Map updating method and device, self-moving device and computer readable storage medium

Abstract

The application relates to the technical field of map updating, and provides a map updating method, a self-moving device and a computer readable storage medium. The method comprises the following steps: acquiring a first map before a base station position changes, wherein the first map comprises first position information of the base station and first pose information of a preset non-moving reference object; when it is detected that the base station position changes, acquiring second position information of the base station; calculating a first transformation matrix based on the first position information and the second position information; updating the first map according to the first transformation matrix to obtain a second map; acquiring second pose information of the non-moving reference object in the second map; calculating a second transformation matrix based on the first pose information and the second pose information; and updating the second map according to the second transformation matrix to obtain a third map. The method can improve the mapping efficiency of the self-moving device after the base station moves.

Description

Technical Field

[0001] The present application relates to the field of map updating technology, and in particular to a map updating method, apparatus, mobile device, and computer-readable storage medium. Background Art

[0002] A rover can be a device installed on a self-moving device for receiving positioning signals. That is, it performs carrier phase differential technology (Real Time Kinematic, RTK) positioning by receiving differential data sent by a base station, so that the self-moving device can build a map based on the position information obtained by positioning and perform navigation operations based on the map. For example, when a lawn mower is working, it needs to rely on a navigation map to complete the task of maintaining the lawn.

[0003] When generating a navigation map using the above method, once the base station changes its position, the position information output by the mobile station will deviate, and the already constructed map will become inaccurate due to the deviation. At this time, the map needs to be rebuilt on the mobile device. Due to the cumbersome mapping operation, the mapping efficiency is low. Summary of the Invention

[0004] The embodiments of the present application disclose a map updating method, a mobile device, and a computer-readable storage medium, which solve the technical problem of low map building efficiency after the base station position moves.

[0005] The present application provides a map updating method, which includes: obtaining a first map before the base station position changes, wherein the first map includes the first position information of the base station and the first pose information of a preset non-moving reference object; when a base station position change is detected, obtaining the second position information of the base station; calculating a first transformation matrix based on the first position information and the second position information; updating the first map according to the first transformation matrix to obtain a second map; obtaining the second pose information of the non-moving reference object in the second map; calculating a second transformation matrix based on the first pose information and the second pose information; and updating the second map according to the second transformation matrix to obtain a third map.

[0006] Since the location information of the base station is generally represented by longitude and latitude information, and the error of longitude and latitude information cannot be accurately determined to the centimeter level, the longitude and latitude information corresponding to the actual centimeter-level change in the base station movement is almost unchanged, which is not conducive to the positioning and navigation of the self-moving device during operation and affects the operation efficiency of the self-moving device. Therefore, in an embodiment of the present application, first, the first location information before the base station moves and the second location information after the base station moves are calculated to obtain a first transformation matrix based on the base station transformation. Based on the obtained first transformation matrix, the first map can be converted into the second map. At this time, although the transformation matrix has the characteristic of realizing the position transfer of points in space, that is, the first transformation matrix can convert the space where the base station was before moving to the space after the base station moves, and based on this, the first map is transformed into the second map. However, since the longitude and latitude error information before and after the base station moves may have errors that cannot be accurately determined to the centimeter level, the converted second map has certain errors, so it can be By taking advantage of the fact that the non-moving reference object has an unchanged position (relative to the world coordinate system), the error of the second map can be reduced. That is, the first pose information and the second pose information of the non-moving reference object in the first map and the second map respectively can be obtained, and a second transformation matrix based on the transformation of the non-moving reference object can be obtained. The second transformation matrix can be used to update the second map, so that the updated third map has higher accuracy. The present application can reduce the tedious steps of re-mapping by replacing the re-mapping method with the method of updating the map, thereby improving the mapping efficiency. For example, there is no need to re-construct the navigation map by controlling the mobile device to move in the working area after the base station moves.

[0007] The present application also provides a map updating device, including: a first acquisition module, used to acquire a first map before the base station position changes, wherein the first map includes the first position information of the base station and the first pose information of a preset non-moving reference object; a second acquisition module, used to acquire the second position information of the base station when a change in the base station position is detected; a first calculation module, used to calculate a first transformation matrix based on the first position information and the second position information; a first update module, used to update the first map according to the first transformation matrix to obtain a second map; a third acquisition module, used to acquire the second pose information of the non-moving reference object in the second map; a second calculation module, used to calculate a second transformation matrix based on the first pose information and the second pose information; and a second update module, used to update the second map according to the second transformation matrix to obtain a third map.

[0008] The present application also provides a self-mobile device, which includes a processor and a memory, and the processor is used to execute a computer program stored in the memory to implement a map updating method.

[0009] The present application also provides a computer-readable storage medium, which stores at least one instruction, and a map updating method implemented when the at least one instruction is executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a schematic diagram of an application scenario of a map updating method provided in one embodiment of the present application.

[0011] Figure 2 This is a flowchart of a map updating method provided in one embodiment of the present application.

[0012] Figure 3 This is a flowchart of a map updating method provided by another embodiment of the present application.

[0013] Figure 4 This is a flowchart of a map updating method provided by another embodiment of the present application.

[0014] Figure 5 This is a flowchart of base station location change detection provided by an embodiment of the present application.

[0015] Figure 6 This is a flowchart of base station location change detection provided by another embodiment of the present application.

[0016] Figure 7 It is a structural diagram of a map updating device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0017] To facilitate understanding, some illustrations of concepts related to the embodiments of the present application are given for reference.

[0018] It should be noted that the terms "first", "second", etc. in the description, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0019] A rover can be a device installed on a self-moving device for receiving positioning signals. That is, it performs carrier phase differential technology (Real Time Kinematic, RTK) positioning by receiving differential data sent by a base station, so that the self-moving device can build a map based on the position information obtained by positioning and perform navigation operations based on the map. For example, when a lawn mower is working, it needs to rely on a navigation map to complete the task of maintaining the lawn.

[0020] When generating a navigation map using the above method, once the base station changes its position, the position information output by the mobile station will deviate, and the already constructed map will become inaccurate due to the deviation. At this time, the map needs to be rebuilt on the mobile device. Due to the cumbersome mapping operation, the mapping efficiency is low.

[0021] In order to reduce the tedious steps of re-mapping after the base station changes its position, the embodiments of the present application provide a map update method, a mobile device, and a computer-readable storage medium. The application scenario of the map update method of the present application is first described below.

[0022] Figure 1 This is a schematic diagram of an application scenario of the map updating method provided by an embodiment of the present application. Figure 1 As shown, in the embodiment of the present application, a mobile device 1 is connected to a base station 2 and a charging station 3. The mobile device 1 may be equipped with a rover 4 for receiving differential information sent by the base station 2. The mobile device 1 includes, but is not limited to, a memory 11 and at least one processor 12 that are communicatively connected to each other via a communication bus 10.

[0023] The autonomous device 1 may be a device that includes autonomous mobility assistance functionality. The autonomous mobility assistance functionality may be implemented by a vehicle-mounted terminal, and the corresponding autonomous device may be a vehicle equipped with the vehicle-mounted terminal. The autonomous device may also be a semi-autonomous device or a fully autonomous device. Examples include any electronic device such as an automatic cleaning device, a smart lawn mower, an automatic watering device, an automatic snow removal device, or a robot with navigation functionality.

[0024] The base station 2 can be a multi-channel two-way radio transmitting station that can receive Global Positioning System (GPS) signals and can also send positioning correction signals to the mobile station 4, thereby realizing Differential Global Positioning System (GPS) positioning. Alternatively, the base station 2 can also receive signals such as the Galileo satellite navigation system, the Beidou satellite navigation system, and the Global Navigation Satellite System (GLONASS). The embodiments of the present application are not limited to this.

[0025] The charging station 3 may be a device for charging the mobile device 1 .

[0026] Figure 1 The self-mobile device 1, the base station 2 and the charging pile 3 are merely illustrative descriptions and do not constitute corresponding limitations. In other embodiments, the self-mobile device 1, the base station 2 and the charging pile 3 may include more or fewer components than shown in the figure, or combine certain components, or replace different components. For example, the self-mobile device 1 may also include input and output devices, network access devices, etc.

[0027] Figure 2 This is a flowchart of a map updating method provided by an embodiment of the present application. Figure 2As shown, the map updating method provided in the embodiment of the present application is applied to a mobile device (such as Figure 1 According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted. Figure 2 As shown, the following steps are included:

[0028] Step 201: Acquire a first map before the base station location changes.

[0029] In some embodiments of the present application, a user can hold a mobile interactive terminal and input operating parameters and / or control instructions of a mobile device through the buttons and / or touch screen of the mobile interactive terminal, thereby remotely adjusting the operating parameters and control instructions of the mobile device. The mobile interactive terminal can be a smart terminal device such as a mobile phone or a tablet. The mobile interactive terminal can communicate with the mobile device through at least one of Bluetooth, radio frequency identification technology, and a wireless network. The specific communication method can be determined according to the distance between the mobile device and the mobile interactive terminal, and the embodiments of the present application are not limited to this.

[0030] The mobile device executes the corresponding control instructions in response to the control instructions issued by the mobile interaction terminal. In a specific embodiment, an instruction set can be pre-created in the mobile device. The instructions in the instruction set are associated or correspond to various control instructions. For example, the startup instructions in the instruction set correspond to the instructions used to control device startup. When the mobile device receives the control instruction, the corresponding instruction from the instruction set is called and executed according to the control instruction. Since the charging pile and the base station are generally located at a designated location, that is, under normal circumstances, the relative position of the base station and the charging pile is fixed, it is possible to determine whether the position of the base station has changed by detecting whether the position of the charging pile has changed. For example, when the mobile device receives the startup instruction issued by the mobile interaction terminal, the mobile device detects whether the current position information at the charging pile is consistent with the position information of the last return to the charging pile. If not, the method disclosed in this application is executed; otherwise, the mobile device exits the charging pile and begins executing the task. Alternatively, when the mobile device returns to the charging pile to charge, the current position information can be detected at preset intervals to determine whether it has changed. Alternatively, when the RTK solution is a fixed solution, that is, when the mobile device has good positioning accuracy, the position of the base station can be obtained by inferring the position of the mobile device, and then the base station position change can be compared.

[0031] The first map may be a map constructed in a coordinate system with the previous base station location as the origin, that is, a map constructed with the first base station location information as the origin of the coordinate system before the base station location changes. Non-moving reference objects are objects with fixed positions, such as charging stations, trees, or buildings. The first map includes the first position information of the preset non-moving reference objects.

[0032] The first map may be a map created by the user. For example, the control instructions of the mobile interactive terminal may include mapping instructions. For example, the self-mobile device is a robot. When the robot receives the mapping instruction, it begins to move along the boundary of the working area. During the movement, a coordinate system can be constructed based on the location of the base station as the origin. The mobile station installed on the robot begins to record the coordinates of the boundary position. After recording the coordinates of the boundary position, the robot can also be controlled to move along the obstacles in the working area and record the coordinates of the location of the obstacle and the first position pose information of the non-moving reference object in the working area. During the recording process, the user can control the robot to move in any direction by controlling the mobile interactive terminal. This is not limited in the embodiments of the present application.

[0033] In some embodiments of the present application, during the recording process, the robot's first posture information from the charging station (i.e., the starting position) can be used as the initial movement point. Starting from the initial movement point, a map of the work area is constructed based on the coordinates of each position point recorded during each movement process. For example, the constructed map of the work area is used as the above-mentioned first map. Before the position of the base station changes, the constructed first map can be used as a navigation map, allowing the mobile device to perform corresponding tasks when receiving control instructions.

[0034] In some embodiments of the present application, a mobile station can be installed on a self-mobile device to receive differential information sent by a base station and record the coordinates of various position points of the self-mobile device during movement. The coordinates of the position points can be boundary points of a pre-divided working area, various path points on a planned path within the working area, and the position points where obstacles are located within the working area. The mobile station can also record the first position information of the base station, non-moving reference objects (such as Figure 1 The first position information of the base station can be the first position information of the charging pile in the vehicle, where the first position information of the base station can be composed of the longitude, latitude, and altitude of the base station. For example, the first position information Ta is expressed as (x1, y1, z1), where x1 represents the longitude, y1 represents the latitude, and z1 represents the altitude. The first position information of the non-moving reference object can be the coordinates in the coordinate system constructed with the base station before the position change as the origin.

[0035] For example, in some examples, taking the mobile device as a lawn mower, a mowing instruction is sent to the lawn mower, and the mowing instruction is used to instruct the lawn mower to cut the grass in the mowing area. After the lawn mower receives the mowing instruction, the first map is opened as the navigation map of the lawn mower. The lawn mower moves to the mowing area according to the navigation map and cuts the grass in the mowing area. The lawn mower can navigate according to the first map and perform circular cutting from the outside to the inside along the boundary of the mowing area. The embodiments of the present application are not limited to this.

[0036] Step 202: When a change in the location of the base station is detected, obtain second location information of the base station.

[0037] In some embodiments of the present application, the positioning technology is implemented based on the base station being fixed in one position. In actual applications, the user can determine the location for placing the base station based on the positioning accuracy and the environment. When a change is detected in any of the world coordinate points of the longitude, latitude, and altitude corresponding to the base station, it can be determined that the position of the base station has changed; or, the current wireless network information of the base station, as well as the wireless network information acquired historically or pre-stored, is obtained. When the difference between the currently acquired wireless network information and the historical wireless network information meets the preset wireless network change conditions, it is determined that the base station has moved; or, it can also be determined whether the base station has moved by judging whether the base station has been powered on again. When it is detected that the base station has been powered on again, the base station may have moved; or, it can also be referred to as Figure 6 The present application is not limited to the embodiments shown.

[0038] After detecting that the base station position has changed, the second location information of the base station at this time is recorded, for example, the second location information Tb is expressed as (x2, y2, z2), where x2 represents longitude, y2 represents latitude, and z2 represents altitude.

[0039] Step 203: Calculate a first transformation matrix based on the first position information and the second position information.

[0040] In some embodiments of the present application, after obtaining the first position information before the base station moves and the second position information after the base station moves, the first transformation matrix between before the base station moves and after the base station moves can be calculated based on the first position information and the second position information. The first change matrix can be used to reflect the changes between before and after the base station moves.

[0041] For example, in some examples, the first position information is Ta(x1, y1, z1), the second position information is Tb(x2, y2, z2), and the first transformation matrix T1 = (E, Tb-Ta) is calculated based on the first position information and the second position information, where E represents the unit rotation matrix.

[0042] Step 204: Update the first map according to the first transformation matrix to obtain a second map.

[0043] In some embodiments of the present application, all coordinates in the first map may be transformed using the calculated first transformation matrix, so that an updated map, ie, a second map, may be constructed based on the transformed coordinates.

[0044] For example, in some examples, the first map can be represented as map1, the second map can be represented as map2, and the first transformation matrix is ​​T1, then map2=T1*map1, where map1 contains all coordinate points in the first map and map2 contains all coordinate points in the second map.

[0045] In an embodiment of the present application, by converting coordinates using a first transformation matrix, the steps of constructing the second map can be optimized, and if the second map formed after the conversion is within an error range, it can be used as a navigation map for the mobile device.

[0046] Step 205: Obtain second pose information of the non-moving reference object in the second map.

[0047] In some embodiments of the present application, the non-moving reference object may be a charging station, and the location of the charging station may be fixed. To compare the first pose information of the charging station in the first map, after obtaining the second map, the coordinate information of the charging station in the second map, i.e., the second pose information, may be obtained. Specifically, a point M may be set near the charging station, and the second map may be used as a navigation map. The self-mobile device may be controlled to move to point M, and the coordinates at point M, i.e., the second pose information, may be recorded using a rover installed on the self-mobile device.

[0048] Among them, the coordinates of the charging piles in the first map and the second map in the world coordinate system are consistent, that is, the geographical location of the charging pile is unchanged. The first posture information can be the coordinates of the charging pile when the coordinate system is established with the base station as the origin before the base station moves, and the second posture information can be the coordinates of the charging pile when the coordinate system is established with the base station as the origin after the base station moves.

[0049] Step 206: Calculate a second transformation matrix based on the first pose information and the second pose information.

[0050] In some embodiments of the present application, after obtaining the second map, assuming that the converted second map has a certain error value, resulting in a certain deviation when the mobile device navigates using the second map, a second transformation matrix can be further constructed in combination with the location information of the charging pile.

[0051] For example, in some examples, the first pose information is represented as Tmap1c, the second pose information is represented as Tmap2c, and the second transformation matrix is ​​represented as T2, T2 = Tmap1c.inverse()*Tmap2c, where inverse() represents matrix inversion, and Tmap1c.inverse() represents finding the inverse matrix of Tmap1c.

[0052] In an embodiment of the present application, the first pose information and the second pose information are calculated, and the second transformation matrix obtained has higher accuracy and smaller error than the first change matrix, providing technical support for generating a map with higher accuracy (for example, the third map in step 207 below).

[0053] Step 207: Update the second map according to the second transformation matrix to obtain a third map.

[0054] In some embodiments of the present application, after obtaining the second transformation matrix, the first map can be updated in combination with the first transformation matrix and the second transformation matrix, that is, the second map is updated using the second transformation matrix. For example, the first transformation matrix is ​​T1 and the second transformation matrix is ​​T2, then the third map map3 = T2*map2 = T2*T1*map1, where map1 represents the first map.

[0055] In an embodiment of the present application, since the location information of the base station is generally represented by longitude and latitude information, and the error of the longitude and latitude information cannot be accurately determined to the centimeter level, the longitude and latitude information corresponding to the actual centimeter-level change in the base station movement is almost unchanged, which is not conducive to the positioning and navigation of the self-moving device during operation and affects the operation efficiency of the self-moving device. Therefore, in an embodiment of the present application, first, the first location information before the base station moves and the second location information after the base station moves are calculated to obtain a first transformation matrix based on the base station transformation. Based on the obtained first transformation matrix, the first map can be converted into the second map. At this time, although the transformation matrix has the characteristic of realizing the position transfer of points in space, that is, the first transformation matrix can convert the space where the base station was before moving to the space after the base station moves, and based on this, the first map is transformed into the second map. However, since the longitude and latitude error information before and after the base station moves may have errors that cannot be accurately determined to the centimeter level, the converted second map has certain errors, so it can be By taking advantage of the fact that the non-moving reference object has an unchanged position (relative to the world coordinate system), the error of the second map can be reduced. That is, the first pose information and the second pose information of the non-moving reference object in the first map and the second map respectively can be obtained, and a second transformation matrix based on the transformation of the non-moving reference object can be obtained. The second transformation matrix can be used to update the second map, so that the updated third map has higher accuracy. The present application can reduce the tedious steps of re-mapping by replacing the re-mapping method with the method of updating the map, thereby improving the mapping efficiency. For example, there is no need to re-construct the navigation map by controlling the mobile device to move in the working area after the base station moves.

[0056] Figure 3 This is a flowchart of a map updating method provided by another embodiment of the present application. In order to determine whether the constructed second map meets the requirements of work navigation, the following is provided: Figure 3 The map updating method shown is applied to a mobile device and includes the following steps:

[0057] Step 301: Acquire first relative positions of a plurality of target locations in a first map, and obtain second relative positions in a second map by transforming the first relative positions.

[0058] In some embodiments of the present application, multiple target location points can be pre-marked in the first map, and the target location points can be some fixed buildings or other non-movable fixed points. The target location point is recorded as point N, and the first map is used as the navigation map, and the location of point N is moved to the location, and the coordinate position information of the target location point is recorded. According to the first location information of the base station and the coordinate position information of the target location point, the relative position between the base station and the target location point (such as the first relative position) is calculated. For example, the first relative position of the target location point N is northwest compared to the base station, that is, the target location point N is located northwest of the base station, wherein the acquisition of the first location information can refer to the following. Figure 2 Step 201 in the embodiment shown.

[0059] After obtaining the first relative position, it can be converted through a preset transformation matrix (which can be the first transformation matrix or the second transformation matrix) to obtain a second relative position in the second map. The second relative position refers to the relative position of the target position point relative to the moved base station in the second map.

[0060] For example, in some examples, the first relative position is represented as N1, the second relative position is represented as N2, and the first transformation matrix T1 is used for transformation, then N2=T1*N1, wherein the calculation of the first transformation matrix can refer to the following: Figure 2 In step 203 of the illustrated embodiment, a first transformation matrix is ​​calculated based on the first position information and the second position information, which will not be described again here.

[0061] In other examples, after obtaining the first map, the first pose information of the non-moving reference object in the first map can be obtained. After obtaining the second map, the second pose information of the non-moving reference object in the second map can be obtained. The second transformation matrix is ​​calculated based on the first pose information and the second pose information. The second transformation matrix T2 is used for transformation. Then, N2=T2*N1, where the calculation of the second transformation matrix can refer to the following. Figure 2 In the illustrated embodiment, step 205 of obtaining second position information of the non-moving reference object in the second map is not described again here.

[0062] Step 302: Detect a third relative position of the target location point compared to the changed base station.

[0063] In some embodiments of the present application, after the base station changes, the moved base station can be used as the origin of the coordinate system to detect the coordinate position information of multiple pre-marked target position points. The target position point is the same point as the target position point marked in step 301. For example, the target position point is recorded as point N. The second map is used as the navigation map, and the point is moved to point N. The coordinates of point N are recorded. The third relative position N3 of the target position point compared to the transformed base station can be obtained. For example, the third relative position of the target position point N compared to the base station is southwest, that is, the target position point N is located southwest of the base station.

[0064] Step 303: Calculate a first error between each third relative position and the corresponding second relative position.

[0065] In some embodiments of the present application, the second relative position is a relative position obtained by transforming the first relative position, and the third relative position is a relative position obtained by controlling the mobile device to move to the target location point for detection. In order to determine whether there is an error in the second map, the difference between the third relative position of each of the multiple target location points and the corresponding second relative position can be calculated.

[0066] Step 304: Determine whether the first error is greater than or equal to a first preset error.

[0067] In some embodiments of the present application, whether to update the navigation map can be determined by determining whether the first error is greater than or equal to a first preset error. The first preset error can be a preset error threshold for allowable deviation, for example, the first preset error can be 0.5m.

[0068] Step 305 : When the first error is greater than or equal to the first preset error, obtain second pose information of the non-moving reference object in the second map.

[0069] In some embodiments of the present application, when it is determined that the first error is greater than or equal to the first preset error, it indicates that the converted second map has a large difference and cannot be used as a navigation map. Therefore, it is necessary to further perform a map update operation based on the second map. Therefore, after it is determined that the first error is greater than or equal to the first preset error, the following operation can be performed. Figure 2 In the illustrated embodiment, steps 205 to 207 are performed until the first error is less than the first preset error, and are not described again here.

[0070] Step 306: When the first error is less than a first preset error, use the second map as a navigation map for the mobile device.

[0071] In some embodiments of the present application, when it is determined that the first error is less than the first preset error, it indicates that the converted second map is less different from the actual navigation map, and the second map can be used as the navigation map. In addition, the second map can be further updated on this basis to improve the accuracy of the second map.

[0072] Figure 4 This is a flowchart of a map updating method provided by another embodiment of the present application. In order to determine whether the constructed third map meets the requirements of work navigation, the following is provided: Figure 4 The map updating method shown is applied to a mobile device and includes the following steps:

[0073] Step 401: Acquire first relative positions of a plurality of target locations in a first map, and obtain second relative positions in a second map by transforming the first relative positions.

[0074] Step 402: Detect a third relative position of the target location point compared to the changed base station.

[0075] Step 403: Calculate a first error between each third relative position and the corresponding second relative position.

[0076] Step 404: determine whether the first error is greater than or equal to a first preset error.

[0077] Step 405: When the first error is less than a first preset error, the second map is used as a navigation map for the mobile device.

[0078] Step 406 : When the first error is greater than or equal to the first preset error, a fourth relative position of the third map is obtained through a second relative position transformation.

[0079] In some embodiments of the present application, the specific description of steps 401 to 406 can be referred to as follows. Figure 3 Steps 301 to 306 in the provided embodiment will not be described again here.

[0080] In some embodiments of the present application, after determining that the first error is greater than or equal to the first predetermined error, a fourth relative position on the third map can be obtained based on the second relative position transformation. For example, if the second relative position is N2, then the fourth relative position N4 = T1 * N2. Multiple third relative positions and corresponding fourth relative positions corresponding to multiple target locations N can be obtained.

[0081] Step 407: Calculate a second error between each third relative position and the corresponding fourth relative position.

[0082] In some embodiments of the present application, in order to determine the accuracy of the obtained third map, the third relative position after the detection base station position change is obtained, and the fourth relative position converted from the second relative position is obtained, and the second error between the third relative position of each target position point and the corresponding fourth relative position is calculated.

[0083] Step 408: Determine whether the second error is smaller than a second preset error.

[0084] In some embodiments of the present application, whether the navigation map needs to be updated can be determined by determining whether the second error is less than a second preset error. The second preset error can be a preset error threshold for allowing deviation, for example, the second preset error can be 0.4m.

[0085] Step 409: When the second error is less than the second preset error, the third map is used as the navigation map of the mobile device.

[0086] In some embodiments of the present application, when the second error is less than the second preset error, it indicates that the third map constructed at this time meets the requirements of work navigation, and the third map can be used as a navigation map for the mobile device.

[0087] Step 410: When the second error is greater than or equal to the second preset error, re-execute the mapping operation.

[0088] In some embodiments of the present application, when the second error is greater than or equal to the second preset error, it indicates that the error in the third map obtained after conversion is large. The cause of the error can be obtained and the mapping operation can be re-executed, for example, Figure 2 The steps of the illustrated embodiment will not be described again here.

[0089] Figure 5 This is a flowchart of base station location change detection provided by an embodiment of the present application. Taking a non-moving reference object as a charging pile as an example, the flowchart includes the following steps:

[0090] Step 501: Detect the locations of the mobile device and the charging station.

[0091] In some embodiments of the present application, the position of the charging pile can be fixed, and a point M can be marked near the charging pile. The mobile device moves with point M as the moving target point, and the position of the mobile device is recorded by a mobile station installed on the mobile device.

[0092] Step 502: Determine whether the mobile device has entered the charging station to perform charging.

[0093] In some embodiments of the present application, during the movement of the mobile device, point M can be identified by a preset recognition algorithm. When point M is identified during the movement, it is determined that the mobile device enters the charging pile to perform charging. The preset recognition algorithm may include a recognition algorithm model composed of any one or more combinations of long short-term memory networks (LSTM), recurrent neural networks (RNN), convolutional neural networks (CNN), etc., and the embodiments of the present application do not limit this.

[0094] In step 503, upon detecting that the mobile device has entered the charging station for charging, the base station performs a position change detection based on the current position information of the mobile device. Otherwise, if the mobile device has not entered the charging station for charging, the process returns to step 501 to continue detecting the positions of the mobile device and the charging station.

[0095] In some embodiments of the present application, after determining that a mobile device has entered a charging pile, the current position information relative to the base station can be obtained, and the historical position information can also be obtained. Based on the current position information and the historical position information, it can be determined whether the position of the base station has moved.

[0096] In the embodiment of the present application, since the position of the charging pile is fixed, it can be used to determine the position change of the base station to improve the accuracy of determining the position change of the base station.

[0097] Figure 6 This is a flowchart of base station location change detection provided by another embodiment of the present application. The base station location change detection method is applied to a self-moving device. Taking a non-moving reference object as a charging pile as an example, the following steps are included:

[0098] Step 601: Obtain historical posture information from the last time the mobile device was charged.

[0099] In one embodiment of the present application, after the self-mobile device moves to the charging pile (which may be a preset position M near the charging pile), the historical posture information can be retrieved. The historical posture information can be stored in the self-mobile device or recorded in the charging pile. This application is not limited to this. The historical posture information can be the posture information recorded during the last charging. For example, if the last charging time was 9 am and the current charging time is 6 pm, based on the posture information recorded at the time, the historical posture information can be the posture information recorded at 9 am.

[0100] Step 602: Acquire current posture information from the mobile device.

[0101] In some embodiments of the present application, after the self-mobile device enters the charging pile for charging, the current posture information can be detected. The current posture information can be a relative position relative to the base station position. Among them, judging whether the self-mobile device enters the charging pile for charging can refer to the following. Figure 5 The illustrated embodiment will not be described again here.

[0102] Step 603: Determine whether the historical posture information is consistent with the current posture information.

[0103] In some embodiments of the present application, in order to determine whether the base station has moved, it is possible to determine whether the position of the same fixed position at different times is consistent with the position of the base station, that is, to determine whether the historical posture information and the current posture information are consistent.

[0104] Step 604: When the historical position information and the current position information are inconsistent, it is determined that the base station has moved.

[0105] In some embodiments of the present application, the postures of the mobile device at the same location relative to the base station are compared. For example, the same location may be a preset location M near the charging pile. The historical posture information at point M and the current posture information are compared. If the historical posture information and the current posture information are inconsistent, it indicates that the base station has moved.

[0106] Step 605: When the historical posture information is consistent with the current posture information, it is determined that the base station has not moved.

[0107] In some embodiments of the present application, the postures of the mobile device at the same location relative to the base station are compared. For example, the same location may be a preset location M near the charging pile. The historical posture information at point M and the current posture information are compared. If the historical posture information and the current posture information are consistent, it indicates that the base station has not moved.

[0108] In an embodiment of the present application, the coordinates of a mobile device at a fixed location (eg, a charging station) are obtained to effectively determine whether the base station has moved.

[0109] Figure 7 FIG. 7 is a structural diagram of a map updating device 7 provided in an embodiment of the present application. Figure 7 As shown, in the embodiment of the present application, the map updating device 7 can be divided into multiple functional modules according to the functions it performs, which may include: a first acquisition module 71, a second acquisition module 72, a first calculation module 73, a first update module 74, a third acquisition module 75, a second calculation module 76 and a second update module 77.

[0110] The first acquisition module 71 is configured to acquire a first map before the base station position changes, wherein the first map includes first position information of the base station and first pose information of a preset non-moving reference object.

[0111] The second acquisition module 72 is configured to acquire second location information of the base station when a change in the location of the base station is detected.

[0112] The first calculation module 73 is configured to calculate a first transformation matrix based on the first position information and the second position information.

[0113] The first updating module 74 is configured to update the first map according to the first transformation matrix to obtain a second map.

[0114] The third acquisition module 75 is configured to acquire second position information of the non-moving reference object in the second map.

[0115] The second calculation module 76 is used to calculate the second transformation matrix based on the first pose information and the second pose information.

[0116] The second updating module 77 is configured to update the second map according to the second transformation matrix to obtain a third map.

[0117] In some embodiments of the present application, the first map includes the first relative positions of multiple target location points before the base station position changes, and the second map includes the second relative positions obtained by the first relative position transformation, including: detecting the third relative position of the target location point compared to the base station after the change; calculating the first error between each third relative position and each second relative position; if the first error is greater than or equal to the first preset error, executing the step of obtaining the second posture information of the non-moving reference object in the second map.

[0118] In some embodiments of the present application, the third map includes a fourth relative position obtained by transforming the second relative position. After obtaining the third map, it is also used to: calculate the second error between each third relative position and each fourth relative position; if the second error is less than the second preset error, the third map is used as the navigation map of the mobile device.

[0119] In some embodiments of the present application, after obtaining the third map, the method further includes: if the second error is greater than or equal to the second preset error, re-performing the mapping operation.

[0120] In some embodiments of the present application, when the non-moving reference object is a charging pile, it includes: when a mobile device enters the charging pile to perform charging, detecting a position change of the base station according to the current posture information of the mobile device.

[0121] In some embodiments of the present application, position change detection of the base station is performed based on the current position information of the mobile device, including: obtaining historical position information of the mobile device when it was last charged; obtaining current position information of the mobile device; if the historical position information and the current position information are inconsistent, it is determined that the base station has moved.

[0122] In some embodiments of the present application, calculating the second transformation matrix based on the first pose information and the second pose information includes: performing matrix inversion on the first pose information and the second pose information to obtain the second transformation matrix.

[0123] The map updating device provided in this embodiment can execute the above method embodiment, and its implementation principle and technical effects are similar, which will not be repeated here.

[0124] Please continue reading Figure 1 In this embodiment, the memory 11 may be an internal memory of the mobile device 1, that is, a memory built into the mobile device 1. In other embodiments, the memory 11 may also be an external memory of the mobile device 1, that is, a memory externally connected to the mobile device 1.

[0125] In some embodiments, the memory 11 is used to store program codes and various data, and to achieve high-speed and automatic access to programs or data during operation of the mobile device 1 .

[0126] The memory 11 may include a random access memory and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0127] In one embodiment, the processor 12 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor, a processor, or any other conventional processor.

[0128] If the program code and various data in the memory 11 are implemented in the form of a software functional unit and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, such as the map update method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can implement the steps of the above-mentioned method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. Computer-readable media may include: any entity or device that can carry computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), etc.

[0129] It is understood that the module division described above is a logical functional division, and other division methods may be used in actual implementation. In addition, the functional modules in the various embodiments of the present application can be integrated into the same processing unit, or each module can exist physically separately, or two or more modules can be integrated into the same unit. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A map updating method, applied to a mobile device, characterized in that: include: Acquire a first map before the base station position changes, wherein the first map includes first position information of the base station and first pose information of a preset non-moving reference object; When a change in the position of the base station is detected, acquiring second position information of the base station; Calculating a first transformation matrix based on the first position information and the second position information; updating the first map according to the first transformation matrix to obtain a second map; Acquire second pose information of the non-moving reference object in the second map; Calculating a second transformation matrix based on the first pose information and the second pose information; The second map is updated according to the second transformation matrix to obtain a third map.

2. The map updating method according to claim 1, wherein: The first map includes first relative positions of a plurality of target location points before the base station position changes, and the second map includes second relative positions obtained by transforming the first relative positions. After obtaining the second map, the method further includes: detecting a third relative position of the target location point compared to the changed base station; Calculating a first error between each of the third relative positions and the corresponding second relative position; If the first error is greater than or equal to a first preset error, the step of obtaining second pose information of the non-moving reference object in the second map is performed.

3. The map updating method according to claim 2, wherein: The third map includes a fourth relative position obtained by transforming the second relative position. After obtaining the third map, the method further includes: calculating a second error between each of the third relative positions and each of the fourth relative positions; If the second error is less than a second preset error, the third map is used as a navigation map for the mobile device.

4. The map updating method according to claim 3, wherein: After obtaining the third map, the method further includes: If the second error is greater than or equal to the second preset error, the step of obtaining the first map before the base station position changes is performed.

5. The map updating method according to any one of claims 1 to 4, characterized in that: When the non-moving reference object is a charging pile, the method further includes: When the mobile device enters the charging pile to perform charging, position change detection is performed on the base station according to the current position information of the mobile device.

6. The map updating method according to claim 5, characterized in that: The detecting a position change of the base station according to the current position information of the mobile device includes: Obtaining historical position information of the mobile device when it was last charged; Obtaining the current position information of the mobile device; If the historical position information is inconsistent with the current position information, it is determined that the base station has moved.

7. The map updating method according to claim 1, wherein: The calculating a second transformation matrix based on the first pose information and the second pose information includes: Perform matrix inversion on the first pose information and the second pose information to obtain the second transformation matrix.

8. A map updating device, applied to a mobile device, characterized in that: include: A first acquisition module is configured to acquire a first map before the position of the base station changes, wherein the first map includes first position information of the base station and first pose information of a preset non-moving reference object; A second acquisition module is configured to acquire second location information of the base station when a change in the location of the base station is detected; A first calculation module, configured to calculate a first transformation matrix based on the first position information and the second position information; A first updating module, configured to update the first map according to the first transformation matrix to obtain a second map; A third acquisition module is configured to acquire second pose information of the non-moving reference object in the second map; A second calculation module, configured to calculate a second transformation matrix based on the first pose information and the second pose information; The second updating module is used to update the second map according to the second transformation matrix to obtain a third map.

9. A self-propelled device, characterized in that: The self-mobile device includes a processor and a memory, and the processor is configured to execute a computer program stored in the memory to implement the map updating method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores at least one instruction, and when the at least one instruction is executed by a processor, the map updating method according to any one of claims 1 to 7 is implemented.

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