Map processing method, system, and self-moving device

Abstract

This invention discloses a map processing method, system, and self-moving device. Based on this method, after acquiring a first map generated earlier and a second map generated later, a comparison result of the first and second maps can be generated based on the contour lines contained in the first and second maps, respectively. The contour lines include the contour lines of the corresponding map's partition boundaries and / or the contour lines of the corresponding map's internal obstacles. Then, based on the comparison result, the second and first maps are used to process and update different situations to generate a target map. This makes the map processing process more targeted, effectively avoiding problems such as blurred map boundaries and large errors that exist when using overlay map update methods, reducing processing errors, and obtaining a more accurate target map.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to map processing methods, systems, and self-moving devices. Background Technology

[0002] Typically, self-moving devices such as robot vacuums generate a new map for each work area they operate in. Furthermore, the self-moving device uses the new map to process and update the old map, resulting in an updated map for subsequent use.

[0003] Most existing technologies use an overlay update method for map processing and updating. Specifically, the new map and the old map are directly overlaid together for processing and updating.

[0004] However, when processing and updating maps using the above methods, problems such as blurred map boundaries and large errors can easily occur, affecting the accuracy of the updated map.

[0005] Therefore, it is necessary to improve the existing technology to overcome the aforementioned defects in the existing methods. Summary of the Invention

[0006] Therefore, the technical problem to be solved by the present invention is to provide a map processing method, system and self-moving device that can avoid problems such as blurred map boundaries and large errors when processing and updating maps using the overlay map update method.

[0007] To address the aforementioned technical problems, embodiments of this specification provide a map processing method, including:

[0008] Obtain a first map and a second map of the target area; wherein the second map is generated after the first map;

[0009] A comparison result of the first map and the second map is generated based on the outlines contained in the first map and the second map respectively; wherein, the outlines include the outlines of the partition boundaries contained in the corresponding map and / or the outlines of the internal obstacles contained in the corresponding map.

[0010] A target map is generated based on the comparison results, the second map, and the first map.

[0011] In one embodiment, generating a target map based on the comparison result, the second map, and the first map includes:

[0012] Based on the comparison results, the corresponding update rule is determined;

[0013] The first map is updated according to the corresponding update rules and the second map to generate the target map.

[0014] In one embodiment, the map processing method further includes:

[0015] Based on the comparison results, the degree of difference between the first map and the second map is determined;

[0016] The step of determining the corresponding update rule based on the comparison result includes:

[0017] When the degree of difference does not meet the preset conditions, the corresponding update rule is determined based on the comparison result;

[0018] When the degree of difference meets the preset condition, the first map is determined to be the target map.

[0019] In one embodiment, the contour lines include the contour lines of the corresponding map-included partition boundaries and the contour lines of the corresponding map-included internal obstacles.

[0020] The step of determining the first map as the target map when the degree of difference meets the preset condition includes:

[0021] When the difference between the outlines of the partition boundaries contained in the first map and the second map does not exceed a first preset threshold, and the difference between the outlines of the internal obstacles contained in the first map and the second map does not exceed a second preset threshold, the first map is determined to be the target map.

[0022] In one embodiment, updating the first map according to the corresponding update rule and the second map to generate the target map includes:

[0023] When the difference in the outline of the partition boundaries contained in the first map and the second map does not exceed a first preset threshold, and the difference in the outline of the internal obstacles contained in the first map and the second map exceeds a second preset threshold, the target sub-region where the outline of the internal obstacles changes is determined based on the first map and the second map.

[0024] The map information of the target sub-region in the first map is updated based on the map information corresponding to the target sub-region in the second map to generate the target map.

[0025] In one embodiment, updating the first map according to the corresponding update rule and the second map to generate the target map includes:

[0026] When the difference between the outlines of the partition boundaries contained in the first map and the second map exceeds a first preset threshold, and the difference between the outlines of the internal obstacles contained in the first map and the second map does not exceed a second preset threshold, the outlines of the partition boundaries contained in the first map are updated according to the outlines of the partition boundaries contained in the second map to generate the target map.

[0027] In one embodiment, updating the first map according to the corresponding update rule and the second map to generate the target map includes:

[0028] When the difference in the outline of the partition boundaries contained in the first map and the second map exceeds a first preset threshold, and the difference in the outline of the internal obstacles contained in the first map and the second map exceeds a second preset threshold, the target sub-region where the outline of the internal obstacles changes is determined based on the first map and the second map.

[0029] The map information of the target sub-region in the first map is updated based on the map information corresponding to the target sub-region in the second map; and the outline of the partition boundary in the first map is updated based on the outline of the partition boundary in the second map, thereby generating the target map.

[0030] In one embodiment, after generating a target map based on the comparison result, the second map, and the first map, the method further includes:

[0031] Save the target map; and use the target map for navigation about the target area.

[0032] This specification also provides a map processing system, including:

[0033] The acquisition module is used to acquire a first map and a second map of the target area; wherein the second map is generated after the first map;

[0034] The first generation module is used to generate a comparison result of the first map and the second map based on the outlines contained in the first map and the second map respectively; wherein the outlines include the outlines of the partition boundaries contained in the corresponding map and / or the outlines of the internal obstacles contained in the corresponding map.

[0035] The second generation module is used to generate a target map based on the comparison result, the second map, and the first map.

[0036] This specification also provides a self-moving device, including:

[0037] The main body of the equipment, which is also equipped with a controller;

[0038] The controller is used for:

[0039] Obtain a first map and a second map of the target area; wherein the second map is generated after the first map;

[0040] A comparison result of the first map and the second map is generated based on the outlines contained in the first map and the second map respectively; wherein, the outlines include the outlines of the partition boundaries contained in the corresponding map and / or the outlines of the internal obstacles contained in the corresponding map.

[0041] A target map is generated based on the comparison results, the second map, and the first map.

[0042] Based on the map processing method, system, and self-moving device provided in this specification, after obtaining the first map generated earlier and the second map generated later, a comparison result of the first map and the second map can be generated based on the outlines contained in the first map and the second map, respectively. The outlines include the outlines of the boundaries of the corresponding map's partitions and / or the outlines of the internal obstacles contained in the corresponding map. Then, based on the comparison result, the second map and the first map are used to process and update different situations to generate an updated map as the target map. This makes the map processing process more targeted, effectively avoiding problems such as blurred map boundaries and large errors that exist when using overlay map update methods to process and update maps, reducing processing errors, and obtaining a target map with higher accuracy. Attached Figure Description

[0043] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0044] Figure 1 A schematic flowchart of the map processing method provided in an embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram of the structure of the map processing system provided in an embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of the structure of a self-moving device provided in an embodiment of the present invention. Detailed Implementation

[0047] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The present invention will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0048] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0049] In this invention, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not intended to limit this invention.

[0050] Self-moving devices can be understood as devices that rely on artificial intelligence to automatically perform tasks within a work area. Typically, self-moving devices create a map of the work area to facilitate map-based path planning and navigation. Most existing self-moving devices employ Simultaneous Localization and Mapping (SLAM) algorithms to automatically build maps of the work area. During the mapping process, the device starts moving from an unknown location in an unknown environment, performing self-localization based on its location and the map, and simultaneously building an incremental map based on its self-localization, thus achieving autonomous localization and navigation.

[0051] Typically, each time a self-moving device performs a task in the same work area, it generates a new map for that work area. It then uses the new map and the previously generated old map to process and update the map, resulting in an updated map that serves as the target map. This target map is then used to more accurately locate and navigate within the work area.

[0052] In existing technologies, most mobile devices employ an overlay update method, processing and updating the map by overlapping a newly generated map with a previously saved old map. However, due to mapping accuracy issues, map outlines often contain jagged edges, and the outlines of the same objects can differ between different maps. This means that when directly overlaying the new and old maps for processing and updating, the map's boundary outlines are prone to blurring, leading to errors in the map processing and consequently affecting the accuracy of the updated target map.

[0053] To solve the above problems, please refer to Figure 1 As shown in the embodiments of this specification, a map processing method is provided, which may include the following in specific implementation.

[0054] S101: Obtain a first map and a second map of the target area; wherein the second map is generated after the first map;

[0055] S102: Generate a comparison result of the first map and the second map based on the outlines contained in the first map and the second map respectively; wherein, the outlines include the outlines of the partition boundaries contained in the corresponding map and / or the outlines of the internal obstacles contained in the corresponding map.

[0056] S103: Generate a target map based on the comparison results, the second map, and the first map.

[0057] In one embodiment, the map processing method described above can be specifically applied to a self-moving device. This self-moving device may specifically include self-moving cleaning devices, such as automatic sweeping robots, automatic mopping robots, etc. Furthermore, the self-moving device may also include self-moving inspection devices, nanny robots, etc.

[0058] Of course, it should be noted that the self-moving devices listed above are only illustrative. In practice, depending on the specific application scenario and processing requirements, the above methods can also be applied to other suitable types of self-moving robots or related devices in other scenarios.

[0059] In one embodiment, the aforementioned target area can be specifically understood as the work area where the automated mobile device performs its tasks, such as the room area cleaned by an automated sweeping robot, or the factory area inspected by an automated inspection device, and so on.

[0060] The aforementioned second map can be understood as the map generated when the mobile device performs a task in the target area other than the first task.

[0061] The aforementioned first map can be understood as the map generated by the self-moving device when performing a task in the same target area before generating the second map.

[0062] Specifically, for example, the first map mentioned above can be a map generated when the self-mobile device performs a task for the first time in the target area. Typically, the self-mobile device can save the map generated when performing a task for the first time in the target area as a reused map locally on the self-mobile device.

[0063] In one embodiment, the first map and the second map respectively include outlines. Specifically, the outlines may include: the outlines of the boundaries of the partitions included in the map (e.g., the boundary outline between the dining room and the living room, the boundary outline formed by the walls in the living room, etc.), and / or the outlines of internal obstacles included in the map (e.g., the outline of the dining table in the dining room, the outline of the sofa in the living room, etc.).

[0064] In one embodiment, after generating the second map, the mobile device can be triggered to acquire and utilize the first and second maps of the target area to process and update the map, resulting in a more accurate and updated map as the target map.

[0065] In one embodiment, the above-mentioned generation of comparison results of the first map and the second map based on the outlines contained in the first map and the second map respectively may specifically include the following: comparing the outlines of the partition boundaries contained in the first map and the second map respectively to obtain the degree of difference of the partition boundary outlines; and / or comparing the outlines of internal obstacles contained in the first map and the second map respectively to obtain the degree of difference of the outlines of the internal obstacles; and using the degree of difference of the partition boundary outlines and / or the degree of difference of the outlines of the internal obstacles as the comparison structure of the first map and the second map.

[0066] In one embodiment, specifically, an image recognition model can be used to process the images of the first map and the second map respectively to identify and segment the contour lines in the first map and the second map. Further, the image recognition model can be used to identify and label the contour lines of the partition boundaries and the contour lines of internal obstacles in the first map; the image recognition model can also be used to identify and label the contour lines of the partition boundaries and the contour lines of internal obstacles in the second map. Then, the contour lines of the partition boundaries in the first map are compared separately with the contour lines of the partition boundaries in the second map, and the contour lines of the internal obstacles in the first map are compared with the contour lines of the internal obstacles in the second map to obtain the comparison results of the first map and the second map.

[0067] In one embodiment, generating a target map based on the comparison result, the second map, and the first map may specifically include the following: determining a corresponding update rule based on the comparison result; updating the first map based on the corresponding update rule and the second map to generate the target map.

[0068] In one embodiment, before implementation, different processing scenarios can be distinguished, and multiple preset update rules can be configured. Each preset update rule corresponds to a specific processing scenario. During implementation, the current processing scenario can be determined based on comparison results; then, the preset update rule corresponding to the current processing scenario can be selected from the multiple preset update rules and used as the update rule for the current map processing and updating. This effectively distinguishes different processing scenarios and allows for targeted map processing and updating using the first and second maps with corresponding update rules, resulting in a better and more accurate target map.

[0069] In one embodiment, the map processing method may further include the following: determining the degree of difference between the first map and the second map based on the comparison result; correspondingly, determining the corresponding update rule based on the comparison result may include: determining the corresponding update rule based on the comparison result when the degree of difference does not meet a preset condition; and determining the first map as the target map when the degree of difference meets the preset condition.

[0070] Specifically, the above-mentioned degree of difference meeting the preset conditions can be understood as the degree of difference between the first map and the second map being relatively small.

[0071] If the difference between the first map and the second map is small and the preset conditions are met, the first map does not need to be updated and can continue to be used as the target map.

[0072] In one embodiment, the outline includes the outline of the partition boundaries contained in the corresponding map and the outline of the internal obstacles contained in the corresponding map. When the degree of difference meets the preset condition, the first map is determined to be the target map. In specific implementation, this may include the following: when the degree of difference between the outlines of the partition boundaries contained in the first map and the second map does not exceed a first preset threshold, and the degree of difference between the outlines of the internal obstacles contained in the first map and the second map does not exceed a second preset threshold, the first map is determined to be the target map.

[0073] In this embodiment, the comparison results obtained based on the outline can be used to characterize the degree of difference between the first map and the second map.

[0074] Specifically, based on the comparison results, if the difference in the outlines of the partition boundaries contained in the first map and the second map does not exceed a first preset threshold, and the difference in the outlines of the internal obstacles contained in the first map and the second map does not exceed a second preset threshold, then the difference is determined to meet the preset conditions. In this case, no map processing or updating is required, and the first map can be directly used as the target map. The specific values ​​of the first and second preset thresholds can be flexibly set according to specific accuracy requirements. This specification does not limit the specific values ​​of the first and second preset thresholds.

[0075] Conversely, if the degree of difference does not meet the preset conditions, map processing and updating are required. Furthermore, different processing situations can be distinguished based on the comparison results to determine the corresponding update rules and carry out specific map processing and updating.

[0076] In some embodiments, the step of updating the first map according to the corresponding update rule and the second map to generate the target map may specifically include: when the difference in the outlines of the partition boundaries contained in the first map and the second map does not exceed a first preset threshold, and the difference in the outlines of the internal obstacles contained in the first map and the second map exceeds a second preset threshold, determining the target sub-region where the outlines of the internal obstacles have changed according to the first map and the second map; updating the map information of the target sub-region in the first map according to the map information corresponding to the target sub-region in the second map to generate the target map.

[0077] Specifically, changes in the outline of the aforementioned internal obstacles may include one or more of the following: the addition of entirely new internal obstacle outlines, the reduction of existing internal obstacle outlines, the movement of existing internal obstacle outlines, etc.

[0078] In this embodiment, if the difference between the outlines of the partition boundaries contained in the first map and the second map does not exceed a first preset threshold, and the difference between the outlines of the internal obstacles contained in the first map and the second map exceeds a second preset threshold, according to the corresponding update rules, the map information of other areas in the first map except the target sub-region can be kept unchanged, and only the map information of the target sub-region in the second map can be used to perform local update processing on the target sub-region in the first sub-map to obtain the updated map, which is used as the target map.

[0079] In some embodiments, the step of updating the first map according to the corresponding update rule and the second map to generate the target map may further include: when the difference between the contour lines of the partition boundaries contained in the first map and the second map exceeds a first preset threshold, and the difference between the contour lines of the internal obstacles contained in the first map and the second map does not exceed a second preset threshold, updating the contour lines of the partition boundaries contained in the first map according to the contour lines of the partition boundaries contained in the second map to generate the target map.

[0080] In this embodiment, if the difference between the contour lines of the partition boundaries contained in the first map and the second map exceeds a first preset threshold, and the difference between the contour lines of the internal obstacles contained in the first map and the second map does not exceed a second preset threshold, according to the corresponding update rules, the contour lines of the internal obstacles in the first map can be kept unchanged, and only the contour lines of the partition boundaries contained in the second map are used to perform specific update processing on the changed part of the contour lines of the partition boundaries contained in the first map, so as to obtain the updated map as the target map.

[0081] Specifically, for example, when generating the second map, because the door between the restaurant and the kitchen is open, the generated second map has added new partition boundary outlines compared to the first map. In this case, the partition boundary outlines of the first and second maps can be compared to determine the outline of the newly added partition boundary in the second map relative to the first map, and the intersection position of this newly added partition boundary outline with the original partition boundary outline of the first map can be determined. The newly added partition boundary outline is then extracted from the second map and stitched together with the corresponding intersection position on the first map to obtain the target map.

[0082] In some embodiments, the step of updating the first map according to the corresponding update rule and the second map to generate the target map may further include the following: when the difference in the contour lines of the partition boundaries contained in the first map and the second map exceeds a first preset threshold, and the difference in the contour lines of the internal obstacles contained in the first map and the second map exceeds a second preset threshold, a target sub-region whose contour lines of the internal obstacles have changed is determined according to the first map and the second map; the map information of the target sub-region in the first map is updated according to the map information corresponding to the target sub-region in the second map; and the contour lines of the partition boundaries contained in the first map are updated according to the contour lines of the partition boundaries contained in the second map to generate the target map.

[0083] In this embodiment, if the difference in the outlines of the partition boundaries contained in the first map and the second map exceeds a first preset threshold, and the difference in the outlines of the internal obstacles contained in the first map and the second map exceeds a second preset threshold, according to the corresponding update rules, the map information of the second map can be used to specifically process and update the target sub-regions where the outlines of the internal obstacles in the first map have changed, as well as the parts where the outlines of the partition boundaries have changed, to obtain an updated map as the target map.

[0084] Through the above embodiments, various processing situations can be distinguished based on the comparison results of the first map and the second map. For different processing requests, appropriate methods can be used for targeted processing and updating based on the corresponding update rules. This can avoid the use of overlay map update methods, effectively reduce processing errors, and obtain a target map with higher accuracy.

[0085] In one embodiment, after generating a target map based on the comparison result, the second map, and the first map, the method may further include: saving the target map; and using the target map for navigation about the target area.

[0086] In this embodiment, the target map can be saved locally on the self-device as a reused map. Subsequently, when the self-device performs tasks in the target area, it can use the target map for navigation to move within the target area and perform the corresponding tasks.

[0087] Based on the map processing method provided in the embodiments of this specification, after obtaining the first map generated first and the second map generated subsequently, a comparison result of the first map and the second map can be generated according to the contour lines contained in the first map and the second map respectively; wherein, the contour lines include the contour lines of the partition boundaries contained in the corresponding map and / or the contour lines of the internal obstacles contained in the corresponding map; then, based on the above comparison result, using the second map and the first map, different methods are used to process and update the map in different situations to obtain the updated map as the target map. This makes the map processing process more targeted, effectively avoiding problems such as blurred map boundaries and large errors that exist when processing and updating maps using overlay map update methods, reducing processing errors, and obtaining a target map with higher accuracy.

[0088] See Figure 2 As shown in the embodiments of this specification, a map processing system 200 is also provided, which may specifically include the following structural modules:

[0089] The acquisition module 201 can be specifically used to acquire a first map and a second map of the target area; wherein the second map is generated after the first map;

[0090] The first generation module 202 can be specifically used to generate a comparison result of the first map and the second map based on the outlines contained in the first map and the second map respectively; wherein, the outlines include the outlines of the partition boundaries contained in the corresponding map and / or the outlines of the internal obstacles contained in the corresponding map.

[0091] The second generation module 203 can be used to generate a target map based on the comparison result, the second map, and the first map.

[0092] In one embodiment, the second generation module 203 can be used to determine the corresponding update rule based on the comparison result; and to update the first map based on the corresponding update rule and the second map to generate the target map.

[0093] In one embodiment, the first generation module 202 can be used to determine the degree of difference between the first map and the second map based on the comparison result; correspondingly, the second generation module 203 can also be used to determine the corresponding update rule based on the comparison result when the degree of difference does not meet the preset condition; and to determine the first map as the target map when the degree of difference meets the preset condition.

[0094] In one embodiment, the contour lines include the contour lines of the partition boundaries contained in the corresponding map and the contour lines of the internal obstacles contained in the corresponding map. Accordingly, when the second generation module 203 is specifically implemented, the first map can be determined as the target map when the degree of difference meets the preset conditions in the following manner: when the degree of difference between the contour lines of the partition boundaries contained in the first map and the second map does not exceed a first preset threshold, and the degree of difference between the contour lines of the internal obstacles contained in the first map and the second map does not exceed a second preset threshold, the first map is determined as the target map.

[0095] In one embodiment, when the second generation module 203 is specifically implemented, it can also determine the target sub-region where the outline of the internal obstacle changes based on the first map and the second map when the difference between the outlines of the partition boundaries contained in the first map and the second map does not exceed a first preset threshold, and the difference between the outlines of the internal obstacles contained in the first map and the second map exceeds a second preset threshold; and update the map information of the target sub-region in the first map based on the map information corresponding to the target sub-region in the second map to generate the target map.

[0096] In one embodiment, when the second generation module 203 is specifically implemented, it can also update the contour lines of the partition boundaries included in the first map based on the contour lines of the partition boundaries included in the second map to generate the target map when the difference between the contour lines of the partition boundaries included in the first map and the second map exceeds a first preset threshold, and the difference between the contour lines of the internal obstacles included in the first map and the second map does not exceed a second preset threshold.

[0097] In one embodiment, when the second generation module 203 is specifically implemented, it can further determine the target sub-region where the contour lines of the partition boundaries contained in the first map and the second map change when the difference in the contour lines of the internal obstacles contained in the first map and the second map exceeds a first preset threshold, and the difference in the contour lines of the internal obstacles contained in the first map and the second map exceeds a second preset threshold; update the map information of the target sub-region in the first map according to the map information corresponding to the target sub-region in the second map; and update the contour lines of the partition boundaries contained in the first map according to the contour lines of the partition boundaries contained in the second map to generate the target map.

[0098] In one embodiment, the map processing system 200, in its specific implementation, can also generate and save a target map based on the comparison result, the second map, and the first map; and use the target map for navigation about the target area.

[0099] Based on the map processing system provided in the embodiments of this specification, the map processing and updating process can be made more targeted, effectively avoiding problems such as blurred map boundaries and large errors that exist when processing and updating maps using the overlay map updating method, reducing processing errors, and obtaining a target map with higher accuracy.

[0100] See Figure 3 As shown in the embodiments of this specification, a self-moving device is also provided, including:

[0101] The equipment body 301 is further provided with a controller 302;

[0102] Specifically, the controller 302 can be used for:

[0103] Obtain a first map and a second map of the target area; wherein the second map is generated after the first map;

[0104] A comparison result of the first map and the second map is generated based on the outlines contained in the first map and the second map respectively; wherein, the outlines include the outlines of the partition boundaries contained in the corresponding map and / or the outlines of the internal obstacles contained in the corresponding map.

[0105] The first map is updated using the second map based on the comparison results of the contour lines.

[0106] In one embodiment, when the controller 302 is specifically implemented, it can generate a target map according to the comparison result, the second map, and the first map in the following manner: determine the corresponding update rule according to the comparison result; update the first map according to the corresponding update rule and the second map to generate the target map.

[0107] In one embodiment, the controller 302 can also be used to determine the degree of difference between the first map and the second map based on the comparison result; the step of determining the corresponding update rule based on the comparison result includes: determining the corresponding update rule based on the comparison result when the degree of difference does not meet the preset condition; and determining the first map as the target map when the degree of difference meets the preset condition.

[0108] In one embodiment, the outline includes the outline of the partition boundary of the corresponding map and the outline of the internal obstacles contained in the corresponding map; accordingly, when the controller 302 is specifically implemented, it can also determine the first map as the target map when the difference between the outlines of the partition boundaries contained in the first map and the second map does not exceed a first preset threshold and the difference between the outlines of the internal obstacles contained in the first map and the second map does not exceed a second preset threshold.

[0109] In one embodiment, when the controller 302 is specifically implemented, it can also determine the target sub-region where the outline of the internal obstacle changes based on the first map and the second map when the difference between the outlines of the partition boundaries contained in the first map and the second map does not exceed a first preset threshold, and the difference between the outlines of the internal obstacles contained in the first map and the second map exceeds a second preset threshold; and update the map information of the target sub-region in the first map based on the map information corresponding to the target sub-region in the second map to generate the target map.

[0110] In one embodiment, when the controller 302 is specifically implemented, it can also update the contour lines of the partition boundaries included in the first map based on the contour lines of the partition boundaries included in the second map to generate the target map when the difference between the contour lines of the partition boundaries included in the first map and the second map exceeds a first preset threshold, and the difference between the contour lines of the internal obstacles included in the first map and the second map does not exceed a second preset threshold.

[0111] In one embodiment, when the controller 302 is specifically implemented, it can further determine the target sub-region where the contour lines of the partition boundaries contained in the first map and the second map change when the difference in the contour lines of the internal obstacles contained in the first map and the second map exceeds a first preset threshold, and the difference in the contour lines of the internal obstacles contained in the first map and the second map exceeds a second preset threshold; update the map information of the target sub-region in the first map according to the map information corresponding to the target sub-region in the second map; and update the contour lines of the partition boundaries contained in the first map according to the contour lines of the partition boundaries contained in the second map to generate the target map.

[0112] In one embodiment, after generating a target map based on the comparison result, the second map, and the first map, the controller 302 may also save the target map and use the target map for navigation about the target area.

[0113] This specification also provides a computer storage medium based on the above-described map processing method. The computer storage medium stores computer program instructions that, when executed, implement the following: acquiring a first map and a second map of a target area; wherein the second map is generated after the first map; generating a comparison result of the first map and the second map based on the contour lines contained in the first map and the second map respectively; wherein the contour lines include the contour lines of the corresponding map's partition boundaries and / or the contour lines of the corresponding map's internal obstacles; and generating a target map based on the comparison result, the second map, and the first map.

[0114] In this embodiment, the storage medium includes, but is not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), cache, hard disk drive (HDD), or memory card. The memory can be used to store computer program instructions. The network communication unit can be an interface configured according to standards specified in the communication protocol for network connection communication.

[0115] In this embodiment, the specific functions and effects implemented by the program instructions stored in the computer storage medium can be explained in comparison with other implementation methods, and will not be repeated here.

[0116] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, servers, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0117] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), servers, and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0118] Obviously, the embodiments described above are merely some, not all, embodiments of the present invention. Based on the embodiments of the present invention, those skilled in the art can make other variations or modifications without creative effort, and all such variations or modifications should fall within the scope of protection of the present invention.

Claims

1. A map processing method, characterized in that, include: Obtain a first map and a second map of the target area; wherein the second map is generated after the first map; A comparison result of the first map and the second map is generated based on the outlines contained in the first map and the second map respectively; wherein, the outlines include the outlines of the partition boundaries contained in the corresponding map and the outlines of the internal obstacles contained in the corresponding map. Based on the comparison results, the second map, and the first map, a target map is generated, including: Based on the comparison results, the degree of difference between the first map and the second map is determined. The degree of difference between the first map and the second map includes: the degree of difference in the outlines of the partition boundaries contained in the first map and the second map, and the degree of difference in the outlines of the internal obstacles contained in the first map and the second map. When the degree of difference does not meet the preset conditions, the corresponding update rule is determined according to the comparison result, and the first map is updated according to the corresponding update rule and the second map to generate the target map; When the degree of difference meets the preset condition, the first map is determined to be the target map.

2. The map processing method according to claim 1, characterized in that, The outlines include the outlines of the corresponding map's partition boundaries and the outlines of the corresponding map's internal obstacles. The step of determining the first map as the target map when the degree of difference meets the preset condition includes: When the difference between the outlines of the partition boundaries contained in the first map and the second map does not exceed a first preset threshold, and the difference between the outlines of the internal obstacles contained in the first map and the second map does not exceed a second preset threshold, the first map is determined to be the target map.

3. The map processing method according to claim 2, characterized in that, The step of updating the first map according to the corresponding update rule and the second map to generate the target map includes: When the difference in the outline of the partition boundaries contained in the first map and the second map does not exceed a first preset threshold, and the difference in the outline of the internal obstacles contained in the first map and the second map exceeds a second preset threshold, the target sub-region where the outline of the internal obstacles changes is determined based on the first map and the second map. The map information of the target sub-region in the first map is updated based on the map information corresponding to the target sub-region in the second map to generate the target map.

4. The map processing method according to claim 2, characterized in that, The step of updating the first map according to the corresponding update rule and the second map to generate the target map includes: When the difference between the outlines of the partition boundaries contained in the first map and the second map exceeds a first preset threshold, and the difference between the outlines of the internal obstacles contained in the first map and the second map does not exceed a second preset threshold, the outlines of the partition boundaries contained in the first map are updated according to the outlines of the partition boundaries contained in the second map to generate the target map.

5. The map processing method according to claim 2, characterized in that, The step of updating the first map according to the corresponding update rule and the second map to generate the target map includes: When the difference in the outline of the partition boundaries contained in the first map and the second map exceeds a first preset threshold, and the difference in the outline of the internal obstacles contained in the first map and the second map exceeds a second preset threshold, the target sub-region where the outline of the internal obstacles changes is determined based on the first map and the second map. The map information of the target sub-region in the first map is updated based on the map information corresponding to the target sub-region in the second map; and the outline of the partition boundary in the first map is updated based on the outline of the partition boundary in the second map, thereby generating the target map.

6. The map processing method according to any one of claims 1-5, characterized in that, After generating a target map based on the comparison results, the second map, and the first map, the method further includes: Save the target map; and use the target map for navigation about the target area.

7. A map processing system, characterized in that, include: The acquisition module is used to acquire a first map and a second map of the target area; wherein the second map is generated after the first map; The first generation module is used to generate a comparison result of the first map and the second map based on the outlines contained in the first map and the second map respectively; wherein, the outlines include the outlines of the partition boundaries contained in the corresponding map and the outlines of the internal obstacles contained in the corresponding map. The second generation module is used to generate a target map based on the comparison result, the second map, and the first map, including: Based on the comparison results, the degree of difference between the first map and the second map is determined. The degree of difference between the first map and the second map includes: the degree of difference in the outlines of the partition boundaries contained in the first map and the second map, and the degree of difference in the outlines of the internal obstacles contained in the first map and the second map. When the degree of difference does not meet the preset conditions, the corresponding update rule is determined according to the comparison result, and the first map is updated according to the corresponding update rule and the second map to generate the target map; When the degree of difference meets the preset condition, the first map is determined to be the target map.

8. A self-moving device, characterized in that, include: The main body of the equipment, which is also equipped with a controller; The controller is used for: Obtain a first map and a second map of the target area; wherein the second map is generated after the first map; A comparison result of the first map and the second map is generated based on the outlines contained in the first map and the second map respectively; wherein, the outlines include the outlines of the partition boundaries contained in the corresponding map and the outlines of the internal obstacles contained in the corresponding map. Based on the comparison results, the second map, and the first map, a target map is generated, including: Based on the comparison results, the degree of difference between the first map and the second map is determined. The degree of difference between the first map and the second map includes: the degree of difference in the outlines of the partition boundaries contained in the first map and the second map, and the degree of difference in the outlines of the internal obstacles contained in the first map and the second map. When the degree of difference does not meet the preset conditions, the corresponding update rule is determined according to the comparison result, and the first map is updated according to the corresponding update rule and the second map to generate the target map; When the degree of difference meets the preset condition, the first map is determined to be the target map.

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