Map processing method, system and self-mobile device

Abstract

The present invention relates to a map processing method, system and self-moving device. The method comprises: controlling the self-moving device to move in the area to be cleaned, and detecting the obstacle conditions around the self-moving device; when a first preset obstacle is detected in the area to be cleaned, detecting the surrounding conditions of the first preset obstacle; when a second preset obstacle is detected around the first preset obstacle, determining that the first preset obstacle is a light-transmitting target obstacle; and generating a cleaning map corresponding to the area to be cleaned based on the area in the area to be cleaned excluding the location of the light-transmitting target obstacle. The present invention can solve the problem that when a cleaning device encounters glass or a mirror in the process of establishing a cleaning map of the area to be cleaned, the cleaning map established has a large error from the actual situation.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and in particular to a map processing method, system and self-propelled equipment. Background Art

[0002] With the continuous development of automation and artificial intelligence technologies, the use of various cleaning equipment such as scrubbers and sweepers is becoming increasingly widespread, bringing great convenience to people's lives. Before sweepers and other cleaning equipment can clean the area to be cleaned, they need to first create a cleaning map of the area to be cleaned. During this process, the cleaning equipment typically emits a ranging beam to detect obstacles in the area to be cleaned.

[0003] In traditional technology, when a distance-measuring beam emitted by a cleaning device encounters glass or mirrors, the reflected beam measures the glass or mirror's position, which can differ from its actual position. Consequently, when the cleaning device encounters glass or mirrors while creating a cleaning map of the area to be cleaned, the resulting map can differ significantly from the actual situation. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is that when a cleaning device in the traditional technology encounters glass or a mirror during the process of establishing a cleaning map of an area to be cleaned, there is a large error between the established cleaning map and the actual situation.

[0005] To solve the above technical problems, the present invention provides a map processing method applied to a mobile device, the method comprising:

[0006] Controlling the self-moving device to move in the area to be cleaned and detecting obstacles around the self-moving device;

[0007] When a first preset obstacle is detected in the area to be cleaned, detecting a surrounding state of the first preset obstacle;

[0008] When detecting that a second preset obstacle exists around the first preset obstacle, determining that the first preset obstacle is a light-transmitting target obstacle;

[0009] A cleaning map corresponding to the area to be cleaned is generated according to an area in the area to be cleaned excluding the location of the light-transmissive target obstacle.

[0010] Optionally, the second preset obstacle includes a wall;

[0011] The step of determining that the first preset obstacle is a light-transmitting target obstacle when a second preset obstacle is detected around the first preset obstacle includes:

[0012] When it is detected that there are walls on both sides of the first preset obstacle, the first preset obstacle is determined to be a light-transmitting target obstacle.

[0013] Optionally, controlling the self-moving device to move in the area to be cleaned and detecting obstacles around the self-moving device includes:

[0014] Controlling the self-moving device to move in the area to be cleaned, and controlling the obstacle detection mechanism to detect obstacle information around the self-moving device;

[0015] When a physical obstacle is detected around the self-moving device, controlling the laser ranging sensor to detect the laser ranging distance of the physical obstacle;

[0016] When it is detected that the laser ranging distance does not match the obstacle distance of the physical obstacle detected by the obstacle detection mechanism, it is determined that the physical obstacle is a first preset obstacle.

[0017] Optionally, controlling the laser ranging sensor to detect the laser ranging distance of the physical obstacle includes:

[0018] Controlling the laser ranging sensor provided on the mobile device to emit a ranging beam toward the physical obstacle, and detecting the ranging time when the laser ranging sensor receives the corresponding reflected beam;

[0019] The laser ranging distance of the physical obstacle is obtained according to the obtained ranging time.

[0020] Optionally, when detecting that a first preset obstacle exists in the area to be cleaned, detecting a surrounding state of the first preset obstacle includes:

[0021] When a first preset obstacle is detected around the self-moving device, controlling the laser ranging sensor to emit a ranging beam to both sides of the first preset obstacle;

[0022] The presence of second preset obstacles on both sides of the first preset obstacle is determined based on the information of the reflected light beam received by the laser ranging sensor.

[0023] Optionally, when detecting that a second preset obstacle exists around the first preset obstacle, determining that the first preset obstacle is a light-transmitting target obstacle includes:

[0024] When detecting that there are second preset obstacles on both sides of the first preset obstacle, controlling the self-moving device to move toward the position of the first preset obstacle;

[0025] When it is detected that the self-moving device cannot pass over the first preset obstacle, the first preset obstacle is determined to be a light-transmitting target obstacle.

[0026] Optionally, controlling the mobile device to move toward the position of the first preset obstacle includes:

[0027] Controlling the self-moving device to move from a current detection position toward a position of the first preset obstacle until the self-moving device contacts the first preset obstacle;

[0028] When the self-moving device contacts the first preset obstacle, the self-moving device is controlled to move along the boundary of the first preset obstacle to the second preset obstacles on both sides of the first preset obstacle.

[0029] Optionally, generating a cleaning map corresponding to the area to be cleaned based on an area in the area to be cleaned excluding a location of the light-transmissive target obstacle includes:

[0030] In the process of controlling the self-moving device to move and detect in the area to be cleaned, marking the location corresponding to the translucent target obstacle;

[0031] A cleaning map corresponding to the area to be cleaned is generated according to the positions of the light-transmissive target obstacles except the marks in the area to be cleaned.

[0032] In addition, the present invention also provides a map processing system, which is applied to a mobile device and includes:

[0033] A first obstacle detection module is used to control the self-moving device to move in the area to be cleaned and detect obstacles around the self-moving device;

[0034] a second obstacle detection module, configured to detect a surrounding state of a first preset obstacle when detecting the presence of the first preset obstacle in the area to be cleaned;

[0035] a light-transmitting obstacle determining module, configured to determine that the first preset obstacle is a light-transmitting target obstacle when a second preset obstacle is detected around the first preset obstacle;

[0036] The map generating module is configured to generate a cleaning map corresponding to the area to be cleaned according to an area in the area to be cleaned excluding a location of the light-transmissive target obstacle.

[0037] In addition, the present invention also provides a self-moving device, comprising:

[0038] Equipment body;

[0039] The obstacle detection mechanism and the laser ranging sensor are provided on the device body; and

[0040] a control processor, disposed on the device body and communicatively connected to the obstacle detection mechanism and the laser ranging sensor;

[0041] Wherein, the control processor is used for:

[0042] Controlling the self-moving device to move in the area to be cleaned and detecting obstacles around the self-moving device;

[0043] When a first preset obstacle is detected in the area to be cleaned, detecting a surrounding state of the first preset obstacle;

[0044] When detecting that a second preset obstacle exists around the first preset obstacle, determining that the first preset obstacle is a light-transmitting target obstacle;

[0045] A cleaning map corresponding to the area to be cleaned is generated according to an area in the area to be cleaned excluding the location of the light-transmissive target obstacle.

[0046] The technical solution provided by the present invention has the following advantages:

[0047] The map processing method provided by the present invention controls the self-moving device to move in the area to be cleaned and detects obstacles therein during the process of establishing a map of the area to be cleaned. Moreover, based on the first preset obstacle detected in the area to be cleaned and the second preset obstacle existing around it, it is determined that there is a light-transmitting target obstacle in the area to be cleaned. Since errors may occur in the process of detecting the light-transmitting target obstacle by the self-moving device, resulting in inaccurate maps, when establishing the final cleaning map of the area to be cleaned, the area outside the light-transmitting target obstacle can be deleted, that is, a cleaning map is established in the cleaning map that does not include the area corresponding to the location of the light-transmitting target obstacle, which can reduce mapping errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0049] Figure 1 This is a flowchart of the steps of the map processing method according to an embodiment of the present invention;

[0050] Figure 2This is a simplified block diagram showing the structure of a map processing system according to an embodiment of the present invention;

[0051] Figure 3 It is a schematic diagram of the three-dimensional structure of the self-moving device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0052] The technical solutions of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments of the present invention and the features therein may be combined with each other unless there is a conflict.

[0053] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0054] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity direction; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above directional words are not used to limit the present invention.

[0055] In conventional technology, when a distance-measuring beam emitted by a cleaning device encounters glass or a mirror, the position of the glass or mirror measured by the reflected beam deviates from its actual position. Consequently, when the cleaning device encounters glass or a mirror while creating a cleaning map of the area to be cleaned, the resulting cleaning map may differ significantly from the actual situation. To address this technical problem, the present invention proposes a map processing method, system, and self-propelled device.

[0056] The map processing method and system proposed in this invention can be applied not only to automated cleaning equipment such as sweepers, but also to other autonomous devices that require the creation of a work map (such as automated transport equipment and autonomous vehicles that move within a limited area). In the following embodiments, the invention is described using an automated cleaning device such as a sweeper as an example.

[0057] Example 1

[0058] This embodiment provides a map processing method, which is applied to a mobile device. Figure 1 As shown, the method includes:

[0059] S100, controlling the self-moving device to move in the area to be cleaned and detecting obstacles around the self-moving device;

[0060] S200, when a first preset obstacle is detected in the area to be cleaned, detecting the surrounding state of the first preset obstacle;

[0061] S300: When a second preset obstacle is detected around the first preset obstacle, determining that the first preset obstacle is a light-transmitting target obstacle;

[0062] S400 : Generate a cleaning map corresponding to the area to be cleaned based on the area excluding the location of the translucent target obstacle in the area to be cleaned.

[0063] During the process of establishing a map of the area to be cleaned, the self-moving device is controlled to move within the area to be cleaned and detect obstacles therein. Furthermore, based on the first preset obstacle detected in the area to be cleaned and the second preset obstacle existing around it, it is determined that a light-transmitting target obstacle exists in the area to be cleaned. Since errors may occur in the self-moving device's process of detecting light-transmitting target obstacles, resulting in inaccurate maps, when establishing the final cleaning map of the area to be cleaned, the area outside the light-transmitting target obstacle can be deleted, that is, a cleaning map is established in the cleaning map that does not include the area corresponding to the location of the light-transmitting target obstacle, thereby reducing mapping errors.

[0064] Specifically, the area corresponding to the location of the light-transmitting target obstacle includes the actual location of the light-transmitting target obstacle and the area within a preset range around the light-transmitting target obstacle. The above preset range can be adjusted according to actual needs, for example, it can be a preset area outside the light-transmitting target obstacle.

[0065] Furthermore, in this embodiment, the second preset obstacle may include a wall, i.e., the second preset obstacle may be set as a wall. Furthermore, the first preset obstacle may include an obstacle suspected of being light-transmissive. Therefore, in step S300, upon detecting the presence of the second preset obstacle around the first preset obstacle, determining that the first preset obstacle is a light-transmissive target obstacle may include:

[0066] When walls are detected on both sides of the first preset obstacle, the first preset obstacle is determined to be a light-transmitting target obstacle. That is, when walls are detected on both sides of a suspected light-transmitting obstacle, the suspected light-transmitting obstacle is determined to be a light-transmitting target obstacle.

[0067] In this embodiment, the light-transmitting target obstacle may be an object such as completely transparent or semi-transparent glass, plastic, or an object such as a mirror formed of glass of a certain thickness.

[0068] In addition, in step S100, controlling the self-moving device to move in the area to be cleaned and detecting obstacles around the self-moving device may specifically include the following steps:

[0069] S110, controlling the self-moving device to move in the area to be cleaned, and controlling the obstacle detection mechanism to detect obstacle information around the self-moving device;

[0070] When establishing a cleaning map for an area to be cleaned, it is necessary to detect obstacles in the area to be cleaned, so that a cleaning map for the area to be cleaned can be established based on the obstacles. Furthermore, detecting obstacles in the area to be cleaned allows the self-moving device to move randomly or according to a predetermined rule within the area to be cleaned. During movement, an obstacle detection mechanism provided on the self-moving device can detect the surrounding environment of the self-moving device to determine whether there are obstacles around the self-moving device.

[0071] In this embodiment, the obstacle detection mechanism can be controlled to detect obstacle information in the forward direction of the self-moving device.

[0072] Furthermore, in step S110, controlling the obstacle detection mechanism to detect obstacle information around the mobile device may specifically include the following steps:

[0073] The obstacle detection mechanism formed by the ultrasonic sensor and / or the visual sensor provided on the self-moving device is controlled to detect the existence and distance of obstacles around the self-moving device.

[0074] In this embodiment, the obstacle detection mechanism can be configured as at least one of an ultrasonic sensor and a visual sensor. The ultrasonic sensor emits ultrasonic waves that are reflected back when they encounter obstacles, thereby detecting obstacles around the mobile device and the distance between the obstacle and the mobile device (i.e., the obstacle distance). The visual sensor uses image recognition technology to determine whether there are obstacles around the mobile device and, based on the acquired obstacle image, to determine the distance between the obstacle and the mobile device (i.e., the obstacle distance).

[0075] S120, when detecting that there is a physical obstacle around the mobile device, controlling the laser ranging sensor to detect the laser ranging distance of the physical obstacle;

[0076] When a mobile device detects a physical obstacle around the device while moving through the area to be cleaned, the device can further detect the type of obstacle. Specifically, the device can detect whether the obstacle is opaque or translucent. In this case, a laser ranging sensor installed on the mobile device can detect the distance to the physical obstacle. If the obstacle is translucent, the distance detected by the laser ranging sensor will be inaccurate.

[0077] Furthermore, in step S120, controlling the laser ranging sensor to detect the laser ranging distance of the physical obstacle may specifically include the following steps:

[0078] S122, controlling a laser ranging sensor provided on the mobile device to emit a ranging beam toward a physical obstacle, and detecting a ranging time when the laser ranging sensor receives a corresponding reflected beam;

[0079] S124. Obtain the laser ranging distance of the physical obstacle according to the obtained ranging time.

[0080] The laser ranging principle of a laser ranging sensor is that the laser emitted by the laser ranging sensor is reflected by the measured object (physical obstacle) and then received by the laser ranging sensor. The laser ranging sensor also records the time it takes for the laser to travel back and forth. Half the product of the speed of light and the round-trip time is the laser ranging distance between the laser ranging sensor and the measured object (physical obstacle).

[0081] S130: When it is detected that the laser ranging distance does not match the obstacle distance of the physical obstacle detected by the obstacle detection mechanism, determine that the physical obstacle is a first preset obstacle.

[0082] When the laser ranging distance of a physical obstacle detected by the laser ranging sensor is inconsistent with the obstacle distance of the physical obstacle detected by the obstacle detection mechanism, it proves that there may be an error in the laser ranging distance of the physical obstacle detected by the laser ranging sensor. It can be preliminarily judged that the physical obstacle is a light-transmitting obstacle such as glass or a mirror.

[0083] In addition, in step S200, when it is detected that a first preset obstacle exists in the area to be cleaned, detecting the surrounding state of the first preset obstacle may specifically include the following steps:

[0084] S210: When a first preset obstacle is detected around the self-moving device, control the laser ranging sensor to emit a ranging beam toward both sides of the first preset obstacle;

[0085] S220: Determine the presence of second preset obstacles on both sides of the first preset obstacle based on the information of the reflected light beam received by the laser ranging sensor.

[0086] That is, after initially determining that there are light-transmitting obstacles around the self-moving device, further detection and judgment is required. That is, by detecting whether there are walls or second preset obstacles similar to walls on both sides of the first preset obstacle, whether there are indeed light-transmitting obstacles around the self-moving device can be determined.

[0087] Specifically, the laser ranging sensor emits a ranging beam toward both sides of a first predetermined obstacle and, based on the reflected beam information, determines whether a wall or a second predetermined obstacle similar to a wall is present on either side of the first predetermined obstacle. Furthermore, the presence of a wall can be determined using a laser point cloud generated by the laser ranging sensor, or in conjunction with the aforementioned obstacle detection mechanism.

[0088] Moreover, when it is detected that there is a wall or a second preset obstacle similar to a wall around the first preset obstacle, the first preset obstacle can be further confirmed to determine whether the first preset obstacle is indeed a light-transmitting obstacle.

[0089] Therefore, in step S300, when it is detected that a second preset obstacle exists around the first preset obstacle, determining that the first preset obstacle is a light-transmitting target obstacle may specifically include the following steps:

[0090] S310: When it is detected that a second preset obstacle exists on both sides of the first preset obstacle, control the mobile device to move toward the position of the first preset obstacle;

[0091] S320: When it is detected that the self-moving device cannot pass over the first preset obstacle, determine that the first preset obstacle is a light-transmitting target obstacle.

[0092] The self-moving device can be directly controlled to move closer to the first preset obstacle and then attempt to pass over it. If the self-moving device cannot pass over the first preset obstacle, it proves that a physical obstacle does exist at the location of the first preset obstacle. Combined with the distance error in the above-mentioned detection process for the first preset obstacle, it can be determined that the first preset obstacle is a light-transmitting target obstacle such as glass or a mirror. If the self-moving device can pass over the first preset obstacle, it proves that an error occurred in the above-mentioned detection process, the first preset obstacle does not exist, and the light-transmitting target obstacle does not exist either.

[0093] Furthermore, by controlling the mobile device to move closer to the first preset obstacle, it is also possible to verify whether there is an error in the laser ranging distance when the laser ranging sensor detects the first preset obstacle.

[0094] Furthermore, in step S310, controlling the mobile device to move toward the position of the first preset obstacle may specifically include the following steps:

[0095] S312, controlling the self-moving device to move from the current detection position to the position of the first preset obstacle until the self-moving device contacts the first preset obstacle;

[0096] Specifically, the self-moving device can be controlled to move linearly from the current detection position to the position of the first preset obstacle, and the actual distance between the current detection position and the first preset obstacle can be obtained. Moreover, if the self-moving device contacts the first preset obstacle and cannot pass through the first preset obstacle, it is confirmed that the first preset obstacle does exist.

[0097] S314: When the self-moving device contacts the first preset obstacle, control the self-moving device to move along the boundary of the first preset obstacle to the second preset obstacles on both sides of the first preset obstacle.

[0098] Specifically, the self-moving device can be controlled to move laterally along the first preset obstacle to further determine whether a light-transmitting obstacle exists between the walls or second preset obstacles similar to walls on either side. If the self-moving device is unable to overcome the first preset obstacle while moving between the second preset obstacles on either side, the above detection of the first preset obstacle is confirmed to be correct, and it can be further determined that the first preset obstacle exists and is a light-transmitting obstacle (light-transmitting target obstacle).

[0099] In addition, in step S400, generating a cleaning map corresponding to the area to be cleaned according to the area excluding the location of the translucent target obstacle in the area to be cleaned may specifically include the following steps:

[0100] S410, in the process of controlling the self-moving device to move and detect in the area to be cleaned, marking the location corresponding to the translucent target obstacle;

[0101] That is, when it is detected and determined that there are light-transmitting target obstacles such as glass and mirrors in the area to be cleaned, they can be marked, and their positions in the area to be cleaned can also be marked.

[0102] S420 : Generate a cleaning map corresponding to the area to be cleaned according to the locations of the marked translucent target obstacles in the area to be cleaned.

[0103] When establishing a cleaning map of the area to be cleaned, the map of the area corresponding to translucent target obstacles such as glass and mirrors can be shielded, that is, a cleaning map of the area corresponding to the location of translucent target obstacles such as glass and mirrors (for example, the area outside the translucent target obstacles) is not established, so that the cleaning map obtained by detection is consistent with the actual situation, thereby improving the accuracy of the created cleaning map.

[0104] Example 2

[0105] This embodiment provides a map processing system, which is applied to a mobile device. Figure 2 As shown, the map processing system 100 may include:

[0106] The first obstacle detection module 102 is used to control the self-moving device to move in the area to be cleaned and detect obstacles around the self-moving device;

[0107] The second obstacle detection module 104 is in communication with the first obstacle detection module 102 and is configured to detect the surrounding state of the first preset obstacle when a first preset obstacle is detected in the area to be cleaned;

[0108] a light-transmitting obstacle determining module 106 , which is in communication with the second obstacle detecting module 104 and is configured to determine that the first preset obstacle is a light-transmitting target obstacle when a second preset obstacle is detected around the first preset obstacle;

[0109] The map generation module 108 is in communication with the transparent obstacle determination module 106 and is configured to generate a cleaning map corresponding to the area to be cleaned based on the area excluding the location of the translucent target obstacle in the area to be cleaned.

[0110] In this embodiment, the second preset obstacle may include a wall, that is, the second preset obstacle may be set as a wall. In addition, the first preset obstacle may include an obstacle that is suspected to be light-transmissive.

[0111] Specifically, the first obstacle detection module 102 may be used to control the self-moving device to move in the area to be cleaned, and control the obstacle detection mechanism to detect obstacle information around the self-moving device.

[0112] Furthermore, the first obstacle detection module 102 may be configured to control an obstacle detection mechanism formed by an ultrasonic sensor and / or a visual sensor provided on the self-moving device to detect the presence and distance of obstacles around the self-moving device.

[0113] In addition, the first obstacle detection module 102 may also be configured to: when detecting that a physical obstacle exists around the mobile device, control the laser ranging sensor to detect the laser ranging distance of the physical obstacle;

[0114] Furthermore, the first obstacle detection module 102 may be configured to: control a laser ranging sensor provided on the mobile device to emit a ranging beam to a physical obstacle, and detect a ranging time when the laser ranging sensor receives a corresponding reflected beam;

[0115] According to the obtained ranging time, the laser ranging distance of the physical obstacle is obtained.

[0116] In addition, the first obstacle detection module 102 may be further configured to determine that the physical obstacle is a first preset obstacle when it is detected that the laser ranging distance does not match the obstacle distance of the physical obstacle detected by the obstacle detection mechanism.

[0117] In addition, the second obstacle detection module 104 may be configured to: when detecting a first preset obstacle around the self-moving device, control the laser ranging sensor to emit ranging beams toward both sides of the first preset obstacle;

[0118] The presence of second preset obstacles on both sides of the first preset obstacle is determined based on the reflected light beam information received by the laser ranging sensor.

[0119] In addition, the light-transmissive obstacle determination module 106 may be configured to: when detecting the presence of second preset obstacles on both sides of the first preset obstacle, control the mobile device to move toward the location of the first preset obstacle;

[0120] Furthermore, the light-transmissive obstacle determination module 106 may be configured to: control the self-moving device to move from the current detection position to the position of the first preset obstacle until the self-moving device contacts the first preset obstacle;

[0121] When the self-moving device contacts the first preset obstacle, the self-moving device is controlled to move along the boundary of the first preset obstacle to the second preset obstacles on both sides of the first preset obstacle.

[0122] In addition, the light-transmitting obstacle determining module 106 may be configured to determine that the first preset obstacle is a light-transmitting target obstacle when it is detected that the self-moving device cannot pass over the first preset obstacle.

[0123] In addition, the map generation module 108 can be used to: mark the corresponding locations of the translucent target obstacles during the process of controlling the self-mobile device to move and detect in the area to be cleaned;

[0124] A cleaning map corresponding to the area to be cleaned is generated according to the locations of the marked translucent target obstacles in the area to be cleaned.

[0125] The map processing system 100 described in this embodiment corresponds to the map processing method for a mobile device described above. The functions of each module in the map processing system 100 in this embodiment are described in detail in the corresponding method embodiments and will not be repeated here.

[0126] Example 3

[0127] This embodiment provides a self-moving device, such as Figure 3 As shown, the self-propelled device 10 may include a device body 12, an obstacle detection mechanism 14 and a laser ranging sensor provided on the device body 12, and a control processor provided on the device body 12. The control processor is in communication with the obstacle detection mechanism and the laser ranging sensor, and can control the operation of the obstacle detection mechanism and the laser ranging sensor through the control processor, and can also control the movement and cleaning operation of the device body in the area to be cleaned through the control processor.

[0128] Furthermore, the control processor may be used to: control the self-moving device to move in the area to be cleaned, and detect obstacles around the self-moving device;

[0129] When a first preset obstacle is detected in the area to be cleaned, detecting the surrounding state of the first preset obstacle;

[0130] When detecting that a second preset obstacle exists around the first preset obstacle, determining that the first preset obstacle is a light-transmitting target obstacle;

[0131] A cleaning map corresponding to the area to be cleaned is generated according to the area in the area to be cleaned excluding the location of the light-transmissive target obstacle.

[0132] Moreover, when the control processor is used to control the self-moving device to move in the area to be cleaned and detect obstacles around the self-moving device, it can be further used to:

[0133] Controlling the self-moving device to move in the area to be cleaned, and controlling the obstacle detection mechanism to detect obstacle information around the self-moving device;

[0134] When a physical obstacle is detected around the mobile device, the laser ranging sensor is controlled to detect the laser ranging distance of the physical obstacle;

[0135] When it is detected that the laser ranging distance does not match the obstacle distance of the physical obstacle detected by the obstacle detection mechanism, the physical obstacle is determined to be the first preset obstacle.

[0136] Furthermore, when the control processor is used to control the self-moving device to move in the area to be cleaned and to control the obstacle detection mechanism to detect obstacle information around the self-moving device, it can be further used to:

[0137] The obstacle detection mechanism formed by the ultrasonic sensor and / or the visual sensor provided on the self-moving device is controlled to detect the existence and distance of obstacles around the self-moving device.

[0138] Furthermore, when the control processor is used to control the laser ranging sensor to detect the laser ranging distance of the physical obstacle when detecting the presence of the physical obstacle around the mobile device, the control processor may be further used to:

[0139] Controlling a laser ranging sensor provided on the mobile device to emit a ranging beam toward a physical obstacle, and detecting the ranging time when the laser ranging sensor receives the corresponding reflected beam;

[0140] According to the obtained ranging time, the laser ranging distance of the physical obstacle is obtained.

[0141] In addition, when the control processor is used to detect the presence of a first preset obstacle in the area to be cleaned and detect the surrounding state of the first preset obstacle, it can be further used to:

[0142] When a first preset obstacle is detected around the self-moving device, the laser ranging sensor is controlled to emit a ranging beam to both sides of the first preset obstacle;

[0143] The presence of second preset obstacles on both sides of the first preset obstacle is determined based on the reflected light beam information received by the laser ranging sensor.

[0144] In addition, when the control processor is used to detect the presence of a second preset obstacle around the first preset obstacle and determine that the first preset obstacle is a light-transmitting target obstacle, it can be further used to:

[0145] When detecting that a second preset obstacle exists on both sides of the first preset obstacle, controlling the mobile device to move toward the position of the first preset obstacle;

[0146] When it is detected that the self-moving device cannot pass over the first preset obstacle, the first preset obstacle is determined to be a light-transmitting target obstacle.

[0147] Furthermore, when the control processor is used to control the movement of the mobile device toward the location of the first preset obstacle, it can be further used to:

[0148] Controlling the self-moving device to move from the current detection position to the position of the first preset obstacle until the self-moving device contacts the first preset obstacle;

[0149] When the self-moving device contacts the first preset obstacle, the self-moving device is controlled to move along the boundary of the first preset obstacle to the second preset obstacles on both sides of the first preset obstacle.

[0150] In addition, when the control processor is used to determine that the physical obstacle is the first preset obstacle when it is detected that the laser ranging distance does not match the obstacle distance of the physical obstacle detected by the obstacle detection mechanism, it can be further used to:

[0151] In the process of controlling the movement and detection of the self-moving device in the area to be cleaned, marking the location corresponding to the light-transmitting target obstacle;

[0152] A cleaning map corresponding to the area to be cleaned is generated according to the locations of the marked translucent target obstacles in the area to be cleaned.

[0153] Similarly, in this embodiment, the control processor can be used to control the mobile device to implement each step in the above map processing method. The specific implementation method can refer to the specific content of the above map processing method and will not be repeated here.

[0154] Furthermore, in this embodiment, the self-moving device can be a sweeper. Furthermore, the self-moving device can also be a floor cleaning machine, an unmanned floor scrubber, a vacuum cleaner, etc. Furthermore, the obstacle detection mechanism can be at least one of an ultrasonic sensor and a visual sensor, or other detection mechanisms.

[0155] In addition, the present invention also proposes a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement all or part of the method steps of the map processing method described above.

[0156] The present invention implements all or part of the process in the above method, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above method embodiments. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium 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), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0157] Based on the same inventive concept, an embodiment of the present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program running on the processor, and when the processor executes the computer program, all or part of the method steps in the above-mentioned map processing method are implemented.

[0158] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor. The processor is the control center of a computer device, connecting all parts of the entire computer device using various interfaces and lines.

[0159] The memory can be used to store computer programs and / or models. The processor implements various functions of the computer device by running or executing the computer programs and / or models stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required for a function (such as a sound playback function, an image playback function, etc.); the data storage area can store data created based on the use of the mobile phone (such as audio data, video data, etc.). In addition, the memory can include a high-speed random access memory and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (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 device.

[0160] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, servers, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage) containing computer-usable program code.

[0161] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), servers, and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts 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, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0162] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0163] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0164] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A map processing method, applied to a mobile device, characterized in that: The method comprises: Controlling the self-moving device to move in the area to be cleaned and detecting obstacles around the self-moving device; When a first preset obstacle is detected in the area to be cleaned, detecting a surrounding state of the first preset obstacle; When detecting that a second preset obstacle exists around the first preset obstacle, determining that the first preset obstacle is a light-transmitting target obstacle; A cleaning map corresponding to the area to be cleaned is generated according to an area in the area to be cleaned excluding the location of the light-transmissive target obstacle.

2. The map processing method according to claim 1, wherein: The second preset obstacle includes a wall; The step of determining that the first preset obstacle is a light-transmitting target obstacle when a second preset obstacle is detected around the first preset obstacle includes: When it is detected that there are walls on both sides of the first preset obstacle, the first preset obstacle is determined to be a light-transmitting target obstacle.

3. The map processing method according to claim 2, wherein: The controlling the self-moving device to move in the area to be cleaned and detecting obstacles around the self-moving device includes: Controlling the self-moving device to move in the area to be cleaned, and controlling the obstacle detection mechanism to detect obstacle information around the self-moving device; When a physical obstacle is detected around the self-moving device, controlling the laser ranging sensor to detect the laser ranging distance of the physical obstacle; When it is detected that the laser ranging distance does not match the obstacle distance of the physical obstacle detected by the obstacle detection mechanism, it is determined that the physical obstacle is a first preset obstacle.

4. The map processing method according to claim 3, wherein: The controlling the laser ranging sensor to detect the laser ranging distance of the physical obstacle includes: Controlling the laser ranging sensor provided on the mobile device to emit a ranging beam toward the physical obstacle, and detecting the ranging time when the laser ranging sensor receives the corresponding reflected beam; The laser ranging distance of the physical obstacle is obtained according to the obtained ranging time.

5. The map processing method according to claim 3 or 4, characterized in that: When a first preset obstacle is detected in the area to be cleaned, detecting the surrounding state of the first preset obstacle includes: When a first preset obstacle is detected around the self-moving device, controlling the laser ranging sensor to emit a ranging beam to both sides of the first preset obstacle; The presence of second preset obstacles on both sides of the first preset obstacle is determined based on the information of the reflected light beam received by the laser ranging sensor.

6. The map processing method according to claim 5, characterized in that: The step of determining that the first preset obstacle is a light-transmitting target obstacle when a second preset obstacle is detected around the first preset obstacle includes: When detecting that there are second preset obstacles on both sides of the first preset obstacle, controlling the self-moving device to move toward the position of the first preset obstacle; When it is detected that the self-moving device cannot pass over the first preset obstacle, the first preset obstacle is determined to be a light-transmitting target obstacle.

7. The map processing method according to claim 6, characterized in that: The controlling the mobile device to move toward the position of the first preset obstacle includes: Controlling the self-moving device to move from a current detection position toward a position of the first preset obstacle until the self-moving device contacts the first preset obstacle; When the self-moving device contacts the first preset obstacle, the self-moving device is controlled to move along the boundary of the first preset obstacle to the second preset obstacles on both sides of the first preset obstacle.

8. The map processing method according to any one of claims 1 to 4, characterized in that: The step of generating a cleaning map corresponding to the area to be cleaned according to an area in the area to be cleaned excluding the location of the light-transmissive target obstacle comprises: In the process of controlling the self-moving device to move and detect in the area to be cleaned, marking the location corresponding to the translucent target obstacle; A cleaning map corresponding to the area to be cleaned is generated according to the positions of the light-transmissive target obstacles except the marks in the area to be cleaned.

9. A map processing system, applied to a mobile device, characterized in that: include: A first obstacle detection module is used to control the self-moving device to move in the area to be cleaned and detect obstacles around the self-moving device; a second obstacle detection module, configured to detect a surrounding state of a first preset obstacle when detecting the presence of the first preset obstacle in the area to be cleaned; a light-transmitting obstacle determining module, configured to determine that the first preset obstacle is a light-transmitting target obstacle when a second preset obstacle is detected around the first preset obstacle; The map generating module is configured to generate a cleaning map corresponding to the area to be cleaned according to an area in the area to be cleaned excluding a location of the light-transmissive target obstacle.

10. A self-propelled device, characterized in that: include: Equipment body; The obstacle detection mechanism and the laser ranging sensor are provided on the device body; and a control processor, disposed on the device body and communicatively connected to the obstacle detection mechanism and the laser ranging sensor; Wherein, the control processor is used for: Controlling the self-moving device to move in the area to be cleaned and detecting obstacles around the self-moving device; When a first preset obstacle is detected in the area to be cleaned, detecting a surrounding state of the first preset obstacle; When detecting that a second preset obstacle exists around the first preset obstacle, determining that the first preset obstacle is a light-transmitting target obstacle; A cleaning map corresponding to the area to be cleaned is generated according to an area in the area to be cleaned excluding the location of the light-transmissive target obstacle.

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