Map optimization method, electronic device and readable storage medium

Abstract

The present application example provides a map optimization method, an electronic device, and a readable storage medium. An APP of a lawn mower robot is installed on the electronic device. The user remotely controls the lawn mower robot through the APP to move along the boundary of the area to be expanded to obtain the boundary of the area to be expanded, and obtains the boundary of the current map according to the boundary of the area to be expanded and the boundary of the initial lawn mowing map. Afterwards, the lawn mower robot is triggered by the APP to traverse the working area, thereby obtaining environmental data. Finally, the boundary of the current map is corrected according to the environmental data. With this solution, the lawn mower robot is remotely controlled through the APP interface to expand the lawn mowing map, thereby improving the lawn mower robot's ability to learn the working area environment, preventing missed mowing, reducing the grass retention rate and resumption rate, and achieving the purpose of improving the mowing effect.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to a map optimization method, an electronic device, and a readable storage medium. Background Art

[0002] As people's quality of life improves, lawns have become an important part of the courtyard. The increase in green area has led to heavy mowing work. In order to reduce labor intensity and reduce labor costs, unmanned automatic lawn mowers are used to mow the lawn.

[0003] An unmanned automatic lawn mower, also known as a lawn mower robot or smart lawn mower, is a device that can automatically walk on the lawn to mow. After the lawn mower robot enters an unfamiliar lawn, the user uses a remote control to control the lawn mower robot to walk along the boundary of the work area, thereby establishing a mowing map. In the subsequent mowing process, the lawn mower robot plans or adjusts the path based on the mowing map and performs the mowing task.

[0004] However, after creating a mowing map, it often happens that the boundaries of the lawn in the mowing map do not match the actual boundaries and the boundaries are uneven. At this time, if the mowing robot mows based on the mowing map, the mowing robot cannot accurately identify the boundaries, and the grass retention rate and re-work rate are high. Summary of the invention

[0005] The embodiments of the present application provide a map optimization method, an electronic device, and a readable storage medium. By expanding, correcting, and improving the mowing map on the APP interface, the mowing robot can improve its ability to learn the working area environment, prevent missed mowing, wrong mowing, and insufficient mowing, reduce the grass retention rate and resumption rate, and achieve the purpose of improving the mowing effect.

[0006] In a first aspect, an embodiment of the present application provides a map optimization method, comprising:

[0007] The remote-controlled mowing robot moves along the boundary of the area to be expanded to obtain the boundary of the area to be expanded, and the area to be expanded is located outside the outer boundary of the initial mowing map;

[0008] Determining the boundary of the current map according to the boundary of the area to be expanded and the boundary of the initial mowing map;

[0009] Control the lawn mowing robot to traverse and collect environmental data in the area corresponding to the current map;

[0010] The boundary of the current map is corrected according to the environmental data.

[0011] In a second aspect, an embodiment of the present application provides a map optimization method, including:

[0012] Displaying a remote control edge expansion page on the user interface, wherein the remote control edge expansion page has an initial mowing map and a universal remote control control;

[0013] In response to the user's operation of the universal remote control control, the remote-controlled lawn mowing robot moves along the boundary of the area to be expanded to obtain the boundary of the area to be expanded, and the area to be expanded is located outside the outer boundary of the initial lawn mowing map;

[0014] Displaying the boundary of the current map and the autonomous learning control according to the boundary of the area to be expanded and the boundary of the initial mowing map;

[0015] In response to the user's operation on the autonomous learning control, displaying an autonomous learning page and triggering the lawn mowing robot to autonomously traverse the area corresponding to the current map to obtain environmental data;

[0016] The boundary of the current map is corrected according to the environmental data, and the corrected current map is displayed.

[0017] In a third aspect, an embodiment of the present application provides a map optimization device, including:

[0018] A remote control module, used for remotely controlling the mowing robot to move along the boundary of the area to be expanded to obtain the boundary of the area to be expanded, wherein the area to be expanded is located outside the outer boundary of the initial mowing map;

[0019] A processing module, used for determining the boundary of the current map according to the boundary of the area to be expanded and the boundary of the initial mowing map;

[0020] A traversal module, used to control the mowing robot to traverse the area corresponding to the current map and collect environmental data;

[0021] An optimization module is used to correct the boundary of the current map according to the environmental data.

[0022] In a fourth aspect, an embodiment of the present application provides a map optimization device, including:

[0023] A display module, used for displaying a remote control margin expansion page on a user interface, wherein the remote control margin expansion page has an initial mowing map and a universal remote control control;

[0024] a processing module, configured to cause the remote-controlled lawn mowing robot to move along a boundary of the area to be expanded in response to a user's operation of the universal remote control control so as to obtain a boundary of the area to be expanded, wherein the area to be expanded is located outside an outer boundary of the initial lawn mowing map;

[0025] The display module is further used to display the boundary of the current map and the autonomous learning control according to the boundary of the area to be expanded and the boundary of the initial mowing map; and display the autonomous learning page in response to the user's operation on the autonomous learning control;

[0026] The processing module is further used to trigger the mowing robot to autonomously traverse the area corresponding to the current map to obtain environmental data, and to correct the boundary of the current map according to the environmental data;

[0027] The display module is also used to display the corrected current map.

[0028] In a fifth aspect, an embodiment of the present application provides an electronic device, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the electronic device implements the method described in the first aspect or various possible implementations of the first aspect, or, when the processor executes the computer program, the electronic device implements the method described in the second aspect or various possible implementations of the second aspect.

[0029] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed by a processor, they are used to implement the method described in the first aspect or various possible implementations of the first aspect, or, when the computer instructions are executed by a processor, they are used to implement the method described in the second aspect or various possible implementations of the second aspect.

[0030] In the seventh aspect, an embodiment of the present application provides a computer program product comprising a computing program, wherein the computer program, when executed by a processor, implements the method described in the first aspect or various possible implementations of the first aspect, or, when executed by a processor, implements the method described in the second aspect or various possible implementations of the second aspect.

[0031] The map optimization method, electronic device and readable storage medium provided in the embodiments of the present application, the APP of the lawn mower robot is installed on the electronic device, and the user remotely controls the lawn mower robot through the APP to move along the boundary of the area to be expanded to obtain the boundary of the area to be expanded, and obtains the boundary of the current map according to the boundary of the area to be expanded and the boundary of the initial lawn mowing map. Afterwards, the lawn mower robot is triggered by the APP to traverse the working area, so as to obtain environmental data. Finally, the boundary of the current map is corrected according to the environmental data. With this solution, the lawn mower robot is remotely controlled through the APP interface to expand the lawn mowing map, improve the lawn mower robot's learning ability of the working area environment, prevent missed mowing, reduce the grass retention rate and resumption rate, and achieve the purpose of improving the mowing effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 is a structural schematic diagram of an electronic device for executing a map optimization method provided in an embodiment of the present application;

[0034] Figure 2 is a flow chart of a map optimization method provided in an embodiment of the present application;

[0035] Figure 3 is a schematic diagram of the boundary of the area to be expanded and the boundary of the initial mowing map in the map optimization method provided in the embodiment of the present application;

[0036] Figure 4A It is an example diagram of map expansion in the map optimization method provided in the embodiment of the present application;

[0037] Figure 4B is another example diagram of map expansion in the map optimization method provided in the embodiment of the present application;

[0038] Figure 5 is another flow chart of the map optimization method provided in the embodiment of the present application;

[0039] Figure 6 It is a schematic diagram of the interface change of remote control edge expansion in the map optimization method provided in the embodiment of the present application;

[0040] Figure 7 This is a schematic diagram of an interface for deleting a travel path in a map optimization method provided in an embodiment of the present application;

[0041] Figure 8 is a schematic diagram of an interface of an electronic device when a lawn mower is in a working state in a map optimization method provided in an embodiment of the present application;

[0042] Fig. 9 This is a schematic diagram of the interface changes of automatic edge expansion in the map optimization method of the embodiment of the present application;

[0043] Fig.10 is a schematic diagram of an interface of an electronic device when the lawn mowing robot is paused in the map optimization method provided in an embodiment of the present application;

[0044] Fig.11 It is a schematic diagram of an interface of an electronic device when setting a prohibited boundary in the map optimization method provided in an embodiment of the present application;

[0045] Fig.12 A schematic diagram of a map optimization device provided in an embodiment of the present application;

[0046] Fig.13 A schematic diagram of another map optimization device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0048] As people's living standards improve and their requirements for the natural environment increase, large lawns have emerged. For example, parks, golf courses, villas, and ordinary residential areas all have large lawns. In order to keep the lawn beautiful and healthy, large lawns need to be mowed. Traditional manual mowing methods or manual mowing methods consume a lot of manpower and time. To solve this problem, mowing robots that do not require human control have gradually emerged.

[0049] After entering an unfamiliar lawn, the mowing robot creates a mowing map for the unfamiliar lawn and then performs the mowing task based on the mowing map. In the process of creating the mowing map, the mowing robot walks along the outer boundary of the lawn to create a mowing map. In the subsequent mowing process, the mowing robot plans or adjusts the path based on the mowing map and performs the mowing task.

[0050] In practice, the created mowing map deviates from the actual environment. In this case, the created mowing map needs to be optimized to make it consistent with the actual environment. For example, when creating a mowing map, the mowing robot is far away from the actual boundary, resulting in a portion of grass being left behind, that is, the boundary indicated by the mowing map is a certain distance away from the actual boundary, such as 20 centimeters, and this 20 centimeters is actually the area that needs to be mowed. For another example, the outer boundary of the created mowing map is bumpy and uneven. For another example, an area includes adjacent lawns and flower beds, and a mowing map was previously created for the lawn. Later, the flower bed was changed to a lawn, and the mowing map needed to be expanded to include the lawn and the flower bed.

[0051] Therefore, after creating the initial mowing map, how to optimize the initial mowing map is considered an urgent problem to be solved.

[0052] Based on this, the embodiments of the present application provide a map optimization method, an electronic device and a readable storage medium, which improve the learning ability of the mowing robot of the working area environment by expanding, correcting, and improving the mowing map on the APP interface, prevent missed mowing, wrong mowing, and insufficient mowing, reduce the grass retention rate and resumption rate, and achieve the purpose of improving the mowing effect.

[0053] The map optimization method provided in the embodiment of the present application is executed by an electronic device, which is a device installed with an application (application, APP) of the lawn mowing robot, including but not limited to a mobile phone, a tablet computer, etc. Figure 1 is a schematic diagram of the structure of an electronic device for executing a map optimization method provided in an embodiment of the present application. Figure 1 The electronic device provided in the embodiment of the present application includes: a radio frequency (RF) circuit 101, a memory 102, a touch screen 103, a sensor 104, a wireless fidelity (WiFi) module 105, an audio circuit 106, a processor 107, and a power supply 108. Those skilled in the art can understand that Figure 1 The electronic device structure shown in the figure does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0054] Combine the following Figure 1 A detailed introduction to the various components of electronic equipment:

[0055] The RF circuit 101 is used for sending and receiving information or receiving and sending signals during a call, for example, receiving downlink data from a base station and handing it over to the processor 107 for processing; for another example, sending uplink data to the base station. Generally, the RF circuit 101 includes but is not limited to an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier (LNA), a duplexer, etc.

[0056] The memory 102 is used to store software programs, etc. The processor 107 executes various functional applications and data processing of the electronic device by running the software programs stored in the memory 102. The memory 102 mainly includes a program storage area and a data storage area, wherein the program storage area stores an operating system and an application required for at least one function, such as a sound playback function, an image playback function, an APP of a lawn mowing robot, etc.; the data storage area stores audio data, a phone book, a created lawn mowing map, etc. created during the use of the electronic device.

[0057] The touch screen 103, also known as a touch panel, display screen, etc., includes a touch-sensitive surface 1031 and a display 1032. Among them, the touch-sensitive surface 1031 (e.g., a touch panel) collects touch events of the user of the electronic device on or near it (such as the user uses a finger, a stylus, or any other suitable object to operate on the touch-sensitive surface 1031 or near the touch-sensitive surface 1031), and sends the collected touch information to other devices such as the processor 107. Among them, the touch event of the user near the touch-sensitive surface 1031 can be a touch event of direct contact with the touch-sensitive surface 1031, or it can be a suspended touch. Suspended touch means that the user does not need to directly contact the touch panel in order to select, move, or drag a target, but only needs the user to be near the electronic device to perform the desired function. In the application scenario of suspended touch, the terms "touch", "contact", etc. do not imply direct contact with the touch screen, but near the touch screen. The touch-sensitive surface 1031 capable of suspended touch can be implemented by capacitive, infrared light, and ultrasonic waves. The touch-sensitive surface 1031 includes two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch direction, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch signal from the touch detection device, converts it into the touch point coordinates, and then sends it to the processor 101. The touch controller can also receive the instructions sent by the processor 107 and execute them. In addition, the touch-sensitive surface 1031 can be implemented in various types such as resistive, capacitive, infrared and surface acoustic wave. The display 1032 is used to display information input by the user or information provided to the user and various menus of the electronic device. The display 1032 can be configured in the form of a liquid crystal display, an organic light-emitting diode, etc. The touch-sensitive surface 1031 covers the display 1032. When the touch-sensitive surface 1031 determines a touch event on or near it, it is transmitted to the processor 107 to determine the type of touch event. Then the processor 107 provides corresponding visual output on the display 1032 according to the type of touch event. Although in Figure 1In the embodiment, the touch-sensitive surface 1031 and the display 1032 are used as two independent components to realize the input and output functions of the electronic device, but in some embodiments, the touch-sensitive surface 1031 and the display 1032 can be integrated to realize the input and output functions of the electronic device. It can be understood that the touch screen 103 is stacked with multiple layers of materials. Only the touch-sensitive surface (layer) and the display (layer) are shown in the embodiment of the present application, and other layers are not recorded in the embodiment of the present application. In addition, in some other embodiments of the present application, the touch-sensitive surface 1031 covers the display 1032, and the size of the touch-sensitive surface 1031 is larger than the size of the display 1032, so that the display 1032 is completely covered under the touch-sensitive surface 1031, or the above-mentioned touch-sensitive surface 1031 can be configured in the form of a full panel on the front of the electronic device, that is, the user's touch on the front of the electronic device can be sensed by the electronic device, so that a full touch experience on the front of the electronic device can be achieved.

[0058] The electronic device may also include at least one sensor 104, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor adjusts the brightness of the display 1032 according to the brightness of the ambient light, and the proximity sensor turns off the display 1032 and / or the backlight when the electronic device is moved to the ear. As a type of motion sensor, the accelerometer sensor can detect the magnitude of acceleration in all directions (generally three axes), and can detect the magnitude and direction of gravity when stationary. It can be used for applications that identify the posture of the electronic device (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc.; as for other sensors that can be configured in the electronic device, such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc., they will not be repeated here.

[0059] The audio circuit 106, the speaker 1062, and the microphone 1061 provide an audio interface between the user and the electronic device. The audio circuit 106 converts the received audio data into an electrical signal and transmits it to the speaker 1062, which converts it into a sound signal for output; on the other hand, the microphone 1061 converts the collected sound signal into an electrical signal, which is received by the audio circuit 106 and converted into audio data, and then the audio data is output to the processor 107 for processing, and then sent to another electronic device through the RF circuit 101, or the audio data is output to the memory 102 for further processing.

[0060] WiFi is a short-range wireless transmission technology. The electronic device can help users send and receive emails, browse web pages, and access streaming media through the WiFi module 105, which provides users with wireless broadband Internet access. In particular, the electronic device enables the lawn mower robot's APP to communicate with the lawn mower robot through the WiFi module 105, so that the lawn mower robot's APP can control the lawn mower robot. For example, the lawn mower robot's APP can remotely control the lawn mower robot to walk through the WiFi module 105.

[0061] The processor 107 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. It executes various functions of the electronic device and processes data by running or executing software programs and / or modules stored in the memory 102 and calling data stored in the memory 102, thereby monitoring the electronic device as a whole.

[0062] The electronic device also includes a power source 108 (such as a battery) for supplying power to various components. Preferably, the power source can be logically connected to the processor 107 through a power management system, so that the power management system can manage functions such as charging, discharging, and power consumption management.

[0063] Although not shown, the electronic device may also include a camera, a Bluetooth module, etc., which will not be described in detail here.

[0064] The following embodiments can all be implemented in an electronic device (eg, an electronic device) having the above hardware.

[0065] In an embodiment of the present application, after creating a mowing map, the user opens an application (application, APP) of the mowing robot on the electronic device, and controls the movement of the mowing robot on the APP interface to optimize the mowing map.

[0066] Below, based on Figure 1 The electronic device shown in the figure is used to describe in detail the map optimization method described in the embodiment of the present application. For example, please refer to 2, Figure 2 is a flow chart of a map optimization method provided by an embodiment of the present application. The execution subject of this embodiment is an electronic device, and this embodiment includes:

[0067] 201. A remote-controlled lawn mowing robot moves along a boundary of a to-be-expanded area to obtain the boundary of the to-be-expanded area, where the to-be-expanded area is located outside an outer boundary of an initial lawn mowing map.

[0068] After the initial mowing map is built, the user finds that an area is missing. Or, after the initial mowing map is built, the mowing robot performs mowing tasks in the lawn based on the initial mowing map. A few months later, the user changes a vegetable plot next to the lawn into a lawn, and needs to add the area corresponding to the vegetable plot to the initial mowing map. At this time, the mowing map needs to be optimized.

[0069] During the optimization process, the user opens the lawn mower robot APP on the electronic device and remotely controls the lawn mower robot by operating the APP. The lawn mower robot is remotely controlled to the boundary of the area to be expanded and the lawn mower robot is remotely controlled to walk along the boundary of the area to be expanded. For example, the lawn mower robot is remotely controlled from the base station to the boundary of the area to be expanded, and then the lawn mower robot is remotely controlled to move along the boundary of the area to be expanded. For another example, the lawn mower robot is remotely controlled from the current position, which is not the position of the base station. When the lawn mower robot reaches the boundary of the area to be expanded, the lawn mower robot is remotely controlled to move along the boundary of the area to be expanded.

[0070] When the mowing robot is moving at the boundary of the area to be expanded, it continuously uses the environmental detection sensor to collect environmental data and uploads it to the electronic device. The electronic device obtains the boundary of the area to be expanded based on the environmental data. Among them, the environmental detection sensor includes a camera, a TOF camera, a laser radar, etc., which is not limited in the embodiment of the present application.

[0071] 202. Determine a boundary of the current map according to a boundary of the area to be expanded and a boundary of the initial mowing map.

[0072] Figure 3 Schematic diagram of the boundary of the area to be expanded and the boundary of the initial mowing map in the map optimization method provided in the embodiment of the present application. Figure 3 , the boundary of the initial mowing map is rectangle A, and the boundary of the area to be expanded is rectangle B. Then the boundary of the current map is the boundary of the area obtained by merging rectangle A and rectangle B.

[0073] When the mowing robot is moving along the edge of the expansion area, it can move along the boundary of the entire expansion area to form a closed path. Figure 3 Alternatively, the path of the mowing robot along the area to be expanded may not be a closed loop path, as long as the sum of the path and the boundary of the initial mowing map can be closed. Figure 3 When the mowing robot is edging the expansion area, it does not edge along the common boundary of rectangle A and rectangle B, but only edges along the boundary of rectangle B except the common boundary.

[0074] 203. Control the lawn mowing robot to traverse and collect environmental data in an area corresponding to the current map.

[0075] In the embodiment of the present application, map optimization includes two stages. The first stage is the stage of obtaining the boundary of the current map as mentioned above, and the second stage is the process of traversing the area corresponding to the current map for autonomous learning.

[0076] In this step, the self-learning stage, the user triggers the mowing robot through the APP to traverse and move in the current map, such as traversing in a bow shape. During the traversal process, the environment detection sensor is continuously used to collect environmental data. For example, please refer to Figure 3 , the user triggers the lawn mowing robot through the APP to traverse in a bow shape in the combined area of ​​rectangle A and rectangle B and upload the environmental data collected during the traversal process.

[0077] 204. Correct the boundary of the current map according to the environmental data.

[0078] In the embodiment of the present application, when the user uses the APP to remotely control the mowing robot along the boundary of the area to be expanded, it is difficult to move completely along the boundary of the area to be expanded, resulting in an error between the boundary of the area to be expanded and the actual boundary. Therefore, the electronic device corrects the boundary of the current map according to the environmental data collected when the mowing robot traverses.

[0079] For example, the real boundary of the area to be expanded can be the boundary between the lawn and the road, or the boundary between the lawn and other plants. In order to reduce the error, the lawn mowing robot collects environmental data during the traversal process in the second stage, and the environmental data can reflect the real boundary of the area to be expanded. Therefore, the electronic device can correct the boundary of the current map according to the environmental data, obtain the corrected boundary of the current map, reduce the error between the boundary of the current map and the real boundary, and improve the accuracy of the boundary of the current map.

[0080] In the map optimization method provided in the embodiment of the present application, an APP of a lawn mower robot is installed on an electronic device, and the user remotely controls the lawn mower robot through the APP to move along the boundary of the area to be expanded to obtain the boundary of the area to be expanded, and obtains the boundary of the current map according to the boundary of the area to be expanded and the boundary of the initial lawn mowing map. Afterwards, the lawn mower robot is triggered by the APP to traverse the working area, thereby obtaining environmental data. Finally, the boundary of the current map is corrected according to the environmental data. With this solution, the lawn mower robot is remotely controlled through the APP interface to expand the lawn mowing map, thereby improving the lawn mower robot's ability to learn the working area environment, preventing missed mowing, reducing the grass retention rate and resumption rate, and achieving the purpose of improving the mowing effect.

[0081] Optionally, in the above embodiment, in the process of the electronic device remotely controlling the lawn mower robot to move along the boundary of the area to be expanded to obtain the boundary of the area to be expanded, first, the lawn mower robot is remotely controlled to move to within the signal coverage range of the beacon component, and the beacon component is set to be the beacon component corresponding to the component identifier displayed on the initial lawn mowing map. After that, the electronic device remotely controls the lawn mower robot to move along the boundary of the area to be expanded within the signal coverage range to obtain the boundary of the area to be expanded.

[0082] In the embodiment of the present application, at least one beacon component is deployed around the boundary of the working area, and a detection component is provided on the lawn mowing robot. The beacon component and the detection component are, for example, an Ultra Wide Band (UWB) base station.

[0083] During the mowing process of the lawn mower robot, the beacon component and the detection component communicate with each other, and the lawn mower robot performs positioning and repositioning based on the communication between the beacon component and the detection component, the current map, etc. Therefore, it is necessary to ensure that the beacon component and the detection component can communicate no matter where the lawn mower robot is in the working area. When the user uses the APP to remotely control the lawn mower robot along the edge of the area to be expanded, the lawn mower robot is remotely controlled to the signal coverage range of the beacon component. In other words, the area to be expanded is as far as possible within the signal coverage range of the beacon component. The lawn mower robot is remotely controlled to move along the edge of the area to be expanded within the signal coverage range of the beacon component.

[0084] With this solution, the remote-controlled mowing robot can move along the edge of the area to be expanded within the signal coverage of the beacon component, ensuring that all locations in the current map obtained after the expansion are within the signal coverage range, which facilitates subsequent accurate positioning and repositioning.

[0085] Optionally, in the above embodiment, when the electronic device remotely controls the lawn mower robot to move along the boundary of the area to be expanded, the lawn mower robot is remotely controlled to move along the boundary of the area to be expanded from a starting position and return to the starting position, where the starting position is the location of the base station of the lawn mower robot.

[0086] In the embodiment of the present application, the path of the lawn mower robot along the boundary of the area to be expanded can be a closed path or an unclosed path. When the electronic device remotely controls the lawn mower to travel along the boundary of the area to be expanded, the initial position is recorded. The initial position can be located on the boundary of the area to be expanded, or on the outer boundary indicated by the initial mowing map, or on the base station. If the initial position is not on the boundary of the area to be expanded, the electronic device remotely controls the lawn mower robot to start from the initial position and travel to the boundary of the area to be expanded. Afterwards, the lawn mower robot is remotely controlled to follow the boundary of the area to be expanded, and returns to the initial position after following the boundary.

[0087] When the initial position is a base station, the electronic device determines the coordinates of the initial position at the time of departure. After returning to the initial position, the electronic device determines the coordinates of the initial position, and corrects the edge track along the edge of the area to be expanded according to the coordinates of the initial position at the time of departure and the coordinates of the initial position after returning.

[0088] For example, please refer to Figure 3 The base station is located at the upper left corner of rectangle A. The initial position is the location of the base station. The electronic device remotely controls the lawn mower from the base station, first moves to the upper left corner of rectangle B, and then remotely controls the lawn mower robot to move along the boundary of rectangle B. After completing the edge of rectangle B, it returns to the base station.

[0089] For example, please refer to Figure 3 , the base station is located at the upper left corner of rectangle A, the mowing robot is located at the upper right corner of rectangle A, and the initial position is the upper right corner of rectangle A. The electronic device remotely controls the mowing robot to start from the initial position, move along the boundary of rectangle B, and return to the initial position after completing the edge of rectangle B. The path from the initial position back to the initial position is the boundary of rectangle B.

[0090] With this solution, the electronic device remotely controls the mowing robot to start from the initial position and return to the initial position, so as to accurately determine the boundary of the area to be expanded. When the initial position is the base station position, it is convenient to execute the loop constraint.

[0091] Optionally, in the above embodiment, the electronic device determines the maximum area formed by the boundary of the area to be expanded and the boundary of the initial mowing map in the process of determining the boundary of the current map according to the boundary of the area to be expanded and the boundary of the initial mowing map, and uses the boundary of the maximum area as the boundary of the current map. Figure 4A and Figure 4B .

[0092] Figure 4A This is an example diagram of map expansion in the map optimization method provided in the embodiment of the present application. Please refer to Figure 4A , the outer boundary of the initial mowing map is a rectangle, the base station is located in the lower left corner, the user remotely controls the mowing robot to start from the base station and return to the base station, and the travel path is shown by the dotted line. Part of the travel path is inside the initial mowing map, and part is outside the mowing map. That is, the closed area formed by the travel path overlaps with the initial mowing map. The boundary of the current map is as follows Figure 4B The area corresponding to the convex-shaped boundary is the maximum area formed by the boundary of the area to be expanded and the boundary of the initial mowing map.

[0093] Figure 4B This is another example diagram of map expansion in the map optimization method provided in the embodiment of the present application. Figure 4B, the outer boundary of the initial mowing map is a rectangle, the base station is located in the upper left corner, and the user remotely controls the mowing robot from the base station, and the travel path is shown as the dotted line. After the electronic device remotely controls the mowing robot to return to the base station, the boundary of the current map is obtained based on the boundary of the initial mowing map and the boundary of the area to be expanded. The boundary of the current map is shown in Figure 4B The boundary of the initial mowing map is within the boundary of the area to be expanded, and the boundary of the area to be expanded is the boundary of the current map.

[0094] With this solution, the electronic device determines the boundary of the current map according to the maximum area formed by the boundary of the area to be expanded and the boundary of the initial mowing map, thereby achieving the purpose of expanding the mowing map.

[0095] The above is an explanation of the map optimization method from the perspective of method. Next, the above map optimization method is explained in detail from the perspective of APP interface changes. For example, please refer to Figure 5 , Figure 5 is another flow chart of the map optimization method provided by the embodiment of the present application. This embodiment includes:

[0096] 501. Display a remote control margin expansion page on a user interface, wherein the remote control margin expansion page has an initial mowing map and a universal remote control control.

[0097] When remote control of the edge expansion is required, the user opens the APP of the lawn mowing robot on the electronic device and calls up the remote control edge expansion page.

[0098] Figure 6 This is a schematic diagram of the interface changes of the remote control edge expansion in the map optimization method provided in the embodiment of the present application. Figure 6 , the user calls up the map editing page on the APP, clicks the remote control expansion button on the map editing page, and the user interface of the electronic device jumps to the remote control expansion page. The remote control expansion page displays the initial mowing map, which displays the restricted area, base station logo 51, component logo 52 of the beacon component, logo 53 of the mowing robot, signal coverage range 54 of the beacon component, universal remote control control, return to base station control, etc. In addition, the remote control expansion page also displays some prompt information, such as "starting from the base station, remote control the robot to the area to be expanded, and return to the base station after completion".

[0099] 502. In response to the user's operation on the universal remote control control, the remote-controlled lawn mowing robot moves along the boundary of the area to be expanded to obtain the boundary of the area to be expanded, where the area to be expanded is located outside the outer boundary of the initial lawn mowing map.

[0100] Please refer to Figure 6, the user operates the universal remote control to control the mowing robot to start from the base station. The travel path is shown by the dotted line in the figure. The distance between the travel path and the boundary indicated by the initial mowing map is relatively large, for example, greater than 50 cm, etc. The travel path is the actual boundary. During the process of the user remotely controlling the mowing robot, the mowing robot collects environmental data and sends the environmental data to the electronic device. After the mowing robot returns to the base station, the travel path forms a closed trajectory, which is the boundary of the area to be expanded.

[0101] 503. Display the boundary of the current map and the autonomous learning control according to the boundary of the area to be expanded and the boundary of the initial mowing map.

[0102] When the electronic device remotely controls the mowing robot to depart from the base station and return to the base station, the electronic device displays the boundary of the current map according to the boundary of the area to be expanded and the boundary of the initial mowing map.

[0103] Please refer to Figure 6 , the user clicks the save button on the remote control margin expansion page, and the electronic device displays the boundary of the current map, abandons the margin expansion control, uses the map control, etc. The dotted line boundary is the boundary of the current map, the solid line boundary is the boundary of the initial mowing map, and the use of the map control is the self-learning control. If the user abandons the margin expansion control, it means that the user is not satisfied with the current optimization result, and the electronic device does not save or display the current mowing map, and redisplays the initial mowing map.

[0104] It needs to be said that Figure 6 The surrounding areas of the initial mowing map need to be expanded. Figure 6 In the example, the boundary of the area to be expanded is used as the boundary of the current map. However, the embodiment of the present application is not limited thereto, and in other feasible implementations, the area to be expanded and the area corresponding to the initial mowing map are adjacent areas.

[0105] 504. In response to the user's operation on the autonomous learning control, an autonomous learning page is displayed and the lawn mowing robot is triggered to autonomously traverse the area corresponding to the current map to obtain environmental data.

[0106] Please refer to Figure 6 , the user clicks to use the map control, i.e., the autonomous learning control, indicating that the user is satisfied with the current optimization result, and the electronic device enters the autonomous learning page, triggering the mowing robot to autonomously traverse the area corresponding to the current map to obtain environmental data.

[0107] Optionally, after the user clicks to use the map control, the electronic device enters a prompt page, such as Figure 6As shown in the fourth figure of FIG, the user is prompted to enter a personal identification number (PIN) on the lawn mower robot. After the user enters the PIN code on the lawn mower robot, the electronic device jumps to the autonomous learning page. At the same time, the lawn mower robot traverses the area corresponding to the current map to obtain environmental data. Figure 6 In the fifth figure of FIG. 1 , the gray filled area in the current map indicates the area that has been traversed. The lawn mowing robot moves in a bow-shaped manner to traverse, and the embodiment of the present application does not limit the traversal manner.

[0108] 505. Correct the boundary of the current map according to the environmental data, and display the corrected current map.

[0109] The correction process can be found in the above Figure 2 The description is not repeated here.

[0110] In the map optimization method of the embodiment of the present application, an APP of a lawn mower robot is installed on an electronic device, and the user calls up the remote control edge expansion page through the APP, and operates on the remote control edge expansion page to remotely control the lawn mower robot to move along the boundary of the area to be expanded, and obtain the boundary of the area to be expanded, and obtain the boundary of the current map according to the boundary of the area to be expanded and the boundary of the initial lawn mowing map. Afterwards, the lawn mower robot is triggered by the APP to traverse the working area, so as to obtain environmental data. Finally, the boundary of the current map is corrected according to the environmental data. With this solution, the lawn mower robot is remotely controlled through the APP interface to expand the lawn mowing map, thereby improving the lawn mower robot's ability to learn the working area environment, preventing the phenomenon of missed mowing, reducing the grass retention rate and resumption rate, and achieving the purpose of improving the mowing effect.

[0111] Optionally, in the above embodiment, an end update control is also displayed on the autonomous learning page. When the user clicks the end update control, the electronic device controls the lawn mower robot to terminate the autonomous traversal in response to the user's operation on the end update control, and triggers the lawn mower robot to return to the starting position, where the starting position is the position of the base station of the lawn mower robot.

[0112] Exemplarily, the autonomous learning process is a process of optimizing and updating the boundaries of the current map. Therefore, the autonomous learning process can also be referred to as a process of updating the current map.

[0113] Please refer to Figure 6 If the user clicks Figure 6In the fifth figure, if the end update control is on and the starting position is the location of the base station, the electronic device prompts the user: Do you confirm to end the update of the current map and return to the base station? If the user confirms to end the update, the mowing robot returns to the base station. If the user disagrees to end the update, the mowing robot continues to traverse and the electronic device continues to update the current map, that is, continues autonomous learning.

[0114] By adopting this solution, the goal of ending the autonomous learning process flexibly and quickly can be achieved.

[0115] Optionally, in the above embodiment, the electronic device, in response to the user's operation on the universal remote control control, remotely controls the lawn mower robot to move along the boundary of the area to be expanded, and displays the component identification of the beacon component and the signal coverage range on the remote control edge expansion page. Afterwards, the electronic device, in response to the user's operation on the universal remote control control, remotely controls the lawn mower robot to move within the signal coverage range; and remotely controls the lawn mower robot to move along the boundary of the area to be expanded within the signal coverage range to obtain the boundary of the area to be expanded.

[0116] Please refer to Figure 6 , the remote control expansion page displays the component identification 52 of the beacon component, and for each beacon component, the remote control expansion page displays the signal coverage range 54 of the beacon component. In this way, when the user remotely controls the lawn mower robot, after the lawn mower robot is remotely controlled to within the signal coverage range 54, the lawn mower robot can be remotely controlled within the signal coverage range 54 to complete the expansion of the area to be expanded.

[0117] By adopting this solution, the signal coverage range of each beacon component is displayed to guide the user to remotely control the lawn mower robot within the signal coverage range to complete map optimization, ensuring that most locations of the optimized mowing map are within the signal coverage range of the beacon component, which helps to improve the positioning accuracy of the lawn mower robot based on the optimized mowing map.

[0118] Optionally, in the above embodiment, when the length of the path of the mowing robot along the boundary of the area to be expanded is greater than or equal to a preset length, the electronic device displays a delete button on the path. When the user clicks the delete button, the electronic device deletes the path in response to the user's operation of the delete button.

[0119] Figure 7 This is a schematic diagram of an interface for deleting a travel path in a map optimization method provided in an embodiment of the present application. Figure 7, the user remotely controls the mowing robot to start from the base station and return to the base station, and the walking path is shown in the dotted rectangular box. After that, the user remotely controls the mowing robot to start from the base station, and the travel path is shown as the dotted line outside the rectangular box in the figure. The mowing robot starts from the base station and walks a certain distance, such as 2 meters, 1 meter, etc., and a delete button appears on the travel path, as shown in the figure. If the user is not satisfied with a certain path, click the corresponding The electronic device deletes the travel path in response to the user's operation.

[0120] With this solution, the user can flexibly choose whether to keep the travel path for map optimization by clicking the delete button on the travel path, which is highly flexible and fast.

[0121] Optionally, in the above embodiment, when an abnormality occurs during the autonomous traversal of the lawn mowing robot in the area corresponding to the current map, a first prompt message is displayed floating at the abnormal position, and the first prompt message is used to indicate the starting position of the autonomous traversal after the abnormality is recovered.

[0122] Please refer to Figure 6 , the gray filled area in the current map represents the area that has been traversed. During the traversal process, if the mowing robot is abnormal, such as the battery is too low and cannot continue to traverse, the electronic device records the abnormal position point in the current map and displays the first prompt information at the abnormal position point to prompt the mowing robot to continue autonomous traversal from the abnormal position point after the abnormality is recovered.

[0123] By adopting this solution, by recording the abnormal position point, after the mowing robot recovers from the abnormality, it continues autonomous learning from the abnormal position point, thereby achieving the purpose of rapid autonomous learning when an abnormality occurs.

[0124] Optionally, in the above embodiment, when optimizing the map, it is necessary to ensure that the lawn mower robot is in a standby state. Therefore, when the user operates the automatic edge expansion button or the remote control edge expansion button on the map editing interface, the electronic device determines the state of the lawn mower robot. For example, the lawn mower robot and the electronic device establish a network connection, and the lawn mower robot reports its own state to the electronic device, so that the electronic device obtains the state of the lawn mower robot.

[0125] When the mowing robot is in standby mode, if the user clicks the remote control edge expansion button, the electronic device jumps to the remote control edge expansion page. If the user clicks the automatic edge expansion button, the electronic device jumps to the automatic edge expansion page. If the mowing robot is not in standby mode, such as the mowing robot is mowing, monitoring, or on the way back to the base station to charge due to low battery, the electronic device outputs a prompt message. For example, please refer to Figure 8 .

[0126] Figure 8This is a schematic diagram of the interface of the electronic device when the lawn mower is in working state in the map optimization method provided in the embodiment of the present application. Figure 8 If the user operates the automatic edge expansion button or the remote control edge expansion button while the mowing robot is working, the electronic device will output a prompt message to remind the user that the mowing robot is currently working and to optimize the map when the mowing robot is on standby. Among them, mowing, monitoring, and recharging are all considered to be in working state.

[0127] With this solution, the electronic device first detects the state of the mowing robot before optimizing the map, and only enters the optimization mowing map when the mowing robot is in the standby state, thereby avoiding interruption of the current work of the mowing robot.

[0128] The embodiment of the present application provides two map optimization methods, namely, the optimization method of automatic edge expansion and the optimization method of remote control edge expansion. The above is the edge expansion method of remote control edge expansion. The automatic edge expansion method is described in detail below.

[0129] When the automatic margin expansion method is used to optimize the mowing map, the user enters the automatic margin expansion page by operating the automatic margin expansion button on the map editing interface, and the initial mowing map is displayed on the automatic margin expansion page. When the user operates the automatic margin expansion control on the automatic margin expansion page, the electronic device responds to the user's operation on the automatic margin expansion page and triggers the mowing robot to autonomously move along the boundary of the initial mowing map to obtain environmental data. Afterwards, the electronic device corrects the boundary of the initial mowing map according to the environmental data to obtain the current map. For example, please refer to Fig. 9 .

[0130] Fig. 9 This is a schematic diagram of the interface changes of the automatic expansion of the map optimization method in the embodiment of this application. Please refer to Fig. 9 , the user clicks the automatic edge expansion button on the map editing interface, and the electronic device jumps to the automatic edge expansion page, which displays the initial mowing map, the mowing map displays the restricted area, the base station logo 51, the component logo 52 of the beacon component, the logo 53 of the mowing robot, the automatic edge expansion control, the edge restricted area control, etc. In addition, some prompt information is also displayed on the automatic edge expansion page, such as "the mowing robot needs to expand the mowing map from the base station", "if you have an edge that you do not want the mowing robot to explore, click to set a prohibited boundary", etc.

[0131] Typically, a mowing map includes an outer boundary, an inner boundary, etc., and the inner boundary is the boundary of a restricted area, such as the boundary of a pool, the boundary of a house, etc. The embodiment of the present application mainly optimizes the outer boundary. When optimizing the outer boundary, it is possible that only part of the outer boundary needs to be optimized. For the sake of clarity, the part of the outer boundary that needs to be optimized is referred to as the target boundary, and the part of the outer boundary that does not need to be optimized is referred to as the prohibited boundary.

[0132] When the user clicks the automatic edge expansion control on the automatic edge expansion page, the electronic device triggers the mowing robot to autonomously move along the boundary of the initial mowing map to obtain detection data. During the autonomous edge expansion process, the mowing robot autonomously starts from the base station and detects outward. For prohibited boundaries, the mowing robot automatically ignores them without optimizing; for target boundaries, the mowing robot detects outward based on visual positioning, AI recognition technology, etc., so as to correct the target boundary. When moving along the target boundary, the mowing robot moves along the target boundary or detects a certain distance outward and moves. At this time, the mowing robot no longer moves on the target boundary, but moves outside the target boundary, but the distance cannot exceed the preset distance, such as 10 cm, 20 cm, 50 cm, etc.

[0133] Please refer to Fig. 9 , the entire outer boundary needs to be optimized. The target boundary includes a section of the outer boundary that is bumpy and uneven, and the remaining outer boundary that is flat but needs to be expanded. After the user clicks the automatic expansion control on the automatic expansion page, the mowing robot starts from the base station and moves in the direction shown by the arrow in the figure. During the movement, the mowing robot continues to explore, and the exploration range is, for example, outside the original outer boundary and within a range of 20 cm from the original outer boundary, and expansion is achieved based on environmental data. For the boundary of the potholes, the mowing robot moves along the pothole boundary to obtain environmental data and correct it to a flat boundary.

[0134] Please refer to Fig. 9 During the automatic expansion process, if the user clicks Fig. 9 In the third figure, the electronic device outputs a prompt message to prompt the user whether to confirm the end of the current edge expansion task. If the user agrees to end, the automatic edge expansion task is ended. If the user disagrees, the current automatic edge expansion task continues.

[0135] With this solution, the mowing map is optimized by using an automatic border expansion method, and the mowing map is corrected in a small area, such as correcting uneven boundaries and expanding the outer boundary by a certain distance, so as to achieve the purpose of quickly and accurately optimizing the mowing map.

[0136] Optionally, during the above automatic edge expansion process, the mowing robot is in a powered-on state. If the user presses the stop button, pause button, etc. on the mowing robot, the electronic device outputs a prompt message to prompt the user to enter a PIN code on the mowing robot to continue edge expansion. Fig.10 , Fig.10 It is a schematic diagram of the interface of the electronic device when the lawn mowing robot is paused in the map optimization method provided in the embodiment of the present application.

[0137] Please refer to Fig.10 , the electronic device displays "Because you pressed the pause button on the robot, the mowing robot is paused. Please enter the PIN code on the mowing robot before "continue expanding the edge."

[0138] Above Fig. 9 In the above example, all outer boundaries of the mowing map to be optimized need to be optimized. However, sometimes, only part of the outer boundaries need to be optimized. In this case, it is necessary to set a forbidden boundary, that is, a boundary that does not need to be optimized. The following is a detailed description of how to set a forbidden boundary. For example, please refer to Fig.11 .

[0139] Fig.11 This is a schematic diagram of the interface of an electronic device when setting a prohibited boundary in the map optimization method provided in the embodiment of the present application. Fig.11 After entering the automatic edge expansion page, the user operates the edge restricted area control, and the electronic device responds to the user's operation of the edge restricted area control and jumps to the edge restricted area setting interface.

[0140] Please refer to Fig.11 The edge restricted area setting interface displays the universal remote control control, return to base station button, initial mowing map, start and end controls, etc. In addition, the edge restricted area setting interface also displays some prompt information, such as "Remote control the mowing robot to the boundary that needs to be prohibited, set the starting point".

[0141] Optionally, after the electronic device jumps to the edge restricted area setting interface, the edge restricted area setting interface displays an initial mowing map, wherein the outer boundary of the initial mowing map is highlighted, such as highlighted, displayed in bright colors, etc., and the interior of the mowing map is set to gray, etc., thereby prompting the user: the prohibited boundary can only be set on the outer boundary.

[0142] The user operates the universal remote control to control the mowing robot to move to the starting point of the prohibited boundary, such as position ① in the figure. Afterwards, the user clicks the start-end control to set position ① on the outer boundary as the starting point of the prohibited boundary. Afterwards, the user operates the universal remote control to control the mowing robot to continue moving along the outer boundary from the starting point. At the same time, the text of the start-end control is changed to "Set end point". When the user controls the mowing robot to the end point of the prohibited boundary, such as position ② on the outer boundary in the figure, the user clicks the start-end control to set position ② as the end point of the prohibited boundary. The outer boundary between position ① and position ② on the outer boundary is a prohibited boundary that does not need to be optimized.

[0143] After setting a restricted boundary, the restricted area setting interface will display a prompt message "You can remotely establish a new restricted boundary. If not, click Save in the upper right corner." Fig.11 As shown, the user remotely controls the lawn mower robot to position ③ on the outer boundary and sets a starting point, and then continues to remotely control the lawn mower robot to position ④ on the outer boundary and sets an end point, thereby setting a second prohibited boundary.

[0144] With this solution, the user calls up the restricted area setting interface on the APP to set at least one prohibited boundary that does not need to be optimized, so that during the map optimization process, only part of the outer boundary is optimized according to needs, thereby achieving the purpose of improving map optimization efficiency.

[0145] Optionally, in the above embodiment, when the moving trajectory of the mowing robot between the starting point and the end point does not coincide with the outer boundary indicated by the mowing map, the prohibited boundary is determined to be the boundary between the starting point and the end point in the outer boundary indicated by the mowing map.

[0146] For example, please refer to Fig.11 , the outer boundary between position ① and position ② on the outer boundary is a forbidden boundary. When the user remotely controls the mowing robot from position ① to position ②, the path of the mowing robot is shown as the curve between position ① and position ②. At this time, the electronic device forcibly adsorbs the path to the outer boundary between position ① and position ②, that is, the electronic device defaults to the forbidden boundary as the boundary between the starting point and the end point in the outer boundary indicated by the mowing map.

[0147] With this solution, when the path of the mowing robot on the prohibited boundary does not coincide with the outer boundary, the electronic device forces the outer boundary between the starting point and the end point to be the prohibited boundary, thereby achieving the purpose of accurately setting the prohibited boundary.

[0148] Optionally, in the above embodiment, a return to base station control is also displayed on the edge restricted area setting interface. After setting the prohibited boundary, the user clicks on the return to base station control, and the mowing robot autonomously returns to the base station for the next map optimization task. If the user sets the starting point of the prohibited boundary on the edge restricted area setting interface, it is found that the outer boundary that was originally intended to be set as the prohibited boundary actually also needs to be optimized and is a section of the target boundary. At this time, the user does not need to continue to set the end point of the prohibited boundary, but clicks on the return to base station control. The electronic device responds to the operation of the return to base station control on the edge restricted area setting interface and outputs a second prompt message to prompt the user whether to return to the base station. If the user determines to return to the base station, the electronic device responds to the user's selection of the return to base station operation, clears the starting point set on the edge restricted area setting interface, and controls the mowing robot to autonomously return to the base station.

[0149] This solution is adopted to achieve the purpose of canceling the prohibited boundaries in a timely manner.

[0150] Optionally, in the above embodiment, when the lawn mowing robot is located at the base station or is not at the outer boundary indicated by the lawn mowing map, the electronic device outputs a third prompt message in response to the operation of the start and stop controls to prompt the user to remotely control the lawn mowing robot to the outer boundary and a preset distance from the base station.

[0151] For example, after the electronic device jumps to the edge restricted area setting interface, the user operates the universal remote control control, and it is very likely that the lawn mower robot can be remotely controlled to any position inside the base station, outside the outer boundary, or inside the outer boundary. At this time, if the user clicks the start and end buttons to set the starting point or end point of the prohibited boundary, the electronic device outputs a third prompt message, prompting the user to remotely control the lawn mower robot to the outer boundary and the preset distance from the base station, that is, to remotely control the lawn mower robot out of the base station and make the lawn mower robot located on the outer boundary.

[0152] By adopting this solution, the user is prompted to remotely control the mowing robot out of the base station and position it on the outer boundary, thereby achieving the purpose of accurately setting the starting point and end point of the prohibited boundary.

[0153] Optionally, in the above embodiment, the electronic device determines boundary information from the environmental data during the process of optimizing the mowing map according to the travel path, and corrects the boundary of the initial mowing map according to the boundary information to obtain the current map.

[0154] Exemplarily, the environmental data includes boundary information, such as the boundary line formed by the lawn and the road, the boundary between the lawn and other plants, etc. The electronic device corrects the boundary of the initial mowing map according to the boundary information. When the target boundary is an uneven boundary, the mowing robot autonomously detects the boundary and corrects the target boundary to a flat boundary based on visual positioning, AI recognition technology, etc. When there is residual grass outside the target boundary, the autonomous travel path of the mowing robot is outside the outer boundary, and the electronic device expands the target boundary outward according to the environmental data uploaded by the mowing robot, so that the residual grass is located within the target boundary.

[0155] By adopting this solution, the mowing robot can autonomously optimize the mowing map by correcting the pothole boundary to a flat boundary and expanding the target boundary.

[0156] The following is an embodiment of the device of the present application, which can be used to execute the embodiment of the method of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the method of the present application.

[0157] Fig.12 A schematic diagram of a map optimization device provided in an embodiment of the present application. The map optimization device 1200 comprises: a remote control module 121 , a processing module 122 , a traversal module 123 and an optimization module 124 .

[0158] The remote control module 121 is used to remotely control the mowing robot to move along the boundary of the area to be expanded to obtain the boundary of the area to be expanded, and the area to be expanded is located outside the outer boundary of the initial mowing map;

[0159] The processing module 122 is used to determine the boundary of the current map according to the boundary of the area to be expanded and the boundary of the initial mowing map;

[0160] A traversal module 123, used to control the mowing robot to traverse the area corresponding to the current map and collect environmental data;

[0161] The optimization module 124 is used to correct the boundary of the current map according to the environmental data.

[0162] In a feasible implementation, the remote control module 121 is used to remotely control the lawn mower robot to move within the signal coverage range of a beacon component, where the beacon component is a beacon component corresponding to the component identifier displayed on the initial mowing map; and remotely control the lawn mower robot to move along the boundary of the area to be expanded within the signal coverage range to obtain the boundary of the area to be expanded.

[0163] In a feasible implementation, the remote control module 121 is used to remotely control the lawn mower robot to move from a starting position along the boundary of the area to be expanded and return to the starting position, where the starting position is the position of the base station of the lawn mower robot.

[0164] In a feasible implementation, the processing module 122 is used to determine the maximum area formed by the boundary of the area to be expanded and the boundary of the initial mowing map, and use the boundary of the maximum area as the boundary of the current map.

[0165] The map optimization device provided in the embodiment of the present application can execute the actions of the electronic device in the above-mentioned embodiment. Its implementation principle and technical effects are similar and will not be repeated here.

[0166] Fig.13 A schematic diagram of another map optimization device provided in an embodiment of the present application. The map optimization device 1300 includes: a display module 131 and a processing module 132 .

[0167] A display module 131 is used to display a remote control margin expansion page on the user interface, wherein the remote control margin expansion page has an initial mowing map and a universal remote control control;

[0168] The processing module 132 is used for responding to the user's operation on the universal remote control control, causing the remote-controlled lawn mowing robot to move along the boundary of the area to be expanded to obtain the boundary of the area to be expanded, wherein the area to be expanded is located outside the outer boundary of the initial lawn mowing map;

[0169] The display module 131 is further used to display the boundary of the current map and the autonomous learning control according to the boundary of the area to be expanded and the boundary of the initial mowing map; and display the autonomous learning page in response to the user's operation on the autonomous learning control;

[0170] The processing module 132 is further used to trigger the mowing robot to autonomously traverse the area corresponding to the current map to obtain environmental data, and to correct the boundary of the current map according to the environmental data;

[0171] The display module 131 is also used to display the corrected current map.

[0172] In a feasible implementation, the display module 131 is also used to display the component identification and signal coverage of the beacon component on the remote control edge expansion page;

[0173] The processing module 132 is used to remotely control the lawn mower robot to move within the signal coverage range in response to the user's operation of the universal remote control control; remotely control the lawn mower robot to move along the boundary of the area to be expanded within the signal coverage range to obtain the boundary of the area to be expanded.

[0174] In a feasible implementation, the display module 131 is further configured to display a delete button on the path when the length of the path of the mowing robot along the boundary of the area to be expanded is greater than or equal to a preset length;

[0175] The processing module 132 is further configured to delete the travel path in response to a user operating the delete button.

[0176] In a feasible implementation, the display module 131 is further used to display an end update control on the autonomous learning page;

[0177] The processing module 132 is also used to control the lawn mower robot to terminate the autonomous traversal of the area corresponding to the current map in response to the user's operation of the end update control, and trigger the lawn mower robot to autonomously return to the starting position, where the starting position is the location of the base station of the lawn mower robot.

[0178] In a feasible implementation, the display module 131 is also used to display a first prompt message in a floating manner at the abnormal position when an abnormality occurs during the autonomous traversal of the lawn mowing robot in the area corresponding to the current map, and the prompt message is used to indicate the starting position of the autonomous traversal after the abnormality is recovered.

[0179] In a feasible implementation, before the display module 131 displays the remote control margin expansion page on the user interface, it is also used to display a map editing page, on which a remote control margin expansion button and an automatic margin expansion button are displayed. When the user operates the remote control margin expansion button, the remote control margin expansion page is displayed on the user interface; in response to the user operating the automatic margin expansion button, an automatic margin expansion page is displayed on the user interface, and an initial mowing map is displayed on the automatic margin expansion page;

[0180] The processing module 132 is further configured to trigger the mowing robot to autonomously move along the boundary of the initial mowing map to obtain environmental data in response to the user's operation on the automatic edge expansion page; and to correct the boundary of the initial mowing map according to the environmental data to obtain a current map;

[0181] The display module 131 is also used to display the current map.

[0182] In a feasible implementation, the display module 131 is further used to display an edge restricted area control on the automatic edge expansion page; in response to a user's operation on the edge restricted area control, an edge restricted area setting interface is displayed, on which the initial mowing map is presented, and a universal remote control control and a start and stop control are provided;

[0183] The processing module 132 is also used to remotely control the lawn mower robot to move to the starting point of a prohibited boundary in response to the user's operation of the universal remote control control, the prohibited boundary being included in the outer boundary indicated by the lawn mowing map, and the prohibited boundary is a boundary that does not require correction; to respond to the operation of the start-end control to set the starting point of the prohibited boundary on the outer boundary; to respond to the operation of the universal remote control control, to remotely control the lawn mower robot to move from the starting point to the end point of the prohibited boundary; and to respond to the operation of the start-end control to set the end point of the prohibited boundary on the outer boundary.

[0184] In a feasible implementation, the processing module 132 is also used to determine that the prohibited boundary is the boundary between the starting point and the end point in the outer boundary indicated by the mowing map when the moving trajectory of the mowing robot between the starting point and the end point does not coincide with the outer boundary indicated by the mowing map.

[0185] In a feasible implementation, the processing module 132 is also used to output a second prompt message in response to the user's operation of the return to base station control on the edge restricted area setting interface after setting the starting point of the prohibited boundary and before setting the end point of the prohibited boundary, so as to prompt the user whether to return to the base station; in response to the operation of returning to the base station, clear the starting point set on the edge restricted area setting interface, and trigger the lawn mowing robot to return to the base station autonomously.

[0186] In a feasible implementation, the processing module 132 is also used to output a third prompt message in response to the operation of the start and stop controls when the lawn mower robot is located at the base station or not at the outer boundary indicated by the mowing map, so as to prompt the user to remotely control the lawn mower robot to the outer boundary and a preset distance from the base station.

[0187] In a feasible implementation, when the processing module 132 corrects the boundary of the initial mowing map according to the environmental data to obtain the current map, it is used to determine boundary information from the environmental data; and correct the boundary of the initial mowing map according to the boundary information to obtain the current map.

[0188] The map optimization device provided in the embodiment of the present application can execute the actions of the electronic device in the above-mentioned embodiment. Its implementation principle and technical effects are similar and will not be repeated here.

[0189] An embodiment of the present application also provides a computer-readable storage medium, in which computer instructions are stored. When the computer instructions are executed by a processor, they are used to implement the map optimization method implemented by the electronic device as above.

[0190] An embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the map optimization method implemented by the above electronic device.

[0191] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0192] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A map optimization method, It is characterized in that include: The remote-controlled mowing robot moves along the boundary of the area to be expanded to obtain the boundary of the area to be expanded, and the area to be expanded is located outside the outer boundary of the initial mowing map; Determining the boundary of the current map according to the boundary of the area to be expanded and the boundary of the initial mowing map; Control the lawn mowing robot to traverse and collect environmental data in the area corresponding to the current map; The boundary of the current map is corrected according to the environmental data.

2. The method according to claim 1, It is characterized in that The remote-controlled lawn mowing robot moves along the boundary of the area to be expanded to obtain the boundary of the area to be expanded, including: Remotely control the lawn mowing robot to move within the signal coverage range of a beacon component, wherein the beacon component is a beacon component corresponding to the component identifier displayed on the initial lawn mowing map; The lawn mowing robot is remotely controlled to move along the boundary of the area to be expanded within the signal coverage range to obtain the boundary of the area to be expanded.

3. The method according to claim 1, It is characterized in that The remote-controlled lawn mowing robot moves along the boundary of the area to be expanded, including: The lawn mowing robot is remotely controlled to start from a starting position, move along the boundary of the area to be expanded and return to the starting position, where the starting position is the position where the base station of the lawn mowing robot is located.

4. The method according to any one of claims 1 to 3, It is characterized in that The step of determining the boundary of the current map according to the boundary of the area to be expanded and the boundary of the initial mowing map includes: The maximum area formed by the boundary of the area to be expanded and the boundary of the initial mowing map is determined, and the boundary of the maximum area is used as the boundary of the current map.

5. A map optimization method, It is characterized in that include: Displaying a remote control edge expansion page on the user interface, wherein the remote control edge expansion page has an initial mowing map and a universal remote control control; In response to the user's operation of the universal remote control control, the remote-controlled lawn mowing robot moves along the boundary of the area to be expanded to obtain the boundary of the area to be expanded, and the area to be expanded is located outside the outer boundary of the initial lawn mowing map; Displaying the boundary of the current map and the autonomous learning control according to the boundary of the area to be expanded and the boundary of the initial mowing map; In response to the user's operation on the autonomous learning control, displaying an autonomous learning page and triggering the lawn mowing robot to autonomously traverse the area corresponding to the current map to obtain environmental data; The boundary of the current map is corrected according to the environmental data, and the corrected current map is displayed.

6. The method according to claim 5, It is characterized in that In response to the user's operation on the universal remote control control, the remote-controlled lawn mowing robot moves along the boundary of the area to be expanded, including: The component identification and signal coverage of the beacon component are displayed on the remote control edge expansion page; In response to the user's operation on the universal remote control control, remotely controlling the lawn mowing robot to move into the signal coverage range; The lawn mowing robot is remotely controlled to move along the boundary of the area to be expanded within the signal coverage range to obtain the boundary of the area to be expanded.

7. The method according to claim 5, It is characterized in that Also includes: When the length of the path traveled by the mowing robot along the boundary of the area to be expanded is greater than or equal to a preset length, a delete button is displayed on the path; In response to a user's operation of the delete button, the travel path is deleted.

8. The method according to any one of claims 5 to 7, It is characterized in that Also includes: Displaying an end update control on the autonomous learning page; In response to the user's operation on the end update control, the lawn mower robot is controlled to terminate the autonomous traversal of the area corresponding to the current map, and the lawn mower robot is triggered to autonomously return to the starting position, where the starting position is the location of the base station of the lawn mower robot.

9. The method according to any one of claims 5 to 7, It is characterized in that Also includes: When the mowing robot encounters an abnormality during autonomous traversal in the area corresponding to the current map, a first prompt message is displayed in a floating manner at the abnormal position, and the prompt message is used to indicate the starting position of the autonomous traversal after the abnormality is recovered.

10. The method according to any one of claims 5 to 7, It is characterized in that Before the remote control edge expansion page is displayed on the user interface, the method further includes: Displaying a map editing page, wherein a remote control margin expansion button and an automatic margin expansion button are displayed on the map editing page, and when a user operates the remote control margin expansion button, the remote control margin expansion page is displayed on the user interface; In response to the user's operation on the automatic margin expansion button, an automatic margin expansion page is displayed on the user interface, and an initial mowing map is displayed on the automatic margin expansion page; In response to the user's operation on the automatic edge expansion page, triggering the mowing robot to autonomously move along the boundary of the initial mowing map to acquire environmental data; Correcting the boundary of the initial mowing map according to the environmental data to obtain a current map; The current map is displayed.

11. The method according to claim 10, It is characterized in that Also includes: Displaying an edge restricted area control on the automatic edge expansion page; In response to the user's operation on the edge restricted area control, an edge restricted area setting interface is displayed, on which the initial mowing map is presented and a universal remote control control and a start and stop control are provided; In response to the user's operation of the universal remote control, remotely controlling the lawn mowing robot to move to a starting point of a prohibited boundary, wherein the prohibited boundary is included in the outer boundary indicated by the lawn mowing map, and the prohibited boundary is a boundary that does not need to be corrected; responding to operation of the start-stop control to set a start point of the prohibition boundary on the outer boundary; In response to the operation of the universal remote control control, remotely controlling the lawn mowing robot to move from the starting point to the end point of the prohibited boundary; The end point of the inhibition boundary is set on the outer boundary in response to the operation of the start-stop control.

12. The method according to claim 11, It is characterized in that Also includes: When the moving trajectory of the mowing robot between the starting point and the end point does not coincide with the outer boundary indicated by the mowing map, the prohibited boundary is determined to be a boundary between the starting point and the end point in the outer boundary indicated by the mowing map.

13. The method according to claim 11, It is characterized in that Also includes: After setting the starting point of the forbidden boundary and before setting the end point of the forbidden boundary, in response to the user's operation of the return to base station control on the edge restricted area setting interface, outputting second prompt information to prompt the user whether to return to the base station; In response to the operation of returning to the base station, the starting point set on the edge restricted area setting interface is cleared, and the lawn mowing robot is triggered to autonomously return to the base station.

14. The method according to claim 11, It is characterized in that Also includes: When the lawn mowing robot is located at the base station or not at the outer boundary indicated by the lawn mowing map, in response to the operation of the start and stop controls, third prompt information is output to prompt the user to remotely control the lawn mowing robot to the outer boundary and a preset distance from the base station.

15. The method according to claim 10, It is characterized in that The step of correcting the boundary of the initial mowing map according to the environmental data to obtain the current map comprises: determining boundary information from the environmental data; The boundary of the initial mowing map is modified according to the boundary information to obtain the current map.

16. A map optimization device, It is characterized in that include: A remote control module, used for remotely controlling the mowing robot to move along the boundary of the area to be expanded to obtain the boundary of the area to be expanded, wherein the area to be expanded is located outside the outer boundary of the initial mowing map; A processing module, used for determining the boundary of the current map according to the boundary of the area to be expanded and the boundary of the initial mowing map; A traversal module, used to control the mowing robot to traverse the area corresponding to the current map and collect environmental data; An optimization module is used to correct the boundary of the current map according to the environmental data.

17. A map optimization device, It is characterized in that include: A display module, used for displaying a remote control margin expansion page on a user interface, wherein the remote control margin expansion page has an initial mowing map and a universal remote control control; a processing module, configured to cause the remote-controlled lawn mowing robot to move along a boundary of the area to be expanded in response to a user's operation of the universal remote control control so as to obtain a boundary of the area to be expanded, wherein the area to be expanded is located outside an outer boundary of the initial lawn mowing map; The display module is further used to display the boundary of the current map and the autonomous learning control according to the boundary of the area to be expanded and the boundary of the initial mowing map; and display the autonomous learning page in response to the user's operation on the autonomous learning control; The processing module is further used to trigger the mowing robot to autonomously traverse the area corresponding to the current map to obtain environmental data, and to correct the boundary of the current map according to the environmental data; The display module is also used to display the corrected current map.

18. An electronic device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the computer program, the electronic device implements the method according to any one of claims 1 to 15.

19. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 15 is implemented.

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