Map updating method, device and equipment based on mobile equipment and storage medium

Abstract

The invention relates to a map updating method, device and equipment based on mobile equipment and a storage medium, and belongs to the technical field of automated guided vehicles, and the method comprises the steps: obtaining a first position of the mobile equipment in a set global map; according to the image information, obtaining a first area of which the point cloud intensity exceeds a set threshold in the environment point cloud of the mobile equipment and first position information of the first area relative to the mobile equipment; obtaining a second position of the first area in the global map according to the first position and the first position information; and marking a specific identifier associated with the first area on the second position in the global map.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the technical field of automatic guided vehicles, and more specifically, to a map updating method, apparatus, device and storage medium based on a mobile device. Background Art

[0002] With the rapid development of transport vehicles, Automated Guided Vehicle (AGV), as an intelligent transport vehicle, plays an important role in logistics, warehousing and other fields. At present, the existing AGV can transport goods within a specific range, but in some open areas, the features of the environmental point cloud collected by the radar configured by the AGV are relatively sparse, which makes the positioning accuracy of the AGV in the global map low. Summary of the invention

[0003] One objective of the embodiments of the present disclosure is to provide a new technical solution for map updating based on mobile devices.

[0004] According to a first aspect of the present disclosure, a map updating method based on a mobile device is provided, the method comprising:

[0005] Acquire a first position of the mobile device in a set global map and image information around the mobile device;

[0006] According to the image information, obtain a first area in the environmental point cloud of the mobile device where the point cloud intensity exceeds a set threshold and first position information of the first area relative to the mobile device;

[0007] Obtaining a second position of the first area in the global map according to the first position and the first position information;

[0008] A specific identifier associated with the first area is marked at the second position in the global map.

[0009] Optionally, the acquiring the first position of the mobile device in a set global map and image information around the mobile device includes:

[0010] Acquire image information around the mobile device through an image acquisition device configured in the mobile device; wherein the image information includes an environmental point cloud around the mobile device;

[0011] Determining a target grid in the set grid map that matches the environmental point cloud;

[0012] The first position of the mobile device in the set global map is determined according to the second position information of the target grid in the set global map.

[0013] Optionally, obtaining the first position of the mobile device in a set global map includes:

[0014] Acquire a pre-stored third position of the mobile device in the set global map at a second moment;

[0015] Acquiring movement information of the mobile device from a second moment to a first moment through a motion detection device configured on the mobile device; wherein the first moment is after the second moment;

[0016] A first position of the mobile device in a set global map at the first moment is determined according to the movement information and the third position.

[0017] Optionally, the mobile device moves within a specific range, and the first area displayed in the image information represents a reflective mark set within the specific range.

[0018] Optionally, after obtaining the second position of the first area on the global map according to the first position and the first position information, the method further includes:

[0019] Determine a second area in a set reflective marking map corresponding to the second position of the global map; wherein different areas in the reflective marking map are associated with different markings;

[0020] When the second area is associated with a blank mark, second position information of the mobile device and the first area is estimated by a motion detection device configured on the mobile device;

[0021] Using the first position information as an observation value of a set filtering model and using the second position information as a prediction value of the filtering model, inputting the two into the filtering model to obtain a filtering result;

[0022] According to the filtering result, updating the first position and the second position;

[0023] A third area in the reflective marking map corresponding to the updated second position is determined, and a blank mark associated with the third area is changed to a reflective mark.

[0024] Optionally, after determining the second area in the set reflective marking map corresponding to the second position of the global map, the method further includes:

[0025] When the second area is associated with a reflective mark and the second position of the first area meets the set update condition, the absolute position of the reflective mark set for the second area is used as a predicted value of the filtering model and the second position is used as an observed value of the filtering model, and inputted into the filtering model to obtain a filtering result;

[0026] The first position and the second position are updated according to the filtering result.

[0027] According to a second aspect of the present disclosure, a map updating device based on a mobile device is also provided, the device comprising:

[0028] A position acquisition module, used to acquire a first position of the mobile device in a set global map and image information around the mobile device;

[0029] An information obtaining module, configured to obtain, based on the image information, a first area in the environmental point cloud of the mobile device where the point cloud intensity exceeds a set threshold and first position information relative to the mobile device of the first area;

[0030] A location obtaining module, used for marking a specific identifier associated with the first area at the second location in the global map;

[0031] A map updating module is used to update the global map according to the second position of the first area.

[0032] According to a third aspect of the present disclosure, an electronic device is also provided, including a processor, wherein the processor is connected to a memory, and the memory is used to store a computer program; the processor is used to execute the computer program to implement the method described in the first aspect of the present disclosure.

[0033] According to a fourth aspect of the present disclosure, a mobile device is further provided, comprising the mobile device as described in the second aspect or the electronic device as described in the third aspect.

[0034] According to a fifth aspect of the present disclosure, a computer storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the method according to the first aspect of the present disclosure is implemented.

[0035] One beneficial effect of the embodiments of the present disclosure is that the map updating method based on mobile devices provided by the present invention can determine the first position information of the mobile device relative to the first area by setting a first area whose point cloud intensity exceeds a set threshold, so as to use the mobile device to locate the first area and update the global map, so as to make the global map more accurate, and thereby the mobile device can move more efficiently when moving through the global map.

[0036] Other features and advantages of the embodiments of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0038] Figure 1 is a flowchart of a map updating method based on a mobile device according to an embodiment;

[0039] Figure 2 is a schematic diagram of a grid map according to one embodiment;

[0040] Figure 3 is a schematic diagram of a reflective marking map according to one embodiment;

[0041] Figure 4 is a schematic diagram of the hardware structure of a map updating device based on a mobile device according to an embodiment;

[0042] Figure 5 is a block diagram of an electronic device according to an embodiment. DETAILED DESCRIPTION

[0043] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0044] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0045] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0046] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0047] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0048] <Method Example>

[0049] Figure 1 The present invention is a flowchart of a map updating method based on a mobile device according to an embodiment. The implementation subject is, for example, a mobile device, such as an automated guided vehicle (AGV), which can communicate with a server, the server stores a global map, and the global map can be synchronized to each mobile device in real time.

[0050] like Figure 1 As shown, the map updating method based on a mobile device in this embodiment may include the following steps S110 to S140:

[0051] Step S110, obtaining a first position of the mobile device in a set global map and image information around the mobile device.

[0052] In this application, each device in the entire storage space such as a warehouse or a logistics station can be managed by a server, and the server sets a global map, which shows the location of each device in the entire storage space. For example, the entire global map corresponds to a coordinate system, and each device can correspond to a coordinate.

[0053] In the present application, the server can be communicatively connected with multiple mobile devices, and the mobile device can feedback the current position of the mobile device to the server through an odometer or navigation system, and the server feedbacks the first position in the global map to the mobile device based on the current position.

[0054] In the present application, the mobile device can be configured with an image acquisition device, such as a radar or a camera. During the operation of the mobile device, the image acquisition device of the mobile device can detect the surrounding environment of the mobile device and output a sampled image of the surrounding environment of the mobile device to the mobile device, so that the mobile device can obtain image information of the sampled image.

[0055] In some embodiments, step S110 may include the following steps S210 to S230:

[0056] Step S210, obtaining image information around the mobile device through an image acquisition device configured in the mobile device; wherein the image information includes an environment point cloud around the mobile device.

[0057] In the present application, the image acquisition device may be a radar.

[0058] Step S220, determining a target grid in the set grid map that matches the environment point cloud.

[0059] In some examples, such as Figure 2As shown, the grid map can be composed of grids A1-F7, the moving path of the mobile device can be a path composed of "1", and the grid map can be pre-set so that different grids in the grid map can correspond to different feature point clouds. If the feature point cloud of a grid in the grid map is close to the feature point position of the environment point cloud, it can be determined that the grid matches the environment point cloud.

[0060] Step S230: determining the first position of the mobile device in the set global map according to the second position information of the target grid in the set global map.

[0061] In the present application, the coordinates of the global map correspond to the grids of the grid map, that is, any grid in the grid map corresponds to a coordinate in the global map, and the second position information is a coordinate of the target grid corresponding to the global map.

[0062] In other words, by determining the first position of the mobile device purely by vision, the hardware configuration of the mobile device can be reduced to reduce the manufacturing cost of the mobile device.

[0063] In some embodiments, step S110 may include the following steps S310 to S330:

[0064] Step S310: Acquire a pre-stored third position of the mobile device in the set global map at a second moment.

[0065] Step S320, obtaining movement information of the mobile device from the second moment to the first moment through a motion detection device configured in the mobile device; wherein the first moment is after the second moment.

[0066] In the present application, the motion detection device is, for example, an Odom odometer or an inertial measurement unit (IMU). The mobile device can store the coordinate position of the mobile device at the second moment, and through the motion detection device, the moving distance and rotation angle of the mobile device from the second moment to the first moment, that is, the movement information, can be calculated.

[0067] Step S330: Determine a first position of the mobile device in a set global map at a first moment according to the movement information and the third position.

[0068] In the present application, when the coordinate position at the second moment, namely the third position, the moving distance and the rotation angle are known, the coordinates of the mobile device in the global map, namely the first position, can be calculated.

[0069] Step S120, obtaining, based on the image information, a first area in the environmental point cloud of the mobile device where the point cloud intensity exceeds a set threshold and first position information of the first area relative to the mobile device.

[0070] In the present application, the set threshold may be a threshold set manually, which is not limited here.

[0071] In some examples, the mobile device is able to move within a specific range, and a special mark such as a reflective mark can be set in the specific range, so that after the image acquisition device of the mobile device detects the special mark, the mobile device can determine that the area is the first area where the point cloud intensity exceeds the set threshold.

[0072] In the present application, the mobile device can determine the first position information of the center point of the first area relative to the mobile device.

[0073] In other words, by arranging the motion detection device and the image acquisition device in cooperation, the accuracy of the first position can be effectively improved, and the positioning accuracy of the mobile device can be further improved.

[0074] In some embodiments, the mobile device moves within a specific range, and the first area displayed in the image information represents a reflective mark set within the specific range.

[0075] In other words, by setting a reflective mark in a specific range of the mobile device's activities, the reflective mark can be easily recognized by the image acquisition device of the mobile device, that is, displayed as the first area in the image information, which can effectively improve the accuracy of the positioning of the mobile device.

[0076] Step S130: Obtain a second position of the first area in the global map according to the first position and the first position information.

[0077] In some embodiments, after step S130, the method further includes the following steps S410 to S450:

[0078] Step S410, determining a second area in the set reflective marking map corresponding to a second position in the global map; wherein different areas in the reflective marking map are associated with different markings.

[0079] In some examples, each point in a reflective marker map may correspond to each point in a global map, and each point in a reflective marker map may also correspond to each point in a grid map. Figure 3 As shown, a reflective mark map can display an area corresponding to a reflective mark in a global map, and the area is associated with the reflective mark F1, and can also display an area corresponding to an open area in the global map, and the area is associated with the reflective mark F2.

[0080] Step S420, when the second area is associated with the blank mark, the second position information of the mobile device and the first area is estimated by the motion detection device configured in the mobile device.

[0081] In the present application, the mobile device can estimate the moving distance and the rotation angle from the first position to the first area through the motion detection device, and determine the second position information of the first area in combination with the first position.

[0082] Step S430, input the first position information as the observation value of the set filtering model and the second position information as the prediction value of the filtering model into the filtering model to obtain a filtering result.

[0083] In the present application, the filtering model may be an Extended Kalman Filter (EKF) model, and the first position information is used as the observation value of the filtering model and the second position information is used as the prediction value of the filtering model. The obtained filtering result may be the best estimated second position.

[0084] Step S440: updating the first position and the second position according to the filtering result.

[0085] In the present application, according to the filtering result, the second position corresponding to the area of ​​the reflective mark can be replaced with the best estimated second position. According to the best estimated second position and the first position information, the first position of the mobile device can be re-determined.

[0086] Step S450, determining a third area in the reflective marking map corresponding to the updated second position, and changing the blank marking associated with the third area to a reflective marking.

[0087] In other words, through the filtering model, a new reflective sign area can be constructed in the reflective sign map, and the position of the reflective sign area is relatively accurate, further improving the accuracy of the reflective sign map.

[0088] In some embodiments, after step S410, the method further includes the following steps S510 and S520:

[0089] Step S510, when the reflective mark is associated with the second area and the second position of the first area meets the set update conditions, the absolute position of the reflective mark set for the second area is used as the predicted value of the filtering model and the second position is used as the observed value of the filtering model, and input into the filtering model to obtain the filtering result.

[0090] In the present application, the update condition is, for example, that an identifier associated with a certain coordinate in the global map can be manually set to be updated. For example, (1, 1) is associated with a blank identifier and cannot be updated, (1, 3) is associated with a reflective identifier and can be updated, so (1, 3) is a location that meets the update condition.

[0091] Step S520: updating the first position and the second position according to the filtering result.

[0092] In the present application, according to the filtering result, the second position corresponding to the area of ​​the reflective mark can be replaced with the best estimated second position. According to the best estimated second position and the first position information, the first position of the mobile device can be re-determined.

[0093] In other words, through the filtering model, the position of the area of ​​the reflective marking that has been established in the reflective marking map can be calibrated to further improve the accuracy of the reflective marking map.

[0094] Step S140: Mark a specific identifier associated with the first area at a second position in the global map.

[0095] In the present application, the specific mark can be a text mark, a digital mark or an image mark, etc., so as to represent the reflective mark through the specific mark.

[0096] In the present application, the second position of the first area is one coordinate or multiple coordinates in the global map, and is marked as an area with a reflective mark in the global map.

[0097] <Equipment Example 1>

[0098] Figure 4 FIG. 1 is a block diagram of a map updating device based on a mobile device according to an embodiment. Figure 4 As shown, the map updating device 200 based on the mobile device may include:

[0099] The position acquisition module 210 is used to acquire the first position of the mobile device in the set global map and the image information around the mobile device;

[0100] An information obtaining module 220 is used to obtain, according to the image information, a first area in the environmental point cloud of the mobile device where the point cloud intensity exceeds a set threshold and first position information of the first area relative to the mobile device;

[0101] A position obtaining module 230, configured to obtain a second position of the first area in the global map according to the first position and the first position information;

[0102] The map updating module 240 is used to mark a specific identifier associated with the first area at a second position in the global map.

[0103] Optionally, the position acquisition module 210 is also used to obtain image information around the mobile device through an image acquisition device configured in the mobile device; wherein the image information includes an environmental point cloud around the mobile device; determine a target grid in a set grid map that matches the environmental point cloud; and determine a first position of the mobile device in a set global map based on the second position information of the target grid in a set global map.

[0104] Optionally, the position acquisition module 210 is also used to obtain a pre-stored third position of the mobile device in the set global map at a second moment; obtain movement information of the mobile device from the second moment to the first moment through a motion detection device configured for the mobile device; wherein the first moment is after the second moment; determine the first position of the mobile device in the set global map at the first moment based on the movement information and the third position.

[0105] Optionally, the map updating device 200 based on a mobile device also includes a logo update module, which is used to determine a second area in a set reflective logo map corresponding to a second position of the global map; wherein different areas in the reflective logo map are associated with different logos; when the second area is associated with a blank logo, the second position information of the mobile device and the first area is estimated by a motion detection device configured in the mobile device; the first position information is used as an observation value of the set filtering model and the second position information is used as a prediction value of the filtering model, and the filtering result is obtained; according to the filtering result, the first position and the second position are updated; the third area in the reflective logo map corresponding to the updated second position is determined, and the blank logo associated with the third area is changed to a reflective logo.

[0106] Optionally, the map updating device 200 based on mobile device also includes a position updating module, which is used to input the absolute position of the reflective mark set for the second area as the predicted value of the filtering model and the second position as the observed value of the filtering model into the filtering model when the reflective mark is associated with the second area and the second position of the first area meets the set update conditions, to obtain the filtering result; and update the first position and the second position according to the filtering result.

[0107] The mobile device-based map updating apparatus 200 may be a mobile device.

[0108] <Equipment Example 2>

[0109] Figure 5 is a schematic diagram of the hardware structure of an electronic device according to an embodiment.

[0110] like Figure 5 As shown, the electronic device 300 includes a processor 310 and a memory 320, wherein the memory 320 is used to store an executable computer program, and the processor 310 is used to execute a method such as any of the above method embodiments under the control of the computer program.

[0111] The electronic device 300 may be Figure 1 Mobile devices in .

[0112] Each module of the above-mentioned map updating device 200 based on mobile device can be implemented by the processor 310 in this embodiment executing a computer program stored in the memory 320, or can be implemented by other structures, which is not limited here.

[0113] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0114] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0115] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0116] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0117] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0118] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0119] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0120] The flow charts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a part of a module, a program segment or an instruction, and a part of the module, a program segment or an instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0121] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A map updating method based on a mobile device, characterized in that: The method comprises: Acquire a first position of the mobile device in a set global map and image information around the mobile device; According to the image information, obtain a first area in the environmental point cloud of the mobile device where the point cloud intensity exceeds a set threshold and first position information of the first area relative to the mobile device; Obtaining a second position of the first area in the global map according to the first position and the first position information; A specific identifier associated with the first area is marked at the second position in the global map.

2. The method according to claim 1, characterized in that The obtaining of the first position of the mobile device in the set global map and image information around the mobile device includes: Acquire image information around the mobile device through an image acquisition device configured in the mobile device; wherein the image information includes an environmental point cloud around the mobile device; Determining a target grid in the set grid map that matches the environmental point cloud; The first position of the mobile device in the set global map is determined according to the second position information of the target grid in the set global map.

3. The method according to claim 1, characterized in that: The obtaining of the first position of the mobile device in the set global map includes: Acquire a pre-stored third position of the mobile device in the set global map at a second moment; Acquiring movement information of the mobile device from a second moment to a first moment through a motion detection device configured on the mobile device; wherein the first moment is after the second moment; A first position of the mobile device in a set global map at the first moment is determined according to the movement information and the third position.

4. The method according to claim 1, characterized in that: The mobile device moves within a specific range, and the first area displayed in the image information represents a reflective mark set within the specific range.

5. The method according to claim 1, characterized in that After obtaining the second position of the first area in the global map according to the first position and the first position information, the method further includes: Determine a second area in a set reflective marking map corresponding to the second position of the global map; wherein different areas in the reflective marking map are associated with different markings; When the second area is associated with a blank mark, second position information of the mobile device and the first area is estimated by a motion detection device configured on the mobile device; Using the first position information as an observation value of a set filtering model and using the second position information as a prediction value of the filtering model, inputting the two into the filtering model to obtain a filtering result; According to the filtering result, updating the first position and the second position; A third area in the reflective marking map corresponding to the updated second position is determined, and a blank mark associated with the third area is changed to a reflective mark.

6. The method according to claim 5, characterized in that After determining the second area in the set reflective marking map corresponding to the second position of the global map, the method further includes: When the second area is associated with a reflective mark and the second position of the first area meets the set update condition, the absolute position of the reflective mark set for the second area is used as a predicted value of the filtering model and the second position is used as an observed value of the filtering model, and inputted into the filtering model to obtain a filtering result; The first position and the second position are updated according to the filtering result.

7. A map updating device based on a mobile device, characterized in that: The device comprises: A position acquisition module, used to acquire a first position of the mobile device in a set global map and image information around the mobile device; An information obtaining module, configured to obtain, based on the image information, a first area in the environmental point cloud of the mobile device where the point cloud intensity exceeds a set threshold and first position information relative to the mobile device of the first area; A position obtaining module, configured to obtain a second position of the first area in the global map according to the first position and the first position information; A map updating module is used to update the global map according to the second position of the first area.

8. An electronic device, characterized in that: The method comprises a processor connected to a memory, wherein the memory is used to store a computer program; the processor is used to execute the computer program to implement the method according to any one of claims 1 to 6.

9. A mobile device, characterized in that: A docking device for a mobile device as claimed in claim 7 or an electronic device as claimed in claim 8.

10. A computer storage medium, characterized in that: The computer storage medium stores a computer-readable program, and the computer-readable program is executed by a processor to perform the steps of the method according to any one of claims 1 to 6.

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