Map creation method and system, medium, equipment and program product

Abstract

The invention provides a map creating method and system, a medium, equipment and a program product, and relates to the field of equipment automation, and the method comprises the steps: obtaining the current position information of self-walking equipment if abnormal environment information is detected; creating a target operation map according to the current position information and the initial operation map; wherein the target operation map comprises a corresponding area of which the terrain is greater than or equal to the current position information in the initial operation map. According to the method, the operation map of the self-walking equipment can be automatically created, autonomous operation of the self-walking equipment in a severe environment is avoided by updating the initial operation map, invalid path deviation of the self-walking equipment and operations such as parking and restarting in the operation process are reduced, the operation energy consumption of the self-walking equipment is reduced, and the operation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of automation equipment, and in particular to a map creation method, system, medium, equipment and program product. Background Art

[0002] In recent years, in the path planning systems of traditional self-propelled equipment, such as lawn mowers, the operation is usually performed based on preset paths or GPS-based automatic navigation. However, this type of path planning does not fully take into account the dynamic changes in weather or the working environment. For example, for a lawn mower, when there are water accumulation areas on the lawn after rain, these slippery areas may accumulate too much water, causing the ground to be muddy and soft. At this time, when the lawn mower is running in the wet area, it is easy to get stuck or slip, which increases the maintenance cost and operation risk of the lawn mower. Summary of the invention

[0003] The purpose of this application is to provide a map creation method, system, computer-readable storage medium, electronic device and computer program product, which can achieve rapid map update when abnormal environmental information is detected by recreating the map, thereby avoiding the operational risks faced by self-propelled equipment when it cannot update the operating map in time.

[0004] In order to solve the above technical problems, this application provides a map creation method, which is applied to self-propelled equipment. The specific technical solution is as follows:

[0005] If abnormal environmental information is detected, obtaining the current location information of the self-propelled device;

[0006] Creating a target operation map according to the current location information and the initial operation map;

[0007] The target operation map includes a corresponding area in the initial operation map whose terrain is greater than or equal to the current location information.

[0008] Optionally, creating a target operation map according to the current location information and a pre-stored operation map includes:

[0009] The initial operation map includes a three-dimensional map of the area to be operated, and the current position information includes the positioning information of the current position of the self-propelled device. The first terrain height corresponding to the current position information is obtained according to the positioning information and the three-dimensional map, and the area in the initial operation map where the terrain is greater than or equal to the first terrain height is used as the area included in the target operation map.

[0010] Optionally, creating a target operation map according to the current location information and a pre-stored operation map includes:

[0011] The initial operation map includes a contour map of the area to be operated, the current position information includes a second terrain height of the current position of the self-propelled device, and the area in the contour map where the terrain is greater than or equal to the second terrain height is used as the area included in the target operation map.

[0012] Optionally, the initial operation map includes a contour map of the area to be operated, the current position information includes a second terrain height of the current position of the self-propelled device, and an area in the contour map where the terrain is greater than or equal to the second terrain height is used as an area included in the target operation map, further comprising:

[0013] Traversing the area to be operated, and acquiring height data and / or slope data within the operating area;

[0014] The contour map corresponding to the working area is generated according to the height data and / or the slope data.

[0015] Optionally, if the abnormal environment information is abnormal terrain information, determining a corresponding area in the initial operation map where the terrain is greater than or equal to the current location information includes:

[0016] Determining the abnormal terrain coordinates included in the abnormal terrain information;

[0017] Acquire terrain detection data with the abnormal terrain coordinates as a reference position and a set length as a detection radius;

[0018] The terrain detection data and the contour map are compared to determine the corresponding area.

[0019] Optionally, if the abnormal environment information is abnormal humidity information, before determining the corresponding area in the initial operation map where the terrain is greater than or equal to the current location information, the method further includes:

[0020] The humidity data of the environment associated with the current location information is sampled multiple times. If the sampling ratio of the humidity data belonging to abnormal humidity information is greater than a sampling threshold, it is confirmed that the abnormal humidity information of the current location information is valid.

[0021] Optionally, if the abnormal environment information is abnormal humidity information, humidity data of the environment associated with the current location is sampled multiple times, and if the sampling ratio of the humidity data belonging to abnormal humidity information is greater than a sampling threshold, confirming that the abnormal humidity information of the current location is valid includes:

[0022] Taking the contour line corresponding to the current position information as the axis, collecting a plurality of humidity data within a set spacing range on both sides of the axis;

[0023] If the sampling ratio of the plurality of humidity data belonging to abnormal humidity information is greater than the sampling threshold, it is confirmed that the abnormal humidity information of the current position is valid.

[0024] Optionally, if the abnormal environment information is abnormal humidity information, before creating the target operation map according to the current position information and the initial operation map, the method further includes:

[0025] Determine the center of the contour line corresponding to the current position information;

[0026] Collecting humidity data at a target position symmetrical to the center of the contour line;

[0027] If the humidity data of the target position belongs to abnormal humidity information, it is confirmed that the abnormal humidity information of the current position information is valid, and a step of creating a target operation map according to the current position information and the initial operation map is executed.

[0028] Optionally, if the abnormal environment information is abnormal humidity information, when the area in the contour map where the terrain is greater than or equal to the second terrain height is taken as the area included in the target operation map, the method further includes:

[0029] Mark the low-lying areas in the area corresponding to the target operation map whose altitude is greater than the current position information.

[0030] Optionally, when the self-propelled device is located in the area to be operated, before detecting whether there is abnormal environmental information, the method further includes:

[0031] The self-propelled equipment is controlled to operate according to the initial operation map and the initial operation path.

[0032] Optionally, also include:

[0033] The initial operation path is updated according to the target operation map to obtain a target operation path so that the self-propelled device can operate along the target operation path.

[0034] The present application also provides a map creation system, which is applied to a self-propelled device, comprising:

[0035] A location acquisition module, used to acquire the current location information of the self-propelled device if abnormal environmental information is detected;

[0036] A map creation module, used to create a target operation map according to the current location information and the initial operation map;

[0037] The target operation map includes a corresponding area in the initial operation map whose terrain is greater than or equal to the current location information.

[0038] The present application also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the map creation method described above are implemented.

[0039] The present application also provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps of the map creation method described above are implemented.

[0040] The present application also provides a computer program product, including a computer program, which implements the steps of the map creation method described above when executed.

[0041] The present application provides a map creation method, which is applied to self-propelled equipment. The specific technical solution is as follows: if abnormal environmental information is detected, the current position information of the self-propelled equipment is obtained; a target operation map is created based on the current position information and an initial operation map; wherein the target operation map includes a corresponding area in the initial operation map whose terrain is greater than or equal to the current position information.

[0042] When the self-propelled device detects abnormal environmental information, the present application obtains the current position information of the self-propelled device, creates a new target operation map in combination with the current position information and the initial operation map, and applies the target operation map to avoid the adverse effects of the abnormal environmental information, thereby realizing the automatic creation of the operation map of the self-propelled device, and avoiding the wear and tear of the equipment or equipment failure caused by long-term operation in a harsh working environment when the self-propelled device performs operations along the initial operation map by updating the initial operation map. Based on the present application, the adjusted target operation map can also be used to plan a new target operation path, which can reduce the invalid path deviation of the self-propelled device, as well as operations such as parking and restarting during the operation process, reduce the operating energy consumption of the self-propelled device, and improve the operation efficiency.

[0043] The present application also provides a map creation system, a computer-readable storage medium, an electronic device, and a computer program product, which have the above-mentioned beneficial effects and are not described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0045] Figure 1 A flowchart of a map creation method provided in an embodiment of the present application;

[0046] Figure 2 This is a schematic diagram of the center symmetry of contour lines provided in the embodiment of the present application;

[0047] Figure 3 A schematic diagram of updating the operation path provided in an embodiment of the present application;

[0048] Figure 4 A schematic diagram of the structure of a map creation system provided in an embodiment of the present application;

[0049] Figure 5 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0051] The object information involved in this application, including but not limited to the object device information, object personal information, etc., and data, including but not limited to data used for analysis, stored data, displayed data, etc., are all information and data authorized by the object or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the laws, regulations and standards of relevant countries and regions.

[0052] See also Figure 1 , Figure 1 A flowchart of a map creation method provided in an embodiment of the present application, the method comprising:

[0053] S101: If abnormal environmental information is detected, obtain the current position information of the self-propelled device;

[0054] S102: Creating a target operation map according to the current position information and the initial operation map;

[0055] The target operation map includes a corresponding area in the initial operation map whose terrain is greater than or equal to the current position information.

[0056] There is no limitation on the type of abnormal environmental information and how to detect it. The detection method of abnormal environmental information is related to the type of information. This type of information is related to the safety of the self-propelled equipment operation, including but not limited to abnormal terrain information, abnormal humidity information, etc. It can also include abnormal weather information, such as wind speed, etc. For abnormal terrain information, methods including but not limited to infrared sensors, laser radars, video image recognition sensors, etc. can be used. For abnormal humidity information, the humidity sensor can be directly used to detect and obtain it, or the humidity information of the working area can be detected by a capacitive sensor. For example, if the self-propelled equipment is a lawn mower, it can be judged based on the changes in the conductivity of the lawn surface. In addition, the humidity information can also be obtained by a visual device.

[0057] When abnormal environmental information is detected, the current position information of the self-propelled device needs to be obtained, so as to create a target operation map based on the current position information and the initial operation map.

[0058] There is no limitation on the map type of the initial operation map, which may be a three-dimensional map or a contour map.

[0059] If the initial operation map is a three-dimensional map of the area to be operated, the current position information may include the positioning information of the current position of the self-propelled equipment. When creating the target operation map, the first terrain height corresponding to the current position information can be obtained based on the positioning information and the three-dimensional map, and the area in the initial operation map where the terrain is greater than or equal to the first terrain height can be used as the area included in the target operation map.

[0060] If the initial operation map includes a contour map of the area to be operated, and the current position information includes a second terrain height of the current position of the self-propelled device, when creating the target operation map, the area in the contour map where the terrain is greater than or equal to the second terrain height is used as the area included in the target operation map.

[0061] In this embodiment, the contour map is assumed to be a map containing the entire operation area, and has been acquired before the self-propelled device operates in the operation area along the preset operation path. A feasible method for generating the contour map may be: traversing the area to be operated, acquiring the height data and / or slope data of the area to be operated, and then generating the contour map corresponding to the area to be operated according to the height data and / or slope data.

[0062] It can be seen that for different types of initial operation maps, the types of current location information obtained are also different, but the target operation map can be created based on the terrain height of the current location information.

[0063] In addition, after abnormal environmental information is detected, there are differences in the way of creating the target operation map for abnormal environmental information of different information types.

[0064] If the abnormal environment information is abnormal terrain information, when determining the corresponding area in the initial operation map where the terrain is greater than or equal to the current position information, the following steps may be included:

[0065] The first step is to determine the abnormal terrain coordinates contained in the abnormal terrain information;

[0066] The second step is to obtain terrain detection data with the abnormal terrain coordinates as the reference position and the set length as the detection radius;

[0067] The third step is to compare the terrain detection data with the initial operation map to determine the corresponding area in the initial operation map where the terrain is greater than or equal to the current location information.

[0068] Considering that the abnormal terrain information may only be the edge position of the abnormal environment area, after the abnormal terrain information is detected, the abnormal terrain coordinates are used as the reference position and the set length is used as the detection radius to obtain the terrain detection data. The set length is not limited here and can be set by those skilled in the art. The set length does not have to be a fixed value. In actual application, the set length can be gradually increased to accurately create the target operation map. After obtaining the terrain detection data, the terrain detection data is compared with the contour map to determine the corresponding area in the initial operation map where the terrain is not lower than the current position information.

[0069] If the abnormal environmental information is abnormal humidity information, the low-lying area in the corresponding area of ​​the target operation map with an altitude greater than the current location information can also be marked. The mark can be used as the area that needs to be focused on in the target operation map, so that the low-lying area corresponding to the mark can be avoided when the operation path is subsequently planned. When abnormal humidity information is detected, it indicates that the humidity in the current operation area is high, and it may be in a rainy or waterlogged area. In order to avoid the self-propelled equipment from wading or working in a high humidity area for a long time, which may cause equipment damage and failure, the area with an altitude less than the current location and the low-lying area with an altitude greater than the current location information may pose a threat to the safety of the self-propelled equipment. The low-lying area is represented on the contour map as the contour line value gradually increases from the middle to the surroundings, that is, the contour line with a low middle and high surroundings and closed represents the low-lying area. In this way, unnecessary water accumulation detection in flat areas or highlands is avoided, the detection workload and time consumption are reduced, and the focus is on the operable area, thereby improving the work efficiency. Since the humidity data at the current location is abnormal, the humidity data of the area below the current location altitude will be higher. Therefore, the area with an altitude less than the current location altitude is not suitable for autonomous operation of the self-propelled equipment.

[0070] When the self-propelled device does not detect abnormal environmental information and is located in the waiting operation area, the self-propelled device can be controlled to operate according to the initial operation map and the initial operation path. After creating the target operation map, the initial operation path can be updated according to the target operation map to obtain the target operation path so that the self-propelled device can operate along the target operation path.

[0071] During this process, if the target work area contains multiple sub-work areas, the path with the highest average terrain can be determined according to the contour map as the optimal path between the two sub-work areas, and then the preset work path can be updated according to all the optimal paths. For the same work area where there are multiple areas with the same terrain, the work area will be divided into multiple sub-work areas according to the contour map. At this time, after the work in one sub-work area is completed, the self-propelled equipment can choose the path with the highest average terrain to go to another area. The reason why the shortest path between the two sub-work areas is not selected is that the optimal path can keep the self-propelled equipment moving on a path with higher terrain, avoid landslides and other situations, and ensure the safety of the self-propelled equipment's operation.

[0072] In addition, when updating the preset operation path to obtain the target operation path, the operation priority of each sub-operation area may be determined first, so as to update the preset operation path according to the operation priority.

[0073] There is no limitation on how to determine the job priority of the sub-operation area. In a feasible implementation, the changing trend of humidity data corresponding to the abnormal humidity information can be determined, and the job priority can be determined based on the changing trend and the altitude of each sub-operation area.

[0074] When planning the target operation path, the target operation path is usually planned according to the planning principle from high to low terrain. This is because abnormal environmental information is usually mostly abnormal humidity information, and the humidity in the low-lying areas is higher than that in the high-lying areas. Therefore, operations are performed in high-lying areas first to reduce the possibility of equipment damage and failure of self-propelled equipment.

[0075] At this time, the operation priority of the sub-operation area can be comprehensively determined based on the distance from the current position of the self-propelled device and the altitude of the sub-operation area. Without considering the change trend of abnormal humidity information, the closer to the current position of the self-propelled device, the higher its priority; the higher the altitude of the sub-operation area, the higher its priority. In this way, the total driving distance of the self-propelled device can be reduced while meeting the operation requirements, the operation energy consumption can be reduced, and the probability of damage to the self-propelled device can be reduced.

[0076] If the changing trend of abnormal humidity information is considered, when the changing trend is that the humidity data remains stable or gradually decreases, the higher the altitude of the sub-operation area, the higher the corresponding operation priority; when the changing trend is that the humidity data gradually increases, the lower the altitude of the sub-operation area, the higher the corresponding operation priority. At this time, when the humidity data gradually decreases, the humidity data of the sub-operation area with a higher altitude decreases faster, while the low-altitude area is affected by the surface runoff of the high-altitude area, resulting in a slow decrease in the humidity data in the low-altitude area. Therefore, the higher the altitude of the sub-operation area, the higher its priority. If the changing trend of the humidity data is that the humidity data gradually increases, the lower the altitude of the sub-operation area, the higher the corresponding operation priority, that is, considering the completion of the operation and meeting the working conditions of the self-propelled equipment, the low-altitude sub-operation area is operated first, and then the high-altitude sub-operation area is operated, which can guarantee the equipment operation efficiency and completion as much as possible. Of course, when the humidity data rises to the point where it cannot meet the operating conditions of the self-propelled equipment, the operation should be stopped in time to avoid damage to the self-propelled equipment.

[0077] It can be seen that this embodiment uses contour maps in combination with abnormal environmental information to dynamically adjust the operating area, thereby significantly improving the operating efficiency of self-propelled equipment under different terrain and climatic conditions. The contour map can provide the self-propelled equipment with detailed data on the operating area, including changes in height and slope, so that the self-propelled equipment can reasonably adjust the operating path according to the terrain characteristics and reduce the frequent reliance on water accumulation detection.

[0078] In addition, for each sub-operation area, in order to improve the operation efficiency, the operation mode within the sub-operation area can be further selected according to the shape of the sub-operation area, for example:

[0079] If the sub-operating area is approximately a regular-shaped area, a spiral operating path or an arcuate reciprocating path is adopted within the sub-operating area; the path spacing between the spiral operating paths or the arcuate reciprocating paths is not greater than the operating width of the self-propelled equipment.

[0080] If the sub-operation area is an irregularly shaped area, within the sub-operation area, the operation is first performed around the boundary of the irregularly shaped area, and then the operation is gradually performed toward the center according to the internal shape of the sub-operation area.

[0081] In addition, it is easy to understand that if an obstacle is detected during the movement across the sub-operation area, it can be further determined whether to re-plan the target operation path, return to the original path, or stop the movement according to the type of obstacle. For example, if a new obstacle appears in the execution path, the obstacle is bypassed to cross the area; if a puddle is detected (visual image sensors can be used, etc.), the original path is returned or the movement is stopped.

[0082] When the self-propelled device detects abnormal environmental information, the embodiment of the present application obtains the current position information of the self-propelled device, combines the current position information and the initial operation map to create a new target operation map, and applies the target operation map to avoid the adverse effects of the abnormal environmental information, so as to avoid the self-propelled device from performing operations along the initial operation map due to long-term operation in a harsh working environment, causing equipment wear or equipment failure. On the basis of the present application, the adjusted target operation map can also be used to plan a new target operation path, which can reduce the invalid path deviation of the self-propelled device, as well as operations such as parking and restarting during the operation process, reduce the operating energy consumption of the self-propelled device, and improve the operation efficiency.

[0083] On the basis of the above embodiments, as a preferred embodiment, if the abnormal environmental information is abnormal humidity information, taking into account the regional limitations of humidity information, for example, a small puddle happens to be detected in the working area, but it does not mean that the humidity data in the remaining areas outside the small puddle is abnormal. Therefore, when the abnormal humidity information is detected, the abnormal humidity data can be verified to determine the validity of the abnormal humidity information.

[0084] In a feasible implementation, humidity data of the environment associated with the current location may be sampled multiple times. If the sampling ratio of the humidity data belonging to abnormal humidity information is greater than a sampling threshold, the abnormal humidity information of the current location is confirmed to be valid. The so-called associated environment refers to other areas with the same or similar heights as the current location, or all areas within the same height range.

[0085] In a specific implementation of the above process, the contour line corresponding to the current position information can be used as the axis, and multiple humidity data can be collected within the range of the spacing set on both sides of the axis. If the sampling ratio of the multiple humidity data belonging to abnormal humidity information is greater than the sampling threshold, the abnormal humidity information at the current position is confirmed to be valid. For example, when the self-propelled device triggers the abnormal humidity information of the humidity sensor at a terrain of 200m, the contour line of 200 meters can be used as the axis, and the humidity data can be continuously collected at a spacing of 0.5 meters on both sides of the axis to detect whether there is abnormal humidity information in the humidity data of the associated environment. Specifically, taking the current position as the starting point, humidity data is collected at 200 meters or other areas below 200 meters (for example, 199.5 meters). If the sampling ratio of the humidity data belonging to abnormal humidity information is greater than the sampling threshold, the abnormal humidity information detected for the first time is judged to be a true signal, otherwise it is regarded as a false signal. The false signal may be due to the detection error of the humidity data, or it may be due to the detection of a low-lying area in the operating area. The sampling threshold is not limited here and can be set by technicians in this field.

[0086] In another feasible implementation, the center of the contour line corresponding to the current position information can be determined, and the humidity data of the target position symmetrical to the center of the contour line can be collected. If the humidity data of the target position belongs to abnormal humidity information, the abnormal humidity information of the current position is confirmed to be valid. For example, see Figure 2 , Figure 2 This is a schematic diagram of the center symmetry of contour lines provided in an embodiment of the present application. When the self-propelled device triggers the humidity sensor at point A at an altitude of 200 meters and detects abnormal humidity information, the contour line center of point A is confirmed according to the three-dimensional map information, and point B, which is symmetrical between point A and the contour line center, is obtained. The self-propelled device moves in the opposite direction to point B for sampling. If point B also triggers a humidity signal, the signal at point A is judged to be true, and the operating area is replanned according to the positions of the two points.

[0087] See also Figure 3 , Figure 3 The operation path update schematic diagram provided in the embodiment of the present application is as follows:

[0088] The black box is the area to be operated corresponding to the initial operation map, and the terrain gradually decreases from left to right. The initial operation path is the arc-shaped route shown by the black arrow. For the convenience of display, Figure 3 The initial working path shown does not cover the entire area to be worked on, and the black lines shown are partial examples of the initial working path.

[0089] Taking the self-propelled device as a lawn mower as an example, if the lawn mower detects abnormal environmental information at the point indicated by the blue arrow in the figure during movement, the above embodiment is executed at this time. After creating the target operation map, the initial operation path is updated according to the target operation map, that is, the area higher than the terrain height where the abnormal environmental information is located is used as the new operation area. At this time, the target operation path is changed to that shown by the red bow line. Similarly, the target operation path does not cover all the areas to be operated.

[0090] It can be clearly seen that the initial operation path is along the horizontal area, while the updated target operation path is along the vertical area, and no longer operates in areas below the terrain height corresponding to the abnormal environmental information. At the same time, considering the changes in abnormal environmental information, priority is given to low-lying areas in the target operation map, and the completion of the operation is improved as much as possible while avoiding damage to the self-propelled equipment. If the operation continues along the horizontal area, as the environmental humidity rises, the terrain corresponding to the abnormal environmental information will gradually rise, and the self-propelled equipment will face a higher operation risk.

[0091] See also Figure 4 , Figure 4 A schematic diagram of a map creation system structure provided in an embodiment of the present application, the system comprising:

[0092] A location acquisition module is used to obtain the current location information of the self-propelled device if abnormal environmental information is detected;

[0093] The map creation module is used to create a target operation map according to the current position information and the initial operation map; wherein the target operation map includes the corresponding area in the initial operation map whose terrain is greater than or equal to the current position information.

[0094] Based on the above embodiments, as a preferred embodiment, if the initial work map includes a three-dimensional map of the area to be worked, the current position information includes the positioning information of the current position of the self-propelled device, and the map creation module is a module for obtaining the first terrain height corresponding to the current position information according to the positioning information and the three-dimensional map, and taking the area in the initial work map where the terrain is greater than or equal to the first terrain height as the area included in the target work map.

[0095] Based on the above embodiments, as a preferred embodiment, if the initial work map includes a contour map of the area to be worked, and the current position information includes the second terrain height of the current position of the self-propelled device, the map creation module is a module for taking the area in the contour map where the terrain is greater than or equal to the second terrain height as the area included in the target work map.

[0096] Based on the above embodiments, as a preferred embodiment, it also includes:

[0097] The contour map generation module is used to traverse the working area, obtain the height data and / or slope data in the working area; and generate the contour map corresponding to the working area according to the height data and / or the slope data.

[0098] Based on the above embodiment, as a preferred embodiment, if the abnormal environment information is abnormal terrain information, the map creation module includes:

[0099] A coordinate determination unit, used to determine the coordinates of the abnormal terrain included in the abnormal terrain information;

[0100] A terrain data acquisition unit, used to acquire terrain detection data with the abnormal terrain coordinates as a reference position and a set length as a detection radius;

[0101] The operation area determination unit is used to compare the terrain detection data with the initial operation map to determine a corresponding area in the initial operation map where the terrain is greater than or equal to the current position information.

[0102] Based on the above embodiment, as a preferred embodiment, if the abnormal environment information is abnormal humidity information, it also includes:

[0103] The first humidity data verification module is used to sample humidity data of an environment associated with a current position for multiple times, and if a sampling ratio of the humidity data belonging to abnormal humidity information is greater than a sampling threshold, confirm that the abnormal humidity information of the current position is valid.

[0104] Based on the above embodiment, as a preferred embodiment, the first humidity data verification module is a module for performing the following steps:

[0105] Taking the contour line corresponding to the current position information as the axis, multiple humidity data are collected within a set spacing range on both sides of the axis; if the sampling ratio of multiple humidity data belonging to abnormal humidity information is greater than the sampling threshold, it is confirmed that the abnormal humidity information of the current position is valid.

[0106] Based on the above embodiment, as a preferred embodiment, if the abnormal environment information is abnormal humidity information, it also includes:

[0107] The second humidity data verification module is used to determine the center of the contour line corresponding to the current position information; collect humidity data of the target position symmetrical to the center of the contour line; if the humidity data of the target position belongs to abnormal humidity information, confirm that the abnormal humidity information of the current position is valid.

[0108] Based on the above embodiments, as a preferred embodiment, it also includes:

[0109] The low-lying area marking module is used to mark the low-lying area in the area corresponding to the target operation map whose altitude is greater than the current position information.

[0110] Based on the above embodiments, as a preferred embodiment, it also includes:

[0111] The operation module is used to control the self-propelled device to operate according to the initial operation map and the initial operation path if the self-propelled device does not detect the abnormal environmental information and is located in the area to be operated.

[0112] Based on the above embodiment, as a preferred embodiment, the operation module is also used to update the initial operation path according to the target operation map to obtain a target operation path so that the self-propelled device can operate along the target operation path.

[0113] Based on the above embodiment, as a preferred embodiment, the operation module includes:

[0114] The first path planning unit is used to determine, if the target working area includes multiple sub-working areas, a path with the highest average terrain as the optimal path between two sub-working areas according to the contour map; and update the preset working path according to all the optimal paths.

[0115] Based on the above embodiment, as a preferred embodiment, the operation module includes:

[0116] The second path planning unit is used to determine the operation priority of each sub-operation area if the target work area includes multiple sub-operation areas; and update the preset operation path according to the operation priority.

[0117] Based on the above embodiment, as a preferred embodiment, if the abnormal environment information is abnormal humidity information, the second path planning unit is a unit for performing the following steps:

[0118] Determine the changing trend of the humidity data corresponding to the abnormal humidity information, and determine the job priority according to the changing trend and the altitude of each sub-operation area; wherein, when the changing trend is that the humidity data remains stable or gradually decreases, the higher the altitude of the sub-operation area, the higher the corresponding job priority; when the changing trend is that the humidity data gradually increases, the lower the altitude of the sub-operation area, the higher the corresponding job priority.

[0119] Based on the above embodiments, as a preferred embodiment, it also includes:

[0120] A sub-area operation module is used for each sub-operation area. If the sub-operation area is approximately a regular-shaped area, a spiral operation path or an arched reciprocating path is adopted in the sub-operation area; the path spacing between the spiral operation paths or the arched reciprocating paths is not greater than the operation width of the self-propelled device; if the sub-operation area is an irregular-shaped area, within the sub-operation area, operations are first performed around the boundary of the irregular-shaped area, and then operations are gradually performed toward the center according to the internal shape of the sub-operation area.

[0121] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed, the steps provided in the above embodiment can be implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0122] The present application also provides an electronic device, see Figure 5 , a structural diagram of an electronic device provided in an embodiment of the present application, such as Figure 5 As shown, a processor 1410 and a memory 1420 may be included.

[0123] Among them, the processor 1410 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 1410 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 1410 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 1410 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 1410 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0124] The memory 1420 may include one or more computer-readable storage media, which may be non-transitory. The memory 1420 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 1420 is at least used to store the following computer program 1421, wherein, after the computer program is loaded and executed by the processor 1410, it can implement the relevant steps in the method performed by the electronic device side disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 1420 may also include an operating system 1422 and data 1423, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 1422 may include Windows, Linux, Android, etc.

[0125] In some embodiments, the electronic device may further include a display screen 1430 , an input / output interface 1440 , a communication interface 1450 , a sensor 1460 , a power source 1470 , and a communication bus 1480 .

[0126] certainly, Figure 5 The structure of the electronic device shown does not constitute a limitation on the electronic device in the embodiments of the present application. In actual applications, the electronic device may include Figure 5 More or fewer components than shown, or combinations of certain components.

[0127] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the system provided in the embodiment, since it corresponds to the method provided in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0128] Specific examples are used herein to illustrate the principles and implementation methods of the present application, and the description of the above embodiments is only used to help understand the method and core ideas of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the present application.

[0129] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A map creation method, applied to a self-propelled device, characterized in that: include: If abnormal environmental information is detected, obtaining the current location information of the self-propelled device; Creating a target operation map according to the current location information and the initial operation map; The target operation map includes a corresponding area in the initial operation map whose terrain is greater than or equal to the current location information.

2. The map creation method according to claim 1, characterized in that: Creating a target operation map according to the current position information and the initial operation map includes: The initial operation map includes a three-dimensional map of the area to be operated, and the current position information includes the positioning information of the current position of the self-propelled device. The first terrain height corresponding to the current position information is obtained according to the positioning information and the three-dimensional map, and the area in the initial operation map where the terrain is greater than or equal to the first terrain height is used as the area included in the target operation map.

3. The map creation method according to claim 1, characterized in that: Creating a target operation map according to the current position information and the initial operation map includes: The initial operation map includes a contour map of the area to be operated, the current position information includes a second terrain height of the current position of the self-propelled device, and the area in the contour map where the terrain is greater than or equal to the second terrain height is used as the area included in the target operation map.

4. The map creation method according to claim 3, characterized in that: The method further includes: taking an area in the contour map where the terrain is greater than or equal to the second terrain height as an area included in the target operation map; Traversing the area to be operated, and acquiring height data and / or slope data of the area to be operated; The contour map corresponding to the area to be operated is generated according to the height data and / or the slope data.

5. The map creation method according to claim 2 or 3, characterized in that: If the abnormal environment information is abnormal terrain information, determining a corresponding area in the initial operation map where the terrain is greater than or equal to the current location information includes: Determining the abnormal terrain coordinates included in the abnormal terrain information; Acquire terrain detection data with the abnormal terrain coordinates as a reference position and a set length as a detection radius; The terrain detection data and the initial operation map are compared to determine a corresponding area in the initial operation map where the terrain is greater than or equal to the current location information.

6. The map creation method according to claim 1, characterized in that: If the abnormal environment information is abnormal humidity information, before determining the corresponding area in the initial operation map where the terrain is greater than or equal to the current location information, the method further includes: The humidity data of the environment associated with the current location information is sampled multiple times. If the sampling ratio of the humidity data belonging to abnormal humidity information is greater than a sampling threshold, it is confirmed that the abnormal humidity information of the current location information is valid.

7. The map creation method according to claim 6, characterized in that: If the abnormal environment information is abnormal humidity information, sampling humidity data of the environment associated with the current location for multiple times, and if the sampling ratio of the humidity data belonging to abnormal humidity information is greater than a sampling threshold, confirming that the abnormal humidity information of the current location is valid includes: Taking the contour line corresponding to the current position information as the axis, collecting a plurality of humidity data within a set spacing range on both sides of the axis; If the sampling ratio of the plurality of humidity data belonging to abnormal humidity information is greater than the sampling threshold, it is confirmed that the abnormal humidity information of the current position is valid.

8. The map creation method according to claim 1, characterized in that: If the abnormal environment information is abnormal humidity information, before creating a target operation map according to the current position information and the initial operation map, the method further includes: Determine the center of the contour line corresponding to the current position information; Collecting humidity data at a target position symmetrical to the center of the contour line; If the humidity data of the target position belongs to abnormal humidity information, it is confirmed that the abnormal humidity information of the current position information is valid, and a step of creating a target operation map according to the current position information and the initial operation map is executed.

9. The map creation method according to claim 3 or 4, characterized in that: If the abnormal environment information is abnormal humidity information, when the area in the contour map where the terrain is greater than or equal to the second terrain height is taken as the area included in the target operation map, the method further includes: Mark the low-lying areas in the area corresponding to the target operation map whose altitude is greater than the current position information.

10. The map creation method according to claim 1, characterized in that: If the self-propelled device does not detect the abnormal environmental information and is located in the area to be operated, the self-propelled device is controlled to operate according to the initial operation map and the initial operation path.

11. The map creation method according to claim 10, characterized in that: After creating the target operation map according to the current position information and the initial operation map, the method further includes: The initial operation path is updated according to the target operation map to obtain a target operation path so that the self-propelled device can operate along the target operation path.

12. A map creation system, applied to a self-propelled device, characterized in that: include: A location acquisition module, used to acquire the current location information of the self-propelled device if abnormal environmental information is detected; A map creation module, used to create a target operation map according to the current location information and the initial operation map; The target operation map includes a corresponding area in the initial operation map whose terrain is greater than or equal to the current location information.

13. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the method according to any one of claims 1 to 11 when executing the computer program.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which implements the steps of the method according to any one of claims 1 to 11 when executed.

15. A computer program product, characterized in that The invention comprises a computer program, which implements the steps of the method according to any one of claims 1 to 11 when being executed.

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