Edge position detection method and device, self-moving device, and storage medium

Abstract

This application discloses a method and apparatus for edge location detection, a self-moving device, a storage medium, and a program product. The edge location detection method includes: performing at least one region update operation during the movement of the self-moving device to update the target region; if a target region update is detected, updating the target map information to the attribute information of each first location point; if, based on the target map information, it is determined that among the multiple first location points, at least one target location point's height information conforms to a preset height range, determining the edge location based on at least one target location point. This method can reduce the storage space occupied by the self-moving device's map storage during edge location identification.

Description

Technical Field

[0001] This application belongs to the field of automatic control, and particularly relates to a method and device for detecting edge positions, a self-moving device, a storage medium, and a program product. Background Technology

[0002] With the continuous development of science and technology and the continuous improvement of people's living standards, self-moving devices have been increasingly entering our daily lives.

[0003] Current self-moving devices typically need to detect the edge positions of objects within their area when performing tasks, such as identifying the edge positions of thresholds, carpets, and other objects.

[0004] How to reduce the storage space occupied by mobile devices storing maps during the process of identifying edge locations is a problem that needs to be solved. Summary of the Invention

[0005] The embodiments of this application provide a method and apparatus for detecting edge positions, a self-moving device, a storage medium, and a program product, which can at least to some extent reduce the storage space occupied by the self-moving device storing the map during the process of identifying edge positions.

[0006] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0007] According to a first aspect of the embodiments of this application, an edge position detection method is provided for a processor of a self-moving device, the self-moving device further comprising a memory, including:

[0008] During the movement of the self-moving device, perform at least one region update operation to update the target region;

[0009] If a target area update is detected, the target map information is updated to the attribute information of each first location point, wherein the first location point is located within the updated target area and is an identified location point, and the attribute information includes height information;

[0010] If, based on the target map information, among multiple first location points, at least one target location point has height information that matches a preset height range, then the edge location is determined based on at least one target location point.

[0011] In some possible implementations of this application, determining the edge position based on at least one target location point includes:

[0012] Obtain the associated attribute information of at least one target location point;

[0013] If the associated attribute information is determined to match the target object, the edge position of the target object is determined based on at least one target location point.

[0014] In some possible implementations of this application, the region update operation includes:

[0015] Determine the starting point corresponding to the current region update operation; where the starting point corresponding to the first region update operation is the initial position point of the self-moving device;

[0016] Determine the target area corresponding to the area update operation, using the starting point as the center point;

[0017] Determine the trigger update boundary corresponding to the target area, wherein the trigger update boundary is located within the target area;

[0018] If the mobile device is detected to have moved to any boundary point in the trigger update boundary, then the boundary point will be used as the starting point for the next region update operation.

[0019] In some possible implementations of this application, the method further includes:

[0020] Real-time collection of attribute information corresponding to multiple first location points;

[0021] If the target area is not updated, the target map information is updated based on the attribute information corresponding to each first location point within the target area collected in real time.

[0022] In some possible implementations of this application, attribute information corresponding to multiple first location points is collected in real time, including:

[0023] The system collects attribute information for multiple primary location points in real time using map information collection devices.

[0024] In some possible implementations of this application, attribute information corresponding to multiple first location points is collected in real time, including:

[0025] The attribute information corresponding to multiple first location points is collected in real time using a single-line laser scanner.

[0026] In some possible implementations of this application, updating the target map information to the attribute information of each first location point includes:

[0027] From the target area before the update, determine the first area and the second area, where the first area is the overlapping area between the target area before the update and the target area after the update, and the second area is in the target area before the update but not in the target area after the update.

[0028] The first map information corresponding to the first region is retained, and the second map information corresponding to the second region is deleted to obtain the updated target map information.

[0029] In some possible embodiments of this application, the target area includes multiple sub-regions, each sub-region including a central area and multiple adjacent areas surrounding the central area; each sub-region has the same shape and is a centrally symmetrical figure;

[0030] The boundary update is triggered based on the connection of the center points of multiple adjacent regions.

[0031] In some possible implementations of this application, if the locator detects that the mobile device has moved to a boundary point, and the boundary point is the center point of any adjacent area;

[0032] Update the target map information to the attribute information of each first location point, including:

[0033] From each sub-region of the target region before the update, determine multiple first sub-regions and multiple second sub-regions, wherein the first sub-regions are located in the overlapping area between the target region after the update and the target region before the update, and the second sub-regions are located in the target region before the update but not in the target region after the update.

[0034] Retain the first map information corresponding to each first sub-region, and delete the second map information corresponding to each second sub-region.

[0035] In some possible implementations of this application, the self-moving device moves along a preset path in the target area; wherein the preset path is located within the trigger update boundary, and the endpoint of the preset path is the center point of any adjacent area.

[0036] In some possible implementations of this application, the sub-region is a square region; the target region is a complete square region formed by multiple sub-regions;

[0037] The trigger update boundary is formed by connecting the center points of multiple adjacent regions located on the outer boundary of the target region.

[0038] In some possible implementations of this application, the target area includes multiple sub-regions comprising a central region and eight adjacent regions surrounding the central region;

[0039] If the mobile device is detected to have moved to a boundary point, and the boundary point is the center point of any first adjacent region, and the first adjacent region shares an edge with the center region, the target map information is updated to the attribute information of each first location point, including:

[0040] From the target area before the update, identify three adjacent areas far from the self-moving device from multiple sub-regions;

[0041] Delete the map information corresponding to the three identified adjacent areas, and retain the map information of other sub-areas besides the three identified adjacent areas to obtain the updated map information.

[0042] In some possible implementations of this application, determining the edge position based on at least one target location point includes:

[0043] Based on the height information of at least one target location point, determine the height range corresponding to the height information;

[0044] Based on the height range corresponding to at least one target point, determine the target object corresponding to at least one target location point;

[0045] The edge position of the target object is determined based on at least one target location point.

[0046] In some possible implementations of this application, the attribute information also includes brightness information;

[0047] Based on the height range corresponding to at least one target point, determine the target object corresponding to at least one target location point, including:

[0048] Based on the material type corresponding to the brightness information and the height range corresponding to at least one target point, the target object corresponding to at least one target location point is determined.

[0049] In some possible implementations of this application, obtaining the associated attribute information of at least one target location point includes:

[0050] Acquire image information within a preset range corresponding to at least one target location point;

[0051] Image information is used as associated attribute information.

[0052] In some possible implementations of this application, obtaining the associated attribute information of at least one target location point includes:

[0053] The system retrieves the tag information of at least one target location from the pre-stored historical map information and uses the retrieved tag information as associated attribute information. The historical map information includes the tag information associated with at least one location.

[0054] In some possible implementations of this application, the attribute information also includes brightness information;

[0055] If the associated attribute information is determined to match the target object, the edge position of the target object is determined based on at least one target location point, including:

[0056] If the associated attribute information matches the target object and the brightness information matches the material type of the target object, the edge position of the target object is determined based on at least one target location point.

[0057] In some possible implementations of this application, the target object includes a threshold or a carpet.

[0058] According to a third aspect of the embodiments of this application, a self-moving device is provided, comprising:

[0059] A processor is configured to perform at least one region update operation to update a target region during the movement of a self-moving device.

[0060] The memory is used to update the target map information to attribute information of each first location point when the processor detects an update of the target area, wherein the first location point is located within the updated target area and the first location point is an identified location point, and the attribute information includes height information;

[0061] The processor is also used to determine the edge position based on at least one target location point, provided that the height information of at least one target location point conforms to a preset height range based on the target map information.

[0062] In some possible implementations of this application, the processor is used for:

[0063] Obtain the associated attribute information of at least one target location point;

[0064] If the associated attribute information is determined to match the target object, the edge position of the target object is determined based on at least one target location point.

[0065] In some possible embodiments of this application, the self-moving device further includes a locator, and the processor performs a region update operation, specifically for:

[0066] Determine the starting point corresponding to the current region update operation; where the starting point corresponding to the first region update operation is the initial position point of the self-moving device;

[0067] Determine the target area corresponding to the area update operation, using the starting point as the center point;

[0068] Determine the trigger update boundary corresponding to the target area, wherein the trigger update boundary is located within the target area;

[0069] If the locator detects that the mobile device has moved to any boundary point in the trigger update boundary, then the boundary point will be used as the starting point for the next region update operation.

[0070] In some possible embodiments of this application, the self-mobile device further includes a map information collection device, used for:

[0071] Real-time collection of attribute information corresponding to multiple first location points;

[0072] The memory is also used for:

[0073] If the target area is not updated, the target map information is updated based on the attribute information corresponding to each first location point within the target area collected in real time.

[0074] In some possible embodiments of this application, the map information acquisition device includes a laser scanner.

[0075] In some possible embodiments of this application, the map information acquisition device includes a single-line laser scanner.

[0076] In some possible implementations of this application, the processor is used for:

[0077] From the target area before the update, determine the first area and the second area, where the first area is the overlapping area between the target area before the update and the target area after the update, and the second area is in the target area before the update but not in the target area after the update.

[0078] The memory is used to retain the first map information corresponding to the first region and delete the second map information corresponding to the second region to obtain the updated target map information.

[0079] In some possible embodiments of this application, the target area includes multiple sub-regions, each sub-region including a central area and multiple adjacent areas surrounding the central area; each sub-region has the same shape and is a centrally symmetrical figure;

[0080] The boundary update is triggered based on the connection of the center points of multiple adjacent regions.

[0081] In some possible embodiments of this application, the self-moving device also includes a locator;

[0082] If the locator detects that the mobile device has moved to a boundary point, and the boundary point is the center point of any adjacent area, the processor performs the following:

[0083] From each sub-region of the target region before the update, determine multiple first sub-regions and multiple second sub-regions, wherein the first sub-regions are located in the overlapping area between the target region after the update and the target region before the update, and the second sub-regions are located in the target region before the update but not in the target region after the update.

[0084] The memory is used for:

[0085] Retain the first map information corresponding to each first sub-region, and delete the second map information corresponding to each second sub-region.

[0086] In some possible implementations of this application, the self-moving device moves along a preset path in the target area; wherein the preset path is located within the trigger update boundary, and the endpoint of the preset path is the center point of any adjacent area.

[0087] In some possible implementations of this application, the sub-region is a square region; the target region is a complete square region formed by multiple sub-regions;

[0088] The trigger update boundary is formed by connecting the center points of multiple adjacent regions located on the outer boundary of the target region.

[0089] In some possible implementations of this application, the target area includes multiple sub-regions comprising a central region and eight adjacent regions surrounding the central region;

[0090] If the locator detects that the mobile device has moved to a boundary point, and the boundary point is the center point of any first adjacent region, and the first adjacent region shares an edge with the center region, the processor performs the following:

[0091] From the target area before the update, identify three adjacent areas far from the self-moving device from multiple sub-regions;

[0092] The memory is used for:

[0093] Delete the map information corresponding to the three identified adjacent areas, and retain the map information of other sub-areas besides the three identified adjacent areas to obtain the updated map information.

[0094] In some possible implementations of this application, the processor is used for:

[0095] Based on the height information of at least one target location point, determine the height range corresponding to the height information;

[0096] Based on the height range corresponding to at least one target point, determine the target object corresponding to at least one target location point;

[0097] The edge position of the target object is determined based on at least one target location point.

[0098] In some possible implementations of this application, the attribute information also includes brightness information;

[0099] The processor is used for:

[0100] Based on the material type corresponding to the brightness information and the height range corresponding to at least one target point, the target object corresponding to at least one target location point is determined.

[0101] In some possible embodiments of this application, the self-moving device also includes an image acquisition device;

[0102] Image acquisition devices are used to acquire image information within a preset range corresponding to at least one target location point;

[0103] The processor is used to treat image information as associated attribute information.

[0104] In some possible embodiments of this application, the memory also stores historical map information, which includes tag information associated with at least one location point;

[0105] The processor is used for:

[0106] Retrieve the label information of at least one target location from historical map information, and use the retrieved label information as associated attribute information.

[0107] In some possible implementations of this application, the attribute information also includes brightness information;

[0108] The processor is used for:

[0109] If the associated attribute information matches the target object and the brightness information matches the material type of the target object, the edge position of the target object is determined based on at least one target location point.

[0110] In some possible implementations of this application, the target object includes a threshold or a carpet.

[0111] According to a third aspect of the embodiments of this application, an edge position detection device is provided, comprising:

[0112] The region update module is used to perform at least one region update operation to update the target region during the movement of the self-moving device;

[0113] The map update module is used to update the target map information to the attribute information of each first location point if the target area is detected to be updated. The first location point is located in the updated target area and is a recognized location point. The attribute information includes height information.

[0114] The edge location determination module is used to determine the edge location based on at least one target location point if, among multiple first location points determined based on target map information, the height information of at least one target location point conforms to a preset height range.

[0115] In some possible implementations of this application, the edge location determination module is specifically used for:

[0116] Obtain the associated attribute information of at least one target location point;

[0117] If the associated attribute information is determined to match the target object, the edge position of the target object is determined based on at least one target location point.

[0118] In some possible implementations of this application, the region update module performs a region update operation, specifically for:

[0119] Determine the starting point corresponding to the current region update operation; where the starting point corresponding to the first region update operation is the initial position point of the self-moving device;

[0120] Determine the target area corresponding to the area update operation, using the starting point as the center point;

[0121] Determine the trigger update boundary corresponding to the target area, wherein the trigger update boundary is located within the target area;

[0122] If the mobile device is detected to have moved to any boundary point in the trigger update boundary, then the boundary point will be used as the starting point for the next region update operation.

[0123] In some possible implementations of this application, a data acquisition module is also included, for:

[0124] Real-time collection of attribute information corresponding to multiple first location points;

[0125] The map update module is also used for:

[0126] If the target area is not updated, the target map information is updated based on the attribute information corresponding to each first location point within the target area collected in real time.

[0127] In some possible implementations of this application, the acquisition module is used for:

[0128] The system collects attribute information for multiple primary location points in real time using map information collection devices.

[0129] In some possible implementations of this application, the acquisition module is used for:

[0130] The attribute information corresponding to multiple first location points is collected in real time using a single-line laser scanner.

[0131] In some possible implementations of this application, the map update module is used for:

[0132] From the target area before the update, determine the first area and the second area, where the first area is the overlapping area between the target area before the update and the target area after the update, and the second area is in the target area before the update but not in the target area after the update.

[0133] The first map information corresponding to the first region is retained, and the second map information corresponding to the second region is deleted to obtain the updated target map information.

[0134] In some possible embodiments of this application, the target area includes multiple sub-regions, each sub-region including a central area and multiple adjacent areas surrounding the central area; each sub-region has the same shape and is a centrally symmetrical figure;

[0135] The boundary update is triggered based on the connection of the center points of multiple adjacent regions.

[0136] In some possible implementations of this application, if the locator detects that the mobile device has moved to a boundary point, and the boundary point is the center point of any adjacent area;

[0137] The map update module is used for:

[0138] From each sub-region of the target region before the update, determine multiple first sub-regions and multiple second sub-regions, wherein the first sub-regions are located in the overlapping area between the target region after the update and the target region before the update, and the second sub-regions are located in the target region before the update but not in the target region after the update.

[0139] Retain the first map information corresponding to each first sub-region, and delete the second map information corresponding to each second sub-region.

[0140] In some possible implementations of this application, the self-moving device moves along a preset path in the target area; wherein the preset path is located within the trigger update boundary, and the endpoint of the preset path is the center point of any adjacent area.

[0141] In some possible implementations of this application, the sub-region is a square region; the target region is a complete square region formed by multiple sub-regions;

[0142] The trigger update boundary is formed by connecting the center points of multiple adjacent regions located on the outer boundary of the target region.

[0143] In some possible implementations of this application, the target area includes multiple sub-regions comprising a central region and eight adjacent regions surrounding the central region;

[0144] If the self-moving device is detected to have moved to a boundary point, and the boundary point is the center point of any first adjacent region, and the first adjacent region shares an edge with the center region, the map update module is used to:

[0145] From the target area before the update, identify three adjacent areas far from the self-moving device from multiple sub-regions;

[0146] Delete the map information corresponding to the three identified adjacent areas, and retain the map information of other sub-areas besides the three identified adjacent areas to obtain the updated map information.

[0147] In some possible implementations of this application, the edge location determination module is used for:

[0148] Based on the height information of at least one target location point, determine the height range corresponding to the height information;

[0149] Based on the height range corresponding to at least one target point, determine the target object corresponding to at least one target location point;

[0150] The edge position of the target object is determined based on at least one target location point.

[0151] In some possible implementations of this application, the attribute information also includes brightness information;

[0152] The edge location determination module is used for:

[0153] Based on the material type corresponding to the brightness information and the height range corresponding to at least one target point, the target object corresponding to at least one target location point is determined.

[0154] In some possible implementations of this application, the edge location determination module is used for:

[0155] Acquire image information within a preset range corresponding to at least one target location point;

[0156] Image information is used as associated attribute information.

[0157] In some possible implementations of this application, the edge location determination module is used for:

[0158] The system retrieves the tag information of at least one target location from the pre-stored historical map information and uses the retrieved tag information as associated attribute information. The historical map information includes the tag information associated with at least one location.

[0159] In some possible implementations of this application, the attribute information also includes brightness information;

[0160] The edge location determination module is used for:

[0161] If the associated attribute information matches the target object and the brightness information matches the material type of the target object, the edge position of the target object is determined based on at least one target location point.

[0162] In some possible implementations of this application, the target object includes a threshold or a carpet.

[0163] According to a fourth aspect of the present application, a self-moving device is provided, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the methods described in the above embodiments.

[0164] According to a fifth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the methods described in the above embodiments.

[0165] According to a sixth aspect of the embodiments of this application, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the methods described in the embodiments above.

[0166] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application.

[0167] The beneficial effects of the technical solutions provided in this application are:

[0168] By updating the target area through a region update operation during the movement of the self-mobile device, if the target area update is detected, the target map information is updated to the attribute information of each first location point. The first location point is located within the updated target area and is an identified location point. The attribute information includes height information. That is, the target map information is updated as the target area is updated, which can effectively save the storage space of the self-mobile device.

[0169] Furthermore, based on the height information of each target's first location point in the target area, at least one target location point that conforms to a preset height range can be determined. The edge location can be determined based on the height information of the target location point. By accurately locating the target location point through the height information, the accuracy of the edge location can also be improved.

[0170] Furthermore, the trigger update boundary is located within the target area. When the mobile device moves to any boundary point within the trigger update boundary, the boundary point is used as the new center point to update the target area. There will inevitably be an overlapping area between the target area before and after the update. This can preserve the map information of the overlapping area and effectively save the amount of calculation of the target map information.

[0171] Furthermore, map information can be deleted or retained according to the dimensions of sub-regions, which can further reduce the amount of computation caused by updating the target map information as the target region changes.

[0172] Furthermore, the sub-region is a square region, and the target region is a complete square region formed by multiple sub-regions. When the target region is updated, the overlapping regions and the regions that need to be deleted each include multiple square sub-regions. The computational amount of updating the two-dimensional position information of the square is relatively small, which can effectively reduce the computational amount of the self-moving device.

[0173] Furthermore, if the trigger update boundary is formed by connecting the center points of multiple adjacent regions located on the outer boundary of the target region, then the trigger update boundary will be relatively large, which can reduce the update frequency of the target region and thus further reduce the computational load of the self-moving device.

[0174] Furthermore, if the range corresponding to the triggered update boundary is reduced accordingly, the overlapping area between the target area before the update and the target area after the update will increase relatively. More map information can be retained when updating the target map information, and the computational load of the self-moving device can also be reduced.

[0175] Furthermore, if the target area has multiple sub-regions including a central region and eight adjacent regions surrounding the central region, i.e., the target area is in the form of a 3x3 grid, when the mobile device is detected to have moved to a boundary point, and the boundary point is the center point of any first adjacent region, and the first adjacent region shares an edge with the central region, then the map information corresponding to the three adjacent regions far away from the mobile device is deleted, and the updated target map information is obtained. The target map information is continuously updated in the form of a 3x3 grid, which can effectively reduce the amount of computation in the map information update process and save computing power.

[0176] Furthermore, by combining the height information and associated attribute information of the target location point, the target object can be identified more accurately, thereby determining the edge position of the target object based on the target location point. Attached Figure Description

[0177] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0178] Figure 1 An application scenario diagram of an edge location detection method provided as an example of this application;

[0179] Figure 2A flowchart illustrating an edge location detection method provided in an embodiment of this application;

[0180] Figure 3 This is a schematic diagram of a scheme for updating target map information provided in one example of this application;

[0181] Figure 4 This is a schematic diagram of a scheme for updating target map information provided in one example of this application;

[0182] Figure 5 This is a schematic diagram of a scheme for updating target map information provided in one example of this application;

[0183] Figure 6 This is a schematic diagram of a scheme for updating target map information provided in one example of this application;

[0184] Figure 7 This is a schematic diagram of the target area provided in one example of this application;

[0185] Figure 8 This is a schematic diagram of a scheme for updating target map information provided in one example of this application;

[0186] Figure 9 A schematic diagram illustrating a scheme for determining the edge position of a target object, as an example provided in this application;

[0187] Figure 10 This is a schematic diagram of the structure of a self-moving device provided in an embodiment of this application;

[0188] Figure 11 This is a schematic diagram of the structure of a self-moving device provided in an embodiment of this application;

[0189] Figure 12 A schematic diagram of the structure of an edge position detection device provided in an embodiment of this application;

[0190] Figure 13 This is a schematic diagram of the structure of the self-moving device provided in an embodiment of this application. Detailed Implementation

[0191] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0192] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0193] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0194] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0195] It should also be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such uses of these terms can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described.

[0196] The technical solutions of this application and their effects are described below through several exemplary embodiments. It should be noted that the following embodiments can be referenced, borrowed from, or combined with each other. Identical terms, similar features, and similar implementation steps in different embodiments will not be repeated.

[0197] The following examples illustrate the application scenarios of the edge location detection method of this application. Figure 1 As shown, in one example, the application scenario of the edge location detection method of this application can include a self-moving device 101. During the movement of the self-moving device, at least one region update operation is performed to update the target region, such as... Figure 1As shown, when the self-moving device 101 is at its current position, the target area is 102 in the figure. If the target area is updated, the target map information is updated to the attribute information of each first position point. If, based on the target map information, it is determined that among the multiple first position points, the height information of at least one target position point 104 conforms to the preset height range, such as the height information of a target position point 104 corresponding to the object 103 shown in the figure conforming to the preset height range, then the edge position of the object is determined based on at least one target position point 104.

[0198] Those skilled in the art will understand that a self-moving device is a device that can move autonomously or semi-autonomously in a physical environment, typically relying on built-in sensors (such as lidar, cameras, ultrasound, etc.), processors, control systems, and drive devices (wheels, tracks, feet, etc.) to perceive the environment, plan paths, navigate, and perform tasks.

[0199] Self-moving devices can include home and personal service robots, such as robotic vacuum cleaners, robotic mops, and robotic lawn mowers; they can also include logistics and warehousing robots, such as autonomous mobile robots, sorting robots, and delivery robots; and they can also include industrial and inspection robots, professional cleaning robots, and agricultural robots.

[0200] In possible embodiments of this application, the self-moving device may include a memory, a processor, a locator, and a map information acquisition device. The memory may include embedded multi-media cards (eMMC), low-power double data rate 5 synchronous dynamic random access memory (LPDDR5), etc.; the processor may include microcontroller units (MCU), graphics processing units (GPU), digital signal processors (DSP), etc.; the locator may include light detection and ranging simultaneous localization and mapping (LiDAR SLAM), visual-inertial odometry (VIO), rotary optical encoders (Encoder), inertial measurement units (IMU), etc.; the map information acquisition equipment may include time-of-flight sensors (TOFSensors), light detection and ranging (LiDAR) systems, millimeter-wave radars (mmWave radars), etc. Radar, etc.

[0201] like Figure 2 As shown, in some possible implementations, embodiments of this application provide a method for detecting edge positions. Taking a self-moving device as an example, the method may include the following steps:

[0202] Step S201: During the movement of the self-moving device, perform at least one region update operation to update the target region.

[0203] The target area is the region corresponding to the target map information stored by the mobile device during its movement.

[0204] For example, the target area can be a 3m x 3m square area, or it can be a circular area with a radius of 3m centered on the self-moving device.

[0205] Among them, the region update operation refers to the specific operation process of re-determining a new target region when the mobile device detects that the target region needs to be updated during the movement process.

[0206] The specific process for updating the region will be explained in more detail below.

[0207] Specifically, the self-moving device can move based on control commands, move during map exploration, or move during cleaning; this application does not limit this.

[0208] Step S202: If an update to the target area is detected, update the target map information to the attribute information of each first location point.

[0209] The first location point is located within the updated target area, and the first location point is a previously identified location point.

[0210] The attribute information includes height information.

[0211] Specifically, the height information of each first location point determines the position information, i.e., coordinate information, which means that the three-dimensional coordinate information within the target area is identified.

[0212] In the specific implementation process, when the mobile device is moving, the coordinate information of each location point within the field of view can be collected by the map information collection device.

[0213] Specifically, if an update to the target area is detected, a region update operation is triggered, and the updated target area is determined.

[0214] Specifically, the target map information includes three-dimensional map information, namely the two-dimensional coordinates of the X and Y axes, and the height information of the Z axis.

[0215] Specifically, the target map information is updated to the attribute information of the first location point. This means that the stored target map information is updated as the target area is updated. If the map information before the update is not in the target area after the update, then this part of the map information will not be retained.

[0216] In addition, the target map information includes the location information of the first identified location points. That is to say, the target map information will only be updated after the location information is identified. It does not mean that the target map information necessarily includes the location information of all the first location points in the target area.

[0217] Step S203: If, based on the target map information, among the multiple first location points, at least one target location point has height information that conforms to a preset height range, then the edge location is determined based on at least one target location point.

[0218] The preset height range can be determined based on the type of target object whose edge position needs to be determined.

[0219] For example, if the target object includes a carpet or a threshold, the preset height range can include 0.3cm-2cm.

[0220] Specifically, the target object can be determined based on the height information of at least one target location point, or by combining brightness information and the height information of at least one target location point, or by combining the associated attribute information and height information of at least one target location point, and then the edge position of the target object can be determined.

[0221] The process of determining the edge location will be explained in more detail below.

[0222] In the above embodiments, the target area is updated through a region update operation during the movement of the self-mobile device. If the target area is updated, the target map information is updated to the attribute information of each first location point. The first location point is located within the updated target area and is an identified location point. The attribute information includes height information. That is, the target map information is updated as the target area is updated, which can effectively save the storage space of the self-mobile device.

[0223] Furthermore, based on the height information of each target's first location point in the target area, at least one target location point that conforms to a preset height range can be determined. The edge location can be determined based on the height information of the target location point. By accurately locating the target location point through the height information, the accuracy of the edge location can also be improved.

[0224] The specific process of the region update operation will be described below with reference to the embodiments.

[0225] In some possible implementations of this application, the region update operation includes:

[0226] (1) Determine the starting point corresponding to the current region update operation.

[0227] The starting point for the first region update operation is the initial location point of the self-moving device.

[0228] (2) Using the starting point as the center point, determine the target area corresponding to the area update operation.

[0229] The target region can be a complete region without sub-regions; or it can include multiple sub-regions, such as a central region and adjacent regions surrounding the central region.

[0230] For example, a 3×3 grid area can be divided with the starting point as the center to obtain the target area.

[0231] The specific types of target areas will be discussed in more detail below.

[0232] (3) Determine the trigger update boundary corresponding to the target area.

[0233] The trigger update boundary is located within the target area.

[0234] Specifically, the trigger update boundary can be the outer boundary of the target area, or it can be located inside the target area but at a certain distance from the outer boundary of the target area. The following text will elaborate on the setting method of trigger update boundary for different types of target areas.

[0235] (4) If the self-moving device is detected to have moved to any boundary point in the trigger update boundary, the boundary point will be used as the starting point for the next region update operation.

[0236] Specifically, if the mobile device is detected to have moved to any boundary point in the trigger update boundary, the next region update operation is initiated. That is, the boundary point at this time is used as the new starting point, and then the process of determining the new target region and the new trigger update boundary is repeated.

[0237] In the above embodiments, the trigger update boundary is located within the target area. When the mobile device moves to any boundary point in the trigger update boundary, the boundary point is used as the new center point to update the target area. There must be an overlapping area between the target area before the update and the target area after the update. In this way, the map information of the overlapping area can be preserved, saving the amount of calculation of the target map information.

[0238] In some possible implementations of this application, the method further includes:

[0239] (1) Collect attribute information corresponding to multiple first location points in real time.

[0240] (2) If the target area is not updated, update the target map information based on the attribute information corresponding to each first location point in the target area collected in real time.

[0241] Specifically, when the target area is updated, the target map information is updated accordingly; if the target area is not updated, and the mobile device moves within the target area without triggering the update boundary, the target map information also needs to be updated in real time if the mobile device obtains new map information of the target location.

[0242] In some possible implementations of this application, real-time collection of attribute information corresponding to multiple first location points may include:

[0243] The system collects attribute information for multiple primary location points in real time using map information collection devices.

[0244] The map information acquisition equipment may include laser scanning equipment, such as single-line lidar (2D LiDAR) or multi-line lidar (3D LiDAR), and may also include vision imaging systems, such as time-of-flight sensors (TOF) or monocular cameras.

[0245] Among them, single-line lidar can obtain the height information (Z-axis) and reflection intensity (brightness information) of a location point by scanning a single layer of horizontal laser beams (such as a 270° scanning range); multi-line lidar can obtain a three-dimensional point cloud (including XYZ coordinates and reflection intensity) by scanning multiple layers of laser beams (such as 16 lines / 32 lines stacked vertically).

[0246] In some possible implementations of this application, the real-time acquisition of attribute information corresponding to multiple first location points may include:

[0247] The attribute information corresponding to multiple first location points is collected in real time using a single-line laser scanner.

[0248] Specifically, a single-line laser scanner can be mounted on the side wall of the self-moving device.

[0249] In practical implementation, the single-line laser scanner can be set on the side wall of the main body and in front of the self-moving device, that is, set on the side wall along the moving direction of the self-moving device. In this way, the laser scanner can continuously acquire map information of each location point within the field of view during the movement.

[0250] Specifically, using a single-line laser scanner can reduce the cost of map information collection while ensuring the accuracy of edge location detection.

[0251] The following will further illustrate the specific process of updating the target map information as the target area is defined, with reference to specific examples.

[0252] In some possible implementations of this application, step S202, which updates the target map information to the attribute information of each first location point, may include:

[0253] (1) Determine the first region and the second region from the target region before the update.

[0254] The first region is the overlapping area between the updated target region and the original target region, while the second region is located within the original target region but not within the updated target region.

[0255] (2) Retain the first map information corresponding to the first area and delete the second map information corresponding to the second area to obtain the updated target map information.

[0256] Specifically, the first map information corresponding to the first region is retained, meaning that it is not necessary to reacquire this part of the map information; only the map information of the regions other than the first region in the new target region needs to be acquired.

[0257] It is understandable that by retaining the first map information corresponding to the first region and deleting the second map information corresponding to the second region, the target map information corresponding to the self-mobile device when it is at the boundary point is obtained. As the self-mobile device moves in the new target region, the target map information will be updated as the self-mobile device obtains more map information of the first location point.

[0258] like Figure 3 As shown, taking a circular target area as an example, when the mobile device 301 is at position A, the corresponding target area is 302 as shown in the figure; where 303 is the trigger update boundary corresponding to the target area 302; when the mobile device 301 moves to position B as shown in the figure, that is, moves to the trigger update boundary, the target area will be updated to obtain the updated target area 304; then the overlapping area between the updated target area 304 and the original target area 302, that is, the first area, is 305 as shown in the figure, and the second area, which is in the original target area 302 and not in the updated target area 304, is 306 as shown in the figure. Then the updated target area 304 can include the map information of the first area 305 and delete the map information of the second area 306.

[0259] It is understandable that as the mobile device moves within the updated target area 304, but before reaching the trigger update boundary corresponding to the updated target area 304, it will continuously obtain the height information of the first location point in the updated target area 304 and update the target map information.

[0260] The target area and the corresponding trigger update boundary will be described below with reference to more embodiments.

[0261] In some possible embodiments of this application, the target area includes multiple sub-regions, each including a central area and multiple adjacent areas surrounding the central area; each sub-region has the same shape and is a centrally symmetrical figure.

[0262] The boundary update is triggered based on the connection of the center points of multiple adjacent regions.

[0263] Specifically, the fact that all sub-regions have the same shape indicates that the central region and adjacent regions are also the same. The triggering of the update boundary is based on the connection of the center points corresponding to multiple adjacent regions. This means that if the mobile device moves to the center of an adjacent region, this adjacent region can be used as the new central region. Therefore, it is possible to determine which sub-region map information needs to be retained and which sub-region map information can be deleted, thus obtaining the updated target map information.

[0264] Specifically, the self-moving device also includes a locator. If the locator detects that the self-moving device has moved to a boundary point, and the boundary point is the center point of any adjacent area;

[0265] Step S202 updates the target map information to the attribute information of each first location point, including:

[0266] From each sub-region of the target region before the update, determine multiple first sub-regions and multiple second sub-regions, wherein the first sub-regions are located in the overlapping area between the target region after the update and the target region before the update, and the second sub-regions are located in the target region before the update but not in the target region after the update.

[0267] Retain the first map information corresponding to each first sub-region, and delete the second map information corresponding to each second sub-region.

[0268] Specifically, if the target area includes multiple identical sub-regions, then the overlapping area between the target area before the update and the target area after the update can be determined, that is, the first sub-region corresponding to the first area, and the second sub-region corresponding to the second area where map information needs to be deleted can be determined.

[0269] Specifically, map information can be deleted or retained according to the dimensions of sub-regions, which can further reduce the amount of computation required to update target map information based on the target region.

[0270] like Figure 4 As shown in the example, the target area includes multiple sub-regions, each of which is a regular hexagon. These sub-regions include a central region and six regular hexagons surrounding the central region. Figure 402 represents the trigger update boundary corresponding to the target area before the update. When the mobile device 401 moves from position A to position B, the target area is updated. The gray sub-regions 403 represent the overlapping areas between the updated and previous target areas, i.e., multiple first sub-regions 403. The blue sub-regions 404 are located within the previous target area but not within the updated target area, i.e., multiple second sub-regions 404. Therefore, the updated target map information includes the map information corresponding to the first sub-regions 403, and deletes the map information corresponding to the second sub-regions 404.

[0271] Similarly, it is understandable that as the mobile device moves within the updated target area, but before it reaches the trigger update boundary corresponding to the updated target area, it will continuously obtain the height information of the first location point in the updated target area, that is, obtain the map information corresponding to sub-area 405 shown in the figure, in order to update the target map information.

[0272] In some possible implementations of this application, the sub-region is a square region; the target region is a complete square region formed by multiple sub-regions;

[0273] The trigger update boundary is formed by connecting the center points of multiple adjacent regions located on the outer boundary of the target region.

[0274] In this application, the sub-region is a square region, and the target region is a complete square region formed by multiple sub-regions. When the target region is updated, the overlapping regions and the regions that need to be deleted each include multiple square sub-regions. The computational amount of updating the two-dimensional position information of the square is small, which can effectively reduce the computational amount of the processor of the self-moving device.

[0275] like Figure 5 As shown in the example, the target area is a complete square area, which includes multiple sub-areas, each of which is also a square. These sub-areas include a central area and 24 regular hexagons surrounding the central area. 502 in the figure represents the trigger update boundary corresponding to the target area before the update. The trigger update boundary is formed by connecting the center points of the outermost multiple sub-areas. When the mobile device 501 moves from position A to position B in the figure, the target area is updated. The multiple sub-areas 503 filled in the figure represent the overlapping area between the updated and the original target area, i.e., multiple first sub-areas 503. Multiple sub-areas 504 in the figure are located within the original target area but not within the updated target area, i.e., multiple second sub-areas 504. Therefore, the updated target map information includes map information corresponding to multiple first sub-areas 503, and deletes the map information corresponding to the second sub-areas 504.

[0276] Similarly, it is understandable that as the mobile device moves within the updated target area, but before it reaches the trigger update boundary corresponding to the updated target area, it will continuously obtain the height information of the first location point in the updated target area in order to update the target map information.

[0277] In practice, if the trigger update boundary is formed by connecting the center points of multiple adjacent regions located on the outer boundary of the target region, then the trigger update boundary will be relatively large, which can reduce the update frequency of the target region and further reduce the computational load of the self-moving device's processor.

[0278] In the above embodiments, the trigger update boundary is formed by connecting the center points of multiple adjacent regions located on the outer boundary of the target region. In other embodiments, if there are multiple adjacent sub-regions between the central region and the sub-region located on the outer boundary, the trigger update boundary can also be formed by connecting the center points of other sub-regions.

[0279] like Figure 6 As shown in the example, the target area is a complete square area, which includes multiple sub-areas, each of which is also a square. These sub-areas include a central area and 24 regular hexagons surrounding the central area. 602 in the figure represents the trigger update boundary corresponding to the target area before the update. The trigger update boundary is formed by connecting the center points of multiple sub-areas directly adjacent to the central area. When the mobile device 601 moves from position A to position B in the figure, the target area is updated. The multiple sub-areas 603 filled in the figure represent the overlapping area between the updated and the original target area, i.e., multiple first sub-areas 603. Multiple sub-areas 604 in the figure are located within the original target area but not within the updated target area, i.e., multiple second sub-areas 604. Therefore, the updated target map information includes map information corresponding to multiple first sub-areas 603, and deletes the map information corresponding to the second sub-areas 604.

[0280] In the example above, if the range corresponding to the boundary that triggers the update is reduced accordingly, the overlapping area between the target area before the update and the target area after the update will increase. More map information can be retained when updating the target map information, and the computational load on the mobile device's processor can also be reduced.

[0281] In some possible implementations, the self-moving device moves within the target area along a preset path, wherein the preset path is located within the trigger update boundary and the endpoint of the preset path is the center point of any adjacent area.

[0282] Specifically, if the preset path is located within the trigger update boundary, more map information of the first location point in the target area can be obtained during the movement along the preset path; if the endpoint of the preset path is the center point of any adjacent area, then when the target map is triggered to update, the target map can be updated by retaining the first map information corresponding to each first sub-area and deleting the second map information corresponding to each second sub-area, which can effectively reduce the amount of calculation for the target map update.

[0283] In some possible implementations of this application, the target area includes multiple sub-regions comprising a central region and eight adjacent regions surrounding the central region;

[0284] If the locator detects that the self-moving device has moved to the boundary point, and the boundary point is the center point of any first adjacent region, the first adjacent region and the center region share a single edge.

[0285] Specifically, the target area comprises multiple sub-regions, including a central region and eight adjacent regions surrounding the central region, forming a nine-square grid, such as... Figure 7 As shown in the figure, the target area includes a central area 701 and eight adjacent areas, wherein the first adjacent area 702 shares an edge with the central area 701.

[0286] Step S202 updates the target map information to the attribute information of each first location point, which may include:

[0287] (1) From the target area before the update, identify three adjacent areas far from the self-moving device from multiple sub-regions;

[0288] (2) Delete the map information corresponding to the three adjacent areas that have been determined, and retain the map information of other sub-areas besides the three adjacent areas to obtain the updated map information.

[0289] Specifically, if the self-moving device is detected to have moved to the boundary point, and the boundary point is the center point of any first adjacent region, then the three adjacent regions far away from the self-moving device are the sub-regions corresponding to the deleted second region.

[0290] like Figure 8As shown, the target area is a complete square area, which includes 9 sub-areas, each of which is also a square, i.e., the target area is in the form of a nine-square grid. Among them, multiple sub-areas include a central area and 8 regular hexagons surrounding the central area. 802 in the figure is the trigger update boundary corresponding to the target area before the update. The trigger update boundary is formed by connecting the center points of multiple adjacent areas. When the self-moving device 801 moves from position A in the figure to position B in the figure, the target area is updated. The multiple sub-areas 803 filled in the figure are the overlapping areas between the updated target area and the target area before the update, i.e., multiple first sub-areas 803. The three adjacent areas in the figure that are far away from the self-moving device are 804. That is, the adjacent areas 804 are in the target area before the update but not in the target area after the update, i.e., multiple second sub-areas 804. Then, the map information corresponding to the second sub-area 804 is deleted, and the map information corresponding to the first sub-area 803 in the target area before the update is retained.

[0291] In the above embodiments, if the target area includes a central area and eight adjacent areas surrounding the central area, i.e., the target area is in the form of a 3x3 grid, when the mobile device is detected to have moved to the boundary point, and the boundary point is the center point of any first adjacent area, and the first adjacent area shares an edge with the central area, then the map information corresponding to the three adjacent areas far away from the mobile device is deleted, and the updated target map information is obtained. The target map information is continuously updated in the form of a 3x3 grid, which can effectively reduce the amount of computation in the map information update process and save computing power.

[0292] It is understandable that when the target area is in the form of a 3x3 grid, the self-moving device moves within the target area according to a preset path. The preset path is located within the trigger update boundary, and the endpoint of the preset path is the center point of any first adjacent area.

[0293] If the preset path is the center point of the first adjacent area, then the map information corresponding to the three adjacent areas far away from the self-moving device can be directly deleted to obtain the updated target map information.

[0294] The above embodiments illustrate the specific process of updating target map information. The following will further illustrate the specific process of determining edge positions in conjunction with embodiments.

[0295] In some possible implementations of this application, step S201, which determines the edge position based on at least one target location point, may include:

[0296] (1) Determine the height range corresponding to the height information based on the height information of at least one target location point;

[0297] (2) Based on the height range corresponding to at least one target point, determine the target object corresponding to at least one target location point;

[0298] (3) Determine the edge position of the target object based on at least one target location point.

[0299] In the specific implementation process, the height range and edge length range corresponding to different objects that may be on the ground can be predefined. For example, the length and height of a carpet and a book placed on the ground are different. The edge length can be determined based on the position information corresponding to at least one target location point. The target object can be determined based on the height range corresponding to at least one target point and the edge length determined by at least one target location point. Then, the edge position of the target object can be determined by combining the position information of at least one location point.

[0300] In some possible implementations of this application, the target object includes a threshold or a carpet.

[0301] Specifically, the target object can also include other obstacles that the self-moving device may encounter during its movement, and the edge position of the obstacle is easy to misidentify. For example, it can also include books, yoga mats, etc.

[0302] In some possible implementations of this application, the attribute information also includes brightness information.

[0303] Among them, the brightness information is used to characterize the intensity of reflected light at the target location point, thereby indirectly characterizing the material of the object corresponding to the target location point.

[0304] Determining the target object corresponding to at least one target location point based on the height range corresponding to at least one target point may include:

[0305] Based on the material type corresponding to the brightness information and the height range corresponding to at least one target point, the target object corresponding to at least one target location point is determined.

[0306] Specifically, the height ranges corresponding to different objects that may exist on the ground can be predefined, and candidate objects can be determined by combining the height ranges corresponding to at least one target point; then, the target object can be determined from the candidate objects by combining the material type corresponding to the brightness information.

[0307] In the actual implementation process, the correspondence between different brightness information, height range and different objects can be predefined; the target object can be determined directly by combining the brightness information and height range.

[0308] For example, if a height change is detected and the brightness is high, the target object can be identified as a tile threshold; if a height change is detected and the brightness is low, the target object can be identified as a threshold.

[0309] In the specific implementation process, the correspondence between the height range, edge length range and material type of different objects that may exist on the ground can be predefined. Combined with the height range corresponding to at least one target location point, the edge length determined by at least one target location point and the material type, the target object corresponding to at least one target location point can be determined.

[0310] In some possible implementations of this application, step S203, which determines the edge position based on at least one target location point, may include:

[0311] (1) Obtain the associated attribute information of at least one target location point;

[0312] (2) If the associated attribute information is determined to match the target object, the edge position of the target object is determined based on at least one target location point.

[0313] Among them, the associated attribute information can be used to characterize other attributes of the target location point, such as image information, label information, etc.

[0314] Specifically, after determining that at least one target location point's height information conforms to a preset height range among multiple first location points based on the target map information, the associated attribute information of at least one target location point can be obtained; then, the edge position of the target object can be determined by combining the associated attribute information.

[0315] In the above embodiments, by combining the height information and associated attribute information of the target location point, the target object can be identified more accurately, thereby determining the edge position of the target object by combining the target location point.

[0316] The following will further illustrate the different methods of obtaining associated attribute information and the specific process of determining the target object with reference to the embodiments.

[0317] In some possible implementations of this application, obtaining the associated attribute information of at least one target location point includes:

[0318] Acquire image information within a preset range corresponding to at least one target location point;

[0319] Image information is used as associated attribute information.

[0320] Specifically, after detecting that the height information of at least one target location point meets the preset height range, image information is acquired through an image acquisition device, and the target object is determined by combining the image information.

[0321] In the specific implementation process, image information can be acquired through image acquisition devices and recognition can be performed based on the image information. For example, the corresponding target object can be identified by matching the image information with standard images of multiple objects; or the image information can be identified and the corresponding target object can be determined by the recognition model set in the processor. The specific process of determining the target object based on the image information is not limited in this application.

[0322] In some possible implementations of this application, obtaining the associated attribute information of at least one target location point may include:

[0323] Retrieve the tag information of at least one target location from the pre-stored historical map information, and use the retrieved tag information as associated attribute information.

[0324] The self-moving device can also pre-store historical map information, which includes label information associated with at least one location point.

[0325] It is important to note that historical map information and target map information stored in the memory are two different dimensions of map information. Historical map information can be updated as the mobile device performs tasks and as the user adds annotations; target map information, on the other hand, always remains the attribute information of the first identified location point within the target area corresponding to the current location of the mobile device.

[0326] The label information may include the category label of the object, and may also include the selection range for the target object set by the user.

[0327] In one example, such as Figure 9 As shown in the figure, 901 is the user-defined bounding box, and the user has also set the label "carpet" for 901. 902 represents the actual location of the carpet. The multiple target location points 903 are locations where the height information detected by the mobile device matches the preset height range. By combining the positions of the multiple target location points 903 and the user-defined label, the edge position of the "carpet" can be accurately determined. The target area in the figure is 904, and the mobile device is 905. It can also be seen from the figure that target location point 903 is located within the target area 904.

[0328] In some possible implementations of this application, the attribute information also includes brightness information;

[0329] If the associated attribute information is determined to match the target object, the edge position of the target object is determined based on at least one target location point, including:

[0330] If the associated attribute information matches the target object and the brightness information matches the material type of the target object, the edge position of the target object is determined based on at least one target location point.

[0331] Specifically, if the associated attribute information matches the target object, the processor can obtain the brightness range corresponding to the material type of the target object. If the brightness information matches the brightness range corresponding to the material type of the target object, then at least one target location point is confirmed as the edge position of the target object.

[0332] In practice, if the associated attribute information matches the target object, but the brightness information does not match the brightness range corresponding to the material type of the target object, the edge position can be recorded first, and a prompt message can be issued to prompt the user to confirm the type of the target object.

[0333] In the above embodiments, by combining the height information, associated attribute information, and brightness information of the target location point, the target object can be identified more accurately, thereby determining the edge position of the target object based on the target location point.

[0334] The aforementioned edge location detection method updates the target area through a region update operation during the movement of the self-mobile device. If a target area update is detected, the target map information is updated to the attribute information of each first location point. The first location point is located within the updated target area and is an identified location point. The attribute information includes height information. That is, the target map information is updated as the target area is updated, which can effectively save the storage space of the self-mobile device.

[0335] Furthermore, based on the height information of each target's first location point in the target area, at least one target location point that conforms to a preset height range can be determined. The edge location can be determined based on the height information of the target location point. By accurately locating the target location point through the height information, the accuracy of the edge location can also be improved.

[0336] Furthermore, the trigger update boundary is located within the target area. When the mobile device moves to any boundary point within the trigger update boundary, the boundary point is used as the new center point to update the target area. There will inevitably be an overlapping area between the target area before and after the update. This can preserve the map information of the overlapping area and save the amount of calculation of the target map information.

[0337] Furthermore, map information can be deleted or retained according to the dimension of sub-regions, which can further reduce the amount of computation required to update the target map information based on the target region.

[0338] Furthermore, the sub-region is a square region, and the target region is a complete square region formed by multiple sub-regions. When the target region is updated, the overlapping regions and the regions that need to be deleted each include multiple square sub-regions. The computational amount of updating the two-dimensional position information of the square is relatively small, which can effectively reduce the computational amount of the processor of the self-moving device.

[0339] Furthermore, if the trigger update boundary is formed by connecting the center points of multiple adjacent regions located on the outer boundary of the target region, then the trigger update boundary will be relatively large, which can reduce the update frequency of the target region, thereby further reducing the computational load of the self-moving device's processor.

[0340] Furthermore, if the range corresponding to the triggered update boundary is reduced accordingly, the overlapping area between the target area before the update and the target area after the update will increase relatively. More map information can be retained when updating the target map information, and the computational load on the mobile device's processor can also be reduced.

[0341] Furthermore, if the target area has multiple sub-regions including a central region and eight adjacent regions surrounding the central region, i.e., the target area is in the form of a 3x3 grid, when the mobile device is detected to have moved to a boundary point, and the boundary point is the center point of any first adjacent region, and the first adjacent region shares an edge with the central region, then the map information corresponding to the three adjacent regions far away from the mobile device is deleted, and the updated target map information is obtained. The target map information is continuously updated in the form of a 3x3 grid, which can effectively reduce the amount of computation in the map information update process and save computing power.

[0342] Furthermore, by combining the height information and associated attribute information of the target location point, the target object can be identified more accurately, thereby determining the edge position of the target object based on the target location point.

[0343] like Figure 10 As shown, in one possible embodiment of this application, a self-moving device is provided, comprising:

[0344] Processor 1001 is configured to perform at least one region update operation to update the target region during the movement of the self-moving device;

[0345] The memory 1002 is used to update the stored target map information to attribute information of each first location point when the processor detects an update of the target area. The first location point is located within the updated target area and is an identified location point. The attribute information includes height information.

[0346] The processor 1001 is also used to determine the edge position based on at least one target location point when the height information of at least one target location point conforms to a preset height range based on the target map information.

[0347] In some possible implementations of this application, the processor 1001 is used for:

[0348] Obtain the associated attribute information of at least one target location point;

[0349] If the associated attribute information is determined to match the target object, the edge position of the target object is determined based on at least one target location point.

[0350] In some possible implementations of this application, such as Figure 11 As shown, the self-moving device also includes a locator 1003, and a processor 1001 performs a region update operation, specifically for:

[0351] Determine the starting point corresponding to the current region update operation; where the starting point corresponding to the first region update operation is the initial position point of the self-moving device;

[0352] Determine the target area corresponding to the area update operation, using the starting point as the center point;

[0353] Determine the trigger update boundary corresponding to the target area, wherein the trigger update boundary is located within the target area;

[0354] If the locator 1003 detects that the mobile device has moved to any boundary point in the trigger update boundary, then the boundary point will be used as the starting point for the next area update operation.

[0355] In some possible embodiments of this application, the self-mobile device further includes a map information acquisition device 1004, used for:

[0356] Real-time collection of attribute information corresponding to multiple first location points;

[0357] The memory 1002 is also used for:

[0358] If the target area is not updated, the target map information is updated based on the attribute information corresponding to each first location point within the target area collected in real time.

[0359] In some possible embodiments of this application, the map information acquisition device 1004 includes a laser scanner.

[0360] In some possible embodiments of this application, the map information acquisition device 1004 includes a single-line laser scanner.

[0361] In some possible implementations of this application, the processor 1001 is used for:

[0362] From the target area before the update, determine the first area and the second area, where the first area is the overlapping area between the target area before the update and the target area after the update, and the second area is in the target area before the update but not in the target area after the update.

[0363] The memory 1002 is used to retain the first map information corresponding to the first area and delete the second map information corresponding to the second area to obtain the updated target map information.

[0364] In some possible embodiments of this application, the target area includes multiple sub-regions, each sub-region including a central area and multiple adjacent areas surrounding the central area; each sub-region has the same shape and is a centrally symmetrical figure;

[0365] The boundary update is triggered based on the connection of the center points of multiple adjacent regions.

[0366] In some possible embodiments of this application, the self-moving device further includes a locator 1003;

[0367] If the locator 1003 detects that the mobile device has moved to the boundary point, and the boundary point is the center point of any adjacent area, the memory 1002 is used for:

[0368] From each sub-region of the target region before the update, determine multiple first sub-regions and multiple second sub-regions, wherein the first sub-regions are located in the overlapping area between the target region after the update and the target region before the update, and the second sub-regions are located in the target region before the update but not in the target region after the update.

[0369] Retain the first map information corresponding to each first sub-region, and delete the second map information corresponding to each second sub-region.

[0370] In some possible implementations of this application, the self-moving device moves along a preset path in the target area; wherein the preset path is located within the trigger update boundary, and the endpoint of the preset path is the center point of any adjacent area.

[0371] In some possible implementations of this application, the sub-region is a square region; the target region is a complete square region formed by multiple sub-regions;

[0372] The trigger update boundary is formed by connecting the center points of multiple adjacent regions located on the outer boundary of the target region.

[0373] In some possible implementations of this application, the target area includes multiple sub-regions comprising a central region and eight adjacent regions surrounding the central region;

[0374] If the locator 1003 detects that the mobile device has moved to a boundary point, and the boundary point is the center point of any adjacent area, the processor 1001 is used to:

[0375] From each sub-region of the target region before the update, determine multiple first sub-regions and multiple second sub-regions, wherein the first sub-regions are located in the overlapping area between the target region after the update and the target region before the update, and the second sub-regions are located in the target region before the update but not in the target region after the update.

[0376] Memory 1002 is used for:

[0377] Retain the first map information corresponding to each first sub-region, and delete the second map information corresponding to each second sub-region.

[0378] In some possible implementations of this application, the processor is used for:

[0379] Based on the height information of at least one target location point, determine the height range corresponding to the height information;

[0380] Based on the height range corresponding to at least one target point, determine the target object corresponding to at least one target location point;

[0381] The edge position of the target object is determined based on at least one target location point.

[0382] In some possible implementations of this application, the attribute information also includes brightness information;

[0383] Processor 1001 is used for:

[0384] Based on the material type corresponding to the brightness information and the height range corresponding to at least one target point, the target object corresponding to at least one target location point is determined.

[0385] In some possible embodiments of this application, the self-moving device further includes an image acquisition device 1004;

[0386] Image acquisition device 1004 is used to acquire image information within a preset range corresponding to at least one target location point;

[0387] The processor 1001 is used to treat image information as associated attribute information.

[0388] In some possible embodiments of this application, the memory 1002 also stores historical map information, which includes tag information associated with at least one location point.

[0389] Processor 1001 is used for:

[0390] Retrieve the label information of at least one target location from historical map information, and use the retrieved label information as associated attribute information.

[0391] In some possible implementations of this application, the attribute information also includes brightness information;

[0392] Processor 1001 is used for:

[0393] If the associated attribute information matches the target object and the brightness information matches the material type of the target object, the edge position of the target object is determined based on at least one target location point.

[0394] In some possible implementations of this application, the target object includes a threshold or a carpet.

[0395] The self-moving device of this application updates the target area through a region update operation during the movement of the self-moving device. If the target area update is detected, the target map information is updated to the attribute information of each first location point. The first location point is located in the updated target area and is an identified location point. The attribute information includes height information. That is, the target map information is updated as the target area is updated, which can effectively save the storage space of the self-moving device.

[0396] Furthermore, based on the height information of each target's first location point in the target area, at least one target location point that conforms to a preset height range can be determined. The edge location can be determined based on the height information of the target location point. By accurately locating the target location point through the height information, the accuracy of the edge location can also be improved.

[0397] Furthermore, the trigger update boundary is located within the target area. When the mobile device moves to any boundary point within the trigger update boundary, the boundary point is used as the new center point to update the target area. There will inevitably be an overlapping area between the target area before and after the update. This can preserve the map information of the overlapping area and save the amount of calculation of the target map information.

[0398] Furthermore, map information can be deleted or retained according to the dimension of sub-regions, which can further reduce the amount of computation required to update the target map information based on the target region.

[0399] Furthermore, the sub-region is a square region, and the target region is a complete square region formed by multiple sub-regions. When the target region is updated, the overlapping regions and the regions that need to be deleted each include multiple square sub-regions. The computational amount of updating the two-dimensional position information of the square is relatively small, which can effectively reduce the computational amount of the processor of the self-moving device.

[0400] Furthermore, if the trigger update boundary is formed by connecting the center points of multiple adjacent regions located on the outer boundary of the target region, then the trigger update boundary will be relatively large, which can reduce the update frequency of the target region, thereby further reducing the computational load of the self-moving device's processor.

[0401] Furthermore, if the range corresponding to the triggered update boundary is reduced accordingly, the overlapping area between the target area before the update and the target area after the update will increase relatively. More map information can be retained when updating the target map information, and the computational load on the mobile device's processor can also be reduced.

[0402] Furthermore, if the target area has multiple sub-regions including a central region and eight adjacent regions surrounding the central region, i.e., the target area is in the form of a 3x3 grid, when the mobile device is detected to have moved to a boundary point, and the boundary point is the center point of any first adjacent region, and the first adjacent region shares an edge with the central region, then the map information corresponding to the three adjacent regions far away from the mobile device is deleted, and the updated target map information is obtained. The target map information is continuously updated in the form of a 3x3 grid, which can effectively reduce the amount of computation in the map information update process and save computing power.

[0403] Furthermore, by combining the height information and associated attribute information of the target location point, the target object can be identified more accurately, thereby determining the edge position of the target object based on the target location point.

[0404] In one alternative embodiment, an edge location detection device is provided, such as... Figure 12 As shown, it includes:

[0405] The region update module 1201 is used to perform at least one region update operation during the movement of the self-moving device to update the target region;

[0406] The map update module 1202 is used to update the target map information to the attribute information of each first location point if the target area is detected to be updated. The first location point is located in the updated target area and is an identified location point. The attribute information includes height information.

[0407] The edge location determination module 1203 is used to determine the edge location based on at least one target location point if the height information of at least one target location point conforms to a preset height range among multiple first location points determined based on the target map information.

[0408] In some possible embodiments of this application, the edge position determination module 1203 is specifically used for:

[0409] Obtain the associated attribute information of at least one target location point;

[0410] If the associated attribute information is determined to match the target object, the edge position of the target object is determined based on at least one target location point.

[0411] In some possible implementations of this application, the region update module 1201 performs a region update operation, specifically for:

[0412] Determine the starting point corresponding to the current region update operation; where the starting point corresponding to the first region update operation is the initial position point of the self-moving device;

[0413] Determine the target area corresponding to the area update operation, using the starting point as the center point;

[0414] Determine the trigger update boundary corresponding to the target area, wherein the trigger update boundary is located within the target area;

[0415] If the mobile device is detected to have moved to any boundary point in the trigger update boundary, then the boundary point will be used as the starting point for the next region update operation.

[0416] In some possible implementations of this application, a data acquisition module is also included, for:

[0417] Real-time collection of attribute information corresponding to multiple first location points;

[0418] The map update module is also used for:

[0419] If the target area is not updated, the target map information is updated based on the attribute information corresponding to each first location point within the target area collected in real time.

[0420] In some possible implementations of this application, the acquisition module is used for:

[0421] The system collects attribute information for multiple primary location points in real time using map information collection devices.

[0422] In some possible implementations of this application, the acquisition module is used for:

[0423] The attribute information corresponding to multiple first location points is collected in real time using a single-line laser scanner.

[0424] In some possible implementations of this application, the map update module 1202 is used for:

[0425] From the target area before the update, determine the first area and the second area, where the first area is the overlapping area between the target area before the update and the target area after the update, and the second area is in the target area before the update but not in the target area after the update.

[0426] The first map information corresponding to the first region is retained, and the second map information corresponding to the second region is deleted to obtain the updated target map information.

[0427] In some possible embodiments of this application, the target area includes multiple sub-regions, each sub-region including a central area and multiple adjacent areas surrounding the central area; each sub-region has the same shape and is a centrally symmetrical figure;

[0428] The boundary update is triggered based on the connection of the center points of multiple adjacent regions.

[0429] In some possible implementations of this application, if the locator detects that the mobile device has moved to a boundary point, and the boundary point is the center point of any adjacent area;

[0430] Map update module 1202 is used for:

[0431] From each sub-region of the target region before the update, determine multiple first sub-regions and multiple second sub-regions, wherein the first sub-regions are located in the overlapping area between the target region after the update and the target region before the update, and the second sub-regions are located in the target region before the update but not in the target region after the update.

[0432] Retain the first map information corresponding to each first sub-region, and delete the second map information corresponding to each second sub-region.

[0433] In some possible implementations of this application, the self-moving device moves along a preset path in the target area; wherein the preset path is located within the trigger update boundary, and the endpoint of the preset path is the center point of any adjacent area.

[0434] In some possible implementations of this application, the sub-region is a square region; the target region is a complete square region formed by multiple sub-regions;

[0435] The trigger update boundary is formed by connecting the center points of multiple adjacent regions located on the outer boundary of the target region.

[0436] In some possible implementations of this application, the target area includes multiple sub-regions comprising a central region and eight adjacent regions surrounding the central region;

[0437] If the self-moving device is detected to have moved to a boundary point, and the boundary point is the center point of any first adjacent region, and the first adjacent region shares an edge with the center region, the map update module is used to:

[0438] From the target area before the update, identify three adjacent areas far from the self-moving device from multiple sub-regions;

[0439] Delete the map information corresponding to the three identified adjacent areas, and retain the map information of other sub-areas besides the three identified adjacent areas to obtain the updated map information.

[0440] In some possible embodiments of this application, the edge location determination module 1203 is used for:

[0441] Based on the height information of at least one target location point, determine the height range corresponding to the height information;

[0442] Based on the height range corresponding to at least one target point, determine the target object corresponding to at least one target location point;

[0443] The edge position of the target object is determined based on at least one target location point.

[0444] In some possible implementations of this application, the attribute information also includes brightness information;

[0445] The edge location determination module is used for:

[0446] Based on the material type corresponding to the brightness information and the height range corresponding to at least one target point, the target object corresponding to at least one target location point is determined.

[0447] In some possible implementations of this application, the edge location determination module is used for:

[0448] Acquire image information within a preset range corresponding to at least one target location point;

[0449] Image information is used as associated attribute information.

[0450] In some possible implementations of this application, the edge location determination module is used for:

[0451] The system retrieves the tag information of at least one target location from the pre-stored historical map information and uses the retrieved tag information as associated attribute information. The historical map information includes the tag information associated with at least one location.

[0452] In some possible implementations of this application, the attribute information also includes brightness information;

[0453] Edge position determination module 1203 is used for:

[0454] If the associated attribute information matches the target object and the brightness information matches the material type of the target object, the edge position of the target object is determined based on at least one target location point.

[0455] In some possible implementations of this application, the target object includes a threshold or a carpet.

[0456] By updating the target area through a region update operation during the movement of the self-mobile device, if the target area update is detected, the target map information is updated to the attribute information of each first location point. The first location point is located within the updated target area and is a recognized location point. The attribute information includes height information. That is, the target map information is updated as the target area is updated, which can effectively save the storage space of the self-mobile device.

[0457] Furthermore, based on the height information of each target's first location point in the target area, at least one target location point that conforms to a preset height range can be determined. The edge location can be determined based on the height information of the target location point. By accurately locating the target location point through the height information, the accuracy of the edge location can also be improved.

[0458] In one alternative embodiment, a self-moving device is provided, such as Figure 13 As shown, Figure 13 The illustrated self-moving device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of this application.

[0459] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 4001 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0460] Bus 4002 may include a pathway for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 13 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0461] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media, other magnetic storage devices, or any other medium capable of carrying or storing computer programs and capable of being read by a computer, without limitation herein.

[0462] The memory 4003 stores computer programs that execute embodiments of this application, and its execution is controlled by the processor 4001. The processor 4001 executes the computer programs stored in the memory 4003 to implement the steps shown in the foregoing method embodiments.

[0463] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement the steps and corresponding content of the aforementioned method embodiments.

[0464] This application also provides a computer program product, including a computer program that, when executed by a processor, can implement the steps and corresponding content of the aforementioned method embodiments.

[0465] It should be understood that although arrows indicate various operation steps in the flowcharts of this application's embodiments, the order in which these steps are implemented is not limited to the order indicated by the arrows. Unless explicitly stated herein, in some implementation scenarios of this application's embodiments, the implementation steps in each flowchart can be executed in other orders as required. Furthermore, some or all steps in each flowchart, based on the actual implementation scenario, may include multiple sub-steps or multiple stages. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage can also be executed at different times. In scenarios where execution times differ, the execution order of these sub-steps or stages can be flexibly configured according to requirements, and this application's embodiments do not limit this.

[0466] The above are only optional implementation methods for some implementation scenarios of this application. It should be noted that for those skilled in the art, other similar implementation methods based on the technical concept of this application, without departing from the technical concept of this application, also fall within the protection scope of the embodiments of this application.

Claims

1. A method for detecting edge positions, characterized in that, For self-moving devices, including: During the movement of the self-moving device, perform at least one region update operation to update the target region; If a target area update is detected, the target map information is updated to the attribute information of each first location point, wherein the first location point is located within the updated target area and is an identified location point, and the attribute information includes height information; If, based on the target map information, at least one of the multiple first location points has height information that conforms to a preset height range, the edge position is determined based on the at least one target location point.

2. The method according to claim 1, characterized in that, Determining the edge position based on the at least one target location point includes: Obtain the associated attribute information of the at least one target location point; If the associated attribute information is determined to match the target object, the edge position of the target object is determined based on the at least one target location point.

3. The method according to claim 1, characterized in that, The region update operation includes: Determine the starting point corresponding to the current region update operation; wherein, the starting point corresponding to the first region update operation is the initial position point of the self-moving device; Using the starting point as the center point, determine the target area corresponding to the area update operation; Determine the trigger update boundary corresponding to the target region, wherein the trigger update boundary is located within the target region; If the self-moving device is detected to have moved to any boundary point in the triggered update boundary, then the boundary point is used as the starting point for the next region update operation.

4. The method according to claim 1, characterized in that, The method further includes: Real-time collection of attribute information corresponding to multiple first location points; If the target area is not updated, the target map information is updated based on the attribute information corresponding to each first location point within the target area collected in real time.

5. The method according to claim 4, characterized in that, The real-time acquisition of attribute information corresponding to multiple first location points includes: The system collects attribute information for multiple primary location points in real time using map information collection devices.

6. The method according to claim 4, characterized in that, The real-time acquisition of attribute information corresponding to multiple first location points includes: The attribute information corresponding to multiple first location points is collected in real time using a single-line laser scanner.

7. The method according to claim 1, characterized in that, The step of updating the target map information to the attribute information of each first location point includes: From the target area before the update, determine a first area and a second area, wherein the first area is the overlapping area between the target area before the update and the target area after the update, and the second area is located in the target area before the update but not in the target area after the update. The first map information corresponding to the first region is retained, and the second map information corresponding to the second region is deleted to obtain the updated target map information.

8. The method according to claim 3, characterized in that, The target area includes multiple sub-regions, each including a central region and multiple adjacent regions surrounding the central region; each sub-region has the same shape and is a centrally symmetrical figure. The trigger update boundary is formed by connecting the center points of multiple adjacent regions.

9. The method according to claim 8, characterized in that, If the self-moving device is detected to have moved to the boundary point, and the boundary point is the center point of any adjacent region; The step of updating the target map information to the attribute information of each first location point includes: From each sub-region of the target region before the update, a plurality of first sub-regions are determined, and a plurality of second sub-regions are determined, wherein the first sub-regions are located in the overlapping area between the target region after the update and the target region before the update, and the second sub-regions are located in the target region before the update but not in the target region after the update. The first map information corresponding to each first sub-region is retained, and the second map information corresponding to each second sub-region is deleted.

10. The method according to claim 9, characterized in that, The self-moving device moves along a preset path in the target area; wherein the preset path is located within the trigger update boundary, and the endpoint of the preset path is the center point of any adjacent area.

11. The method according to claim 8, characterized in that, The sub-region is a square region; the target region is a complete square region formed by multiple sub-regions. The trigger update boundary is formed by connecting the center points of multiple adjacent regions located on the outer boundary of the target region.

12. The method according to claim 11, characterized in that, The target area includes multiple sub-regions, including a central region and eight adjacent regions surrounding the central region; If the self-moving device is detected to have moved to the boundary point, and the boundary point is the center point of any first adjacent region, and the first adjacent region shares an edge with the center region, updating the target map information to the attribute information of each first location point includes: From the target area before the update, determine three adjacent areas far from the self-moving device from multiple sub-regions; Delete the map information corresponding to the three identified adjacent areas, and retain the map information of other sub-areas besides the three identified adjacent areas to obtain the updated map information.

13. The method according to claim 1, characterized in that, Determining the edge position based on the at least one target location point includes: Based on the height information of the at least one target location point, determine the height range corresponding to the height information; Based on the height range corresponding to the at least one target point, determine the target object corresponding to the at least one target location point; The edge position of the target object is determined based on the at least one target location point.

14. The method according to claim 13, characterized in that, The attribute information also includes brightness information; Determining the target object corresponding to the at least one target location point based on the height range corresponding to each of the at least one target point includes: Based on the material type corresponding to the brightness information and the height range corresponding to the at least one target point, the target object corresponding to the at least one target location point is determined.

15. The method according to claim 2, characterized in that, The step of obtaining the associated attribute information of the at least one target location point includes: Obtain image information within a preset range corresponding to the at least one target location point; The image information is used as the associated attribute information.

16. The method according to claim 2, characterized in that, The step of obtaining the associated attribute information of the at least one target location point includes: The tag information of the at least one target location point is retrieved from the pre-stored historical map information, and the retrieved tag information is used as the associated attribute information, wherein the historical map information includes the tag information associated with at least one location point.

17. The method according to claim 2, characterized in that, The attribute information also includes brightness information; If it is determined that the associated attribute information matches the target object, determining the edge position of the target object based on the at least one target location point includes: If it is determined that the associated attribute information matches the target object and the brightness information matches the material type corresponding to the target object, the edge position of the target object is determined based on the at least one target position point.

18. The method according to claim 2, characterized in that, The target object includes a threshold or a carpet.

19. A self-moving device, characterized in that, include: A processor is configured to perform at least one region update operation to update a target region during the movement of a self-moving device. The memory is used to update the target map information to attribute information of each first location point when the processor detects an update of the target area, wherein the first location point is located within the updated target area and the first location point is an identified location point, and the attribute information includes height information; The processor is further configured to determine the edge position based on the at least one target location point when the height information of at least one target location point conforms to a preset height range based on the target map information.

20. The self-moving device according to claim 19, characterized in that, The processor is used for: Obtain the associated attribute information of the at least one target location point; If the associated attribute information is determined to match the target object, the edge position of the target object is determined based on the at least one target location point.

21. The self-moving device according to claim 19, characterized in that, The self-moving device further includes a locator, and the processor performs a region update operation, specifically for: Determine the starting point corresponding to the current region update operation; wherein, the starting point corresponding to the first region update operation is the initial position point of the self-moving device; Using the starting point as the center point, determine the target area corresponding to the area update operation; Determine the trigger update boundary corresponding to the target region, wherein the trigger update boundary is located within the target region; If the locator detects that the self-moving device has moved to any boundary point in the triggered update boundary, then the boundary point is used as the starting point for the next region update operation.

22. The self-moving device according to claim 19, characterized in that, The self-moving device also includes a map information collection device, used for: Real-time collection of attribute information corresponding to multiple first location points; The memory is also used for: If the target area is not updated, the target map information is updated based on the attribute information corresponding to each first location point within the target area collected in real time.

23. The self-moving device according to claim 21, characterized in that, The map information collection device includes a laser scanner.

24. The self-moving device according to claim 22 or 23, characterized in that, The map information acquisition device includes a single-line laser scanner.

25. The self-moving device according to claim 19, characterized in that, The processor is used for: From the target area before the update, determine a first area and a second area, wherein the first area is the overlapping area between the target area before the update and the target area after the update, and the second area is located in the target area before the update but not in the target area after the update. The memory is used to retain the first map information corresponding to the first region and delete the second map information corresponding to the second region to obtain the updated target map information.

26. The self-moving device according to claim 21, characterized in that, The target area includes multiple sub-regions, each including a central region and multiple adjacent regions surrounding the central region; each sub-region has the same shape and is a centrally symmetrical figure. The trigger update boundary is formed by connecting the center points of multiple adjacent regions.

27. The self-moving device according to claim 26, characterized in that, The self-moving device also includes a locator; If the locator detects that the self-moving device has moved to the boundary point, and the boundary point is the center point of any adjacent region, the processor is configured to: From each sub-region of the target region before the update, a plurality of first sub-regions are determined, and a plurality of second sub-regions are determined, wherein the first sub-regions are located in the overlapping area between the target region after the update and the target region before the update, and the second sub-regions are located in the target region before the update but not in the target region after the update. The memory is used for: The first map information corresponding to each first sub-region is retained, and the second map information corresponding to each second sub-region is deleted.

28. The self-moving device according to claim 27, characterized in that, The self-moving device moves along a preset path in the target area; wherein the preset path is located within the trigger update boundary, and the endpoint of the preset path is the center point of any adjacent area.

29. The self-moving device according to claim 26, characterized in that, The sub-region is a square region; the target region is a complete square region formed by multiple sub-regions. The trigger update boundary is formed by connecting the center points of multiple adjacent regions located on the outer boundary of the target region.

30. The self-moving device according to claim 29, characterized in that, The target area includes multiple sub-regions, including a central region and eight adjacent regions surrounding the central region; If the locator detects that the self-moving device has moved to the boundary point, and the boundary point is the center point of any first adjacent region, and the first adjacent region shares an edge with the center region, the processor is configured to: From the target area before the update, determine three adjacent areas far from the self-moving device from multiple sub-regions; The memory is used to: delete the map information corresponding to the three determined adjacent areas, and retain the map information of other sub-areas besides the three determined adjacent areas, to obtain the updated map information.

31. The self-moving device according to claim 19, characterized in that, The processor is used for: Based on the height information of the at least one target location point, determine the height range corresponding to the height information; Based on the height range corresponding to the at least one target point, determine the target object corresponding to the at least one target location point; The edge position of the target object is determined based on the at least one target location point.

32. The self-moving device according to claim 31, characterized in that, The attribute information also includes brightness information; The processor is used for: Based on the material type corresponding to the brightness information and the height range corresponding to the at least one target point, the target object corresponding to the at least one target location point is determined.

33. The self-moving device according to claim 20, characterized in that, The self-moving device also includes an image acquisition device; The image acquisition device is used to acquire image information within a preset range corresponding to the at least one target location point; The processor is used to use the image information as the associated attribute information.

34. The self-moving device according to claim 20, characterized in that, The memory also stores historical map information, which includes tag information associated with at least one location point; The processor is used for: The tag information of the at least one target location point is retrieved from historical map information, and the retrieved tag information is used as the associated attribute information.

35. The self-moving device according to claim 20, characterized in that, The attribute information also includes brightness information; The processor is used for: If it is determined that the associated attribute information matches the target object and the brightness information matches the material type corresponding to the target object, the edge position of the target object is determined based on the at least one target position point.

36. The self-moving device according to claim 20, characterized in that, The target object includes a threshold or a carpet.

37. An edge position detection device, characterized in that, include: The region update module is used to perform at least one region update operation to update the target region during the movement of the self-moving device; The map update module is used to update the target map information to the attribute information of each first location point if the target area is detected to be updated. The first location point is located in the updated target area and is an identified location point. The attribute information includes height information. The edge location determination module is used to determine the edge location based on the at least one target location point whose height information conforms to a preset height range among multiple first location points determined based on the target map information.

38. A self-moving device, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the steps of the method according to any one of claims 1-18.

39. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-18.

40. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1-18.

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