CN116704074A

CN116704074A - Boundary map construction method, device, system and readable storage medium

Info

Publication number: CN116704074A
Application number: CN202310969419.7A
Authority: CN
Inventors: 魏基栋; 黄振昊; 罗元泰; 华锦峰; 张嘉祥
Original assignee: Agilex Robotics Shenzhen Lt
Current assignee: Agilex Robotics Shenzhen Lt
Priority date: 2023-08-03
Filing date: 2023-08-03
Publication date: 2023-09-05

Abstract

The present application relates to the field of positioning technologies, and in particular, to a boundary map construction method, apparatus, system, and computer readable storage medium, where the method includes: obtaining boundary information of a target area, wherein the boundary information is obtained by identifying a target area image shot by shooting equipment; controlling the self-mobile equipment to run along the boundary of the target area according to the boundary information, and recording the positioning information of the self-mobile equipment in the running process; and constructing a boundary map corresponding to the target area according to the positioning information. According to the method, the boundary information of the target area is obtained, the self-mobile device is controlled to run along the boundary of the target area according to the boundary information, the positioning information of the self-mobile device in the running process is recorded, and the boundary map corresponding to the target area is constructed according to the positioning information, so that the boundary map can be comprehensively and automatically constructed, the self-mobile device is not required to be manually controlled to construct the map, and the efficiency of constructing the boundary map of the self-mobile device can be effectively improved.

Description

Boundary map construction method, device, system and readable storage medium

Technical Field

The present application relates to the field of positioning technologies, and in particular, to a boundary map construction method, apparatus, system, and computer readable storage medium.

Background

Conventionally, before starting a work, a self-moving device having a moving function such as a mower or a snow remover needs to map the boundary of a work area to obtain a boundary map and then control the self-moving device to work in the boundary map in order to ensure that the self-moving device can work in a predetermined work area. In the related art, the user usually manually controls the self-mobile device to build a map along the boundary of the working area, which is not intelligent enough, resulting in low efficiency of building a map.

Therefore, how to improve the efficiency of constructing a boundary map from a mobile device is a problem to be solved.

Disclosure of Invention

The application provides a boundary map construction method, a boundary map construction device, a boundary map construction system and a readable storage medium, which solve the problem that the efficiency of the construction of a map by manually controlling a self-mobile device by a user in the related technology is low.

In a first aspect, the present application provides a boundary map construction method, applied to a self-mobile device, the method comprising:

obtaining boundary information of a target area, wherein the boundary information is obtained by identifying a target area image shot by the shooting equipment; controlling the self-mobile equipment to run along the boundary of the target area according to the boundary information, and recording positioning information of the self-mobile equipment in the running process; and constructing a boundary map corresponding to the target area according to the positioning information.

According to the boundary map construction method, the self-mobile device is controlled to run along the boundary of the target area according to the boundary information of the target area, the positioning information of the self-mobile device in the running process is recorded, the boundary map corresponding to the target area is constructed according to the positioning information, the boundary map can be comprehensively and automatically constructed, the self-mobile device is not required to be manually controlled to construct the map, the problem that the efficiency of manually controlling the self-mobile device to construct the map by a user in the related art is low is solved, and the efficiency of constructing the boundary map of the self-mobile device can be effectively improved.

In a second aspect, the present application further provides a boundary map construction method, applied to a photographing apparatus, where the method includes:

collecting a target area image corresponding to a target area, and identifying the target area image to obtain boundary information of the target area; the boundary information is sent to the self-mobile equipment so that the self-mobile equipment can drive along the boundary of the target area according to the boundary information, and positioning information in the driving process is recorded; and constructing a boundary map corresponding to the target area according to the positioning information.

In a third aspect, the present application further provides a boundary map construction method, applied to a data processing device, the method comprising:

Acquiring a target area image corresponding to a target area acquired by shooting equipment; identifying the target area image to obtain boundary information of the target area; the boundary information is sent to the self-mobile equipment so that the self-mobile equipment can drive along the boundary of the target area according to the boundary information, and positioning information in the driving process is recorded; and constructing a boundary map corresponding to the target area according to the positioning information.

In a fourth aspect, the present application also provides a map construction apparatus, including a memory and a processor;

the memory is used for storing a computer program;

the processor is configured to execute the computer program and implement a boundary map construction method corresponding to the self-mobile device, or a boundary map construction method corresponding to the shooting device, or a boundary map construction method corresponding to the data processing device when executing the computer program.

In a fifth aspect, the present application further provides a map construction system, which includes a self-mobile device and a shooting device; or, the map construction system further comprises a data processing device; the shooting equipment is used for shooting a target area, identifying an image of the target area and obtaining boundary information of the target area; the self-mobile device is used for realizing the boundary map construction method corresponding to the self-mobile device; or, the shooting equipment is used for realizing the boundary map construction method corresponding to the shooting equipment; or, the data processing device is used for realizing the boundary map construction method corresponding to the data processing device.

In a sixth aspect, the present application also provides a computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to implement a boundary map construction method as any one of the above.

Drawings

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

FIG. 1 is a schematic diagram of a map building system according to an embodiment of the present application;

FIG. 2 is a schematic diagram of another map building system provided by an embodiment of the present application;

fig. 3 is a schematic structural diagram of a map building device according to an embodiment of the present application;

FIG. 4 is a schematic flow chart of a boundary map construction method provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of a boundary initiation point provided by an embodiment of the present application;

FIG. 6 is a schematic diagram of another boundary initiation point provided by an embodiment of the present application;

FIG. 7 is a schematic diagram of yet another boundary initiation point provided by an embodiment of the present application;

FIG. 8 is a schematic diagram of a mobile device traveling along a boundary of a target area according to an embodiment of the present application;

FIG. 9 is a schematic diagram of another embodiment of the present application for traveling along the boundary of a target area from a mobile device;

FIG. 10 is a schematic flow chart of a sub-step of recording positioning information provided by an embodiment of the present application;

FIG. 11 is a schematic flow chart of another substep of recording positioning information provided by an embodiment of the present application;

FIG. 12 is a schematic flow chart of the substeps of controlling travel from a mobile device provided by an embodiment of the present application;

FIG. 13 is a schematic flow chart of another sub-step of controlling travel from a mobile device provided by an embodiment of the present application;

FIG. 14 is a schematic flow chart of sub-steps of a boundary map construction method provided by an embodiment of the present application;

FIG. 15 is a schematic flow chart of sub-steps of another boundary map construction method provided by an embodiment of the present application;

fig. 16 is a schematic flow chart of sub-steps of yet another boundary map construction method provided by an embodiment of the present application.

Detailed Description

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

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

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

It should also be understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

Embodiments of the present application provide a boundary map construction method, apparatus, system, and computer-readable storage medium. The boundary map construction method can be applied to a map construction device, and can realize comprehensive automatic construction of the boundary map by controlling the self-moving equipment to run along the boundary of the target area according to the boundary information of the target area and recording the positioning information of the self-moving equipment in the running process and constructing the boundary map corresponding to the target area according to the positioning information, so that the problem that the efficiency of constructing the boundary map of the self-moving equipment by manually operating the self-moving equipment by a user in the related art is low is solved, and the efficiency of constructing the boundary map of the self-moving equipment can be effectively improved.

The mapping device may be a self-mobile device, a shooting device or a data processing device.

Among other things, self-moving devices may include, but are not limited to, movable devices such as lawnmowers, snow throwers, floor sweeping robots, meal delivery robots, and greeting robots.

The self-mobile device may include, for example, a wireless communication module and a real-time dynamic differential module (Real Time Kinematic, RTK). The wireless communication module may be a Long Range Radio (LoRa) module, but may also be other types of Radio frequency modules, which are not limited herein. Wherein, the loRa module can include loRa wireless transmission module and loRa wireless reception module. The self-mobile device can be in communication connection with the shooting setting through the wireless communication module, and can also be in communication connection with the data processing device through the wireless communication module.

The real-time dynamic differential module is hereinafter referred to as an RTK positioning module. The RTK positioning module is used for receiving satellite signals through the antenna and transmitting differential data in the satellite signals to the wireless communication module in the self-mobile device, so that the wireless communication module in the self-mobile device transmits the differential data to the RTK positioning module in the self-mobile device for differential positioning.

In the embodiment of the application, for convenience of explanation, how to improve the efficiency of constructing a boundary map of a mower for the mower will be explained by using the self-mobile device.

The photographing apparatus may be a photographing apparatus having no computing power, or may be a photographing apparatus having computing power. When the map construction apparatus is a photographing apparatus, the photographing apparatus needs to have a computing power. For example, the photographing apparatus may recognize a photographed image of a target area to obtain boundary information of the target area; then, the shooting equipment controls the self-moving equipment to run along the boundary of the target area according to the boundary information, and records the positioning information of the self-moving equipment in the running process; finally, the shooting equipment constructs a boundary map corresponding to the target area according to the positioning information.

The data processing device may be a server or a terminal, for example. The server may be an independent server, or may be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), and basic cloud computing services such as big data and artificial intelligence platforms. The terminal can be electronic equipment such as a smart phone, a tablet computer, a notebook computer, a desktop computer and the like.

Referring to fig. 1, fig. 1 is a schematic diagram of a map building system 10 according to an embodiment of the application. As shown in fig. 1, the mapping system 10 may include a self-mobile device 11 and a photographing device 12.

The photographing device 12 may include a camera, and is configured to photograph a target area, and identify an image of the target area to obtain boundary information of the target area. By recognizing the image of the target area by the photographing device 12 and transmitting the boundary information obtained by the recognition to the self-moving device 11, the recognition of the image of the target area by the self-moving device 11 can be avoided, the burden of processing data by the self-moving device 11 can be reduced, and the power consumption can be reduced.

Of course, the photographing device 12 may transmit the photographed image of the target area to the self-mobile device 11, and the self-mobile device 11 recognizes the image of the target area to obtain the boundary information of the target area.

It should be noted that, in the embodiment of the present application, the photographing apparatus 12 may be a stand-alone photographing apparatus, may be disposed around the target area, and ensure that the photographing apparatus 12 may photograph an image of the entire target area. In addition, in order to improve the definition and integrity of the image of the shot target area, the shooting devices 12 may be disposed at a plurality of positions of the target area, and the images shot by the plurality of shooting devices 12 may be spliced to obtain the image of the whole target area.

The self-mobile device 11 is used for acquiring boundary information of a target area; controlling the self-mobile equipment to run along the boundary of the target area according to the boundary information, and recording the positioning information of the self-mobile equipment in the running process; and constructing a boundary map corresponding to the target area according to the positioning information.

Referring to fig. 2, fig. 2 is a schematic diagram of another map building system 10 according to an embodiment of the present application. As shown in fig. 2, the map construction system 10 may include a self-mobile device 11, a photographing device 12, and a data processing device 13.

Wherein the photographing device 12 is used for photographing a target area and transmitting the photographed image of the target area to the data processing device 13. The data processing device 13 is configured to identify the image of the target area, obtain boundary information of the target area, and send the boundary information to the self-mobile device 11.

By recognizing the image of the target area by the data processing device 13 and transmitting the boundary information obtained by the recognition to the self-mobile device 11, the recognition of the image of the target area by the self-mobile device 11 can be avoided, the burden of processing data by the self-mobile device 11 can be reduced, and the power consumption can be reduced.

Illustratively, the self-mobile device 11 is configured to obtain boundary information of the target area; controlling the mobile device 11 to run along the boundary of the target area according to the boundary information, and recording positioning information of the mobile device 11 in the running process; and constructing a boundary map corresponding to the target area according to the positioning information. Of course, after recording the positioning information of the self-mobile device 11 during traveling, the self-mobile device 11 may also send the positioning information to the data processing device 13, and the data processing device 13 constructs a boundary map corresponding to the target area according to the positioning information.

Referring to fig. 3, fig. 3 is a schematic structural diagram of a map building apparatus 20 according to an embodiment of the application. The map construction device 20 may include a processor 2001 and a processor 2002, wherein the processor 2001 and the processor 2002 may be connected by a bus, which may be any suitable bus such as an integrated circuit (Inter-integrated Circuit, I2C) bus.

The processor 2002 may include, among other things, a storage medium and an internal memory. The storage medium may store an operating system and a computer program. The computer program comprises program instructions that, when executed, cause a processor to perform the boundary map construction method described in any of the embodiments.

Wherein the processor 2001 is adapted to provide computing and control capabilities supporting the operation of the overall map construction device 20.

The processor 2001 may be a central processing unit (Central Processing Unit, CPU) which may also be a general purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (application specific integrated circuit, ASIC), a Field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. The general purpose processor may be a microprocessor, or it may be any conventional processor or the like.

In one embodiment, the processor 2001 is configured to execute a computer program stored in the processor 2002 to implement the steps of:

obtaining boundary information of a target area, wherein the boundary information is obtained by identifying a target area image shot by shooting equipment; controlling the self-mobile equipment to run along the boundary of the target area according to the boundary information, and recording the positioning information of the self-mobile equipment in the running process; and constructing a boundary map corresponding to the target area according to the positioning information.

In one embodiment, the boundary information includes a boundary starting point and current location information of the self-mobile device; the processor 2001 is further configured to, before implementing controlling traveling from the mobile device along the boundary of the target area according to the boundary information, implement:

determining path vector information from the mobile device to the boundary starting point according to the boundary starting point and the current position information; and controlling the mobile equipment to travel to the boundary starting point according to the path vector information.

In one embodiment, the boundary information further includes boundary coordinates of the target region; the processor 2001, when implementing controlling traveling from the mobile device along the boundary of the target area according to the boundary information, is configured to implement:

And controlling the self-mobile device to run along the boundary of the target area according to the boundary coordinates.

In one embodiment, processor 2001, when implementing controlling travel from the mobile device along the boundary of the target area according to the boundary information, is configured to implement:

and responding to a position adjustment instruction sent by the shooting device, and carrying out position adjustment on the self-moving device, wherein the position adjustment instruction is triggered when the shooting device detects that the driving path of the self-moving device deviates from the boundary of the target area.

In one embodiment, processor 2001, when implementing the position adjustment of the self-mobile device, is configured to implement:

and controlling the self-mobile equipment to carry out reverse running so as to return to the last correct positioning coordinate or the correct positioning coordinate corresponding to the last moment.

In one embodiment, a self-mobile device includes a real-time dynamic differential module; processor 2001, when implementing the location information recorded from the mobile device during travel, is configured to implement:

acquiring a positioning coordinate set detected by a real-time dynamic differential module; removing the error positioning coordinates in the positioning coordinate set to obtain a positioning coordinate set after the coordinates are removed, wherein the error positioning coordinates are positioning coordinates when the driving path of the mobile equipment deviates from the boundary of the target area; and determining positioning information according to the positioning coordinate set after the coordinate is removed.

In one embodiment, the boundary information further includes boundary coordinates of the target region; processor 2001, when implementing position adjustment of the self-mobile device, is configured to implement:

determining target boundary coordinates from the boundary information, wherein the target boundary coordinates are boundary coordinates when the target boundary coordinates deviate from the boundary of the target area from the driving path of the mobile device; and controlling the mobile device to travel to the next boundary coordinate of the target boundary coordinate.

acquiring a positioning coordinate set detected by a real-time dynamic differential module; smoothing the error positioning coordinates in the positioning coordinate sets to obtain smoothed positioning coordinate sets, wherein the error positioning coordinates are positioning coordinates when the running path of the mobile equipment deviates from the boundary of the target area; and determining positioning information according to the smoothed positioning coordinate set.

In one embodiment, the processor 2001 is configured to, when implementing smoothing of the error positioning coordinates in the positioning coordinate set to obtain a smoothed positioning coordinate set, implement:

Acquiring a last correct positioning coordinate and a next correct positioning coordinate corresponding to the incorrect positioning coordinate; and replacing the error positioning coordinates in the positioning coordinate set according to the coordinate mean value between the last correct positioning coordinate and the next correct positioning coordinate.

In one embodiment, the boundary information includes sub-boundary information of a plurality of sub-regions and connected path vector information corresponding to two adjacent sub-regions; the processor 2001, when implementing controlling traveling from the mobile device along the boundary of the target area according to the boundary information, is configured to implement:

determining an initiator region from the plurality of regions; controlling the self-mobile equipment to run along the boundary of the initiator area according to the sub-boundary information of the initiator area; when the self-mobile device is controlled to complete the boundary running along the initial sub-area, the self-mobile device is controlled to run to the next sub-area according to the communication path vector information between the initial sub-area and the next sub-area, and the self-mobile device is controlled to run along the boundary of the next sub-area until the self-mobile device is controlled to complete the boundary running along all the sub-areas.

In one embodiment, a self-mobile device includes a vision apparatus; the processor 2001, when implementing controlling traveling from the mobile device along the boundary of the target area according to the boundary information, is configured to implement:

Obtaining boundary identification information corresponding to the boundary of the visual device identification target area; updating the boundary information according to the boundary identification information to obtain updated boundary information; and controlling the self-mobile equipment to run along the boundary of the target area according to the updated boundary information.

In one embodiment, the boundary information includes a plurality of boundary starting points; processor 2001 is also operative to implement:

determining a segment boundary corresponding to each boundary starting point; controlling the self-mobile device to run along each corresponding segment boundary according to the boundary coordinates corresponding to each segment boundary, and acquiring positioning information of the self-mobile device in each segment boundary; and constructing a boundary map corresponding to the target area according to the positioning information in all the segment boundaries.

In one embodiment, processor 2001 is further configured to implement:

collecting a target area image corresponding to a target area, and identifying the target area image to obtain boundary information of the target area; transmitting boundary information to the self-mobile device, so that the self-mobile device can drive along the boundary of the target area according to the boundary information, and recording positioning information in the driving process; and constructing a boundary map corresponding to the target area according to the positioning information.

In one embodiment, processor 2001 is further configured to implement:

acquiring a target area image corresponding to a target area acquired by shooting equipment; identifying the target area image to obtain boundary information of the target area; transmitting boundary information to the self-mobile device, so that the self-mobile device can drive along the boundary of the target area according to the boundary information, and recording positioning information in the driving process; and constructing a boundary map corresponding to the target area according to the positioning information.

In one embodiment, processor 2001, after implementing the sending of boundary information to the self-mobile device, is configured to implement:

acquiring a driving image which is acquired by shooting equipment and contains self-mobile equipment; and if the running path of the self-mobile device deviates from the boundary of the target area based on the running image, sending a position adjustment instruction to the self-mobile device, wherein the position adjustment instruction is used for instructing the self-mobile device to adjust the position.

Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict. Referring to fig. 4, fig. 4 is a schematic flowchart of a boundary map construction method according to an embodiment of the present application. As shown in fig. 4, the boundary map construction method includes steps S101 to S103.

Step S101, obtaining boundary information of a target area, where the boundary information is obtained by identifying an image of the target area shot by a shooting device.

It should be noted that, the boundary map construction method provided by the embodiment of the application can be applied to the self-mobile device, by controlling the self-mobile device to run along the boundary of the target area according to the boundary information of the target area and recording the positioning information of the self-mobile device in the running process, the boundary map corresponding to the target area is constructed according to the positioning information, so that the boundary map can be fully and automatically constructed without manually operating the self-mobile device to construct a map, the problem that the efficiency of manually operating the self-mobile device to construct a map by a user in the related art is low is solved, and the efficiency of constructing the boundary map of the self-mobile device can be effectively improved.

In some embodiments, the self-mobile device may receive boundary information of the target area sent by the shooting device, where the boundary information is obtained by identifying an image of the target area shot by the shooting device.

In other embodiments, the self-mobile device may receive the target area image sent by the photographing device, and identify the target area image to obtain the boundary information of the target area.

By way of example, the target area image may be identified based on an image identification algorithm in the related art, which is not limited herein. For example, the boundary contour extraction may be performed on the target area image by using an edge detection algorithm, so as to obtain the boundary information of the target area.

For example, when the self-moving device is a lawn mower, the target area may be a grass area. The photographing apparatus may photograph a target area image of the lawn area and recognize boundary information of the lawn area according to the target area image. The self-mobile device can drive along the boundary of the grassland area according to the boundary information sent by the shooting device, and construct a boundary map corresponding to the grassland area according to the positioning information in the driving process.

In the above embodiment, by acquiring the boundary information of the target area, the following control of the self-mobile device to travel along the boundary of the target area according to the boundary information can be realized, so that full automation is realized, and the user does not need to manually control the self-mobile device to travel along the boundary of the target area.

For example, the boundary information may include boundary coordinates of the target area, and the boundary information may further include a boundary start point and current location information of the self-mobile device.

It should be noted that the boundary start point is used to determine a start position of traveling from the mobile device along the boundary of the target area. The current location information of the self-mobile device may include current location coordinate information of the self-mobile device for determining a path vector between the self-mobile device and the boundary starting point to control the self-mobile device to travel to the boundary starting point.

In some embodiments, the boundary starting point is an intersection point of two boundary lines in the target area, where the included angle is greater than a preset angle.

The preset angle may be set according to practical situations, and specific numerical values are not limited herein. The preset angle may be, for example, 45 °. For example, an intersection of two boundary lines having an angle greater than 45 ° in the target region may be taken as the boundary start point.

Referring to fig. 5, fig. 5 is a schematic diagram of a boundary starting point according to an embodiment of the application. As shown in fig. 5, point a is a boundary starting point, where point a is an intersection point of two boundary lines in the target area, where the included angle is greater than a preset angle.

It should be noted that, by taking the intersection point of two boundary lines with an included angle greater than a preset angle in the target area as a boundary starting point, when the self-mobile device is located on the boundary of the target area, the photographing device can clearly detect and confirm the position relationship between the self-mobile device and the target area, which is beneficial to improving the accuracy of detecting whether the driving path of the self-mobile device deviates from the boundary of the target area.

In other embodiments, the boundary starting point is a first position on a boundary line in the target area, and a distance between the first position and the photographing apparatus is greater than a first preset distance.

The first preset distance may be set according to practical situations, and specific numerical values are not limited herein.

Referring to fig. 6, fig. 6 is a schematic diagram of another boundary starting point according to an embodiment of the application. As shown in fig. 6, point a is a boundary start point, where point a is a position at which a distance from the photographing apparatus is greater than a first preset distance.

It should be noted that, by taking the position far away from the shooting device as the boundary starting point, when the self-mobile device starts to run from the boundary starting point, the self-mobile device can advance towards the direction of the shooting device, which is favorable for the shooting device to acquire the boundary information in the advancing direction of the self-mobile device without shielding, and is convenient for detecting whether the self-mobile device deviates from the boundary of the target area in the running process, thereby improving the accuracy of constructing the boundary map.

In other embodiments, the boundary starting point is a second position on the boundary line in the target area, and a distance between the second position and the photographing apparatus is smaller than a second preset distance.

The second preset distance may be set according to practical situations, and specific numerical values are not limited herein.

Referring to fig. 7, fig. 7 is a schematic diagram of a boundary starting point according to another embodiment of the present application. As shown in fig. 7, the point a is a boundary start point, where the point a is a position where the distance from the photographing apparatus is smaller than a second preset distance.

It should be noted that, by taking the position close to the shooting device as the boundary starting point, the boundary ending point from the mobile device may be also close to the shooting device, so that the closing of the boundary map may be automatically completed within a certain distance between the boundary starting point and the boundary ending point. In addition, the position close to the shooting equipment is used as a boundary starting point, so that the definition of the visual angle of the shooting equipment can be improved, the definition of an image is improved, and the accuracy of constructing a boundary map is further improved.

Step S102, controlling the self-mobile device to travel along the boundary of the target area according to the boundary information, and recording the positioning information of the self-mobile device in the traveling process.

For example, after the boundary information of the target area is acquired, the mobile device may be controlled to travel along the boundary of the target area according to the boundary information, and the positioning information of the mobile device during the traveling may be recorded.

For example, the self-mobile device can travel along the boundary of the target area according to the boundary coordinates of the target area in the boundary information, and in the traveling process, the self-mobile device performs differential positioning through the RTK positioning module to obtain positioning information. Wherein the positioning information may include RTK positioning coordinates of the self-mobile device.

According to the embodiment, the self-mobile device is controlled to travel along the boundary of the target area according to the boundary information of the target area, the positioning information of the self-mobile device in the traveling process is recorded, the boundary map corresponding to the target area can be built according to the positioning information later, the boundary map can be built comprehensively and automatically, the self-mobile device is not required to be manually controlled to build the map, the problem that the efficiency of building the map by manually controlling the self-mobile device by a user in the related technology is low is solved, and the efficiency of building the boundary map of the self-mobile device can be effectively improved.

In some embodiments, before controlling the mobile device to travel along the boundary of the target area according to the boundary information, the boundary map construction method provided by the embodiment of the present application may further include: determining path vector information from the mobile device to the boundary starting point according to the boundary starting point and the current position information; and controlling the mobile equipment to travel to the boundary starting point according to the path vector information.

For example, the self-mobile device may perform path planning according to the boundary starting point and the current position information, so as to obtain path vector information from the self-mobile device to the boundary starting point. The path vector information may include information such as a target travel path, a travel speed, and a travel direction of the self-mobile device. The specific path planning process may be referred to in the related art, and is not limited herein. For example, the shortest travel path between the boundary start point and the current position information may be determined as the target travel path.

For example, when the mobile device is controlled to travel to the boundary starting point according to the path vector information, the mobile device may be controlled to travel to the boundary starting point according to the planned target travel path, the travel speed, the travel direction and other information.

According to the embodiment, the path vector information from the mobile device to the boundary starting point is determined according to the boundary starting point and the current position information, so that the mobile device can be controlled to travel to the boundary starting point more accurately and rapidly.

In some embodiments, controlling travel from the mobile device along the boundary of the target area according to the boundary information may include: and controlling the self-mobile device to run along the boundary of the target area according to the boundary coordinates.

When the self-mobile device is not equipped with the vision device, the self-mobile device cannot recognize the boundary of the target area by the machine vision method. In the embodiment of the application, the self-mobile device can accurately run along the boundary of the target area according to the boundary coordinates sent by the shooting device, so that the accuracy of constructing the boundary map is improved.

And step S103, constructing a boundary map corresponding to the target area according to the positioning information.

For example, after recording the positioning information of the mobile device during the driving, a boundary map corresponding to the target area may be constructed according to the positioning information. Of course, the boundary map corresponding to the target area can also be constructed in real time according to the recorded positioning. The specific construction process may be referred to in the related art, and is not limited herein.

According to the embodiment of the application, the self-mobile device can realize the comprehensive automatic construction of the boundary map by constructing the boundary map corresponding to the target area according to the positioning information, the self-mobile device is not required to be manually operated to construct the map, the problem that the efficiency of manually operating the self-mobile device to construct the map by a user in the related technology is low is solved, and the efficiency of constructing the boundary map of the self-mobile device can be effectively improved.

In some embodiments, the controlling the mobile device to travel along the boundary of the target area according to the boundary information in step S102 may further include: and responding to a position adjustment instruction sent by the shooting device, and carrying out position adjustment on the self-moving device, wherein the position adjustment instruction is triggered when the shooting device detects that the driving path of the self-moving device deviates from the boundary of the target area.

It should be noted that, since the self-mobile device is not equipped with the vision device, the self-mobile device cannot actively recognize the boundary of the target area, and therefore, it is necessary to detect the position of the self-mobile device during the running process by the photographing device, and adjust the position of the self-mobile device when detecting that the running path of the self-mobile device deviates from the boundary of the target area, so as to ensure that the self-mobile device does not deviate from the boundary of the target area. In this case, the accuracy of image information processing and errors in data transmission may cause the travel path of the mobile device to deviate from the boundary of the target area.

For example, the photographing apparatus may collect an image of a target area in real time and detect whether a position of the self-moving apparatus in the image deviates from a boundary of the target area. When it is detected that the travel path of the self-moving device deviates from the boundary of the target area, the photographing device may transmit a position adjustment instruction to the self-moving device so that the self-moving device performs position adjustment according to the position adjustment instruction. The self-mobile device may perform a position adjustment operation when receiving a position adjustment instruction transmitted from the photographing device.

According to the embodiment, the position of the self-moving device is adjusted by responding to the position adjustment instruction sent by the shooting device, so that when the driving path of the self-moving device deviates from the boundary of the target area, the position of the self-moving device can be adjusted timely, the self-moving device can be ensured to accurately drive along the boundary of the target area, and the accuracy of constructing the boundary map can be effectively improved.

In some embodiments, performing position adjustment on the self-mobile device may include: and controlling the self-mobile equipment to carry out reverse running so as to return to the last correct positioning coordinate or the correct positioning coordinate corresponding to the last moment.

In the embodiment of the application, when the driving path of the self-mobile device deviates from the boundary of the target area or the recorded error positioning coordinates are more, the self-mobile device is controlled to drive reversely, so that the situation that the self-mobile device continues to drive forwards, which causes larger error in the subsequently constructed boundary map, can be avoided. The incorrect positioning coordinates refer to positioning coordinates when the travel path of the mobile device deviates from the boundary of the target area.

For example, the self-mobile device may include a motor, and the self-mobile device may send a control signal to the motor to cause the motor to reverse, thereby implementing reverse travel of the self-mobile device to a previous correct positioning coordinate or a correct positioning coordinate corresponding to a previous time.

Referring to fig. 8, fig. 8 is a schematic diagram of a mobile device traveling along a boundary of a target area according to an embodiment of the application. As shown in fig. 8, if the slave mobile device deviates from the boundary of the target area at point B, the slave mobile device can be controlled to travel back to point B in the reverse direction.

According to the embodiment, when the driving path of the self-moving equipment deviates from the boundary of the target area, the self-moving equipment is controlled to drive reversely, so that the self-moving equipment can return to the last correct positioning coordinate or the correct positioning coordinate corresponding to the last moment, and the situation that the self-moving equipment continues to drive forwards to cause a larger error in a subsequently constructed boundary map is avoided.

In other embodiments, the position adjustment of the self-mobile device may include: determining target boundary coordinates from the boundary information, wherein the target boundary coordinates are boundary coordinates when the target boundary coordinates deviate from the boundary of the target area from the driving path of the mobile device; and controlling the mobile device to travel to the next boundary coordinate of the target boundary coordinate.

It should be noted that, in the embodiment of the present application, when the driving path of the mobile device deviates from the closer boundary of the target area or the recorded error positioning coordinates are less, the boundary coordinates of the target where the deviation occurs may be ignored, and at this time, the driving of the mobile device to the next boundary coordinates may be directly controlled.

Referring to fig. 9, fig. 9 is a schematic diagram of another driving from a mobile device along a boundary of a target area according to an embodiment of the application. As shown in fig. 9, if the target boundary coordinates B point deviates from the boundary of the target area from the mobile device, the mobile device can be controlled to travel to the next boundary coordinates C point B point.

In the above embodiment, when the travel path of the mobile device deviates from the boundary of the target area, by controlling the travel of the mobile device to the next boundary coordinate of the deviated target boundary coordinate, since the travel path of the mobile device deviates from the closer boundary of the target area, the travel of the mobile device can be directly controlled to continue forward without affecting the accuracy of the subsequently constructed boundary map, and the efficiency can be improved.

Referring to fig. 10, fig. 10 is a schematic flow chart of a sub-step of recording positioning information according to an embodiment of the present application. As shown in fig. 10, the positioning information recorded from the mobile device during traveling in step S102 may include steps S201 to S203.

And S201, acquiring a positioning coordinate set detected by the real-time dynamic differential module.

Illustratively, the self-mobile device may acquire a set of positioning coordinates detected by the RTK positioning module. Wherein the set of positioning coordinates may include a plurality of RTK positioning coordinates.

Step S202, eliminating the error positioning coordinates in the positioning coordinates to obtain a positioning coordinate set with the coordinates eliminated, wherein the error positioning coordinates are the positioning coordinates when the driving path of the mobile equipment deviates from the boundary of the target area.

For example, after the positioning coordinate set detected by the RTK positioning module is obtained, the error positioning coordinate in the positioning coordinate set may be removed, so as to obtain a positioning coordinate set after the coordinate is removed.

The error positioning coordinates are positioning coordinates when the driving path of the mobile device deviates from the boundary of the target area. It should be noted that, since the self-mobile device runs along the boundary of the target area according to the boundary coordinates in the boundary information, and records the RTK positioning coordinates of the self-mobile device in real time, the boundary coordinates and the RTK positioning coordinates can be associated, so that the RTK positioning coordinates corresponding to the boundary coordinates deviated from the mobile device can be determined as error positioning coordinates.

When the travel path of the mobile device deviates from the boundary of the target area more or the recorded error positioning coordinates are more, the error positioning coordinates need to be removed in order to avoid the influence of the redundant error positioning coordinates on the construction of the boundary map.

And step 203, determining positioning information according to the positioning coordinate set after the coordinate elimination.

For example, after the error positioning coordinates in the positioning coordinate set are removed to obtain the positioning coordinate set after the coordinates are removed, the positioning coordinate set after the coordinates are removed may be determined as positioning information. Wherein the positioning information may include a plurality of RTK positioning coordinates.

According to the embodiment, the error positioning coordinates in the positioning coordinate set are removed, so that the recorded error positioning coordinates can be removed in a scene of controlling the self-mobile device to travel reversely, the positioning coordinate set does not contain the error positioning coordinates, larger errors of a subsequently constructed boundary map can be avoided, and the accuracy of constructing the boundary map is improved.

Referring to fig. 11, fig. 11 is a schematic flow chart of another sub-step of recording positioning information according to an embodiment of the present application. As shown in fig. 11, the positioning information recorded from the mobile device during the traveling in step S102 may further include steps S301 to S303.

And step S301, acquiring a positioning coordinate set detected by the real-time dynamic differential module.

Step S302, performing smoothing processing on the error positioning coordinates in the positioning coordinates to obtain a smoothed positioning coordinate set, wherein the error positioning coordinates are positioning coordinates when the running path of the mobile device deviates from the boundary of the target area.

For example, after the positioning coordinate set detected by the RTK positioning module is obtained, the error positioning coordinates in the positioning coordinate set may be smoothed, so as to obtain the smoothed positioning coordinate set.

When the travel path of the mobile device deviates from the vicinity of the boundary of the target area or the recorded incorrect positioning coordinates are small, if the travel from the mobile device to the next boundary coordinates is directly controlled, the accuracy of the boundary map is not affected by the incorrect positioning coordinates, and if the incorrect positioning coordinates are deleted, the accuracy of the boundary map is also affected by the missing positioning coordinates. In the embodiment of the application, in order to ensure the accuracy of constructing the boundary map, the error positioning coordinates can be smoothed. For example, the correct positioning coordinates corresponding to the incorrect positioning coordinates may be predicted from the correct positioning coordinates adjacent to the incorrect positioning coordinates.

In some embodiments, smoothing the error positioning coordinates in the positioning coordinate set to obtain a smoothed positioning coordinate set may include: acquiring a last correct positioning coordinate and a next correct positioning coordinate corresponding to the incorrect positioning coordinate; and replacing the error positioning coordinates in the positioning coordinate set according to the coordinate mean value between the last correct positioning coordinate and the next correct positioning coordinate.

For example, for the positioning coordinate 1, the positioning coordinate 2, the positioning coordinate 3, and the positioning coordinate 4 in the positioning coordinate set, if the positioning coordinate 3 is an error positioning coordinate, a coordinate mean value between the positioning coordinate 2 and the positioning coordinate 4 may be calculated, and the obtained coordinate mean value may be substituted for the positioning coordinate 3 in the positioning coordinate set.

Step S303, determining positioning information according to the positioning coordinate set after the smoothing processing.

For example, after smoothing the erroneous positioning coordinates in the positioning coordinate sets to obtain smoothed positioning coordinate sets, the smoothed positioning coordinate sets may be determined as positioning information. Wherein the positioning information may include a plurality of RTK positioning coordinates.

In the above embodiment, by performing smoothing processing on the incorrect positioning coordinates in the positioning coordinate set, in a scene where the travel path of the mobile device deviates from the boundary of the target area and the mobile device is controlled to continue traveling forward, the incorrect positioning coordinates can be smoothed, so that the problem that the accuracy of the boundary map is reduced due to the missing positioning coordinates can be avoided, and the accuracy of constructing the boundary map can be ensured to the greatest extent.

Referring to fig. 12, fig. 12 is a schematic flow chart of a sub-step of controlling traveling from a mobile device along a boundary of a target area according to an embodiment of the present application. As shown in fig. 12, controlling the traveling from the mobile device along the boundary of the target area in step S102 may include steps S401 to S403.

Step S401, determining an initial sub-area from a plurality of sub-areas.

For example, the boundary information of the target area may include sub-boundary information of a plurality of sub-areas and connected path vector information corresponding to two adjacent sub-areas.

In some embodiments, the self-mobile device may determine the initiator region from a plurality of regions. For example, the self-mobile device may determine the closest subregion as the initiator subregion, although the initiator subregion may also be determined in other ways, not limited herein.

It should be noted that, the boundary map construction method provided by the embodiment of the application can also be applied to scenes of multiple areas. For example, where the self-moving device is a lawn mower, the target area may include a plurality of lawn areas. The boundary information recognized by the photographing apparatus may include boundary information of a plurality of grassland areas and connected path vector information of two neighboring grassland areas.

And step S402, controlling the self-mobile device to run along the boundary of the initiator area according to the sub-boundary information of the initiator area.

For example, after determining the initiator region from among the plurality of sub-regions, the self-mobile device may be controlled to travel along the boundary of the initiator region according to sub-boundary information of the initiator region.

Wherein the sub-boundary information may include boundary coordinates. For example, traveling along the boundary of the initiator region from the mobile device may be controlled according to the boundary coordinates of the initiator region.

And step S403, when the self-moving equipment is controlled to complete the running along the boundary of the initial sub-area, the self-moving equipment is controlled to run to the next sub-area according to the communication path vector information between the initial sub-area and the next adjacent sub-area, and the self-moving equipment is controlled to run along the boundary of the next sub-area until the self-moving equipment is controlled to complete the running along the boundary of all the sub-areas.

For example, when the self-mobile device completes running along the boundary of the initiator region, the self-mobile device can be controlled to run to the next region according to the communication path vector information between the initiator region and the next region, and the self-mobile device is controlled to run along the boundary of the next region until the self-mobile device completes running along the boundary of all the regions.

The communication path vector information may include information such as a travel path, a travel speed, and a travel direction of the self-mobile device. Wherein the travel path may be one or more.

For example, in the process of controlling the mobile device to travel to the next sub-area according to the communication path vector information between the initial sub-area and the adjacent next sub-area, the positioning information of the mobile device in the process of traveling can be recorded. Thus, a communication path with positioning information can be obtained.

According to the embodiment, the communication path with the positioning information can be formed by the self-moving device by controlling the self-moving device to travel to the next subarea according to the communication path vector information between the initial subarea and the adjacent next subarea and controlling the self-moving device to travel along the boundary of the next subarea, and then the communication boundary map of multiple areas can be constructed.

Referring to fig. 13, fig. 13 is a schematic flow chart of another substep of controlling travel from a mobile device along a boundary of a target area according to an embodiment of the present application. As shown in fig. 13, controlling traveling from the mobile device along the boundary of the target area in step S102 may include steps S501 to S503.

Step S501, obtaining boundary identification information corresponding to a boundary of the visual device identification target area.

In the embodiment of the application, when the self-mobile device is provided with the vision device, the self-mobile device can identify the boundary through the vision device in the process of driving along the boundary of the target area, and the boundary information sent by the shooting device is updated according to the boundary identification information obtained by identification, so that the accuracy of the boundary information is improved. Wherein the vision device may comprise a camera.

For example, the self-mobile device may turn on the vision device during traveling along the boundary of the target area, and obtain the boundary identification information corresponding to the boundary of the target area identified by the vision device. The boundary identification information may include boundary coordinates of the target region, among others.

Step S502, updating the boundary information according to the boundary identification information to obtain updated boundary information.

For example, after the boundary identification information identified by the vision device is acquired, the boundary information may be updated according to the boundary identification information, and updated boundary information may be obtained.

In the embodiment of the application, the boundary information identified by the shooting equipment is updated according to the boundary identifier information identified by the vision device, and the detected boundary information is comprehensive but accurate and lower as the shooting equipment is far away from the boundary of the target area, and the vision device can identify the boundary at a short distance to obtain more accurate boundary information, so that the accuracy of constructing the boundary map is further improved by constructing the boundary map under the double verification of the vision device and the shooting equipment.

Step S503, controlling the self-mobile device to run along the boundary of the target area according to the updated boundary information.

For example, the self-mobile device may travel along the boundary of the target area according to the updated boundary information.

According to the embodiment, the boundary information identified by the shooting equipment is updated according to the boundary identification information identified by the visual device, and the self-mobile equipment is controlled to run along the boundary of the target area according to the updated boundary information, so that the boundary map can be constructed under the double verification of the visual device and the shooting equipment, and the accuracy of constructing the boundary map is further improved.

Referring to fig. 14, fig. 14 is a schematic flowchart of sub-steps of a boundary map construction method according to an embodiment of the present application. As shown in fig. 14, steps S601 to S603 may be included.

Step S601, determining a segment boundary corresponding to each boundary starting point.

For example, when the boundary information of the target area transmitted by the photographing apparatus includes a plurality of boundary start points, the self-mobile apparatus may sequentially determine segment boundaries corresponding to each of the boundary start points. For example, a boundary between a current boundary start point and a next boundary start point may be determined as a segment boundary corresponding to the current boundary start point.

For example, the boundary start point may be a location remote from the photographing apparatus. For example, a position on the boundary of the target area, at which the distance from the photographing apparatus is greater than a preset distance, may be selected as the boundary start point. The preset distance may be set according to practical situations, and specific numerical values are not limited herein.

It should be noted that, by selecting a position with a distance greater than a preset distance from the shooting device as a boundary starting point, the self-moving device can be enabled to face the shooting device in a running direction from the boundary starting point, which is beneficial to the shooting device to monitor the advancing gesture of the self-moving device, the position of the self-moving device can be corrected better, and the accuracy of constructing the boundary map can be improved.

Step S602, the self-mobile device is controlled to run along each corresponding segment boundary according to the boundary coordinates corresponding to each segment boundary, and positioning information of the self-mobile device in each segment boundary is acquired.

For example, after determining the segment boundary corresponding to each boundary starting point, the self-mobile device may be controlled to travel along each corresponding segment boundary according to the boundary coordinates corresponding to each segment boundary, and the positioning information of the self-mobile device in each segment boundary may be acquired. The obtaining of the positioning information of the self-mobile device in each segment boundary may refer to the detailed description of the above example, which is not described herein.

Step S603, constructing a boundary map corresponding to the target area according to the positioning information in all the segment boundaries.

For example, the positioning information of the self-mobile device in each segment boundary is acquired, and the self-mobile device can construct a boundary map corresponding to the target area according to the positioning information in all segment boundaries.

In some embodiments, when there are a plurality of boundary initial points, for example, 5 boundary initial points, the self-mobile device may travel from each boundary initial point toward the direction of the next boundary initial point, and record the positioning information of the self-mobile device in each segment boundary, and finally obtain the positioning information corresponding to the 5 segment boundaries.

According to the embodiment, the self-moving device is controlled to travel along each corresponding segment boundary according to the boundary coordinates corresponding to each segment boundary, and the self-moving device can travel towards the shooting device because the boundary starting point is a position far away from the shooting device, so that the shooting device is facilitated to monitor the advancing gesture of the self-moving device, the position of the self-moving device can be corrected better, and the accuracy of constructing the boundary map can be improved.

Referring to fig. 15, fig. 15 is a schematic flowchart of sub-steps of another boundary map construction method according to an embodiment of the present application. As shown in fig. 15, steps S701 to S703 may be included.

Step S701, collecting a target area image corresponding to a target area, and identifying the target area image to obtain boundary information of the target area.

It should be noted that, the boundary map construction method provided by the embodiment of the present application may also be applied to a photographing device, where the photographing device may be a device with computing power, may photograph a target area, and identify a target area image corresponding to the target area, so as to obtain boundary information of the target area. And then, generating boundary information to the self-mobile equipment, acquiring positioning information recorded by the self-mobile equipment in the driving process, and constructing a boundary map corresponding to the target area according to the positioning information.

For example, the photographing device may collect a target area image corresponding to the target area, and identify the target area image to obtain boundary information of the target area. The target area image may be identified based on an image identification algorithm in the related art, which is not limited herein. For example, the boundary contour extraction may be performed on the target area image by using an edge detection algorithm, so as to obtain the boundary information of the target area.

Step S702, the boundary information is sent to the self-mobile device, so that the self-mobile device can drive along the boundary of the target area according to the boundary information, and positioning information in the driving process is recorded.

For example, the photographing apparatus may transmit boundary information to the self-mobile apparatus after recognizing the target area image to obtain the boundary information of the target area. When the self-mobile device receives the boundary information, the self-mobile device can drive along the boundary of the target area according to the boundary information, and record positioning information in the driving process.

Wherein the boundary information may include boundary coordinates of the target region. The self-mobile device can travel along the boundary of the target area according to the boundary coordinates of the target area, and in the traveling process, the self-mobile device performs differential positioning through the RTK positioning module to obtain positioning information. Wherein the positioning information may include RTK positioning coordinates of the self-mobile device.

Step S703, constructing a boundary map corresponding to the target area according to the positioning information.

In the embodiment of the application, when the self-mobile device records the positioning information in the running process, the positioning information can be returned to the shooting device in real time or at fixed time.

For example, the photographing apparatus may construct a boundary map corresponding to the target area according to the positioning information transmitted from the mobile apparatus. The specific construction process may be referred to in the related art, and is not limited herein.

According to the embodiment, the boundary information is sent to the self-mobile device, so that the self-mobile device can run along the boundary of the target area according to the boundary information, and the boundary map corresponding to the target area is constructed according to the positioning information recorded by the self-mobile device, so that the boundary map can be comprehensively and automatically constructed, the self-mobile device is not required to be manually controlled to construct a map, the problem that the efficiency of constructing the boundary map of the self-mobile device is low due to manual control of the self-mobile device by a user in the related art is solved, and the efficiency of constructing the boundary map of the self-mobile device can be effectively improved.

Referring to fig. 16, fig. 16 is a schematic flowchart of sub-steps of another boundary map construction method according to an embodiment of the present application. As shown in fig. 16, steps S801 to S804 may be included.

Step S801, a target area image corresponding to a target area acquired by a photographing device is acquired.

It should be noted that, the boundary map construction method provided by the embodiment of the present application may also be applied to a data processing device. The data processing device can acquire a target area image corresponding to a target area shot by the shooting device, and identify the target area image to obtain boundary information of the target area. And then, the data processing equipment generates boundary information to the self-mobile equipment, acquires positioning information recorded by the self-mobile equipment in the driving process, and constructs a boundary map corresponding to the target area according to the positioning information.

Step S802, identifying the target area image to obtain the boundary information of the target area.

For example, the data processing device may receive the target area image corresponding to the target area sent by the photographing device, and identify the target area image to obtain boundary information of the target area. The target area image may be identified based on an image identification algorithm in the related art, which is not limited herein. For example, the boundary contour extraction may be performed on the target area image by using an edge detection algorithm, so as to obtain the boundary information of the target area.

Step 803, the boundary information is sent to the self-mobile device, so that the self-mobile device can drive along the boundary of the target area according to the boundary information, and the positioning information in the driving process is recorded.

For example, the data processing apparatus may transmit boundary information to the self-mobile apparatus after recognizing the target area image to obtain the boundary information of the target area. When the self-mobile device receives the boundary information, the self-mobile device can drive along the boundary of the target area according to the boundary information, and record positioning information in the driving process.

Step S804, constructing a boundary map corresponding to the target area according to the positioning information.

For example, the data processing device may construct a boundary map corresponding to the target area according to the positioning information sent from the mobile device. The specific construction process may be referred to in the related art, and is not limited herein.

In some embodiments, after sending the boundary information to the self-mobile device, it may further include: acquiring a driving image which is acquired by shooting equipment and contains self-mobile equipment; and if the running path of the self-mobile device deviates from the boundary of the target area based on the running image, sending a position adjustment instruction to the self-mobile device, wherein the position adjustment instruction is used for instructing the self-mobile device to adjust the position.

In the embodiment of the application, in the process of controlling the self-mobile device to run along the boundary of the target area, the running image containing the self-mobile device can be acquired in real time through the shooting device, and whether the self-mobile device deviates from the boundary of the target area or not is detected according to the running image.

For example, the data processing apparatus may acquire a travel image including the self-mobile apparatus acquired by the photographing apparatus, and detect whether a travel path of the self-mobile apparatus deviates from a boundary of the target area according to the travel image. Upon detecting that the travel path of the self-mobile device deviates from the boundary of the target area, the data processing device may transmit a position adjustment instruction to the self-mobile device so that the self-mobile device performs position adjustment according to the position adjustment instruction. The self-mobile device may perform a position adjustment operation when receiving a position adjustment instruction transmitted from the photographing device.

According to the embodiment, when the driving path of the self-moving equipment deviates from the boundary of the target area according to the driving image, the self-moving equipment is instructed to carry out position adjustment, so that the self-moving equipment can be timely subjected to position adjustment, the self-moving equipment can be ensured to accurately drive along the boundary of the target area, and the accuracy of constructing the boundary map can be effectively improved.

The embodiment of the application also provides a computer readable storage medium, and the computer readable storage medium stores a computer program, wherein the computer program comprises program instructions, and a processor executes the program instructions to realize any boundary map construction method provided by the embodiment of the application.

For example, the program is loaded by a processor, and the following steps may be performed:

For another example, the program is loaded by a processor, and the following steps may be performed:

The computer readable storage medium may be an internal storage unit of the map construction apparatus of the foregoing embodiment, for example, a hard disk or a memory of the map construction apparatus. The computer readable storage medium may also be an external storage device of the map construction apparatus, such as a plug-in hard disk, a Smart Media Card (SMC), a secure digital Card (Secure Digital Card, SD Card), a Flash memory Card (Flash Card) or the like, which are provided on the map construction apparatus.

Further, the computer-readable storage medium may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, a program required for at least one function, and the like; the storage data area may store data created according to each program, and the like.

The present application is not limited to the above embodiments, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the present application, and these modifications and substitutions are intended to be included in the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims

1. A boundary map construction method, applied to a self-mobile device, the method comprising:

obtaining boundary information of a target area, wherein the boundary information is obtained by identifying a target area image shot by shooting equipment;

controlling the self-mobile equipment to run along the boundary of the target area according to the boundary information, and recording positioning information of the self-mobile equipment in the running process;

and constructing a boundary map corresponding to the target area according to the positioning information.

2. The boundary map construction method according to claim 1, wherein the boundary information includes a boundary start point and current location information of the self-mobile device; before said controlling said self-moving device to travel along the boundary of said target area according to said boundary information, said method further comprises:

Determining path vector information from the mobile device to the boundary starting point according to the boundary starting point and the current position information;

and controlling the self-mobile equipment to travel to the boundary starting point according to the path vector information.

3. The boundary map construction method according to claim 1, wherein the boundary information further includes boundary coordinates of the target area; the controlling the self-mobile device to travel along the boundary of the target area according to the boundary information comprises the following steps:

and controlling the self-mobile equipment to run along the boundary of the target area according to the boundary coordinates.

4. The boundary map construction method according to claim 1, wherein the controlling the self-moving device to travel along the boundary of the target area according to the boundary information further comprises:

and responding to a position adjustment instruction sent by the shooting equipment, and carrying out position adjustment on the self-moving equipment, wherein the position adjustment instruction is triggered when the shooting equipment detects that the driving path of the self-moving equipment deviates from the boundary of the target area.

5. The boundary map construction method according to claim 4, wherein the performing position adjustment on the self-mobile device includes:

And controlling the self-mobile equipment to perform reverse running so as to return to the last correct positioning coordinate or the correct positioning coordinate corresponding to the last moment.

6. The boundary map construction method according to claim 5, wherein the self-mobile device includes a real-time dynamic differential module; the recording the positioning information of the self-mobile device in the driving process comprises the following steps:

acquiring a positioning coordinate set detected by the real-time dynamic differential module;

removing the error positioning coordinates in the positioning coordinate set to obtain a positioning coordinate set after coordinate removal, wherein the error positioning coordinates are positioning coordinates when the driving path of the self-mobile equipment deviates from the boundary of the target area;

and determining the positioning information according to the positioning coordinate set after the coordinate is removed.

7. The boundary map construction method according to claim 4, wherein the boundary information further includes boundary coordinates of the target area; the performing position adjustment on the self-mobile device includes:

determining target boundary coordinates from the boundary information, wherein the target boundary coordinates are boundary coordinates when the driving path of the self-mobile device deviates from the boundary of the target area;

And controlling the self-mobile device to travel to the next boundary coordinate of the target boundary coordinate.

8. The boundary map construction method according to claim 7, wherein the self-mobile device includes a real-time dynamic differential module; the recording the positioning information of the self-mobile device in the driving process comprises the following steps:

performing smoothing processing on the error positioning coordinates in the positioning coordinate sets to obtain smoothed positioning coordinate sets, wherein the error positioning coordinates are positioning coordinates when the running path of the self-mobile equipment deviates from the boundary of the target area;

and determining the positioning information according to the smoothed positioning coordinate set.

9. The boundary map construction method according to claim 8, wherein the smoothing of the erroneous-positioning coordinates in the positioning coordinate set to obtain a smoothed positioning coordinate set includes:

acquiring a last correct positioning coordinate and a next correct positioning coordinate corresponding to the incorrect positioning coordinate;

and replacing the error positioning coordinates in the positioning coordinate set according to the coordinate mean value between the last correct positioning coordinate and the next correct positioning coordinate.

10. The boundary map construction method according to claim 1, wherein the boundary information includes a boundary start point, which is an intersection point of two boundary lines having an included angle greater than a preset angle in the target area.

11. The boundary map construction method according to claim 1, wherein the boundary information includes a boundary start point, the boundary start point being a first position on a boundary line in the target area, a distance between the first position and the photographing apparatus being greater than a first preset distance.

12. The boundary map construction method according to claim 1, wherein the boundary information includes a boundary start point, the boundary start point being a second position on a boundary line in the target area, a distance between the second position and the photographing apparatus being smaller than a second preset distance.

13. The boundary map construction method according to claim 1, wherein the boundary information includes sub-boundary information of a plurality of sub-regions and connected path vector information corresponding to two adjacent sub-regions;

the controlling the self-mobile device to travel along the boundary of the target area according to the boundary information comprises the following steps:

Determining an initiator region from a plurality of said sub-regions;

controlling the self-mobile device to run along the boundary of the initiator area according to the sub-boundary information of the initiator area;

when the self-mobile device is controlled to complete running along the boundary of the initial sub-area, the self-mobile device is controlled to run to the next sub-area according to the communication path vector information between the initial sub-area and the next sub-area, and the self-mobile device is controlled to run along the boundary of the next sub-area until the self-mobile device is controlled to complete running along the boundaries of all the sub-areas.

14. The boundary map construction method according to claim 1, wherein the self-moving device includes a vision apparatus; the controlling the self-mobile device to travel along the boundary of the target area according to the boundary information comprises the following steps:

obtaining boundary identification information corresponding to the boundary of the target area identified by the visual device;

updating the boundary information according to the boundary identification information to obtain updated boundary information;

and controlling the self-mobile equipment to run along the boundary of the target area according to the updated boundary information.

15. The boundary map construction method according to claim 1, wherein the boundary information includes a plurality of boundary start points; the method further comprises the steps of:

determining a segment boundary corresponding to each boundary starting point;

controlling the self-mobile equipment to run along each corresponding segment boundary according to the boundary coordinates corresponding to each segment boundary, and acquiring positioning information of the self-mobile equipment in each segment boundary;

and constructing a boundary map corresponding to the target area according to the positioning information in all the segment boundaries.

16. A boundary map construction method, characterized by being applied to a photographing apparatus, the method comprising:

collecting a target area image corresponding to a target area, and identifying the target area image to obtain boundary information of the target area;

the boundary information is sent to the self-mobile equipment so that the self-mobile equipment can drive along the boundary of the target area according to the boundary information, and positioning information in the driving process is recorded;

17. A boundary map construction method, characterized by being applied to a data processing apparatus, the method comprising:

Acquiring a target area image corresponding to a target area acquired by shooting equipment;

identifying the target area image to obtain boundary information of the target area;

18. The boundary map construction method according to claim 17, further comprising, after the transmitting the boundary information to the self-mobile device:

acquiring a driving image which is acquired by the shooting equipment and contains the self-mobile equipment;

and if the running path of the self-mobile device deviates from the boundary of the target area based on the running image, sending a position adjustment instruction to the self-mobile device, wherein the position adjustment instruction is used for instructing the self-mobile device to perform position adjustment.

19. A map construction device, characterized in that the map construction device comprises a memory and a processor;

the memory is used for storing a computer program;

The processor being configured to execute the computer program and to implement the boundary map construction method according to any one of claims 1 to 15, or the boundary map construction method according to claim 16, or the boundary map construction method according to any one of claims 17 to 18, when the computer program is executed.

20. A map construction system, characterized in that the map construction system comprises a self-mobile device and a shooting device; or, the map construction system further comprises a data processing device;

the shooting equipment is used for shooting a target area, identifying an image of the target area and obtaining boundary information of the target area; the self-mobile device is configured to implement the boundary map construction method according to any one of claims 1 to 15; or, the photographing apparatus is configured to implement the boundary map construction method according to claim 16; or, the data processing apparatus is configured to implement the boundary map construction method according to any one of claims 17 to 18.

21. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, causes the processor to implement the boundary map construction method of any one of claims 1 to 15, or the boundary map construction method of claim 16, or the boundary map construction method of any one of claims 17 to 18.