Positioning method of self-moving equipment, terminal and readable storage medium

Abstract

The invention relates to a positioning method of a self-moving device, a terminal and a readable storage medium, the method comprises the following steps: obtaining positioning information of the self-moving device and a first identifier contained in map element information, the first identifier corresponding to the map element information; comparing the first identifier with a second identifier, wherein the second identifier corresponds to historical map element information; when the first identifier is inconsistent with the second identifier, acquiring the map element information; and displaying the self-moving device and the map element on the terminal according to the positioning information and the map element information. According to the positioning method, the target position where the self-moving equipment is located and the surrounding map elements can be displayed on the operation map, and a user can conveniently take the map elements as reference substances, so that the user can quickly and accurately determine the position of the self-moving equipment in combination with the positioning information and the map elements.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular, to a positioning method, a terminal, and a computer-readable storage medium for a self-moving device. Background Art

[0002] Currently, after a self-moving device with a moving function such as a lawn mower or a sweeping robot goes offline, the terminal only displays a reconnect button. The user can request to re-establish a communication connection with the self-moving device through the reconnect button on the terminal. However, when the terminal and the self-moving device cannot re-establish a communication connection, the user needs to search for the self-moving device. Since the user cannot determine the location of the self-moving device, it is impossible to find the self-moving device in a timely and accurate manner. Summary of the Invention

[0003] This application provides a positioning method, a terminal, and a computer-readable storage medium for a self-moving device, which solves the problem that the user cannot find the self-moving device in a timely and accurate manner when the self-moving device goes offline.

[0004] In a first aspect, this application provides a positioning method for a self-moving device, which is applied to a terminal. The method includes:

[0005] Obtain a first identifier included in the positioning information and map element information of the self-moving device, where the first identifier corresponds to the map element information;

[0006] Compare the first identifier with a second identifier, where the second identifier corresponds to historical map element information;

[0007] When the first identifier is inconsistent with the second identifier, obtain the map element information;

[0008] Display the self-moving device and the map element on the terminal according to the positioning information and the map element information.

[0009] In some embodiments, the obtaining the positioning information of the self-moving device includes:

[0010] Request the positioning information from a server, and the self-moving device reports the positioning information to the server based on a first communication method; or

[0011] Receive the positioning information uploaded by the self-moving device to the terminal based on a second communication method.

[0012] In some embodiments, the obtaining the first identifier included in the map element information of the self-moving device includes:

[0013] Request the server for the first identifier, and the self - moving device reports the first identifier to the server based on a first communication method; or

[0014] Receive the first identifier uploaded by the self - moving device to the terminal based on a second communication method.

[0015] In some embodiments, when the self - moving device configures the network, the self - moving device performs data transmission with the server based on the first communication method; when the self - moving device does not configure the network, the self - moving device performs data transmission with the terminal based on the second communication method.

[0016] In some embodiments, the terminal includes a display interface; displaying the self - moving device and map elements on the terminal according to the positioning information and the map element information includes:

[0017] Load the map element information onto the working map of the display interface; display the target position of the self - moving device on the working map according to the positioning information.

[0018] In some embodiments, displaying the target position of the self - moving device on the working map according to the positioning information includes:

[0019] Parse the positioning information to obtain the longitude and latitude of the self - moving device;

[0020] Perform coordinate conversion on the longitude and latitude to obtain the map coordinates of the self - moving device on the working map;

[0021] Mark the target position on the working map according to the map coordinates.

[0022] In some embodiments, after displaying the self - moving device and map elements on the terminal according to the positioning information and the map element information, the method further includes:

[0023] Display the offline time of the self - moving device when it is offline on the working map, and the offline time is determined according to the timestamp reported by the self - moving device for the last time before going offline.

[0024] In some embodiments, the display interface includes an offline notification button; the method further includes:

[0025] After the offline notification button is turned on, if it is detected that the self - moving device is offline, output an offline notification prompt, and the offline notification prompt is used to indicate that the self - moving device is offline and remind to view the target position of the self - moving device when it is offline.

[0026] Second aspect, the present application further provides a terminal, which includes a memory and a processor;

[0027] The memory is used to store a computer program;

[0028] The processor is used to execute the computer program and implement the above-mentioned positioning method of the self-mobile device when executing the computer program.

[0029] Third aspect, the present application further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the processor implements the above-mentioned positioning method of the self-mobile device.

[0030] The present application discloses a positioning method, a terminal and a computer-readable storage medium for a self-mobile device. The positioning method includes: obtaining a first identifier included in the positioning information of the self-mobile device and map element information, where the first identifier corresponds to the map element information; comparing the first identifier with a second identifier, where the second identifier corresponds to historical map element information; when the first identifier is inconsistent with the second identifier, obtaining the map element information; and displaying the self-mobile device and the map element on the terminal according to the positioning information and the map element information. In the above positioning method, by obtaining the first identifier included in the positioning information of the self-mobile device and the map element information, when the first identifier is inconsistent with the second identifier corresponding to the historical map element information, obtaining the map element information, and displaying the self-mobile device and the map element on the terminal according to the positioning information and the map element information, it is possible to display the target position where the self-mobile device is located and the surrounding map elements on the operation map, facilitating the user to use the map elements as reference objects, so that the user can quickly and accurately determine the position of the self-mobile device in combination with the positioning information and the map elements, so as to facilitate the user to find the self-mobile device in time. Description of the Drawings

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0032] Figure 1 It is a schematic structural diagram of a terminal provided by an embodiment of the present application;

[0033] Figure 2 It is a schematic flowchart of a positioning method for a self-mobile device provided by an embodiment of the present application;

[0034] Figure 3It is an operation map provided by an embodiment of the present application;

[0035] Figure 4 It is another operation map provided by an embodiment of the present application;

[0036] Figure 5 It is an interaction timing diagram of a positioning method for a self - moving device provided by an embodiment of the present application. Specific embodiments

[0037] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0038] The flowcharts shown in the accompanying drawings are only illustrative examples, and do not necessarily include all the contents and operations / steps, nor do they necessarily need to be executed in the described order. For example, some operations / steps can also be decomposed, combined, or partially merged. Therefore, the actual execution order may be changed according to the actual situation.

[0039] It should be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification of the present application and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0040] It should also be understood that the term "and / or" used in the specification of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0041] Currently, after self - moving devices with moving functions such as lawn mowers and floor sweepers go offline, the terminal only displays a reconnect button and does not carry information related to the self - moving device before going offline. Users can request to re - establish a communication connection with the self - moving device through the reconnect button on the terminal. However, when the terminal and the self - moving device cannot re - establish a communication connection, the user needs to search for the self - moving device. However, since the user cannot determine the location of the self - moving device, it is impossible to find the self - moving device in a timely and accurate manner.

[0042] To this end, embodiments of the present application provide a positioning method, a terminal, and a computer-readable storage medium for a self-moving device. Among them, the positioning method of the self-moving device can be applied to a terminal. By obtaining the positioning information of the self-moving device and the first identifier included in the map element information, when the first identifier is inconsistent with the second identifier corresponding to the historical map element information, the map element information is obtained, and the self-moving device and the map element are displayed on the terminal according to the positioning information and the map element information, so that the target position where the self-moving device is located and the surrounding map elements can be displayed on the operation map, facilitating the user to use the map elements as reference objects, thereby enabling the user to quickly and accurately determine the position of the self-moving device by combining the positioning information and the map elements, so that the user can find the self-moving device in time.

[0043] Exemplarily, the self-moving device may include, but is not limited to, movable devices such as lawn mowers, snow blowers, floor cleaning robots, drones, food delivery robots, and reception robots. The terminal may be an electronic device such as a smart phone, a tablet computer, a notebook computer, a desktop computer, and a smart wearable device.

[0044] In an embodiment of the present application, during the operation of the self-moving device, the terminal can obtain the positioning information of the self-moving device and the map element information, and display the self-moving device and the map element on the terminal according to the positioning information and the map element information. Then, when it is detected that the first identifier included in the newly obtained map element information is inconsistent with the second identifier included in the historical map element information, the latest positioning information and map element information are obtained, and the self-moving device and the map element are displayed on the terminal according to the positioning information and the map element information, so that the latest position of the self-moving device and the surrounding map elements can be always displayed on the terminal. Thus, after the self-moving device goes offline, the user can quickly and accurately determine the position of the self-moving device by combining the positioning information and the map elements.

[0045] Please refer to Figure 1 , Figure 1 FIG. 13 is a schematic structural diagram of a terminal 100 provided by an embodiment of the present application. The terminal 100 may include a processor 1001 and a memory 1002. Among them, the processor 1001 and the memory 1002 may be connected through a bus, and the bus may be any applicable bus such as an Inter-integrated Circuit (I2C) bus.

[0046] Among them, the memory 1002 may include a storage medium and an internal memory. The storage medium may store an operating system and a computer program. The computer program includes program instructions, and when the program instructions are executed, the processor can execute the positioning method of the self-moving device described in any embodiment.

[0047] Among them, the processor 1001 is used to provide computing and control capabilities to support the operation of the entire terminal 100.

[0048] Among them, the processor 1001 can be a central processing unit (CPU), and this processor can also be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor, or the general-purpose processor can also be any conventional processor, etc.

[0049] Among them, in one embodiment, the processor 1001 is used to run a computer program stored in the memory 1002 to implement the following steps:

[0050] Obtain the first identifier included in the positioning information and map element information of the self-mobile device, where the first identifier corresponds to the map element information; compare the first identifier with the second identifier, where the second identifier corresponds to the historical map element information; when the first identifier is inconsistent with the second identifier, obtain the map element information; display the self-mobile device and the map element on the terminal according to the positioning information and the map element information.

[0051] In one embodiment, when the processor 1001 implements obtaining the positioning information of the self-mobile device, it is used to implement:

[0052] Request the positioning information from the server, and the self-mobile device reports the positioning information to the server based on the first communication method; or receive the positioning information uploaded by the self-mobile device to the terminal based on the second communication method.

[0053] In one embodiment, when the processor 1001 implements obtaining the first identifier included in the map element information of the self-mobile device, it is used to implement:

[0054] Request the first identifier from the server, and the self-mobile device reports the first identifier to the server based on the first communication method; or receive the first identifier uploaded by the self-mobile device to the terminal based on the second communication method.

[0055] In one embodiment, when the self-mobile device configures the network, the self-mobile device performs data transmission with the server based on the first communication method; when the self-mobile device does not configure the network, the self-mobile device performs data transmission with the terminal based on the second communication method.

[0056] In one embodiment, the terminal includes a display interface; when the processor 1001 is configured to display the self-mobile device and map elements on the terminal according to the positioning information and map element information, it is configured to:

[0057] Load the map element information onto the working map of the display interface; display the target position of the self-mobile device on the working map according to the positioning information.

[0058] In one embodiment, when the processor 1001 is configured to display the target position of the self-mobile device on the working map according to the positioning information, it is configured to:

[0059] Parse the positioning information to obtain the longitude and latitude of the self-mobile device; perform coordinate conversion on the longitude and latitude to obtain the map coordinates of the self-mobile device on the working map; mark the target position on the working map according to the map coordinates.

[0060] In one embodiment, after the processor 1001 is configured to display the self-mobile device and map elements on the terminal according to the positioning information and map element information, it is further configured to:

[0061] Display the offline time of the self-mobile device when it is offline on the working map, and the offline time is determined according to the timestamp reported by the self-mobile device for the last time before going offline.

[0062] In one embodiment, the display interface includes an offline notification button; the processor 1001 is further configured to:

[0063] After the offline notification button is turned on, if it is detected that the self-mobile device is offline, output an offline notification prompt, which is used to indicate that the self-mobile device is offline and to remind to view the target position of the self-mobile device when it is offline.

[0064] The following will describe in detail some embodiments of the present application with reference to the accompanying drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other. Please refer to Figure 2 , Figure 2 which is a schematic flowchart of a positioning method for a self-mobile device provided by an embodiment of the present application. As Figure 2 shown, the positioning method for the self-mobile device includes steps S101 to S104.

[0065] As Figure 1 shown, the positioning method for the self-mobile device includes steps S101 to S104.

[0066] Step S101, obtain the first identifier included in the positioning information and map element information of the self-mobile device, and the first identifier corresponds to the map element information.

[0067] It should be noted that the positioning information of the self - moving device can be generated by the positioning system of the self - moving device and reported to the server for storage regularly or in real - time. The map element information of the self - moving device is also reported to the server for storage regularly or when the map element information changes locally.

[0068] Exemplarily, the server can be an independent server or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, Content Delivery Network (CDN), and big data and artificial intelligence platforms.

[0069] In some embodiments, when the self - moving device configures a network, the self - moving device performs data transmission with the server based on the first communication method; when the self - moving device does not configure a network, the self - moving device performs data transmission with the terminal based on the second communication method.

[0070] Exemplarily, when the self - moving device configures a network, the self - moving device can report the positioning information and map element information to the server based on the first communication method. Among them, the network configured by the self - moving device can be 2G, 3G, 4G, 5G, 6G network. For example, when the self - moving device configures a 5G network, the self - moving device can report the positioning information and map element information to the server based on the 5G communication method. Another example, when the self - moving device configures a 4G network, the self - moving device can report the positioning information and map element information to the server based on the 4G communication method.

[0071] Exemplarily, when the self - moving device does not configure a network, the self - moving device uploads the positioning information and map element information to the terminal based on the second communication method, and then the terminal synchronizes the positioning information and map element information to the server. For example, when the self - moving device does not configure any one of the 2G, 3G, 4G, 5G or 6G networks, the self - moving device can upload the positioning information and map element information to the terminal based on the Bluetooth communication method, and then the terminal synchronizes the positioning information and map element information to the server. Among them, there can be multiple communication methods between the terminal and the server, and this application does not limit this.

[0072] In some embodiments, obtaining the positioning information of the self - moving device includes: requesting the positioning information from the server, and the self - moving device reports the positioning information to the server based on the first communication method.

[0073] Exemplarily, the terminal can send a first request message to the server for the server to return the positioning information to the terminal according to the first request message. Among them, the positioning information stored in the server is reported to the server by the self - moving device based on the first communication method.

[0074] Exemplarily, the positioning information may include the position coordinates of the self - moving device, such as longitude and latitude, and may also include a timestamp. For example, timestamps corresponding to different positions of the self - moving device. It should be noted that the timestamp can be used to represent the moment when the self - moving device reports the positioning information, facilitating the identification of positioning information at different moments, so that after the self - moving device goes offline, the last reported positioning information of the self - moving device before going offline can be determined.

[0075] In some other embodiments, obtaining the positioning information of the self - moving device includes: receiving the positioning information uploaded by the self - moving device to the terminal based on the second communication method.

[0076] Exemplarily, the terminal can receive the positioning information uploaded by the self - moving device based on the Bluetooth communication method. It should be noted that when the self - moving device is not configured with a network, the self - moving device can upload the positioning information to the terminal based on the Bluetooth communication method, and the terminal can save the positioning information and synchronize the positioning information to the server.

[0077] In the embodiments of the present application, when positioning the self - moving device, in addition to obtaining the positioning information of the self - moving device, the terminal also needs to obtain the map element information of the self - moving device. Among them, the map element information may include map elements and identifiers. The map elements are used to represent the reference objects at the location where the self - moving device is located, and the identifiers are used to determine whether the map elements in the map element information have changed. It should be noted that the identifier is calculated based on the hash value of the map elements in the map element information. When the map elements in the map element information change, the calculated identifier also changes accordingly, so that the identifier can be used to determine whether the map elements in the map element information have changed.

[0078] For example, the map elements may include the boundaries of the operation area, restricted areas, channels, base stations, etc. For a lawn mower, the map elements may also include grass discharge points, lawn patterns, etc. The map element information can be collected and saved by the self - moving device and synchronized to the server, or when the self - moving device is not configured with a network, the self - moving device can upload the map element information to the terminal.

[0079] In some embodiments, obtaining the first identifier included in the map element information of the self - moving device includes: requesting the first identifier from the server, and the self - moving device reports the first identifier to the server based on the first communication method.

[0080] Exemplarily, the terminal can send a second request message to the server for the server to return the first identifier included in the map element information to the terminal according to the second request message. Among them, the map element information stored in the server is reported to the server by the self - moving device based on the first communication method.

[0081] It should be noted that when the self - moving device configures the network, the self - moving device can synchronize the recalculated identifier and each map element to the server when it detects a change in the map element. The server can verify the integrity of each received map element according to the received identifier.

[0082] In some other embodiments, obtaining the first identifier included in the map element information of the self - moving device includes: receiving the first identifier uploaded by the self - moving device to the terminal based on the second communication method.

[0083] Exemplarily, the terminal can receive the first identifier uploaded by the self - moving device based on the Bluetooth communication method. It should be noted that when the self - moving device is not configured with a network, the self - moving device can upload the map element information to the terminal based on the Bluetooth communication method. The terminal can save the map element information and then synchronize the map element information to the server.

[0084] Step S102: Compare the first identifier with the second identifier, where the second identifier corresponds to the historical map element information.

[0085] Exemplarily, after obtaining the first identifier included in the map element information of the self - moving device, the second identifier corresponding to the historical map element information can be compared with the first identifier.

[0086] It should be noted that the historical map element information can be the map element information uploaded by the self - moving device to the terminal based on the Bluetooth communication method when the self - moving device is not configured with a network, and the terminal saves the map element information locally.

[0087] Step S103: When the first identifier is inconsistent with the second identifier, obtain the map element information.

[0088] Exemplarily, when the first identifier is inconsistent with the second identifier, the terminal can obtain the map element information from the server. It should be noted that when the first identifier is inconsistent with the second identifier, it indicates that the map element information stored locally by the terminal is not the latest. At this time, the latest map element information needs to be obtained from the server.

[0089] In some embodiments, when the first identifier is consistent with the second identifier, there is no need to obtain the map element information. It should be noted that when the first identifier included in the latest obtained map element information is the same as the second identifier included in the historical map element information, it indicates that the map elements collected by the self - moving device have not changed. At this time, there is no need to update the map elements on the working map of the terminal.

[0090] In the above embodiments, by obtaining map element information when the first identifier is inconsistent with the second identifier, it is possible to obtain the latest map element information after the map elements change, and subsequently, the latest map elements can be displayed on the terminal according to the map element information.

[0091] Step S104: Display the self-mobile device and the map elements on the terminal according to the positioning information and the map element information.

[0092] Exemplarily, the self-mobile device and the map elements can be displayed on the terminal according to the positioning information and the map element information. For example, the terminal includes a display interface, and the self-mobile device and the map elements can be displayed on the display interface of the terminal.

[0093] In some embodiments, displaying the self-mobile device and the map elements on the terminal according to the positioning information and the map element information may include: loading the map element information onto the operation map of the display interface; displaying the target position of the self-mobile device on the operation map according to the positioning information.

[0094] Exemplarily, each map element in the map element information can be loaded onto the operation map of the display interface. Among them, the operation map refers to the map used by the self-mobile device during operation, and may include the operation area of the self-mobile device, base stations, etc. In some embodiments, the operation map can be a mapbox map, and the platform tools of the mapbox map can be used to load the map element information onto the operation map of the display interface.

[0095] Exemplarily, after loading each map element onto the operation map of the display interface, the target position of the self-mobile device can be displayed on the operation map according to the positioning information. Among them, the positioning information may include the longitude and latitude of the self-mobile device. It should be noted that since the coordinates on the operation map use a user-defined coordinate system, rather than the world coordinate system corresponding to the longitude and latitude, when displaying the target position of the self-mobile device on the operation map according to the positioning information, the longitude and latitude need to be coordinate-transformed.

[0096] In some embodiments, displaying the target position of the self-mobile device on the operation map according to the positioning information may include: parsing the positioning information to obtain the longitude and latitude of the self-mobile device; performing coordinate transformation on the longitude and latitude to obtain the map coordinates of the self-mobile device on the operation map; marking the target position on the operation map according to the map coordinates.

[0097] Exemplarily, based on the coordinate transformation formula in the related art, the longitude and latitude of the self-mobile device can be transformed into the map coordinates of the self-mobile device on the operation map. The specific process of the coordinate transformation is not limited in this application.

[0098] Exemplarily, the platform tools of the Mapbox map can be utilized to mark the target location on the operation map according to the map coordinates.

[0099] In the above embodiment, by loading each map element in the map element information onto the operation map of the display interface and displaying the target location of the self-mobile device, it is possible to display the target location where the self-mobile device is located and the surrounding map elements on the operation map, facilitating the user to use the map elements as reference objects, so that the user can quickly and accurately determine the location of the self-mobile device by combining the positioning information and the map elements, in order for the user to find the self-mobile device in a timely manner.

[0100] In some embodiments, after the self-mobile device and the map elements are displayed on the terminal according to the positioning information and the map element information, the positioning method of the self-mobile device may further include: displaying the offline time of the self-mobile device when it is offline on the operation map, and the offline time is determined according to the timestamp reported by the self-mobile device for the last time before going offline.

[0101] Exemplarily, the positioning information reported by the self-mobile device includes the position coordinates and timestamp of the self-mobile device. When the terminal detects that the self-mobile device is offline, it can determine the offline time of the self-mobile device according to the timestamp in the positioning information, and then display the offline time of the self-mobile device on the operation map.

[0102] Please refer to Figure 3 , Figure 3 which is an operation map provided by an embodiment of the present application. As Figure 3 shown, the position and offline time "Last Time 2023-11-10 15:30:36" of the self-mobile device can be displayed on the operation map.

[0103] Exemplarily, when the self-mobile device is a lawn mower, the position and offline time of the lawn mower can be displayed on the operation map. When the self-mobile device is a drone, the position and offline time of the drone can be displayed on the operation map.

[0104] In the above embodiment, by determining the offline time of the self-mobile device according to the timestamp reported by the self-mobile device for the last time before going offline and displaying the offline time of the self-mobile device on the operation map, the user can know the offline time when the self-mobile device is offline.

[0105] In some embodiments, the display interface includes an offline notification button; the positioning method of the self-mobile device further includes: after the offline notification button is turned on, if it is detected that the self-mobile device is offline, an offline notification prompt is output, and the offline notification prompt is used to indicate that the self-mobile device is offline and to remind to view the target location of the self-mobile device when it is offline.

[0106] Exemplarily, in the embodiments of the present application, the user can turn on the offline notification button on the display interface; when the terminal detects that the self-mobile device is offline, it can output an offline notification prompt for indicating that the self-mobile device is offline, and remind the user to view the target location of the self-mobile device when it is offline.

[0107] Please refer to Figure 4 , Figure 4 which is another operation map provided by the embodiments of the present application. As Figure 4 shown, an offline notification prompt for indicating that the self-mobile device is offline can be output on the operation map. For example, the offline notification prompt can be "OffLine! The robot is offline. Please reconnect".

[0108] In the above embodiments, by turning on the offline notification button and outputting an offline notification prompt when detecting that the self-mobile device is offline, it is possible to timely remind the user to view the target location of the self-mobile device when it is offline, so that the user can quickly and accurately determine the location of the self-mobile device, so that the user can find the self-mobile device in time.

[0109] In some embodiments, the display interface further includes a layer switching button, and the positioning method of the self-mobile device further includes: in response to a switching operation on the layer switching button, determining a target layer, where the target layer is a standard map layer or a satellite map layer; based on the target layer, displaying the self-mobile device and map elements on the terminal according to the positioning information and map element information.

[0110] Exemplarily, when it is detected that the user switches to the satellite map layer, the self-mobile device and map elements can be displayed on the operation map based on the satellite map layer. It should be noted that by displaying the self-mobile device and map elements based on the satellite map layer, the user can view three-dimensional and detailed map elements, which is convenient for the user to accurately determine the location of the self-mobile device.

[0111] Please refer to Figure 5 , Figure 5 which is an interaction timing diagram of a positioning method for a self-mobile device provided by the embodiments of the present application. As Figure 5 shown, when the self-mobile device configures the network, the self-mobile device reports the positioning information and map element information to the server; when the self-mobile device does not configure the network, the self-mobile device uploads the positioning information and map element information to the terminal, and the terminal then synchronizes the positioning information and map element information to the server; when the terminal detects that the first identifier included in the received map element information is inconsistent with the second identifier included in the historical map element information, it pulls the map element information from the server; the terminal displays the self-mobile device and map elements on the terminal according to the positioning information and map element information.

[0112] In an embodiment of the present application, a computer-readable storage medium is further provided. The computer-readable storage medium stores a computer program, and the computer program includes program instructions. The processor executes the program instructions to implement any one of the positioning methods of the self-mobile device provided in the embodiments of the present application.

[0113] For example, when the program is loaded by the processor, the following steps can be executed:

[0114] Obtain a first identifier included in the positioning information of the self-mobile device and the map element information, where the first identifier corresponds to the map element information; compare the first identifier with a second identifier, where the second identifier corresponds to historical map element information; when the first identifier is inconsistent with the second identifier, obtain the map element information; display the self-mobile device and the map element on the terminal according to the positioning information and the map element information.

[0115] Among them, the computer-readable storage medium may be an internal storage unit of the terminal in the foregoing embodiment, such as the hard disk or memory of the terminal. The computer-readable storage medium may also be an external storage device of the terminal, such as a plug-in hard disk equipped on the terminal, a Smart Media Card (SMC), a Secure Digital Card (SDCard), a Flash Card, etc.

[0116] Further, the computer-readable storage medium may mainly include a storage program area and a storage data area. Among them, the storage program area may store an operating system, application programs required for at least one function, etc.; the storage data area may store data created according to the use of the blockchain node, etc.

[0117] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A positioning method for a mobile device, characterized in that: Applied to a terminal, the method comprises: Acquire the positioning information of the mobile device and a first identifier included in the map element information, where the first identifier corresponds to the map element information; comparing the first identifier with a second identifier, the second identifier corresponding to historical map element information; When the first identifier is inconsistent with the second identifier, acquiring the map element information; The self-equipped device and the map element are displayed on the terminal according to the positioning information and the map element information.

2. The method for positioning a self-moving device according to claim 1, characterized in that: The obtaining the location information of the mobile device includes: Requesting the location information from a server, and the mobile device reporting the location information to the server based on a first communication method; or The positioning information uploaded by the mobile device to the terminal based on the second communication method is received.

3. The method for positioning a self-moving device according to claim 1, characterized in that: The obtaining of the first identifier contained in the map element information from the mobile device includes: requesting the first identifier from a server, and the mobile device reporting the first identifier to the server based on a first communication method; or The first identifier uploaded by the mobile device to the terminal based on the second communication method is received.

4. The method for positioning a self-moving device according to claim 2 or 3, characterized in that: When the self-mobile device configures the network, the self-mobile device transmits data with the server based on the first communication method; when the self-mobile device does not configure the network, the self-mobile device transmits data with the terminal based on the second communication method.

5. The method for positioning a self-moving device according to claim 1, characterized in that: The terminal includes a display interface; and displaying the mobile device and the map element on the terminal according to the positioning information and the map element information includes: Loading the map element information onto the operation map of the display interface; The target position of the self-moving device is displayed on the operation map according to the positioning information.

6. The method for positioning a self-moving device according to claim 5, characterized in that: The step of displaying the target position of the self-moving device on the operation map according to the positioning information includes: Parsing the positioning information to obtain the longitude and latitude of the mobile device; Performing coordinate conversion on the longitude and latitude to obtain the map coordinates of the self-moving device on the operation map; The target location is marked on the operation map according to the map coordinates.

7. The method for positioning a self-moving device according to claim 5, characterized in that: After displaying the mobile device and the map element on the terminal according to the positioning information and the map element information, the method further includes: The offline time of the self-mobile device when it is offline is displayed on the operation map, and the offline time is determined according to the timestamp reported last time by the self-mobile device before going offline.

8. The method for positioning a self-moving device according to claim 5, characterized in that: The display interface includes an offline notification button; the method further includes: After the offline notification button is turned on, if it is detected that the self-mobile device is offline, an offline notification prompt is output, and the offline notification prompt is used to indicate that the self-mobile device is offline and remind to check the target location of the self-mobile device when it is offline.

9. A terminal, characterized in that: The terminal includes a memory and a processor; The memory is used to store computer programs; The processor is used to execute the computer program and implement the positioning method for a mobile device as described in any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the positioning method for a mobile device as claimed in any one of claims 1 to 8.

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