New partition building method based on self-moving robot, medium and electronic equipment

Abstract

The invention relates to the field of robots, and discloses a new partition building method based on a self-moving robot, a medium and electronic equipment. The method comprises the following steps: receiving a new partition starting command input by a user; receiving and displaying a moving track of the self-moving robot in the display area in real time; wherein existing map data are pre-loaded in the display area; if it is detected that the self-moving robot moves to the boundary of the display area, triggering the display area to slide and expand in the direction of the boundary; after a new partition finishing command input by a user is received, partition data are generated according to the moving track, and the partition data are stored in the loaded map data; wherein the partition data comprises boundary data and the new partition type. Through the method, the position of the robot can be effectively monitored, and the new partition operation is further adjusted.

Description

[Technical field]

[0001] The embodiments of the present invention relate to the field of robots, and in particular to a new partitioning method, medium and electronic equipment based on a self-moving robot. [Background Technology]

[0002] With the rapid development of intelligent robot technology, self-propelled robots are widely used in various scenarios in the home and industrial fields, such as lawn mowing robots, sweeping robots, etc. Before performing a task, the self-propelled robot usually requires the user to set the boundaries of the work area. The self-propelled robot will move autonomously within the boundaries and complete the task.

[0003] In the related art, the work map is usually generated by the user controlling the self-moving robot to walk along the work boundary, and the work area is generated at one time according to its walking trajectory. However, this method has significant limitations, which makes it impossible for the user to effectively monitor the robot's position, thereby further adjusting the new partition operation, affecting the accuracy and efficiency of the map construction operation. [Summary of the invention]

[0004] The purpose of the embodiments of the present invention is to provide a method, medium and electronic device for creating a new partition based on a self-moving robot, so that the user can effectively monitor the position of the robot and further adjust the operation of creating a new partition.

[0005] To solve the above technical problems, an embodiment of the present invention provides a method for creating a new partition based on a self-moving robot, comprising: receiving a new partition command input by a user; receiving and displaying the moving trajectory of the self-moving robot in real time in a display area; wherein the display area is pre-loaded with existing map data; if it is detected that the self-moving robot moves to the boundary of the display area, then the sliding expansion of the display area in the direction of the boundary is triggered; after receiving a new partition end command input by the user, partition data is generated according to the moving trajectory, and the partition data is saved in the loaded map data; wherein the partition data includes boundary data and the new partition type.

[0006] Furthermore, before receiving the start command of creating a new partition input by the user, it also includes: initializing a map coordinate system with the first reference point as the origin, and loading existing map data in the display area with the map coordinate system as the reference coordinate system; initializing a canvas coordinate system with the second reference point as the origin, and loading the moving trajectory of the self-moving robot in the display area with the canvas coordinate system as the reference coordinate system.

[0007] Furthermore, the real-time receiving and displaying of the moving trajectory of the self-moving robot in the display area specifically includes:

[0008] Receive a moving trajectory in a trajectory coordinate system with the position of the charging pile as the origin, which is returned by the self-moving robot; based on the position of the charging pile in the canvas coordinate system, convert the moving trajectory from the trajectory coordinate system to the canvas coordinate system; and display the converted moving trajectory of the self-moving robot in the canvas layer in the display area.

[0009] Furthermore, the triggering of the sliding expansion of the display area toward the boundary direction specifically includes: if it is detected that the self-moving robot is less than a first preset distance from the boundary of the display area, triggering the display area to expand toward the boundary direction and slide a second preset distance; wherein the second preset distance is greater than the first preset distance.

[0010] Further, when a user operation command is received, the elements in the display area are translated or scaled based on the operation command.

[0011] Furthermore, the newly created partition type at least includes a working area or a prohibited area.

[0012] Furthermore, the saving of the partition data to the loaded map data specifically includes: if the partition data generated according to the movement trajectory has the same boundary or overlapping area with the existing partition data of the same type, the partition data and the existing partition data of the same type are merged into the same partition data; if the partition data and the existing partition data do not have the same boundary or overlapping area, the partition data is saved independently.

[0013] Furthermore, the self-moving robot includes a lawn mowing robot.

[0014] An embodiment of the present invention also provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the new partitioning method based on the self-mobile robot as described above.

[0015] An embodiment of the present invention further provides a computer-readable storage medium, and when the computer program is executed by a processor, the method for creating a new partition based on a self-moving robot as described above is implemented.

[0016] In an embodiment of the present invention, the problem in the prior art that the self-moving robot exceeds the display range and the user cannot monitor it is solved by dynamically sliding and expanding the display area and updating the map in real time. Specifically, when the self-moving robot moves to the boundary of the display area, the system automatically triggers the sliding expansion of the display area to ensure that the self-moving robot is always within the visible range, avoiding monitoring blind spots, and significantly improving the user's ability to operate and control the self-moving robot. In addition, the embodiment of the present invention also supports users to flexibly create new partitions based on the real-time movement trajectory of the self-moving robot, and save the newly created partition data to the existing map, so as to meet the fine management of various types of partitions in different scenarios. Through this dynamic new partitioning method, users can expand new areas based on the original map, greatly improving the operability and extensibility of the map. [Drawings]

[0017] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0018] Figure 1 This is a flowchart of a method for creating a new partition provided by an embodiment of the present application;

[0019] Figure 2 is a schematic diagram of a display area during a new partitioning process provided by an embodiment of the present application;

[0020] Figure 3 This is a flowchart of loading layers and elements in a new partitioning method provided in an embodiment of the present application;

[0021] Figure 4 It is a flow chart of displaying a self-moving robot on a canvas layer in a new partitioning method provided in an embodiment of the present application;

[0022] Figure 5 It is a schematic diagram of the structure of an electronic device provided in one embodiment of the present application. [Specific implementation method]

[0023] With the rapid development of intelligent robot technology, self-moving robots have been widely used in various scenarios in the home and industrial fields, such as mowing robots, sweeping robots, logistics handling robots, etc. These self-moving robots can complete tasks autonomously according to the pre-set working area, reducing the burden of manual operation and improving work efficiency. Especially in tasks such as mowing and sweeping, self-moving robots perform precise path planning and task allocation by moving along the boundaries of specific areas.

[0024] In the related art, the working area of ​​the self-propelled robot is usually a working map generated by manually setting or controlling the self-propelled robot to walk along a predetermined boundary. The self-propelled robot determines its working area based on this map and moves autonomously within the range. However, this method has several limitations:

[0025] 1. Unable to dynamically adjust partitions: Existing methods rely on one-time generation of work areas, and users cannot flexibly add or adjust new work areas during task execution. Especially in dynamic environments, as task requirements change, users may need to adjust work areas or add new no-go areas, but traditional methods cannot support this requirement.

[0026] 2. Limitations of the display area: When the self-propelled robot moves on the map according to the predetermined path, especially in a large or complex working area, the self-propelled robot may move to the boundary of the display area. If there is no appropriate mechanism to update the display area, the user will not be able to continue to monitor the real-time position and trajectory of the self-propelled robot, resulting in operational inconvenience and monitoring blind spots. This not only affects the user's operating experience, but also reduces the task execution efficiency of the self-propelled robot.

[0027] Therefore, how to ensure that the self-propelled robot is always within the visible range while flexibly managing the partitions, especially being able to create different types of partition areas in real time, has become an important issue in the development of self-propelled robot technology.

[0028] To make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the embodiments of the present invention, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can be implemented. The division of the following embodiments is for the convenience of description, and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined and referenced with each other without contradiction.

[0029] An embodiment of the present invention relates to a method for creating a new partition based on a self-moving robot, which is not only applicable to common mobile terminal electronic devices such as mobile phones and tablets, but also can be applied to other types of terminal devices, including but not limited to smart home devices, wearable devices, embedded devices and cloud servers. The specific method is: receiving a new partition command input by a user; receiving and displaying the moving trajectory of the self-moving robot in real time in the display area; wherein the display area is pre-loaded with existing map data; if it is detected that the self-moving robot moves to the boundary of the display area, the sliding expansion of the display area in the direction of the boundary is triggered; after receiving the new partition end command input by the user, partition data is generated according to the moving trajectory, and the partition data is saved to the loaded map data; wherein the partition data includes boundary data and the new partition type. By dynamically sliding and expanding the display area and updating the map in real time, the problem of the self-moving robot exceeding the display range and causing the user to be unable to monitor in the prior art is solved. Specifically, when the self-moving robot moves to the boundary of the display area, the system automatically triggers the sliding expansion of the display area to ensure that the self-moving robot is always within the visible range, avoiding monitoring blind spots, and significantly improving the user's ability to operate and control the self-moving robot. In addition, the present invention also supports users to flexibly create new partitions according to the real-time movement trajectory of the self-moving robot, and save the newly created partition data to the existing map, so as to meet the fine management of various types of partitions in different scenarios. Through this dynamic new partitioning method, users can expand new areas based on the original map, which greatly improves the operability and scalability of the map.

[0030] The following is a specific description of the implementation details of the method for creating a new partition based on a self-moving robot according to an embodiment of the present invention. The following content is only provided for easy understanding of the implementation details and is not necessary for implementing the present solution.

[0031] like Figure 1 As shown, in step 110, the device loads the layer and the map elements in the layer in the display area. Specifically, Figure 2 As shown in the figure, the display area contains three layers, namely map layer ( Figure 2 Layers in ①), canvas layers ( Figure 2 Layers in ②) and interactive layers ( Figure 2 The three layers overlap each other, and each layer corresponds to an independent coordinate system to achieve accurate display and interaction of different types of data.

[0032] Among them, the map layer contains the basic map data of the self-propelled robot's working environment, including static elements such as terrain, buildings, obstacles, and area boundaries, which are used to provide overall environmental information. The canvas layer is used to dynamically display the real-time position, driving trajectory, and other dynamic elements of the self-propelled robot during task execution. The interactive layer is mainly used for the potential control layer and perspective tracking functions to help users adjust the working area and operating perspective of the self-propelled robot in real time, ensuring that users can efficiently monitor and control the status of the self-propelled robot. Although these three layers operate independently through their own coordinate systems, they are coordinated through a unified display interface to ensure that different types of information can be displayed synchronously to avoid confusion.

[0033] In this embodiment, the canvas layer and the interactive layer can not only independently display the trajectory of the self-moving robot and the elements of the user interface, but they can also slide and expand in coordination when the self-moving robot approaches the boundary of the display area, so as to keep the self-moving robot always within the visible range. Specifically, when the self-moving robot approaches the boundary of the display area, the canvas layer will automatically expand in the direction of the boundary to ensure that the position and path of the self-moving robot can continue to be within the canvas layer. At the same time, the interactive layer will also slide in the same direction when the self-moving robot moves to the boundary to ensure that the self-moving robot is always displayed within the visible field of view, so as not to affect the user's control and monitoring of the self-moving robot. This combined mechanism ensures that the self-moving robot is always within the user's field of view when performing tasks, effectively avoiding the situation where the self-moving robot cannot be monitored due to being out of the field of view.

[0034] At the same time, the relationship between the above layers and coordinate systems also involves an important concept: the trajectory coordinate system with the charging pile as the origin. The trajectory coordinate system is established with the charging pile as the reference point and is used to represent the position information of the self-moving robot relative to the charging pile. Since the original position information sent back by the self-moving robot is defined based on the trajectory coordinate system, that is, it describes its moving trajectory relative to the charging pile, the system needs to convert the position in the trajectory coordinate system into the position in the canvas coordinate system through the multi-coordinate system mapping relationship to ensure that the self-moving robot can be accurately displayed in the canvas layer. Among them, the mapping relationship between the trajectory coordinate system and the map coordinate system is established through the position of the charging pile in the map layer, and the initial position of the canvas coordinate system overlaps with the map coordinate system, which provides basic support for the mapping between the trajectory coordinate system and the canvas coordinate system. When the device receives the real-time position information returned by the self-moving robot, the system first converts it to the map coordinate system according to the position of the charging pile in the map layer. Then, through the overlapping relationship between the map coordinate system and the canvas coordinate system, the position of the self-moving robot is mapped to the canvas coordinate system to achieve its real-time display in the canvas layer.

[0035] Specifically, the implementation process of step 110 includes the following sub-steps (such as Figure 3 shown):

[0036] Step 111, first, the device loads the basic map layer in the display area, and initializes the map coordinate system with the first reference point as the origin, where the first reference point is the upper left corner vertex of the map layer. The purpose of this step is to lay the foundation for subsequent map display. The device loads map data representing the working environment of the self-moving robot. This layer contains various static elements, such as terrain, buildings, obstacles, area boundaries, etc. These data help users understand the environment in which the self-moving robot is located and support subsequent task planning and execution. The initialization of the map coordinate system ensures that the subsequently loaded map elements can be accurately positioned on the display area and are consistent with the actual geographical location, providing a unified benchmark for path planning, and users can observe and operate conveniently.

[0037] Step 112, after the map coordinate system is initialized, the device loads specific map elements according to the map coordinate system. Specifically, the device uses the initialized map coordinate system to load and display various elements in the map, including roads, buildings, obstacles, area signs, etc. These elements provide users with a complete environmental background, helping users to fully understand the working environment of the self-moving robot, and then evaluate the task execution conditions of the self-moving robot. Based on these loaded map elements, the system can also identify map elements through automated algorithms and mark inaccessible areas, obstacle areas, and open areas suitable for self-moving robots to walk. This information provides an accurate reference for subsequent path planning and task execution, ensuring that the self-moving robot can avoid obstacles and complete tasks safely and efficiently.

[0038] Step 113, next, the device creates a canvas layer above the map layer, and initializes the canvas coordinate system with the second reference point as the origin, where the second reference point is the upper left corner vertex of the canvas layer. The main function of the canvas layer is to display the real-time position, driving trajectory and dynamic elements of the self-moving robot during task execution. Unlike the map layer, the content of the canvas layer changes dynamically, mainly presenting real-time data such as the motion trajectory and task status of the self-moving robot. The initial state of the canvas coordinate system is consistent with the map coordinate system to ensure that the position and path of the self-moving robot displayed on the map can be synchronized with the geographic information of the map. The coordinate system and size of the canvas layer are the same as those of the map layer, thereby ensuring the unity and coordination of the map display area, so that the self-moving robot and its trajectory data can be closely integrated with the map background, avoiding display confusion caused by inconsistent coordinate systems.

[0039] Step 114, in the canvas layer, the device loads the initial position of the self-moving robot in the canvas coordinate system according to the position of the charging pile in the map element. The charging pile is usually used as the starting point or reference point of the self-moving robot. The device determines the position of the self-moving robot by obtaining the position relative to the charging pile in the map and mapping it to the corresponding position in the canvas coordinate system. This process ensures that the self-moving robot can be started from the charging pile position and accurately positioned on the map. The device also updates the position of the self-moving robot in real time and displays the movement trajectory of the self-moving robot on the map, thereby helping users monitor the dynamic activities of the self-moving robot and providing real-time feedback during task execution.

[0040] In summary, step 110 includes starting from loading the map layer, gradually constructing the map coordinate system, the canvas layer and its corresponding coordinate system, and finally determining the basic framework for the initial position and trajectory display of the self-propelled robot. Through this series of steps, the device not only completes the loading and parsing of static map data, but also builds a multi-layer structure that dynamically displays the real-time position and trajectory of the self-propelled robot. The execution of this step lays a complete and flexible foundation for subsequent path planning, task execution, and real-time user monitoring.

[0041] In step 120, the device receives a command for creating a new partition input by a user. The user can select and input the type of the new partition through the device interface, and the new partition type can be a work area or a prohibited area.

[0042] Specifically, users can select the type of partition to be created through a graphical interface or gesture operation. The work area refers to the area where the self-propelled robot is allowed to perform tasks, which is usually used to define the range within which the self-propelled robot can move freely, such as a lawn mowing robot can mow in this area; the prohibited area refers to the area that the self-propelled robot cannot enter, such as an obstacle area or a sensitive area set by the user. By creating these partitions, users can flexibly control the activities of the self-propelled robot in different areas, ensure the smooth progress of the self-propelled robot's tasks, and prevent the self-propelled robot from entering inappropriate areas.

[0043] In this step, the device can also provide intelligent recommendations, automatically suggesting certain zone types based on environmental conditions or the current location of the autonomous robot. For example, when the autonomous robot approaches an obstacle, the system may suggest automatically creating a no-go zone or automatically optimizing existing partitions to improve the efficiency of path planning.

[0044] Step 130: The device receives and displays the moving track of the self-moving robot in the display area. The display area is preloaded with existing map data to display the real-time position of the self-moving robot and the map elements and partitions around the path.

[0045] During this process, the device needs to continuously receive the real-time location information sent back by the self-moving robot and map this information to the display area. The map data in the display area includes the map element data where the self-moving robot is when performing tasks, such as terrain, buildings, obstacles, area signs, etc. In addition to map elements, the display area also needs to show the dynamic changes in the location of the self-moving robot, including the movement trajectory, speed, direction and task execution status of the self-moving robot. To ensure that users can obtain this information in a timely manner, the static elements in the map and the dynamic trajectory of the self-moving robot need to be displayed in coordination on the same interface.

[0046] There are many ways to implement the above-mentioned method of receiving the location information of the self-mobile robot. One common method is to obtain it through the cloud. Specifically, the communication between the device and the self-mobile robot can be carried out through the cloud service platform. When the self-mobile robot is performing a task, it will collect environmental data and location information in real time, and send this data to the cloud server through the wireless network. The cloud server is responsible for processing, storing and forwarding the self-mobile robot data to the user device, ensuring that the user can view the location and task status of the self-mobile robot in real time.

[0047] After receiving and processing the location information in the cloud, the device will display the self-moving robot's location, path and other information on the device screen in real time based on the mapping relationship between the map coordinate system and the canvas coordinate system. However, since the location information transmitted by the self-moving robot is based on the coordinate system of the charging pile, the device cannot directly use the returned location data to display the trajectory of the self-moving robot. To this end, the device needs to convert the self-moving robot's position into a coordinate system to ensure that the self-moving robot's position can be accurately displayed in the display area. Figure 4 , the specific steps include: Step 131, the device receives the position information transmitted back by the self-mobile robot in real time, which is the moving trajectory in the trajectory coordinate system with the charging pile position as the origin. Step 132, the device converts the moving trajectory of the self-mobile robot from the trajectory coordinate system to the canvas coordinate system based on the position of the charging pile in the canvas coordinate system. This conversion process ensures that the position of the self-mobile robot can be accurately mapped into the display area and displayed synchronously with the geographic information of the map. Step 133, the device displays the converted moving trajectory of the self-mobile robot in the canvas layer in the display area, and updates the position and path of the self-mobile robot in real time to ensure that the user can see the dynamic changes of the self-mobile robot on the map.

[0048] In addition, the device can also directly exchange data with the self-propelled robot through local wireless communication (such as Wi-Fi, Bluetooth, Zigbee, etc.), especially when the device and the self-propelled robot are in a local network environment. This method avoids cloud dependence and can achieve real-time data transmission with lower latency, which is suitable for application scenarios with smaller scope or higher real-time requirements.

[0049] In step 130, in addition to displaying the moving trajectory of the self-moving robot, the device also needs to display the partition information related to the path of the self-moving robot. Specifically, the partition data in the display area (such as the working area, the prohibited area, etc.) will be highlighted in the map so that the user can always know the current area of ​​the self-moving robot and whether the self-moving robot can enter certain areas. For example, when the self-moving robot enters the working area, the area can be highlighted in green; when the self-moving robot approaches the prohibited area, the area is marked in red to warn the user that the self-moving robot is about to enter the prohibited area.

[0050] In addition, the device monitors the user's gesture operations on the display area in real time. When the user pans or zooms through gesture commands, the device adjusts the elements in the display area accordingly based on the gesture instructions to maintain visibility of the real-time position and path of the self-moving robot.

[0051] In step 140, if the device detects that the self-moving robot moves to the boundary of the display area, it triggers the sliding expansion of the display area in the direction of the boundary to ensure that the self-moving robot is always within the visible range. Specifically, when the distance between the self-moving robot and the boundary of the display area is less than a first preset distance (for example, 50 pixels), the device triggers the canvas layer to expand a second preset distance (for example, 100 pixels) in the direction of the boundary. The second preset distance is greater than the first preset distance to ensure that the self-moving robot maintains sufficient visible space in the display area. This function can prevent the self-moving robot from exceeding the display range and ensure that the user can always monitor the position and activity trajectory of the self-moving robot.

[0052] Specifically, when the self-moving robot moves to the vicinity of the right boundary or the lower boundary (the distance is less than the first threshold value such as 50 pixels), the canvas layer will expand to the right or downward by a second preset distance (for example, 100 pixels). At the same time, the interactive layer also slides to the right or downward synchronously to keep the self-moving robot always within the visible range. During the expansion process, the origin of the canvas coordinate system remains unchanged to ensure that the self-moving robot and its dynamic trajectory can be accurately mapped on the canvas layer. In contrast, when the self-moving robot moves to the vicinity of the left boundary or the upper boundary, in addition to triggering the canvas layer to expand to the left or upward by a second preset distance, the device will also synchronously adjust the origin of the canvas coordinate system to the new upper left corner of the canvas layer. This adjustment causes the canvas coordinate axis to shift, and the coordinate values ​​of all static map elements will be updated synchronously to ensure the consistency of these elements with the dynamic position of the self-moving robot.

[0053] Through this linkage mechanism, the device can dynamically expand the display area to avoid the situation where the self-moving robot exceeds the visible range. At the same time, the coordinated sliding of the canvas layer and the interactive layer allows the user to continuously monitor the position and activity trajectory of the self-moving robot and maintain precise control of the self-moving robot throughout the task. This technology is particularly suitable for self-moving robots that need to move over a large range, such as mowing robots, sweeping robots, inspection robots, etc., to ensure that users can see the real-time status of the self-moving robot at any time. No matter how the self-moving robot moves, the display area can be updated in real time, providing a continuous and smooth operation experience.

[0054] During the implementation of step 140, in addition to the basic dynamic expansion mechanism of the display area, the embodiment can also be expanded in a variety of ways to improve the flexibility of display and interaction while optimizing the user experience. The device can dynamically adjust the second preset distance in combination with the actual movement speed and direction of the self-moving robot. Specifically, when it is detected that the self-moving robot is approaching the boundary of the display area at a higher speed, the device can automatically increase the second preset distance (for example, from 100 pixels to 150 pixels) to ensure that the self-moving robot can remain within the visible range even when moving at a high speed. When the self-moving robot moves at a low speed, the device can appropriately reduce the expansion distance, thereby reducing unnecessary display area adjustments, reducing the frequency of interface changes, and maintaining display stability.

[0055] In order to enhance the user's real-time monitoring ability of the self-propelled robot, the device can provide visual instructions during the sliding expansion process, such as adding dotted lines, semi-transparent backgrounds or other visual effects to the boundaries of the display area expansion to prompt the user to adjust the range and direction of the display area. This visual feedback can help users perceive display changes more clearly and avoid confusion caused by interface adjustments.

[0056] During the task execution, if the user needs to pay attention to the relative position of the charging pile or other key fixed points (such as obstacle markers) at the same time, the device can provide a "fixed view" mode. The user can choose to temporarily lock the center point of the display area to the charging pile or a specific target point. At this time, the sliding expansion mechanism of the display area will increase the zoom adjustment of the map layer and the canvas layer according to the distance of the target point relative to the self-moving robot, ensuring that the self-moving robot and the target point always remain in the same display area. This function is especially suitable for task scenarios that require the self-moving robot to operate frequently near the charging pile.

[0057] In step 150, after the device receives the new partition end command input by the user, it generates partition data according to the movement trajectory and saves the partition data to the loaded map data. After the user completes the partition creation operation on the interface and enters the end command, the device will generate new partition data by analyzing the actual movement trajectory of the self-moving robot. The partition data includes the boundary data of the partition and the set partition type, such as the working area or the prohibited area. The working area refers to the area where the self-moving robot can perform tasks, while the prohibited area is the area where the self-moving robot is prohibited from entering. The generated partition data will be saved in real time to the loaded map data to ensure the latest status of the map and the accuracy of the data.

[0058] In step 150, in order to ensure the rationality of data storage and the integrity of map data, the device will perform certain logical judgments when saving partition data. If the newly generated partition data overlaps or has the same boundaries as the existing partition data of the same type, the device will merge these overlapping or adjacent partitions into a new partition to avoid redundant storage. This merging operation can not only save storage space, but also improve the efficiency of data management. If the newly generated partition data does not overlap with any existing partitions, the device will store the partition data independently in the map data to keep the map simple.

[0059] It should be noted that the new partitioning method based on the self-moving robot executed in the above steps 110 to 150 is not only applicable to lawn mowing robots, but can also be widely used in other types of self-moving robots, such as sweeping robots, logistics handling robots, cleaning robots, inspection robots, etc. In these application scenarios, the device can flexibly define the working area and the forbidden area according to the partition creation command input by the user, thereby optimizing the path planning, task execution efficiency and safety of the self-moving robot. For example, in the application of the lawn mowing robot, the user can define the cleaning area and the forbidden area according to the actual site requirements. In the scenario of the lawn mowing robot, the working area usually refers to the lawn area where the lawn mowing robot needs to mow the lawn, and the forbidden area refers to the area that the lawn mowing robot should not enter, such as flower beds, around trees, obstacles on the ground or cable areas; in the sweeping robot, the user can define the cleaning area and the forbidden area to ensure that the sweeping robot cleans in the specified area and avoids areas that are not suitable for entry (such as wires, dangerous areas, etc.); in the logistics handling robot, the user can set different working areas and forbidden areas for different warehouse areas to ensure that the logistics handling robot can work efficiently in a complex storage environment. Through this method, different types of autonomous mobile robots can be flexibly partitioned and managed according to specific task requirements and environmental conditions, thereby improving their autonomy, adaptability, and overall work efficiency.

[0060] In an embodiment of the present invention, by dynamically sliding and expanding the display area and updating the map in real time, the problem in the prior art that the self-moving robot exceeds the display range and the user cannot monitor it is solved. Specifically, when the self-moving robot moves to the boundary of the display area, the system automatically triggers the sliding expansion of the display area to ensure that the self-moving robot is always within the visible range, avoiding monitoring blind spots, and significantly improving the user's ability to operate and control the self-moving robot. In addition, the embodiment of the present invention also supports users to flexibly create new partitions according to the real-time movement trajectory of the self-moving robot, and save the newly created partition data to the existing map, so as to meet the fine management of various types of partitions in different scenarios. Through this dynamic new partitioning method, users can expand new areas based on the original map, greatly improving the operability and extensibility of the map.

[0061] The steps of the above method are divided only for the purpose of clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0062] In addition, the examples mentioned in the above embodiments can be freely combined, and any combination can be understood as an embodiment. The "embodiment" or "example" appearing in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It can be understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0063] Another embodiment of the present invention relates to an electronic device, such as Figure 5 As shown, it includes at least one processor 501; and a memory 502 that is communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor so that the at least one processor can execute the new partitioning method based on the self-moving robot as described above.

[0064] Among them, the memory and the processor are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors and memories together. The bus can also connect various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor is transmitted on a wireless medium via an antenna, and further, the antenna also receives data and transmits the data to the processor.

[0065] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory can be used to store data used by the processor when performing operations.

[0066] Another embodiment of the present invention relates to a computer-readable storage medium storing a computer program, which implements the above method embodiment when executed by a processor.

[0067] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0068] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present invention, and that in actual applications, various changes may be made in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A new partitioning method based on a self-moving robot, characterized in that: include: Receive the new partition start command input by the user; receiving and displaying the moving trajectory of the self-moving robot in real time in the display area; wherein the display area is pre-loaded with existing map data; If it is detected that the self-moving robot moves to the boundary of the display area, a sliding expansion of the display area toward the boundary direction is triggered; After receiving a new partition ending command input by the user, generating partition data according to the movement trajectory, and saving the partition data to the loaded map data; The partition data includes boundary data and a newly created partition type.

2. The method for creating a new partition based on a self-moving robot according to claim 1, characterized in that: Before receiving the new partition start command input by the user, the method further includes: Initializing a map coordinate system with the first reference point as the origin, and loading existing map data in the display area with the map coordinate system as the reference coordinate system; The canvas coordinate system is initialized with the second reference point as the origin, and the movement trajectory of the self-moving robot is loaded in the display area with the canvas coordinate system as the reference coordinate system.

3. The method for creating a new partition based on a self-moving robot according to claim 2, characterized in that: The receiving and displaying the moving trajectory of the self-moving robot in real time in the display area specifically includes: Receiving a moving trajectory in a trajectory coordinate system with the position of the charging pile as the origin, which is transmitted back by the self-moving robot; Based on the position of the charging pile in the canvas coordinate system, converting the movement trajectory from the trajectory coordinate system to the canvas coordinate system; In the canvas layer in the display area, the moving trajectory of the converted self-moving robot is displayed.

4. The method for creating a new partition based on a self-moving robot according to any one of claims 1 to 3, characterized in that: The triggering of sliding expansion of the display area toward the boundary direction specifically includes: If it is detected that the self-moving robot is less than a first preset distance from the boundary of the display area, the display area is triggered to expand toward the boundary and slide a second preset distance; wherein the second preset distance is greater than the first preset distance.

5. The method for creating a new partition based on a self-moving robot according to any one of claims 1 to 3, characterized in that: The method further comprises: When a user operation command is received, the elements in the display area are translated or scaled based on the operation command.

6. The method for creating a new partition based on a self-moving robot according to any one of claims 1 to 3, characterized in that: The newly created partition type at least includes a work area or a prohibited area.

7. The method for creating a new partition based on a self-moving robot according to any one of claims 1 to 3, characterized in that: The step of saving the partition data to the loaded map data specifically includes: If the partition data generated according to the movement trajectory has the same boundary or overlapping area with the existing partition data of the same type, the partition data and the existing partition data of the same type are merged into the same partition data; If the partition data has no common boundary or overlapping area with the existing partition data, the partition data is saved independently.

8. The method for creating a new partition based on a self-moving robot according to any one of claims 1 to 3, characterized in that: The self-moving robot includes a lawn mowing robot.

9. An electronic device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method for creating a new partition based on a self-moving robot as described in any one of claims 1 to 8.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for creating a new partition based on a self-moving robot according to any one of claims 1 to 8 is implemented.

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