 501 and a memory 502 .

The processor 501 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. Processor 501 can adopt at least one hardware form in DSP (Digital Signal Processing, digital signal processing), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array, programmable logic array) accomplish. Processor 501 may also include a main processor and a coprocessor, and the main processor is a processor for processing data in a wake-up state, also known as a CPU (Central Processing Unit, central processing unit); the coprocessor is Low-power processor for processing data in standby state. In some embodiments, the processor 501 may be integrated with a GPU (Graphics Processing Unit, image processor), and the GPU is used for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 501 may also include an AI (Artificial Intelligence, artificial intelligence) processor, where the AI processor is used to process computing operations related to machine learning.

Memory 502 may include one or more computer-readable storage media, which may be non-transitory. The memory 502 may also include high-speed random access memory and non-volatile memory, such as one or more magnetic disk storage devices and flash memory storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 502 is used to store at least one instruction, and the at least one instruction is used to be executed by the processor 501 to realize the self-moving provided by the method embodiment of the present disclosure. The device's map update method.

In some embodiments, the electronic device may optionally further include: a peripheral device interface and at least one peripheral device. The processor 501, the memory 502, and the peripheral device interface may be connected through a bus or a signal line. Each peripheral device can be connected with the peripheral device interface through a bus, a signal line or a circuit board. Schematically, peripheral devices include but are not limited to: radio frequency circuits, touch screens, audio circuits, and power supplies.

Of course, the electronic device may also include fewer or more components, which is not limited in this embodiment.

Optionally, the present disclosure also provides a self-mobile device, which includes a processor and a memory; a program is stored in the memory, and the program is loaded and executed by the processor to implement the method for updating the map of the self-mobile device in the above method embodiment .

Optionally, the present disclosure also provides a computer-readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the method for updating a map from a mobile device in the above method embodiment.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present disclosure, and the descriptions thereof are relatively specific and detailed, but should not be construed as limiting the scope of the patent for the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure. Therefore, the scope of protection of the disclosed patent should be based on the appended claims.

Claims

A method for updating a map from a mobile device, characterized in that the method comprises:

controlling the self-mobile device to move in the target area according to the area map, the area map is marked with the forbidden position of the forbidden area in the target area and the first height of the forbidden area;

In the case of moving to the target position, detecting the second height of the forbidden position; wherein, the distance between the target position and the forbidden position is less than a preset value;

The area map is updated based on the difference between the first altitude and the second altitude.
The method according to claim 1, wherein the controlling the mobile device to move within the target area according to the area map comprises:

generating a moving track along the edge based on the forbidden position;

Controlling the self-moving device to move within the target area according to the edge-along movement track.
The method according to claim 2, wherein said generating a moving track along a side based on said forbidden position comprises: moving said forbidden position to a direction away from a forbidden area by a preset offset distance to obtain a moving track along a side .
The method according to claim 1, wherein the controlling the mobile device to move within the target area according to the area map comprises:

generating the shortest working trajectory of the self-mobile device based on the forbidden position;

The self-mobile device is controlled to move within the target area according to the shortest working track.
The method according to claim 1, wherein the preset value is determined according to the farthest information collection distance of the environmental sensor.
The method according to claim 1, wherein the current location of the self-mobile device is determined according to at least one of the following methods:

Obtaining posture information of the self-mobile device during movement; determining a current position of the self-mobile device based on the posture information;

Acquiring the current environment information of the current location of the self-mobile device; determining the current location of the self-mobile device based on the similarity between the current environment information and the pre-collected location environment information of different positions in the target area;

Acquiring the wireless positioning signal of the current location of the mobile device; determining the current location of the mobile device based on the wireless positioning signal.
The method of claim 1, wherein said updating said area map based on the difference between said first altitude and said second altitude comprises:

Where the second altitude is different from the first altitude, updating the area map based on the second altitude.
The method of claim 7, wherein said updating said area map based on said second altitude comprises:

In the case that the second height is greater than a preset height, update the first height in the area map to the second height;

In the case that the second height is less than or equal to a preset height, deleting the forbidden position and the first height in the area map;

Wherein, the preset height is determined based on the surface height of the moving surface on which the mobile device is located.
The method according to claim 7, wherein, after updating the area map based on the second height, further comprising:

Acquiring sub-area information of a target sub-area within the target area, the target sub-area is determined based on the forbidden position;

Based on the sub-area information, other forbidden positions and third heights of other forbidden areas in the target sub-area are obtained, and the other forbidden areas refer to forbidden areas that are not recorded in the area map area;

Recording the other forbidden positions and the third altitude in the area map.
The method according to claim 9, wherein, before acquiring the sub-area information of the target sub-area in the target area, further comprising:

Dividing the target area into at least two sub-areas; determining a sub-area adjacent to the sub-area where the forbidden position is located as the target sub-area;

or,

Taking the forbidden position as a centroid, generate a target sub-area with a preset shape according to a preset size.
The method according to claim 9, wherein said obtaining the sub-area information of the target sub-area in the target area comprises:

Controlling the self-mobile device to collect the position heights of each position in the target sub-area, where the sub-area information includes the position heights.
The method according to claim 11, wherein said obtaining other forbidden positions and third heights of other forbidden areas in the target sub-area based on the sub-area information comprises:

For each sub-area position in the target sub-area, if the sub-area position is not the no-go position, if the position height of the sub-area position is greater than the preset height, the sub-area position will be The position in the area map is determined as the other forbidden position, and the height of the position is determined as the third height.
The method according to any one of claims 1 to 12, wherein the area map further includes the obstacle type corresponding to the forbidden position, and the obstacle type includes a movable type and an immovable type; In the case of the target location, the method further includes:

In a case where the obstacle type corresponding to the forbidden position is the movable type, the step of detecting the second height at the forbidden position is triggered to be executed.
A self-mobile device, characterized in that the self-mobile device includes a processor and a memory; the memory There is a program stored in it, and the program is loaded and executed by the processor to realize the map update method from the mobile device according to any one of claims 1 to 13.
A computer-readable storage medium, characterized in that a program is stored in the storage medium, and when the program is executed by a processor, it is used to implement the map update from the mobile device according to any one of claims 1 to 13 method.