Map construction method and device, electronic equipment and storage medium

Abstract

The present disclosure provides a map construction method, which comprises: arranging a positioning device in a region to be mapped, and making the positioning device located at a first preset position of a boundary of the region to be mapped; controlling the positioning device to move in the region to be mapped, and acquiring real-time position information of the positioning device; after the positioning device traverses the region to be mapped, controlling the positioning device to move to a second preset position of the boundary of the region to be mapped, and obtaining a motion trajectory of the positioning device according to the real-time position information of the positioning device, wherein the first preset position of the positioning device is the starting point of the motion trajectory of the positioning device, and the second preset position is the end point of the motion trajectory of the positioning device; and obtaining a map of the region to be mapped according to the motion trajectory of the positioning device. The present disclosure also provides a map construction device, an electronic device and a storage medium.

Description

Technical Field

[0001] This disclosure relates to a map construction method, apparatus, electronic device, and storage medium. Background Technology

[0002] Unattended intelligent lawnmowers are widely used in Europe and America. Typically, the working area of ​​an intelligent lawnmower is defined by underground cables, and a specific current signal needs to be applied to the boundary line to generate a working area signal. The boundary line sensor on the intelligent lawnmower detects these area signals to distinguish between inside and outside the boundary line, allowing the intelligent lawnmower to work autonomously within the defined working area without leaving it.

[0003] Furthermore, for safety reasons, regulations limit the height of the protective shield and the cutting energy of smart lawnmowers, thus restricting their ability to cut dense grass. Typically, it's required that the garden be pre-cut with a push lawnmower to ensure there are no uncut, dense grasses. Afterward, the smart lawnmower performs routine maintenance cutting according to the user-set schedule.

[0004] Typically, boundary lines need to be installed precisely according to the instructions, and are secured to the lawn or buried under the lawn with a nail every 0.5m. The installation process is time-consuming and laborious, and the larger the garden area and the longer the boundary line, the more difficult the installation becomes.

[0005] Meanwhile, the aforementioned traditional smart lawnmowers with defined boundaries cannot obtain a garden map and can only use random cutting, resulting in low mowing efficiency. Summary of the Invention

[0006] To address one of the aforementioned technical problems, this disclosure provides a map construction method, apparatus, electronic device, and storage medium.

[0007] According to one aspect of this disclosure, a map construction method is provided, comprising:

[0008] A positioning device is placed in the area where a map is to be built, and the positioning device is located at a first preset position on the boundary of the area where the map is to be built.

[0009] The positioning device is controlled to move within the area to be mapped, and its real-time location information is obtained. The positioning device is mounted on a handheld cleaning tool. Controlling the positioning device to move within the area to be mapped includes: the user manually controls the handheld cleaning tool to move within the area to be mapped, and the handheld cleaning tool is in operation. Obtaining the real-time location information of the positioning device includes: acquiring the movement trajectory of the positioning device while the user manually controls the handheld cleaning tool to operate within the area to be mapped.

[0010] After the positioning device traverses the area to be mapped, it is controlled to move to a second preset position at the boundary of the area, and the movement trajectory of the positioning device is obtained based on its real-time position information. The first preset position of the positioning device is the starting point of the movement trajectory, and the second preset position is the ending point.

[0011] A map of the area to be mapped is obtained based on the movement trajectory of the positioning device.

[0012] According to at least one embodiment of the map building method of this disclosure, the positioning module can be detached from a current handheld cleaning tool and installed into an autonomous cleaning tool, which obtains the map and operates autonomously within the area of ​​the map.

[0013] According to at least one embodiment of the map building method of this disclosure, the motion trajectory of the positioning device includes the working path of the handheld cleaning tool when it operates in the area to be mapped.

[0014] According to at least one embodiment of the map construction method of this disclosure, the positioning device is communicatively connected to the handheld cleaning tool, and the positioning device also obtains positioning information of the positioning device based on the current position of the handheld cleaning tool; and / or, the positioning device also obtains or corrects the starting point and ending point of the movement trajectory of the positioning device based on the working state of the handheld cleaning tool.

[0015] According to at least one embodiment of the map building method of this disclosure, the positioning device corrects the movement trajectory of the positioning device based on the on / off information of the cleaning component of the handheld cleaning tool.

[0016] According to at least one embodiment of the map construction method of this disclosure, when the handheld cleaning tool is paused, the positioning device records the pause point, and the movement trajectory of the positioning device includes the movement trajectory from the starting point to the pause point and the movement trajectory from the pause point to the end point.

[0017] According to at least one embodiment of the map construction method of this disclosure, the positioning device is activated according to a start signal, and the positioning information when the positioning device is activated is used as the starting point of the motion trajectory; and / or, the positioning device is deactivated according to a stop signal, and the positioning information when the positioning device is deactivated is used as the ending point of the motion trajectory.

[0018] According to at least one embodiment of the map building method of this disclosure, obtaining a map of the area to be mapped based on the motion trajectory of the positioning device includes:

[0019] The outer boundary of the region corresponding to the motion trajectory is obtained based on the motion trajectory, and the outer contour of the region to be mapped is obtained based on the outer boundary; and

[0020] The inner boundary of the region corresponding to the motion trajectory is obtained based on the motion trajectory, and the outer contour of the obstacles within the outer contour of the region to be mapped is obtained based on the inner boundary, wherein the inner boundary is located within the outer boundary.

[0021] The map construction method according to at least one embodiment of the present disclosure further includes: editing and / or confirming a map of the area to be mapped, and transmitting the edited and / or confirmed map to a positioning device.

[0022] According to another aspect of this disclosure, a map building apparatus is provided, comprising:

[0023] A positioning device, wherein the positioning device is capable of obtaining its real-time location information; and

[0024] A handheld cleaning tool, wherein the positioning device is disposed on the handheld cleaning tool, the handheld cleaning tool is manually operated by the user to move within an area to be mapped and perform cleaning operations, and the positioning device disposed on the handheld cleaning tool moves within the area to be mapped to obtain the real-time location information of the positioning device.

[0025] Specifically, after the positioning device traverses the area where the map to be built is to be completed, the movement trajectory of the positioning device is obtained based on the real-time location information of the positioning device, and the map of the area where the map to be built is obtained based on the movement trajectory of the positioning device.

[0026] According to at least one embodiment of the map building apparatus of this disclosure, the motion trajectory of the positioning device includes the working path of the handheld cleaning tool when it operates in the area to be mapped.

[0027] According to at least one embodiment of the map building apparatus of this disclosure, when the handheld cleaning tool begins to clean the area to be mapped, the positioning device is positioned at a first preset position on the boundary of the area to be mapped; when the handheld cleaning tool ends to clean the area to be mapped, the positioning device is positioned at a second preset position on the boundary of the area to be mapped, wherein the first preset position of the positioning device is the starting point of the movement trajectory of the positioning device, and the second preset position is the ending point of the movement trajectory of the positioning device.

[0028] According to at least one embodiment of the map building apparatus of this disclosure, the positioning device is communicatively connected to the handheld cleaning tool, and the positioning device further obtains positioning information of the positioning device based on the current position of the handheld cleaning tool; and / or, the positioning device further obtains or corrects the start and end points of the movement trajectory of the positioning device based on the working state of the handheld cleaning tool.

[0029] According to at least one embodiment of the map building apparatus of the present disclosure, the positioning device corrects the movement trajectory of the positioning device based on the on / off information of the cleaning component of the handheld cleaning tool.

[0030] According to at least one embodiment of the map building apparatus of this disclosure, when the handheld cleaning tool is paused, the positioning device records the pause point, and the movement trajectory of the positioning device includes the movement trajectory from the starting point to the pause point and the movement trajectory from the pause point to the end point.

[0031] According to at least one embodiment of the map building apparatus of this disclosure, the positioning device is activated according to a start signal, and the positioning information when the positioning device is activated serves as the starting point of the motion trajectory; and / or, the positioning device is deactivated according to a stop signal, and the positioning information when the positioning device is deactivated serves as the ending point of the motion trajectory.

[0032] According to at least one embodiment of the map building apparatus of this disclosure, obtaining a map of the area to be mapped based on the motion trajectory of the positioning device includes:

[0033] The outer boundary of the region corresponding to the motion trajectory is obtained based on the motion trajectory, and the outer contour of the region to be mapped is obtained based on the outer boundary; and

[0034] Based on the motion trajectory, the inner boundary of the region corresponding to the motion trajectory is obtained, and based on the inner boundary, the obstacles within the outer contour of the region to be mapped are obtained.

[0035] A map building apparatus according to at least one embodiment of the present disclosure further includes: editing and / or confirming a map of the area to be mapped, and transmitting the edited and / or confirmed map to a positioning module.

[0036] According to at least one embodiment of the map building apparatus of this disclosure, the positioning module can be detached from a current handheld cleaning tool and installed into an autonomous cleaning tool, which acquires the map and operates autonomously within the area of ​​the map.

[0037] According to another aspect of this disclosure, an electronic device is provided, comprising:

[0038] Memory, the memory storing execution instructions; and

[0039] A processor that executes the execution instructions stored in the memory, causing the processor to perform the method described above.

[0040] According to another aspect of this disclosure, a readable storage medium is provided, wherein executable instructions are stored therein, which, when executed by a processor, are used to implement the method described above. Attached Figure Description

[0041] The accompanying drawings illustrate exemplary embodiments of the present disclosure and, together with the description thereof, serve to explain the principles of the present disclosure. These drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification.

[0042] Figure 1 This is a flowchart illustrating a map construction method according to one embodiment of the present disclosure.

[0043] Figure 2 This is a schematic diagram of the map storage space when no map has been built, according to one embodiment of the present disclosure.

[0044] Figure 3 and Figure 4 This is a schematic diagram of the map storage space during map construction according to one embodiment of the present disclosure.

[0045] Figure 5 This is a schematic diagram of the structure of a map constructed according to a map construction method of one embodiment of the present disclosure.

[0046] Figure 6 This is a schematic diagram of the structure of a map building apparatus according to one embodiment of the present disclosure.

[0047] The specific labels in the attached figures are as follows:

[0048] 10 Positioning Devices

[0049] 20 handheld cleaning tools. Detailed Implementation

[0050] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, it should be noted that, for ease of description, only the parts relevant to the present disclosure are shown in the accompanying drawings.

[0051] It should be noted that, where there is no conflict, the embodiments and features described in this disclosure can be combined with each other. The technical solutions of this disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0052] Unless otherwise stated, the exemplary implementations / embodiments shown are to be understood as providing exemplary features of various details that provide ways in which the technical concepts of this disclosure can be implemented in practice. Therefore, unless otherwise stated, the features of various implementations / embodiments may be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of this disclosure.

[0053] The use of crosshairs and / or shading in the accompanying drawings is generally used to clarify the boundaries between adjacent components. Thus, unless otherwise stated, the presence or absence of crosshairs or shading does not convey or indicate any preference or requirement for the specific material, material properties, dimensions, proportions, commonalities between the illustrated components, or any other characteristics, properties, etc., of the components. Furthermore, in the accompanying drawings, the dimensions and relative dimensions of components may be exaggerated for clarity and / or descriptive purposes. When exemplary embodiments can be implemented differently, a specific process sequence may be performed in a different order than that described. For example, two consecutively described processes may be performed substantially simultaneously or in the reverse order of their description. Furthermore, the same reference numerals denote the same components.

[0054] When a component is referred to as being "on" or "above" another component, "connected to," or "joined to" another component, the component may be directly on, directly connected to, or directly joined to the other component, or there may be intermediate components. However, when a component is referred to as being "directly on" another component, "directly connected to," or "directly joined to" another component, there are no intermediate components. Therefore, the term "connection" can refer to a physical connection, an electrical connection, etc., and may or may not have intermediate components.

[0055] For descriptive purposes, this disclosure may use spatial relative terms such as “below,” “under,” “below,” “down,” “above,” “above,” “higher,” and “side (e.g., in a “sidewall”)” to describe the relationship between one component and another component as shown in the accompanying drawings. In addition to the orientations depicted in the drawings, the spatial relative terms are also intended to encompass different orientations of the device during use, operation, and / or manufacture. For example, if the device in the drawings is flipped, a component described as “below” or “under” another component or feature would subsequently be positioned “above” said other component or feature. Thus, the exemplary term “below” can encompass both “above” and “below” orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or in other orientations), thus interpreting the spatial relative descriptive terms used herein accordingly.

[0056] The terminology used herein is for the purpose of describing particular embodiments and is not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms “a” and “the” are intended to include the plural forms as well. Furthermore, when the terms “comprising” and / or “including” and variations thereof are used in this specification, it indicates the presence of the stated features, integrals, steps, operations, parts, components, and / or groups thereof, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, parts, components, and / or groups thereof. It should also be noted that, as used herein, the terms “substantially,” “about,” and other similar terms are used as approximate terms rather than as terms of degree, thus explaining the inherent biases in measurements, calculated values, and / or provided values ​​that would be recognized by one of ordinary skill in the art.

[0057] Figure 1 This is a flowchart illustrating a map construction method according to one embodiment of the present disclosure.

[0058] like Figure 1As shown, this disclosure provides a map construction method, which includes: 102. Arranging a positioning device 10 in an area where a map is to be built, and positioning the positioning device 10 at a first preset position on the boundary of the area where the map is to be built; 104. Controlling the positioning device 10 to move within the area where the map is to be built, and obtaining real-time position information of the positioning device 10; 106. After the positioning device 10 has traversed the area where the map is to be built, controlling the positioning device 10 to move to a second preset position on the boundary of the area where the map is to be built, and obtaining the movement trajectory of the positioning device 10 according to the real-time position information of the positioning device 10, wherein the first preset position of the positioning device 10 is the starting point of the movement trajectory of the positioning device 10, and the second preset position is the ending point of the movement trajectory of the positioning device 10; and 108. Obtaining a map of the area where the map is to be built according to the movement trajectory of the positioning device 10.

[0059] The following provides a detailed explanation of each step in the map construction method disclosed herein.

[0060] In step 102, the area to be mapped can be the user's home lawn, which serves as the working area for both handheld and smart cleaning tools. Once a map is created for the working area, and the cleaning tool is an autonomous tool, such as a smart lawnmower, the smart lawnmower obtains the map and works autonomously within the working area without leaving it. Of course, the area to be mapped can also be the user's indoor floor that needs cleaning. The map construction method of this disclosure can also construct maps for this type of area, enabling devices such as robotic vacuum cleaners to move according to the map to perform cleaning operations on the floor.

[0061] In this disclosure, a positioning device 10 is required when constructing a map. Preferably, the positioning device 10 may include a positioning module, which may include a GPS antenna or a receiver. For example, when constructing a map of a lawn, a GPS antenna can be used to obtain the location information of the positioning device 10. When constructing a map indoors, considering that the location information of the positioning device 10 cannot be obtained through a GPS antenna, the positioning module can be a receiver, and the location information of the positioning device 10 can be obtained by receiving signals emitted by a base station set up indoors. In this case, the receiver can be a UWB receiver, and the base station can be a UWB base station, etc.

[0062] When creating a map, the positioning device 10 can be placed at a first preset position on the boundary of the area to be mapped, where the first preset position is the starting point of the movement trajectory of the positioning device 10. Alternatively, the positioning device 10 may not be placed at the boundary of the area to be mapped. However, considering the accuracy of the created map, in this case, the starting point of the movement trajectory of the positioning device 10 needs to be corrected. The specific correction method will be explained in detail below.

[0063] In step 104, the positioning device 10 is moved within the area to be mapped, and its real-time location information is acquired. Acquiring the real-time location information includes acquiring the movement trajectory of the positioning device 10 while the handheld cleaning tool is being manually controlled to operate within the area to be mapped.

[0064] As a preferred option, this disclosure considers that, for safety reasons, the protective cover of the intelligent lawnmower cannot be too high and the cutting energy cannot be too high during use, which limits the high-density grass-cutting capability of the intelligent lawnmower. Therefore, before the intelligent lawnmower cuts the grass, a push lawnmower or push mower is generally used to pre-cut the lawn (garden). Thus, the positioning device 10 can be combined with the push lawnmower or push mower to construct a map while the user is mowing the grass. The autonomous cleaning tool obtains the constructed map and works autonomously within the area of ​​the map (i.e., the area where the map is to be constructed) based on the map. In other words, this disclosure can construct a map for the intelligent cleaning tool using a push cleaning tool.

[0065] Specifically, the positioning device 10 can be set on the handheld cleaning tool 20, and the handheld cleaning tool 20 can be manually controlled to work in the area where the map is to be built, while obtaining the real-time location information of the positioning device 10.

[0066] The handheld cleaning tool 20 may include a push lawnmower or a push lawn trimmer, or it may include a mop or other tools for cleaning the ground. The following description uses a push lawnmower as an example. Those skilled in the art should know that the push lawnmower disclosed herein is the handheld cleaning tool 20, and it may also be replaced by a lawn trimmer.

[0067] In one implementation, the positioning device 10 can be positioned above the handheld cleaning tool 20. Alternatively, the positioning device 10 can be located on the side of the handheld cleaning tool 20, such as at the front, rear, left, or right of the positioning device 10, as long as the positioning module of the positioning device 10 is not obstructed and can continuously receive signals.

[0068] For example, a user moves a push lawnmower to an open area of ​​the lawn (e.g., the edge of the lawn), then installs a positioning device 10 on the push lawnmower, activates the positioning device 10, and controls the push lawnmower to move within the lawn. For example, the user pushes the push lawnmower to move within the lawn, causing the push lawnmower to cut all the grass in the lawn, especially when cutting tall grass for the first time, so that the path of the push lawnmower covers the entire area of ​​the lawn, thereby enabling the movement trajectory of the positioning device 10 to cover the area to be mapped.

[0069] At this time, the movement trajectory of the positioning device 10 can be the working path of the handheld cleaning tool 20 when working in the area to be mapped.

[0070] In step 106, after the positioning device 10 traverses the area where the map to be built is to be established, the positioning device 10 is controlled to move to the second preset position of the boundary of the area where the map to be built is to be established, and the movement trajectory of the positioning device 10 is obtained according to the real-time position information of the positioning device 10, wherein the first preset position of the positioning device 10 is the starting point of the movement trajectory of the positioning device 10, and the second preset position is the ending point of the movement trajectory of the positioning device 10.

[0071] More preferably, in order to accurately obtain the movement trajectory of the positioning device 10, as one implementation, the positioning device 10 is communicatively connected to the handheld cleaning tool 20, and the positioning device 10 also obtains the positioning information of the positioning device 10 according to the current position of the handheld cleaning tool 20; and / or, the positioning device 10 also obtains or corrects the start and end points of the movement trajectory of the positioning device 10 according to the working state of the handheld cleaning tool 20.

[0072] In this disclosure, when the handheld cleaning tool 20 is a push lawnmower, the cleaning component of the handheld cleaning tool 20 is the mowing unit of the push lawnmower.

[0073] In one implementation, the push lawnmower may include components such as a chassis unit, a power unit, a control unit, a mowing unit, and a communication unit.

[0074] The chassis unit forms the bottom of the push lawnmower, and all other components of the push lawnmower are located on the chassis unit. For example, the mowing unit of the push lawnmower is located on the chassis unit, and the chassis unit drives the mowing unit to move along the lawn so that the mowing unit can cut the grass of the lawn.

[0075] The chassis unit may include casters. In one implementation, there may be four casters, and some of the four casters may be configured as steering wheels that enable the push lawnmower to turn, so that the push lawnmower can be easily controlled.

[0076] At this time, the chassis unit may include distance sensors such as odometers, thereby enabling the distance sensor to obtain the moving distance of the push lawnmower relative to the starting point. Furthermore, the positioning device 10 can obtain the position information of the positioning device 10 based on the starting point of the push lawnmower and the moving distance. In addition, the positioning device 10 can also obtain the current position information of the positioning device 10 based on the difference between the position information of the positioning device 10 at the previous moment and the moving distance from the previous moment to the current moment.

[0077] Of course, information such as the diameter and rotation speed of the moving wheels can also be used to obtain information such as the distance the hand-push lawnmower has traveled relative to the starting point.

[0078] Therefore, the positioning device 10 can correct its position information based on the position information obtained from the odometer, making the position information of the positioning device 10 more accurate; moreover, when the positioning device 10 cannot obtain position information, for example, when the GPS antenna of the positioning device 10 cannot receive a signal, the positioning device 10 can use the position information obtained from the odometer as its position information.

[0079] The energy device can provide energy to a push lawnmower; for example, the energy device can be an energy storage device such as a rechargeable battery.

[0080] The control unit is used to control the push lawnmower. For example, the control unit may include an operating interface so that the user can select the working mode of the push lawnmower, or control the opening and closing of the mowing unit of the push lawnmower, or adjust the output power of the mowing unit, etc.

[0081] The push lawnmower may include a switch button. When the switch button is triggered, the energy system can provide electrical energy to the control unit, thereby putting the control unit into operation.

[0082] In this disclosure, when the push lawnmower is moved to the boundary of the area to be mapped, the mowing unit can be started; and when the grass in the area to be mapped is cleared, the push lawnmower can be moved to the boundary of the area to be mapped, and the mowing unit can be turned off.

[0083] As another implementation, the mowing unit can also be controlled to start and stop via a mode button. For example, when the mode button is triggered, the mowing unit is started, and when the mode button is triggered again, the mowing unit is turned off.

[0084] The control unit of the push lawnmower can be connected to the positioning device 10 via a communication unit, thereby sending the start and stop signals of the mowing unit to the positioning device 10, and also sending the working status of the control unit to the positioning device 10.

[0085] In this disclosure, the position information of the positioning device 10 when the handheld cleaning tool 20 is activated can be used as the starting point of the movement trajectory of the positioning device 10; and the position information of the positioning device 10 when the handheld cleaning tool 20 is deactivated can be used as the ending point of the movement trajectory of the positioning device 10.

[0086] At this time, the positioning device 10 can also correct the movement trajectory of the positioning device 10 according to the switch information of the cleaning component of the handheld cleaning tool 20.

[0087] In this disclosure, the position information of the positioning device 10 when the cleaning component (i.e., the lawn mowing unit) is activated can be used as the starting point of the movement trajectory of the positioning device 10; and the position information of the positioning device 10 when the cleaning component (lawn mowing unit) is deactivated can be used as the ending point of the movement trajectory of the positioning device 10, thereby correcting the movement trajectory of the positioning device 10.

[0088] As another implementation, considering that the push lawnmower may pause its work when clearing the lawn, when the push lawnmower is paused, the control unit of the push lawnmower is in the open state and the mowing unit is in the closed state; at this time, the positioning device 10 records the pause point, and the movement trajectory of the positioning device 10 includes the movement trajectory from the starting point to the pause point and the movement trajectory from the pause point to the end point.

[0089] More preferably, when there are multiple pause points, the movement trajectory of the positioning device 10 also includes the movement trajectory between adjacent pause points.

[0090] In another implementation, the positioning device 10 and the handheld cleaning tool 20 may not be connected in communication; that is, the positioning device 10 and the handheld cleaning tool 20 do not transmit signals to each other and work independently.

[0091] At this time, the positioning device 10 is activated according to the activation signal, and the positioning information when the positioning device 10 is activated is used as the starting point of the movement trajectory; and / or, the positioning device 10 is deactivated according to the deactivation signal, and the positioning information when the positioning device 10 is deactivated is used as the ending point of the movement trajectory; that is, after the positioning device 10 is activated, it continuously records real-time location information until the user deactivates the positioning device 10 or removes the positioning device 10 from the handheld cleaning tool 20.

[0092] In this disclosure, the handheld cleaning tool 20 further includes an auxiliary positioning unit. When the positioning device 10 is placed in the auxiliary positioning unit, the positioning device 10 receives a start signal and starts accordingly; or, when the positioning device 10 is removed from the auxiliary positioning unit, the positioning device 10 is turned off.

[0093] In step 108, obtaining the map of the area to be mapped based on the motion trajectory of the positioning device 10 includes: obtaining the outer boundary of the motion trajectory based on the motion trajectory, obtaining the outer contour of the area to be mapped based on the outer boundary; and obtaining the inner boundary of the motion trajectory based on the motion trajectory, obtaining the obstacles within the outer contour of the area to be mapped based on the inner boundary.

[0094] When building a map, it is mainly necessary to confirm the outer boundary of the area to be mapped, so that the smart lawnmower will not cross the boundary and cause danger. In addition, it is also necessary to confirm the obstacles inside the outer boundary, such as flower beds, etc., so that the smart lawnmower cannot enter the area marked as an obstacle on the map.

[0095] Based on this, such as Figure 2 As shown, before starting to build the map, the map storage space is reset, and all points in the map space are marked with the first marker, such as black.

[0096] When creating a map, such as Figure 3 and Figure 4 As shown, considering that the movement trajectory of the positioning device 10 may be linear, the width of the movement trajectory of the positioning device 10 can be set to a preset value, and the first mark in the map storage space can be changed to the second mark according to the movement trajectory of the positioning device 10. For example, the first mark (black) at the location traversed by the movement trajectory can be modified to the second mark (white).

[0097] Then, as Figure 5As shown, the boundary contour of the white-colored area is extracted, which yields the outer boundary of the area corresponding to the motion trajectory. This outer boundary forms the outer contour of the area to be mapped. Correspondingly, the outer boundary of the black area within the white-colored area is extracted, which yields the inner boundary of the area corresponding to the motion trajectory. This inner boundary represents the obstacles within the outer contour of the area to be mapped.

[0098] In this disclosure, after obtaining the map of the area to be mapped, the map of the area to be mapped can be edited and confirmed to prevent errors from appearing in the map, such as unreasonable outlines and obstacles.

[0099] In this disclosure, map editing and confirmation can be completed on an APP or WEB. That is, the positioning device 10 transmits the automatically generated map to the server or to a smart mobile device with an APP through the communication unit. After the user edits the map, the positioning device 10 can download the edited and confirmed map from the server or the smart mobile device with an APP. The smart lawnmower can work according to the edited and confirmed map, such as performing path planning and obstacle avoidance based on the map.

[0100] In this disclosure, the positioning device 10 can be the positioning device 10 of a smart lawnmower. That is, when a map needs to be built, the positioning device 10 of the smart lawnmower can be disassembled and then installed on the handheld cleaning tool 20 to build the map. After the map is built, the positioning device 10 is installed on the smart lawnmower. At this time, the smart lawnmower can work according to the map built by the positioning device 10.

[0101] In this disclosure, the positioning device 10 can be a standalone device and can be matched with various devices, such as outdoor watering robots and patrol robots. When it is necessary to create a map of the lawn, the positioning device 10 can be combined with a push lawnmower. After the map is created, the positioning device 10 can be detached from the push lawnmower (i.e., a handheld cleaning tool) and installed on an autonomous cleaning tool, watering robot, patrol robot, etc., wherein the autonomous cleaning tool can be an intelligent lawnmower, etc.

[0102] Figure 6 This is a schematic diagram of the structure of a map building apparatus according to one embodiment of the present disclosure.

[0103] According to another aspect of this disclosure, such as Figure 6 As shown, this disclosure provides a map building apparatus, which includes: a positioning device 10 and a handheld cleaning tool 20.

[0104] The positioning device 10 can obtain its real-time location information; and the positioning device 10 is disposed on the handheld cleaning tool 20, which is manually operated by the user to move within the area to be mapped and perform cleaning operations, while the positioning device 10 disposed on the handheld cleaning tool 20 moves within the area to be mapped, thereby obtaining the real-time location information of the positioning device 10; wherein, after the positioning device 10 traverses the area to be mapped, the movement trajectory of the positioning device 10 is obtained based on the real-time location information of the positioning device 10, and a map of the area to be mapped is obtained based on the movement trajectory of the positioning device 10.

[0105] The area to be mapped can be a user's home lawn. In this case, the smart lawnmower can move on the lawn according to the map to automatically cut the grass. Of course, the area to be mapped can also be a user's indoor floor that needs to be cleaned. The map building method disclosed herein can also build maps for this type of area, enabling devices such as robot vacuum cleaners to move according to the map to perform cleaning operations on the floor to be cleaned.

[0106] In this disclosure, a positioning device 10 is required when constructing a map. Preferably, the positioning device 10 may include a positioning module, which may include a GPS antenna or a receiver. For example, when constructing a map of a lawn, a GPS antenna can be used to obtain the location information of the positioning device 10. When constructing a map indoors, considering that the location information of the positioning device 10 cannot be obtained through a GPS antenna, the positioning module can be a receiver, and the location information of the positioning device 10 can be obtained by receiving signals emitted by a base station set up indoors. In this case, the receiver can be a UWB receiver, and the base station can be a UWB base station, etc.

[0107] When creating a map, as the handheld cleaning tool begins cleaning the area to be mapped, the positioning device 10 can be positioned at a first preset position on the boundary of the area to be mapped. This first preset position is the starting point of the movement trajectory of the positioning device 10. Alternatively, the positioning device 10 may not be positioned at the boundary of the area to be mapped. However, considering the accuracy of the created map, in this case, the starting point of the movement trajectory of the positioning device 10 needs to be corrected. The specific correction method will be explained in detail below.

[0108] As a preferred option, this disclosure considers that, for safety reasons, the protective cover of the intelligent lawnmower cannot be too high and the cutting energy cannot be too high during use, which limits the high-density grass-cutting capability of the intelligent lawnmower. Therefore, before the intelligent lawnmower cuts the grass, a push lawnmower or push mower is generally used to pre-cut the lawn (garden). Thus, the positioning device 10 can be combined with the push lawnmower or push mower to construct a map while the user is mowing the grass. The autonomous cleaning tool obtains the constructed map and works autonomously within the area of ​​the map (i.e., the area where the map is to be constructed) based on the map. In other words, this disclosure can construct a map for the intelligent cleaning tool using a push cleaning tool.

[0109] Specifically, the positioning device 10 can be set on the handheld cleaning tool 20, and the handheld cleaning tool 20 can be manually controlled to work in the area where the map is to be built, while obtaining the real-time location information of the positioning device 10.

[0110] The handheld cleaning tool 20 may include a push lawnmower or a lawn trimmer, or it may include a mop or other tools for cleaning the ground. The following description uses a push lawnmower as an example. Those skilled in the art should know that the push lawnmower disclosed herein is the handheld cleaning tool 20, and it may also be replaced by a lawn trimmer.

[0111] In one implementation, the positioning device 10 can be positioned above the handheld cleaning tool 20. Alternatively, the positioning device 10 can be located on the side of the handheld cleaning tool 20, such as at the front, rear, left, or right of the positioning device 10, as long as the positioning module of the positioning device 10 is not obstructed and can continuously receive signals.

[0112] For example, a user moves a push lawnmower to an open area of ​​the lawn (e.g., the edge of the lawn), then installs a positioning device 10 on the push lawnmower, activates the positioning device 10, and controls the push lawnmower to move within the lawn. For example, the user pushes the push lawnmower to move within the lawn, causing the push lawnmower to cut all the grass in the lawn, especially when cutting tall grass for the first time, so that the path of the push lawnmower covers the entire area of ​​the lawn, thereby enabling the movement trajectory of the positioning device 10 to cover the area to be mapped.

[0113] At this time, the movement trajectory of the positioning device 10 can be the working path of the handheld cleaning tool 20 when working in the area to be mapped.

[0114] After the positioning device 10 traverses the area where the map is to be built, the positioning device 10 is controlled to move to the second preset position of the boundary of the area where the map is to be built, and the movement trajectory of the positioning device 10 is obtained according to the real-time position information of the positioning device 10, wherein the first preset position of the positioning device 10 is the starting point of the movement trajectory of the positioning device 10, and the second preset position is the ending point of the movement trajectory of the positioning device 10.

[0115] More preferably, in order to accurately obtain the movement trajectory of the positioning device 10, as one implementation, the positioning device 10 is communicatively connected to the handheld cleaning tool 20, and the positioning device 10 also obtains the positioning information of the positioning device 10 according to the current position of the handheld cleaning tool 20; and / or, the positioning device 10 also obtains or corrects the start and end points of the movement trajectory of the positioning device 10 according to the working state of the handheld cleaning tool 20.

[0116] In this disclosure, when the handheld cleaning tool 20 is a push lawnmower, the cleaning component of the handheld cleaning tool 20 is the mowing unit of the push lawnmower.

[0117] In one implementation, the push lawnmower may include components such as a chassis unit, a power unit, a control unit, a mowing unit, and a communication unit.

[0118] The chassis unit forms the bottom of the push lawnmower, and all other components of the push lawnmower are located on the chassis unit. For example, the mowing unit of the push lawnmower is located on the chassis unit, and the chassis unit drives the mowing unit to move along the lawn so that the mowing unit can cut the grass of the lawn.

[0119] The chassis unit may include casters. In one implementation, there may be four casters, and some of the four casters may be configured as steering wheels that enable the push lawnmower to turn, so that the push lawnmower can be easily controlled.

[0120] At this time, the chassis unit may include distance sensors such as odometers, thereby enabling the distance sensor to obtain the moving distance of the push lawnmower relative to the starting point. Furthermore, the positioning device 10 can obtain the position information of the positioning device 10 based on the starting point of the push lawnmower and the moving distance. In addition, the positioning device 10 can also obtain the current position information of the positioning device 10 based on the difference between the position information of the positioning device 10 at the previous moment and the moving distance from the previous moment to the current moment.

[0121] Of course, information such as the diameter and rotation speed of the moving wheels can also be used to obtain information such as the distance the hand-push lawnmower has traveled relative to the starting point.

[0122] Therefore, the positioning device 10 can correct its position information based on the position information obtained from the odometer, making the position information of the positioning device 10 more accurate; moreover, when the positioning device 10 cannot obtain position information, for example, when the GPS antenna of the positioning device 10 cannot receive a signal, the positioning device 10 can use the position information obtained from the odometer as its position information.

[0123] The energy device can provide energy to a push lawnmower; for example, the energy device can be an energy storage device such as a rechargeable battery.

[0124] The control unit is used to control the push lawnmower. For example, the control unit may include an operating interface so that the user can select the working mode of the push lawnmower, or control the opening and closing of the mowing unit of the push lawnmower, or adjust the output power of the mowing unit, etc.

[0125] The push lawnmower may include a switch button. When the switch button is triggered, the energy system can provide electrical energy to the control unit, thereby putting the control unit into operation.

[0126] In this disclosure, when the push lawnmower is moved to the boundary of the area to be mapped, the mowing unit can be started; and when the grass in the area to be mapped is cleared, the push lawnmower can be moved to the boundary of the area to be mapped, and the mowing unit can be turned off.

[0127] As another implementation, the mowing unit can also be controlled to start and stop via a mode button. For example, when the mode button is triggered, the mowing unit is started, and when the mode button is triggered again, the mowing unit is turned off.

[0128] The control unit of the push lawnmower can be connected to the positioning device 10 via a communication unit, thereby sending the start and stop signals of the mowing unit to the positioning device 10, and also sending the working status of the control unit to the positioning device 10.

[0129] In this disclosure, the position information of the positioning device 10 when the handheld cleaning tool 20 is activated can be used as the starting point of the movement trajectory of the positioning device 10; and the position information of the positioning device 10 when the handheld cleaning tool 20 is deactivated can be used as the ending point of the movement trajectory of the positioning device 10.

[0130] At this time, the positioning device 10 can also correct the movement trajectory of the positioning device 10 according to the switch information of the cleaning component of the handheld cleaning tool 20.

[0131] In this disclosure, the position information of the positioning device 10 when the cleaning component (i.e., the lawn mowing unit) is activated can be used as the starting point of the movement trajectory of the positioning device 10; and the position information of the positioning device 10 when the cleaning component (lawn mowing unit) is deactivated can be used as the ending point of the movement trajectory of the positioning device 10, thereby correcting the movement trajectory of the positioning device 10.

[0132] As another implementation, considering that the push lawnmower may pause its work when clearing the lawn, when the push lawnmower is paused, the control unit of the push lawnmower is in the open state and the mowing unit is in the closed state; at this time, the positioning device 10 records the pause point, and the movement trajectory of the positioning device 10 includes the movement trajectory from the starting point to the pause point and the movement trajectory from the pause point to the end point.

[0133] More preferably, when there are multiple pause points, the movement trajectory of the positioning device 10 also includes the movement trajectory between adjacent pause points.

[0134] In another implementation, the positioning device 10 and the handheld cleaning tool 20 may not be connected in communication; that is, the positioning device 10 and the handheld cleaning tool 20 do not transmit signals to each other and work independently.

[0135] At this time, the positioning device 10 is activated according to the activation signal, and the positioning information when the positioning device 10 is activated is used as the starting point of the movement trajectory; and / or, the positioning device 10 is deactivated according to the deactivation signal, and the positioning information when the positioning device 10 is deactivated is used as the ending point of the movement trajectory; that is, after the positioning device 10 is activated, it continuously records real-time location information until the user deactivates the positioning device 10 or removes the positioning device 10 from the handheld cleaning tool 20.

[0136] In this disclosure, the handheld cleaning tool 20 further includes an auxiliary positioning unit. When the positioning device 10 is placed in the auxiliary positioning unit, the positioning device 10 receives a start signal and starts accordingly; or, when the positioning device 10 is removed from the auxiliary positioning unit, the positioning device 10 is turned off.

[0137] In this disclosure, obtaining a map of the area to be mapped based on the motion trajectory of the positioning device 10 includes: obtaining the outer boundary of the motion trajectory based on the motion trajectory, obtaining the outer contour of the area to be mapped based on the outer boundary; and obtaining the inner boundary of the motion trajectory based on the motion trajectory, obtaining obstacles within the outer contour of the area to be mapped based on the inner boundary.

[0138] When building a map, it is mainly necessary to confirm the outer boundary of the area to be mapped, so that the smart lawnmower will not cross the boundary and cause danger. In addition, it is also necessary to confirm the obstacles inside the outer boundary, such as flower beds, etc., so that the smart lawnmower cannot enter the area marked as an obstacle on the map.

[0139] Based on this, before starting to build the map, the map storage space is reset, and all points in the map space are marked with the first marker, such as black.

[0140] When creating a map, considering that the movement trajectory of the positioning device 10 may be linear, the width of the movement trajectory of the positioning device 10 can be set to a preset value, and the first mark in the map storage space can be changed to the second mark according to the movement trajectory of the positioning device 10. For example, the first mark (black) at the location traversed by the movement trajectory can be changed to the second mark (white).

[0141] Then, the boundary contour of the area with white color is extracted, that is, the outer boundary of the area corresponding to the motion trajectory is obtained, and the outer boundary is formed as the outer contour of the area to be mapped.

[0142] Accordingly, the outer boundary of the black area in the white area is extracted, which is the inner boundary of the area corresponding to the motion trajectory. The inner boundary is the obstacle within the outer contour of the area to be mapped.

[0143] In this disclosure, after obtaining the map of the area to be mapped, the map of the area to be mapped can be edited and confirmed to prevent errors from appearing in the map, such as unreasonable outlines and obstacles.

[0144] In this disclosure, map editing and confirmation can be completed on an APP or WEB. That is, the positioning device 10 transmits the automatically generated map to the server or to a smart mobile device with an APP through the communication unit. After the user edits the map, the positioning device 10 can download the edited and confirmed map from the server or the smart mobile device with an APP. The smart lawnmower can work according to the edited and confirmed map, such as performing path planning and obstacle avoidance based on the map.

[0145] In this disclosure, the positioning device 10 can be the positioning device 10 of a smart lawnmower. That is, when a map needs to be built, the positioning device 10 of the smart lawnmower can be disassembled and then installed on the handheld cleaning tool 20 to build the map. After the map is built, the positioning device 10 is installed on the smart lawnmower. At this time, the smart lawnmower can work according to the map built by the positioning device 10.

[0146] In this disclosure, the positioning device 10 can be a standalone device and can be matched with various devices, such as outdoor watering robots and patrol robots. When it is necessary to create a map of the lawn, the positioning device 10 can be combined with a push lawnmower. After the map is created, the positioning device 10 can be detached from the push lawnmower (i.e., a handheld cleaning tool) and installed on an autonomous cleaning tool, watering robot, patrol robot, etc., wherein the autonomous cleaning tool can be an intelligent lawnmower, etc.

[0147] Therefore, the map building device of this disclosure, when used, combines a positioning device with a push lawnmower or push grass trimmer to build a map during the first mowing or when cutting tall grass (dense grass). This eliminates the need for boundary lines and additional operations, making map building simple, practical, and without additional installation costs. The autonomous cleaning tool obtains the completed map and works autonomously within the map's area (i.e., the area where the map is to be built). In other words, this disclosure can build maps for intelligent cleaning tools using a push cleaning tool. Furthermore, compared to existing technologies where users remotely control an intelligent lawnmower via mobile phone to walk along the lawn boundary and build a map, this method suffers from cumbersome operation and inaccurate mapping. This invention utilizes the essential step of initial grass trimming with a handheld lawnmower to create a map, saving the aforementioned step of separate remote mapping. Moreover, the manual pushing of the handheld lawnmower ensures accurate and effective map boundaries.

[0148] This disclosure also provides an electronic device, including: a memory storing execution instructions; and a processor or other hardware module executing the execution instructions stored in the memory, causing the processor or other hardware module to perform the above-described method.

[0149] This disclosure also provides a readable storage medium storing executable instructions that, when executed by a processor, are used to implement the above-described method.

[0150] In the description of this specification, the references to terms such as "one embodiment / mode," "some embodiments / modes," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment / mode or example is included in at least one embodiment / mode or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / mode or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments / modes or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments / modes or examples described in this specification, as well as the features of different embodiments / modes or examples.

[0151] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0152] Those skilled in the art should understand that the above embodiments are merely for illustrating the present disclosure and are not intended to limit the scope of the disclosure. Those skilled in the art can make other changes or modifications based on the above disclosure, and these changes or modifications still fall within the scope of the present disclosure.

Claims

1. A map construction method characterized by comprising: include: A positioning device is placed in the area where a map is to be built, and the positioning device is located at a first preset position on the boundary of the area where the map is to be built. The positioning device is installed on the handheld cleaning tool and controls the handheld cleaning tool to move within the area to be mapped, thereby acquiring the real-time location information of the positioning device. Controlling the handheld cleaning tool to move within the area to be mapped includes: the user manually controlling the handheld cleaning tool to move within the area to be mapped, and keeping the handheld cleaning tool in operation. Acquiring the real-time location information of the positioning device includes: acquiring the movement trajectory of the positioning device while the user manually controls the handheld cleaning tool to operate within the area to be mapped. After the positioning device traverses the area to be mapped, it is controlled to move to a second preset position at the boundary of the area, and the movement trajectory of the positioning device is obtained based on its real-time position information. The first preset position of the positioning device is the starting point of the movement trajectory, and the second preset position is the ending point. A map of the area to be mapped is obtained based on the movement trajectory of the positioning device. The positioning device is communicatively connected to the handheld cleaning tool. The positioning device obtains its positioning information based on the current position of the handheld cleaning tool. The positioning device obtains or corrects the start and end points of its movement trajectory based on the working status of the handheld cleaning tool. The positioning device also corrects its movement trajectory based on the on / off information of the cleaning components of the handheld cleaning tool.

2. The map construction method according to claim 1, wherein The positioning device can be detached from the current handheld cleaning tool and installed on an autonomous cleaning tool, which obtains the map and operates autonomously within the area of ​​the map.

3. The map construction method according to claim 1, wherein The movement trajectory of the positioning device includes the working path of the handheld cleaning tool when it operates in the area to be mapped.

4. The map construction method according to claim 1, wherein When the handheld cleaning tool pauses operation, the positioning device records the pause point, and the movement trajectory of the positioning device includes the movement trajectory from the starting point to the pause point and the movement trajectory from the pause point to the end point.

5. The map construction method according to claim 1, wherein The positioning device is activated according to the activation signal, and the positioning information when the positioning device is activated serves as the starting point of the motion trajectory; and / or, the positioning device is deactivated according to the deactivation signal, and the positioning information when the positioning device is deactivated serves as the ending point of the motion trajectory.

6. The map construction method according to claim 1, wherein The map of the area to be mapped, obtained based on the movement trajectory of the positioning device, includes: The outer boundary of the region corresponding to the motion trajectory is obtained based on the motion trajectory, and the outer contour of the region to be mapped is obtained based on the outer boundary; and The inner boundary of the region corresponding to the motion trajectory is obtained based on the motion trajectory, and the outer contour of the obstacles within the outer contour of the region to be mapped is obtained based on the inner boundary. The inner boundary is located within the outer boundary.

7. The map construction method according to claim 6, wherein Also includes: Edit and / or confirm the map of the area to be mapped, and transmit the edited and / or confirmed map to the positioning device.

8. A map construction apparatus characterized by comprising: include: A positioning device, wherein the positioning device is capable of obtaining the real-time location information of the positioning device; as well as A handheld cleaning tool, wherein the positioning device is disposed on the handheld cleaning tool, the handheld cleaning tool is manually operated by the user to move within an area to be mapped and perform cleaning operations, and the positioning device disposed on the handheld cleaning tool moves within the area to be mapped to obtain the real-time location information of the positioning device. Specifically, after the positioning device traverses the area to be mapped, the movement trajectory of the positioning device is obtained based on its real-time location information, and a map of the area to be mapped is obtained based on the movement trajectory of the positioning device. Specifically, when the handheld cleaning tool begins cleaning the area to be mapped, the positioning device is positioned at a first preset position on the boundary of the area; when the handheld cleaning tool finishes cleaning the area, the positioning device is positioned at a second preset position on the boundary of the area. The first preset position of the positioning device serves as the starting point of its movement trajectory, and the second preset position serves as the ending point of its movement trajectory. The positioning device is communicatively connected to the handheld cleaning tool. The positioning device obtains its positioning information based on the current position of the handheld cleaning tool. The positioning device obtains or corrects the start and end points of its movement trajectory based on the working status of the handheld cleaning tool. The positioning device also corrects its movement trajectory based on the on / off information of the cleaning components of the handheld cleaning tool.

9. The map construction apparatus according to claim 8, wherein The movement trajectory of the positioning device includes the working path of the handheld cleaning tool when it operates in the area to be mapped.

10. The map construction apparatus according to claim 8, wherein When the handheld cleaning tool pauses operation, the positioning device records the pause point, and the movement trajectory of the positioning device includes the movement trajectory from the starting point to the pause point and the movement trajectory from the pause point to the end point.

11. The map construction apparatus according to claim 8, wherein The positioning device is activated according to the activation signal, and the positioning information when the positioning device is activated serves as the starting point of the motion trajectory; and / or, the positioning device is deactivated according to the deactivation signal, and the positioning information when the positioning device is deactivated serves as the ending point of the motion trajectory.

12. The map construction apparatus according to claim 8, wherein The map of the area to be mapped, obtained based on the movement trajectory of the positioning device, includes: The outer boundary of the region corresponding to the motion trajectory is obtained based on the motion trajectory, and the outer contour of the region to be mapped is obtained based on the outer boundary; and Based on the motion trajectory, the inner boundary of the region corresponding to the motion trajectory is obtained, and based on the inner boundary, the obstacles within the outer contour of the region to be mapped are obtained.

13. The map construction apparatus according to claim 8, wherein Also includes: Edit and / or confirm the map of the area to be mapped, and transmit the edited and / or confirmed map to the positioning device.

14. The map construction apparatus of claim 8, wherein The positioning device can be detached from the current handheld cleaning tool and installed into an autonomous cleaning tool, which obtains a map of the area to be mapped and works autonomously within the area of ​​the map based on the map.

15. An electronic device, characterized in that, include: The memory stores execution instructions; as well as A processor that executes execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1 to 7.

16. A readable storage medium, characterized by, The readable storage medium stores execution instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1 to 7.

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