Mapping correction method and device and storage medium

Abstract

A mapping correction method, device and storage medium, applied to a mower, the method comprising: acquiring an initial correction position (101); acquiring a rewinding instruction to perform rewinding in the direction of the original mapping trajectory (102); acquiring an intersection position of the mower and the original mapping trajectory during the rewinding process, and determining the intersection position as a target correction position (103); and cutting a mapping trajectory between the target correction position and the initial correction position, and continuing mapping based on the target correction position (104). Thus, according to the initial position of signal loss, the return path is recommended in real time for the user to select, then mapping can be continued, and the mapping efficiency and correctness of the mower are improved.

Description

Mapping correction method, device and storage medium Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a mapping correction method, device, and storage medium. Background Art

[0002] Before the lawn mower can operate automatically, it is necessary to initially build an operating map and plan the operating path of the lawn mower using map information. During the initial mapping process, the boundaries of the operating map need to be manually tracked. Due to some reasons (such as negligence at work), errors may occur between the boundaries of the operating map and the tracking boundaries of the initial mapping, which leads to the need to clear part of the initial mapping tracking boundaries and return to the correct position to continue tracking mapping until the tracking boundaries are closed, that is, the initial map is completed. In actual applications, if a mapping error occurs, it is necessary to restart the mapping, that is, control the lawn mower to return to the initial mapping point and click Rebuild. Usually, the lawn mower will automatically return to the initial position, thereby reducing the mapping efficiency. Therefore, the problem of how to improve mapping efficiency needs to be solved urgently.

[0003] Summary of the Invention

[0004] The embodiments of the present application provide a method, device, and storage medium for map correction, which can improve map creation efficiency.

[0005] In a first aspect, an embodiment of the present application provides a map correction method applied to a lawn mower, the method comprising:

[0006] Get the initial corrected position;

[0007] Get the rewind instruction to rewind to the original mapping trajectory;

[0008] During the rewinding process, an intersection position of the lawn mower and the original mapping trajectory is obtained, and the intersection position is determined as a target correction position;

[0009] Cut the mapping trajectory between the target correction position and the initial correction position, and continue mapping based on the target correction position.

[0010] In a second aspect, an embodiment of the present application provides a method for image correction, applied to a display device, the method comprising:

[0011] Determine the initial correction position;

[0012] Send a rewind command to control the lawn mower to rewind to the original mapping trajectory;

[0013] During the rewinding process, an intersection position of the lawn mower and the original mapping trajectory is obtained, and the intersection position is determined as a target correction position;

[0014] Cut the mapping trajectory between the target correction position and the initial correction position, and continue mapping based on the target correction position.

[0015] In a third aspect, an embodiment of the present application provides a mapping correction device, which is applied to a lawn mower. The device includes: a first acquisition unit, a second acquisition unit, a determination unit, and a mapping unit, wherein:

[0016] The first acquiring unit is used to acquire an initial corrected position;

[0017] The second acquisition unit is used to acquire a rewind instruction to rewind toward the original mapping trajectory;

[0018] The determining unit is configured to obtain an intersection position between the lawn mower and the original mapping trajectory during the rewinding process, and determine the intersection position as a target correction position;

[0019] The mapping unit is configured to cut a mapping trajectory between the target correction position and the initial correction position, and continue mapping based on the target correction position.

[0020] In a fourth aspect, an embodiment of the present application provides a mapping correction device, which is applied to a display device. The device includes: a first determination unit, an issuing unit, a second determination unit, and a mapping unit, wherein:

[0021] The first determining unit is configured to determine an initial corrected position;

[0022] The issuing unit is used to issue a rewind instruction to control the lawn mower to rewind in the direction of the original mapping trajectory;

[0023] The second determining unit is configured to obtain an intersection position between the lawn mower and the original mapping trajectory during the rewinding process, and determine the intersection position as a target correction position;

[0024] The mapping unit is configured to cut a mapping trajectory between the target correction position and the initial correction position, and continue mapping based on the target correction position.

[0025] In a fifth aspect, an embodiment of the present application provides a lawn mower, comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in the first aspect of the embodiment of the present application.

[0026] In the sixth aspect, an embodiment of the present application provides a display device, comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in the second aspect of the embodiment of the present application.

[0027] In the seventh aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the above-mentioned computer-readable storage medium stores a computer program for electronic data exchange, wherein the above-mentioned computer program enables a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application.

[0028] In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps described in the second aspect of the embodiment of the present application.

[0029] In a ninth aspect, embodiments of the present application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a computer to perform some or all of the steps described in the first aspect of the embodiments of the present application. The computer program product may be a software installation package.

[0030] In a tenth aspect, embodiments of the present application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a computer to perform some or all of the steps described in the second aspect of the embodiments of the present application. The computer program product may be a software installation package.

[0031] The implementation of the embodiments of this application has the following beneficial effects:

[0032] The mapping correction method, device and storage medium described in this application are applied to a lawn mower to obtain an initial correction position, obtain a rewind instruction to rewind in the direction of the original mapping trajectory, obtain the intersection position of the lawn mower and the original mapping trajectory during the rewinding process, determine the intersection position as the target correction position, cut the mapping trajectory between the target correction position and the initial correction position, and continue mapping based on the target correction position. In this way, when an error occurs in mapping or the positioning signal is lost, after cutting off the trajectory between the initial correction position and the target correction position of the lawn mower, the mapping instruction operation is continued from the target correction position, so that when a mapping error occurs, the lawn mower does not need to return to the starting point and re-map, thereby improving the mapping efficiency of the lawn mower. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0034] FIG1A is a schematic diagram of a flowchart of a map correction method provided in an embodiment of the present application;

[0035] FIG1B is a schematic diagram illustrating a mapping trajectory provided in an embodiment of the present application;

[0036] FIG1C is a schematic diagram illustrating another mapping trajectory provided in an embodiment of the present application;

[0037] FIG2 is a flow chart of another method for map correction provided in an embodiment of the present application;

[0038] FIG3 is a flow chart of another method for map correction provided in an embodiment of the present application;

[0039] FIG4 is a flow chart of another method for map correction provided in an embodiment of the present application;

[0040] FIG5 is a schematic structural diagram of an electronic device provided in an embodiment of the present application;

[0041] FIG6 is a block diagram of functional units of a mapping and correction device 600 provided in an embodiment of the present application;

[0042] FIG7 is a block diagram of functional units of a map construction and correction device 700 provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0045] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0046] In an embodiment of the present application, the electronic device may include a lawn mower or a display device, the display device may include a device with a display function, the display device may include a smartphone (such as an Android phone, an iOS phone, a Windows Phone phone, etc.), a tablet computer, a PDA, a driving recorder, a server, a laptop computer, a mobile Internet device (MID, Mobile Internet Devices) or a wearable device (such as a smart watch, a Bluetooth headset), etc. The above are only examples and not exhaustive, including but not limited to the above-mentioned display devices.

[0047] In the embodiment of the present application, the mapping trajectory of the lawn mower can be understood as the lawn mower can perform positioning operations regularly or irregularly during its movement. Each positioning position can be used as a waypoint, and the mapping trajectory can be obtained by connecting these positioning positions.

[0048] In the embodiment of the present application, the lawn mower and the display device can exist independently, and a communication connection can be established between the lawn mower and the display device. The lawn mower can be controlled by using the display device, and the mapping trajectory of the lawn mower can also be displayed on the display device.

[0049] The following is a detailed introduction to the embodiments of the present application.

[0050] Please refer to FIG1A , which is a flow chart of a method for map building and correction provided by an embodiment of the present application, which is applied to an electronic device. As shown in the figure, the method for map building and correction includes:

[0051] 101. Obtain the initial correction position.

[0052] In the embodiment of the present application, the electronic device may include a lawn mower or a display device.

[0053] In a specific implementation, the electronic device may implement a positioning operation using indoor positioning technology (such as wireless fidelity (Wi-Fi) positioning technology), satellite positioning technology, and the like.

[0054] In a specific implementation, the initial correction position may include the current position of the lawn mower. The initial correction position may be understood as the position of the lawn mower when the user realizes that an error occurs in the mapping.

[0055] Optionally, the above step 101, obtaining the initial corrected position, may include the following steps:

[0056] 11. Detecting a first signal strength value of the lawn mower;

[0057] 12. When the first signal strength value is lower than a first preset threshold, the current position of the lawn mower is used as an initial correction position.

[0058] The first preset threshold may be preset or set by system default.

[0059] In the embodiment of the present application, during the mapping process of the lawn mower, the first signal strength value of the lawn mower can be detected at a preset time interval, and the preset time interval can be pre-set or system default. The above-mentioned first signal strength value can be understood as the signal strength value of the positioning signal.

[0060] In an embodiment of the present application, a first signal strength value of the lawn mower can be detected. When the first signal strength value is lower than a first preset threshold value, it indicates that the lawn mower signal is detected to be lost, and there is a high possibility that an error in the mapping trajectory occurs. The current position of the lawn mower can be used as the initial correction position to prompt the user to correct the mapping trajectory. Alternatively, the mapping trajectory can be corrected by the user in a timely manner, thereby improving the accuracy of the mapping trajectory.

[0061] In a specific implementation, when the first signal strength value is lower than the first preset threshold, it can be understood that signal loss is detected. Then, a mapping trajectory of the lawn mower can be obtained. The mapping trajectory includes multiple waypoints, each waypoint corresponds to a positioning time and a signal strength value. Of course, the mapping trajectory can also include a starting point.

[0062] In the specific implementation, during the mapping process, the user generally needs to directly control the lawn mower to define the boundaries of the area. During the driving process, it may drive into areas with poor positioning signals (dashed circles), and then part of the boundary route needs to be replanned.

[0063] In a specific implementation, the lawn mower tracks and maps under the control of the user, and can also transmit the location information to the display device in real time. The display device can convert the information into different colors according to the signal strength to prompt the user on the display device. For example, a green path is displayed when the signal strength is normal, and a red path is displayed when the signal strength is weak. This application does not impose any restrictions on this.

[0064] Furthermore, when the user observes a different color on a tracked route, they can reconstruct that route. For example, under certain obstructions, the lawn mower has a small number of satellites and inaccurate positioning. This prompt method can effectively and timely notify the user, improving the accuracy of boundaries or restricted areas.

[0065] In practice, when a lawn mower reaches an area with poor positioning signal, the user may not be able to detect the signal loss in time, and the user may continue to control the mower. After driving a certain distance, the electronic device may notify the user of the signal loss and remind the user to modify the route beyond the boundary.

[0066] Optionally, the above step 11, detecting the first signal strength value of the lawn mower, may include the following steps:

[0067] 111. Get the current position of the lawn mower;

[0068] 112. Determine a reference detection frequency corresponding to the current position;

[0069] 113. Obtain target environment parameters;

[0070] 114. Determine target adjustment parameters corresponding to target environmental parameters;

[0071] 115. Adjust the reference detection frequency according to the target adjustment parameter to obtain the target detection frequency;

[0072] 116. Detect a first signal strength value of the lawn mower according to the target detection frequency.

[0073] Among them, the target environmental parameters may include at least one of the following: weather, temperature, atmospheric pressure, grassland attribute parameters, etc., which are not limited here. The grassland attribute parameters may include at least one of the following: soil looseness, vegetation type, terrain parameters, etc., which are not limited here.

[0074] In a specific implementation, the current position of the lawn mower can be obtained, and a reference detection frequency corresponding to the current position can be determined according to a mapping relationship between a preset position and a detection frequency. The target environmental parameters can be further obtained, and target adjustment parameters corresponding to the target environmental parameters can be determined according to a mapping relationship between preset environmental parameters and adjustment parameters. Next, the reference detection frequency is adjusted according to the target adjustment parameters to obtain a target detection frequency. Thus, a detection frequency suitable for the environment can be obtained. For example, if the terrain is complex, the detection frequency can be relatively high. The first signal strength value of the lawn mower is then detected according to the target detection frequency, so that whether the signal of the lawn mower is lost can be detected in time, thereby ensuring the accuracy and efficiency of mapping.

[0075] Optionally, when the first signal strength value is lower than a first preset threshold, the map correction method further includes:

[0076] Obtaining a determination instruction for an initial corrected position; and / or,

[0077] Issue a prompt alarm.

[0078] The form of the alarm may include at least one of the following: voice form, vibration form, flashing form, text display form, etc., which is not limited here.

[0079] In a specific implementation, after detecting signal loss, a prompt alarm can be issued after a preset time or a preset range to quickly respond to errors and reduce the workload of reconstruction. The preset time and preset range can be pre-set or system default, or a confirmation instruction can be obtained, that is, a confirmation instruction for obtaining the initial correction position to prompt the user to correct the mapping trajectory.

[0080] For example, when a lawn mower reaches an area with poor positioning signal, the user may not be able to detect the signal loss in time, and the user may continue to control the mower. After driving a certain distance, the control device or display device can notify the user of the signal loss and prompt the user to modify the boundary route. This can adapt to highly complex mapping scenarios, such as poor positioning signal and the mower being stuck.

[0081] 102. Obtain a rewind instruction to control the lawn mower to rewind in the direction of the original mapping trajectory.

[0082] The rewind command can be user-input, triggered by an electronic device, to control the mower to rewind back to the original mapped trajectory. For example, if the user discovers a path error, they can determine the initial correction position and then directly control the mower to rewind, or they can automatically rewind by selecting a recommended path on the electronic device.

[0083] Optionally, the following steps may also be included:

[0084] A1. When the lawn mower intersects the original mapping trajectory, detect the second signal strength value of the lawn mower at the intersection position;

[0085] A2. When the second signal strength value is less than the set threshold, continue to execute the step of controlling the lawn mower to revolve in the direction of the original mapping trajectory.

[0086] The threshold value may be preset or set by system default.

[0087] In an embodiment of the present application, when the lawn mower intersects the original mapping trajectory, the second signal strength value of the lawn mower at the intersection position can be detected. When the second signal strength value is less than the set threshold, it means that the lawn mower still has lost the signal, and the step of rewinding in the direction of the original mapping trajectory can be continued. Then, by rewinding, the original mapping trajectory can be returned to ensure that a high-quality target correction position is found, and thus the correctness of the mapping trajectory can be guaranteed.

[0088] In practice, during the mapping process, the user typically needs to directly control the mower to define the boundaries of the area. During driving, the mower may encounter areas with poor positioning signals (where the mower's signal is poor), requiring the replanning of some of the boundary routes. Of course, if the mower's signal is still poor after retracing to the original mapping trajectory, the mower can continue to retraverse, ensuring that it returns to a correction point with good signal quality.

[0089] Under user control, the mower tracks and maps the route, transmitting this information to a display device in real time. This information is then displayed on the device, displaying different colors based on signal strength. When the user observes a different color on a particular tracked route, they can reconstruct that route. For example, under certain obstructions, where the mower has a limited number of satellites and inaccurate positioning, this notification method can provide timely and effective user notifications, improving the accuracy of boundaries or restricted areas.

[0090] When the lawn mower is controlled to travel to an area with poor positioning signal, the signal loss may not be detected in time, and the user may continue to control the lawn mower to move forward. After traveling a certain distance, the control device or display device may notify the user of the signal loss and remind the user to modify the boundary route.

[0091] The user can control the mower to return to a location with good signal on the original route. When the mower reaches the designated location, it receives a signal to continue mapping, then erases the incorrect tracking route location and display information, and continues to start a new tracking route until mapping is complete.

[0092] 103. During the rewinding process, obtain the intersection position of the lawn mower and the original mapping trajectory, and determine the intersection position as the target correction position.

[0093] In the embodiment of the present application, during the retraction process of the lawn mower, the lawn mower can be manually remotely controlled to retract, and the intersection position of the lawn mower and the original mapping trajectory is obtained, and the intersection position is used as the target correction position.

[0094] Optionally, when the electronic device is a display device, the above step 103 of obtaining the intersection position of the lawn mower and the original mapping trajectory during the rewinding process may include the following steps:

[0095] 31. Get the current position of the lawn mower;

[0096] 32. Determine the navigation route based on the current position during the rewind process;

[0097] 33. Determine the intersection between the navigation route and the original mapping trajectory.

[0098] In an embodiment of the present application, the current position of the lawn mower can be obtained, and a navigation route between the current position and the original mapping trajectory can be determined. In a specific implementation, the navigation route can be triggered by the user, or a path planning algorithm can be used to generate at least one path between the current position and the target waypoint, and one of the paths is used as the navigation route. The navigation route can avoid various obstacles, or ensure signal stability, and then control the lawn mower to return to the intersection position based on the navigation route. Therefore, the lawn mower can be guaranteed to return to the intersection position smoothly, thereby ensuring the correctness of the mapping of the lawn mower.

[0099] In a specific implementation, multiple navigation routes can be displayed for selection, as shown in Figure 1B, where the bold line represents the normal signal route, that is, the correct mapping trajectory, and the dotted circle represents the signal loss area. Recommended Route 1 and Recommended Route 2 can be provided for users to choose from to ensure the correctness of the mapping.

[0100] In a specific implementation, only one navigation route (i.e., a rewind path) can be displayed, as shown in Figure 1C, where the bold line represents the normal signal route, i.e., the correct mapping trajectory. If an error occurs in the mapping trajectory, the initial correction position can be determined, and a rewind operation can be performed. The intersection of the rewind path and the original mapping trajectory is used as the target correction position, and the lawn mower is rewound to the target correction position to ensure the correctness of the mapping.

[0101] 104. Cut the mapping trajectory between the target correction position and the initial correction position, and continue mapping based on the target correction position.

[0102] In the specific implementation, the mapping trajectory between the target correction position and the initial correction position can be cut, that is, the wrong mapping trajectory can be cut off and only the correct mapping trajectory can be retained. The mapping can be continued based on the target correction position, thereby ensuring the correctness of the mapping.

[0103] In an embodiment of the present application, the user can select a suitable location to reconstruct and correct the route without having to return to the initial point to reset. Then, the electronic device can control the lawn mower to return to the target correction position. Specifically, when the electronic device is a lawn mower, it can directly control itself to return to the target correction position. When the electronic device is a display device, the user can trigger the target correction position with one click, or the lawn mower can be remotely controlled to reach the target correction position. That is, when an error occurs in the constructed map, it can be reconstructed and corrected in a timely and rapid manner, thereby improving efficiency.

[0104] In practice, the user can control the mower to return to a location with good signal on the original route. When the mower reaches the designated location, it receives a signal to continue mapping, erases the incorrect tracking route location and display information, and continues to start a new tracking route until mapping is complete, thus ensuring mapping accuracy.

[0105] The method described in the embodiments of the present application is applicable to any robotics field where manual boundary establishment is required. For example, the map correction method can be used to set restricted area boundaries within an operation map.

[0106] In the related art, when an error occurs in mapping, it is necessary to restart the mapping, which is too inefficient. In the automatic regression scheme, non-regression factors are often encountered. For example, the lawn mower enters an area without satellite positioning due to incorrect tracking, or enters an area where it cannot retreat, etc., or there are many obstacles in the regression route, and the automatic regression safety risk is relatively high. In the embodiment of the present application, a valid position can be selected through visualization for retreat operation, avoiding the above-mentioned offset correction scheme and also avoiding the situation where non-regression factors are encountered in the automatic regression scheme. In the specific implementation, after an error occurs during mapping, the efficient correction scheme in the embodiment of the present application is adopted to adapt to complex terrain conditions.

[0107] Optionally, the following steps may also be included:

[0108] When the lawn mower overlaps with the original mapping trajectory, or the distance between the lawn mower and the original mapping trajectory is less than a preset distance, the original mapping trajectory and / or the position of the lawn mower are enlarged.

[0109] The preset distance may be preset or set by the system by default.

[0110] In an embodiment of the present application, when the lawn mower coincides with the original mapping trajectory, or the distance between the lawn mower and the original mapping trajectory is less than a preset distance, the original mapping trajectory can be enlarged, or the position of the lawn mower can be enlarged, or the original mapping trajectory and the position of the lawn mower can be enlarged at the same time. The magnification multiples of the original mapping trajectory and the position of the lawn mower can be the same or different. Errors can be discovered in time through interaction on the display interface, and the user can visualize the reconstruction and correction through the display interface, thereby reducing the difficulty of reconstruction and correction and improving the user experience.

[0111] The mapping correction method described in this application is applied to electronic devices, obtains an initial correction position, obtains a rewind instruction, and controls the lawn mower to rewind in the direction of the original mapping trajectory. During the rewinding process, the intersection position of the lawn mower and the original mapping trajectory is obtained, the intersection position is determined as the target correction position, the mapping trajectory between the target correction position and the initial correction position is cut, and mapping is continued based on the target correction position. In this way, when a mapping error occurs or the positioning signal is lost, the trajectory between the initial correction position and the target correction position of the lawn mower is cut off, and the mapping instruction operation is continued from the target correction position. When a mapping error occurs, the lawn mower does not need to return to the starting point and re-map, thereby improving the mapping efficiency of the lawn mower.

[0112] Please refer to FIG. 2 , which is a flow chart of another method for map building and correction provided by an embodiment of the present application, which is applied to an electronic device. As shown in the figure, the method for map building and correction includes:

[0113] 201. Detect a first signal strength value of a lawn mower.

[0114] 202. When the first signal strength value is lower than a first preset threshold, issue a prompt alarm and use the current position of the lawn mower as an initial correction position.

[0115] 203. Obtain a rewind instruction to rewind toward the original mapping trajectory.

[0116] 204. During the rewinding process, obtain the intersection position of the lawn mower and the original mapping trajectory, and determine the intersection position as the target correction position.

[0117] 205. Cut the mapping trajectory between the target correction position and the initial correction position, and continue mapping based on the target correction position.

[0118] The detailed description of the above steps 201 to 205 can refer to the corresponding steps of the map correction method described in FIG1A , and will not be repeated here.

[0119] The mapping correction method described in the present application is applied to an electronic device, detects a first signal strength value of a lawn mower, and issues a prompt alarm when the first signal strength value is lower than a first preset threshold value. The current position of the lawn mower is used as the initial correction position, and a rewind instruction is obtained to rewind in the direction of the original mapping trajectory. During the rewinding process, the intersection position of the lawn mower and the original mapping trajectory is obtained, and the intersection position is determined as the target correction position. The mapping trajectory between the target correction position and the initial correction position is cut, and mapping is continued based on the target correction position. In this way, when a mapping error occurs or the positioning signal is lost, the trajectory between the initial correction position and the target correction position of the lawn mower is cut off, and the mapping instruction operation is continued from the target correction position. When a mapping error occurs, the lawn mower does not need to return to the starting point and re-map, thereby improving the mapping efficiency of the lawn mower.

[0120] Please refer to FIG3 , which is a flow chart of another map correction method provided in an embodiment of the present application, which is applied to a lawn mower. As shown in the figure, the map correction method includes:

[0121] 301. Obtain an initial correction position.

[0122] 302. Obtain a rewind instruction to rewind toward the original mapping trajectory.

[0123] 303. During the rewinding process, obtain the intersection position of the lawn mower and the original mapping trajectory, and determine the intersection position as the target correction position.

[0124] 304. Cut the mapping trajectory between the target correction position and the initial correction position, and continue mapping based on the target correction position.

[0125] The detailed description of the above steps 301 to 304 can refer to the corresponding steps of the map correction method described in FIG1A , and will not be repeated here.

[0126] The mapping correction method described in this application is applied to a lawn mower, obtains an initial correction position, obtains a rewind instruction to rewind in the direction of the original mapping trajectory, obtains the intersection position of the lawn mower and the original mapping trajectory during the rewinding process, determines the intersection position as the target correction position, cuts the mapping trajectory between the target correction position and the initial correction position, and continues to build the map based on the target correction position. In this way, when an error occurs in the mapping or the positioning signal is lost, the trajectory between the initial correction position and the target correction position of the lawn mower is cut off, and the mapping instruction operation is continued from the target correction position. In this way, when a mapping error occurs, the lawn mower does not need to return to the starting point and re-build the map when a mapping error occurs, thereby improving the mapping efficiency of the lawn mower.

[0127] Please refer to FIG4 , which is a flow chart of another method for image correction according to an embodiment of the present application, which is applied to a display device. As shown in the figure, the method for image correction includes:

[0128] 401. Determine an initial correction position.

[0129] 402. Issue a rewind command to control the lawn mower to rewind in the direction of the original mapping trajectory.

[0130] 403. During the rewinding process, obtain the intersection position of the lawn mower and the original mapping trajectory, and determine the intersection position as the target correction position.

[0131] 404. Cut the mapping trajectory between the target correction position and the initial correction position, and continue mapping based on the target correction position.

[0132] The detailed description of the above steps 401 to 404 can refer to the corresponding steps of the map correction method described in FIG1A , and will not be repeated here.

[0133] The mapping correction method described in this application is applied to a display device, determines an initial correction position, and issues a rewind instruction to control the lawn mower to rewind in the direction of the original mapping trajectory. During the rewinding process, the intersection position of the lawn mower and the original mapping trajectory is obtained, and the intersection position is determined as the target correction position. The mapping trajectory between the target correction position and the initial correction position is cut, and mapping is continued based on the target correction position. In this way, when an error occurs in mapping or the positioning signal is lost, the trajectory between the initial correction position and the target correction position of the lawn mower is cut off, and the mapping instruction operation is continued from the target correction position. When a mapping error occurs, the lawn mower does not need to return to the starting point and re-map, thereby improving the mapping efficiency of the lawn mower.

[0134] Consistent with the above embodiment, please refer to Figure 5, which is a structural diagram of an electronic device provided in an embodiment of the present application. As shown in the figure, the electronic device includes a processor, a memory, a communication interface and one or more programs. The above one or more programs are stored in the above memory and are configured to be executed by the above processor. In the embodiment of the present application, the electronic device may include a lawn mower and / or a display device.

[0135] Optionally, when the electronic device includes a lawn mower, the program includes instructions for executing the following steps:

[0136] Get the initial corrected position;

[0137] Get the rewind instruction to rewind to the original mapping trajectory;

[0138] During the rewind process, the intersection position of the lawn mower and the original mapping trajectory is obtained, and the intersection position is determined as the target correction position;

[0139] Cut the mapping trajectory between the target correction position and the initial correction position, and continue mapping based on the target correction position.

[0140] Optionally, in terms of obtaining the initial corrected position, the program includes instructions for performing the following steps:

[0141] detecting a first signal strength value of the lawn mower;

[0142] When the first signal strength value is lower than a first preset threshold, the current position of the lawn mower is used as an initial corrected position.

[0143] Optionally, when the first signal strength value is lower than a first preset threshold, the program further includes instructions for executing the following steps:

[0144] Obtaining a determination instruction for an initial corrected position; and / or,

[0145] Issue a prompt alarm.

[0146] Optionally, in terms of detecting the first signal strength value of the lawn mower, the program includes instructions for performing the following steps:

[0147] Get the current position of the lawn mower;

[0148] Determine a reference detection frequency corresponding to the current position;

[0149] Get target environment parameters;

[0150] determining target adjustment parameters corresponding to target environmental parameters;

[0151] Adjust the reference detection frequency according to the target adjustment parameter to obtain the target detection frequency;

[0152] A first signal strength value of the lawn mower is detected according to the target detection frequency.

[0153] Optionally, the program further includes instructions for executing the following steps:

[0154] When the lawn mower intersects the original mapping trajectory, detecting a second signal strength value of the lawn mower at the intersection position;

[0155] When the second signal strength value is less than the set threshold, the step of wrapping back toward the original mapping trajectory is continued.

[0156] Optionally, when the electronic device includes a display device, the program includes instructions for executing the following steps:

[0157] Determine the initial correction position;

[0158] Send a rewind command to control the lawn mower to rewind to the original mapping trajectory;

[0159] During the rewind process, the intersection position of the lawn mower and the original mapping trajectory is obtained, and the intersection position is determined as the target correction position;

[0160] Cut the mapping trajectory between the target correction position and the initial correction position, and continue mapping based on the target correction position.

[0161] Optionally, in determining the initial correction position, the program includes instructions for performing the following steps:

[0162] Obtaining a first signal strength value of the lawn mower;

[0163] When the first signal strength value is lower than a first preset threshold, the current position of the lawn mower is used as an initial corrected position.

[0164] Optionally, when the first signal strength value is lower than a first preset threshold, the program further includes instructions for executing the following steps:

[0165] issuing a determination command for an initial correction position; and / or,

[0166] Issue a prompt alarm.

[0167] Optionally, the program further includes instructions for executing the following steps:

[0168] When the lawn mower overlaps with the original mapping trajectory, or the distance between the lawn mower and the original mapping trajectory is less than a preset distance, the original mapping trajectory and / or the position of the lawn mower are enlarged.

[0169] Optionally, in terms of obtaining the intersection position of the lawn mower and the original mapping trajectory during the rewinding process, the program includes instructions for executing the following steps:

[0170] Get the current position of the lawn mower;

[0171] Determine the navigation route based on the current position during the rewind process;

[0172] Determine the intersection between the navigation route and the original mapping trajectory.

[0173] Optionally, the program further includes instructions for executing the following steps:

[0174] When the lawn mower intersects the original mapping trajectory, detecting a second signal strength value of the lawn mower at the intersection position;

[0175] When the second signal strength value is less than the set threshold, the step of controlling the lawn mower to revolve in the direction of the original mapping trajectory is continued.

[0176] Figure 6 is a functional block diagram of a mapping correction device 600 involved in an embodiment of the present application. The mapping correction device 600 is applied to a lawn mower and includes: a first acquisition unit 601, a second acquisition unit 602, a determination unit 603, and a mapping unit 604, wherein:

[0177] A first acquiring unit 601 is used to acquire an initial corrected position;

[0178] The second acquisition unit 602 is used to acquire a rewind instruction to rewind to the original mapping trajectory direction;

[0179] A determination unit 603 is configured to obtain an intersection position between the lawn mower and the original mapping trajectory during the rewinding process, and determine the intersection position as a target correction position;

[0180] The mapping unit 604 is configured to cut the mapping trajectory between the target correction position and the initial correction position, and continue mapping based on the target correction position.

[0181] Optionally, in terms of obtaining the initial corrected position, the first obtaining unit 601 is specifically configured to:

[0182] detecting a first signal strength value of the lawn mower;

[0183] When the first signal strength value is lower than a first preset threshold, the current position of the lawn mower is used as an initial corrected position.

[0184] Optionally, when the first signal strength value is lower than a first preset threshold, the apparatus 600 is further configured to:

[0185] Obtaining a determination instruction for an initial corrected position; and / or,

[0186] Issue a prompt alarm.

[0187] Optionally, in terms of detecting the first signal strength value of the lawn mower, the first acquiring unit 601 is specifically configured to:

[0188] Get the current position of the lawn mower;

[0189] Determine a reference detection frequency corresponding to the current position;

[0190] Get target environment parameters;

[0191] determining target adjustment parameters corresponding to target environmental parameters;

[0192] Adjust the reference detection frequency according to the target adjustment parameter to obtain the target detection frequency;

[0193] A first signal strength value of the lawn mower is detected according to the target detection frequency.

[0194] Optionally, the device 600 is further specifically configured to:

[0195] When the lawn mower intersects the original mapping trajectory, detecting a second signal strength value of the lawn mower at the intersection position;

[0196] When the second signal strength value is less than the set threshold, the step of wrapping back toward the original mapping trajectory is continued.

[0197] The mapping correction device described in the present application is applied to a lawn mower, obtains an initial correction position, obtains a rewind instruction, and rewinds in the direction of the original mapping trajectory. During the rewinding process, the intersection position of the lawn mower and the original mapping trajectory is obtained, the intersection position is determined as the target correction position, the mapping trajectory between the target correction position and the initial correction position is cut, and mapping is continued based on the target correction position. In this way, when an error occurs in mapping or the positioning signal is lost, the trajectory between the initial correction position and the target correction position of the lawn mower is cut off, and the mapping instruction operation is continued from the target correction position. When a mapping error occurs, the lawn mower does not need to return to the starting point and re-map, thereby improving the mapping efficiency of the lawn mower.

[0198] It can be understood that the functions of each program module of the mapping and correction device of this embodiment can be specifically implemented according to the method in the above method embodiment. The specific implementation process can refer to the relevant description of the above method embodiment and will not be repeated here.

[0199] FIG7 is a block diagram of the functional units of a map correction device 700 involved in an embodiment of the present application. The map correction device 700 is applied to a display device and includes: a first determination unit 701, an issuing unit 702, a second determination unit 703, and a map construction unit 704, wherein:

[0200] A first determining unit 701 is configured to determine an initial corrected position;

[0201] The issuing unit 702 is used to issue a rewind instruction to control the lawn mower to rewind in the direction of the original mapping trajectory;

[0202] The second determining unit 703 is used to obtain the intersection position of the lawn mower and the original mapping trajectory during the rewinding process, and determine the intersection position as the target correction position;

[0203] The mapping unit 704 is configured to cut the mapping trajectory between the target correction position and the initial correction position, and continue mapping based on the target correction position.

[0204] Optionally, in determining the initial corrected position, the first determining unit 701 is specifically configured to:

[0205] Obtaining a first signal strength value of the lawn mower;

[0206] When the first signal strength value is lower than a first preset threshold, the current position of the lawn mower is used as an initial corrected position.

[0207] Optionally, when the first signal strength value is lower than a first preset threshold, the apparatus 700 is further configured to:

[0208] issuing a determination command for an initial correction position; and / or,

[0209] Issue a prompt alarm.

[0210] Optionally, the apparatus 700 is further specifically configured to:

[0211] When the lawn mower overlaps with the original mapping trajectory, or the distance between the lawn mower and the original mapping trajectory is less than a preset distance, the original mapping trajectory and / or the position of the lawn mower are enlarged.

[0212] Optionally, in terms of obtaining the intersection position of the lawn mower and the original mapping trajectory during the rewinding process, the issuing unit 702 is specifically configured to:

[0213] Get the current position of the lawn mower;

[0214] Determine the navigation route based on the current position during the rewind process;

[0215] Determine the intersection between the navigation route and the original mapping trajectory.

[0216] Optionally, the apparatus 700 is further specifically configured to:

[0217] When the lawn mower intersects the original mapping trajectory, detecting a second signal strength value of the lawn mower at the intersection position;

[0218] When the second signal strength value is less than the set threshold, the step of controlling the lawn mower to revolve in the direction of the original mapping trajectory is continued.

[0219] The mapping correction device described in the present application is applied to a display device, determines an initial correction position, and issues a rewind instruction to control the lawn mower to rewind in the direction of the original mapping trajectory. During the rewinding process, the intersection position of the lawn mower and the original mapping trajectory is obtained, the intersection position is determined as the target correction position, the mapping trajectory between the target correction position and the initial correction position is cut, and mapping is continued based on the target correction position. In this way, when an error occurs in mapping or the positioning signal is lost, the trajectory between the initial correction position and the target correction position of the lawn mower is cut off, and the mapping instruction operation is continued from the target correction position. When a mapping error occurs, the lawn mower does not need to return to the starting point and re-map, thereby improving the mapping efficiency of the lawn mower.

[0220] It can be understood that the functions of each program module of the mapping and correction device of this embodiment can be specifically implemented according to the method in the above method embodiment. The specific implementation process can refer to the relevant description of the above method embodiment and will not be repeated here.

[0221] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiments, and the above computer includes an electronic device.

[0222] The present application also provides a computer program product comprising a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments. The computer program product may be a software installation package, and the computer may comprise an electronic device.

[0223] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0224] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0225] In the several embodiments provided in this application, it should be understood that the disclosed system can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For example, the division of the above-mentioned units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the system or unit can be electrical or other forms.

[0226] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0227] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0228] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes a number of instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the above-mentioned methods of each embodiment of the present application. The aforementioned memory includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0229] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program. The program can be stored in a computer-readable memory, and the memory can include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0230] The above is a detailed introduction to the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for those skilled in the art, according to the idea of ​​the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for map correction, characterized in that: Applied to a lawn mower, the method comprises: Get the initial correction position; Get the rewind instruction to rewind to the original mapping trajectory; During the rewinding process, an intersection position of the lawn mower and the original mapping trajectory is obtained, and the intersection position is determined as a target correction position; The mapping trajectory between the target correction position and the initial correction position is cut, and mapping is continued based on the target correction position.

2. The method according to claim 1, characterized in that: The obtaining of the initial corrected position comprises: detecting a first signal strength value of the lawn mower; When the first signal strength value is lower than a first preset threshold, the current position of the lawn mower is used as the initial corrected position.

3. The method according to claim 2, characterized in that When the first signal strength value is lower than the first preset threshold, the method further includes: obtaining a determination instruction of the initial correction position; and / or, Issue a reminder alarm.

4. The method according to claim 2, characterized in that: The detecting a first signal strength value of the lawn mower comprises: Get the current position of the lawn mower; determining a reference detection frequency corresponding to the current position; Get target environment parameters; Determining a target adjustment parameter corresponding to the target environmental parameter; Adjusting the reference detection frequency according to the target adjustment parameter to obtain a target detection frequency; A first signal strength value of the lawn mower is detected according to the target detection frequency.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: When the lawn mower intersects with the original mapping trajectory, detecting a second signal strength value of the lawn mower at the intersection position; When the second signal strength value is less than a set threshold, the step of wrapping back to the original mapping trajectory is continued.

6. A method for map correction, characterized in that: Applied to a display device, the method comprises: Determine the initial correction position; Send out a rewind command to control the lawn mower to rewind in the direction of the original mapping trajectory; During the rewinding process, an intersection position of the lawn mower and the original mapping trajectory is obtained, and the intersection position is determined as a target correction position; The mapping trajectory between the target correction position and the initial correction position is cut, and mapping is continued based on the target correction position.

7. The method according to claim 6, characterized in that The determining of the initial correction position comprises: obtaining a first signal strength value of the lawn mower; When the first signal strength value is lower than a first preset threshold, the current position of the lawn mower is used as the initial corrected position.

8. The method according to claim 7, characterized in that When the first signal strength value is lower than the first preset threshold, the method further includes: issuing a determination instruction for the initial correction position; and / or, Issue a reminder alarm.

9. The method according to any one of claims 6 to 8, characterized in that: The method further comprises: When the lawn mower overlaps with the original mapping trajectory, or the distance between the lawn mower and the original mapping trajectory is less than a preset distance, the original mapping trajectory and / or the position of the lawn mower are enlarged.

10. The method according to claim 9, characterized in that The step of obtaining the intersection position of the lawn mower and the original mapping trajectory during the rewinding process includes: Get the current position of the lawn mower; Determining a navigation route according to the current position during the rewinding process; Determine the intersection position between the navigation route and the original mapping trajectory.

11. The method according to any one of claims 6 to 8, characterized in that: The method further comprises: When the lawn mower intersects with the original mapping trajectory, detecting a second signal strength value of the lawn mower at the intersection position; When the second signal strength value is less than a set threshold, the step of controlling the lawn mower to revolve in the direction of the original mapping trajectory is continued.

12. A map correction device, characterized in that: Applied to a lawn mower, the device comprises: a first acquisition unit, a second acquisition unit, a determination unit, and a mapping unit, wherein: The first acquisition unit is used to acquire an initial corrected position; The second acquisition unit is used to acquire a rewind instruction to rewind to the direction of the original mapping trajectory; The determination unit is used to obtain the intersection position of the lawn mower and the original mapping trajectory during the rewinding process, and determine the intersection position as the target correction position; The mapping unit is used to cut the mapping trajectory between the target correction position and the initial correction position. Continue to build the map at the target corrected position.

13. A map correction device, characterized in that: Applied to a display device, the apparatus comprises: a first determining unit, an issuing unit, a second determining unit, and a mapping unit, wherein: The first determining unit is used to determine an initial correction position; The issuing unit is used to issue a rewinding instruction to control the lawn mower to rewind in the direction of the original mapping trajectory; The second determination unit is used to obtain the intersection position of the lawn mower and the original mapping trajectory during the rewinding process, and determine the intersection position as the target correction position; The mapping unit is used to cut the mapping trajectory between the target correction position and the initial correction position, and continue to build the map based on the target correction position.

14. An electronic device, characterized in that: A lawn mower and a display device, wherein the lawn mower comprises a processor and a memory, wherein the memory is used to store one or more programs and is configured to be executed by the processor, wherein the program comprises instructions for executing the steps in the method according to any one of claims 1 to 5; The display device comprises a processor and a memory, wherein the memory is used to store one or more programs and is configured to be executed by the processor, wherein the programs comprise instructions for executing the steps in the method according to any one of claims 6 to 11.

15. A computer-readable storage medium, characterized in that: Storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute the method according to any one of claims 1 to 5; and / or, The computer program enables a computer to execute the method according to any one of claims 6 to 11.

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