Working map generation method and self-moving system

Abstract

The invention provides a working map generation method and a self-moving system. The method comprises the following steps: acquiring an initial boundary map of a working area; controlling the self-moving device to move in the working area, and detecting whether an island area exists in the working area; the self-moving device is controlled to move to the island area, and an island mapping starting point is obtained; controlling the self-moving device to operate around the island area from the island mapping starting point, and obtaining island contour information of the island area; fitting the island contour information into the initial boundary map to generate a working map of the working area; wherein the step of obtaining the island mapping starting point comprises the substeps of obtaining the positioning precision of the self-moving device in an island area; judging whether the positioning precision meets a preset threshold value or not; if yes, obtaining an island mapping starting point; and if not, obtaining an island mapping starting point after repositioning. According to the invention, the obtained island contour information is fitted in the initial boundary map of the working area, so that the self-moving device avoids the island area, and the working efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of self-moving device technology, and in particular to a working map generation method and a self-moving system. Background Technology

[0002] With the rapid development of robotics technology, some robots can move autonomously within their designated areas to perform tasks. These robots are called self-moving devices. Common examples include robotic vacuum cleaners, automatic lawnmowers, and automatic snowplows. Before starting work, a working map of the area needs to be created to define the robot's movement range. For example, with automatic lawnmowers, in certain special scenarios (such as swimming pools or slides), the existing map needs to be updated to generate a new working map; however, the accuracy of map generation technology needs improvement. Summary of the Invention

[0003] In view of this, the purpose of this application is to propose a working map generation method and a self-moving system, which helps to improve the accuracy of map generation and increase work efficiency.

[0004] To achieve one of the above objectives, this application provides a method for generating a working map, the method comprising:

[0005] Obtain the initial boundary map of the work area;

[0006] Control the self-moving device to move within the work area and detect whether there are isolated areas within the work area;

[0007] Control the mobile device to move to the isolated area and obtain the positioning accuracy of the mobile device in the isolated area;

[0008] Determine if the positioning accuracy meets the preset threshold; if it does, obtain the starting point for island mapping; if not, reposition.

[0009] The self-moving device is controlled to move around the island region from the starting point of the island mapping and obtain the island outline information of the island region;

[0010] The island outline information is fitted to the initial boundary map to generate a working map of the working area;

[0011] Obtaining the starting point for island mapping includes:

[0012] The positioning accuracy of the mobile device in the isolated area is obtained;

[0013] Determine if the positioning accuracy meets the preset threshold; if it does, obtain the starting point for island mapping; if not, obtain the starting point for island mapping after relocation.

[0014] As a further improvement to the implementation of this application, repositioning includes:

[0015] Control the self-moving device to move from the isolated area to near the outline boundary in the initial boundary map, and move along the outline boundary to search for a relocation point near the outline boundary; control the self-moving device to relocate at the relocation point.

[0016] As a further improvement to the embodiments of this application, the method also includes:

[0017] After repositioning at the repositioning point, the self-moving device is controlled to move back to the island area from the repositioning point, and the positioning accuracy of the self-moving device in the island area is judged again to see if it meets the preset threshold.

[0018] As a further improvement to the implementation of this application, the relocation point is a point in the initial boundary map that can form a positioning loop.

[0019] As a further improvement to the implementation of this application, the positioning accuracy is the relative positioning accuracy between the starting point of the island mapping and the outline boundary of the initial boundary map.

[0020] As a further improvement to the embodiments of this application, the preset threshold is set as a time threshold and / or a distance threshold.

[0021] As a further improvement to the implementation of this application, controlling the self-moving device to run around the island region from the island mapping starting point to obtain the island contour information of the island region includes:

[0022] The self-moving device is controlled to run around the isolated area in the same direction as the boundary outline of the initial boundary map, and to obtain the isolated outline information of the isolated area.

[0023] To achieve one of the above objectives, this application also provides a self-mobilizing system, which includes a self-mobilizing device and a terminal device, wherein the self-mobilizing device includes:

[0024] The mobile module is configured to drive the self-moving device to move.

[0025] The task execution module is configured to execute work tasks;

[0026] The control module is configured to be signal-connected to the movement module and the task execution module respectively, so as to control the movement of the movement module and control the task execution module to perform work tasks;

[0027] The terminal device is configured to display the operating status of the self-moving device and to send control commands to the control module to control the self-moving device to operate based on the control commands;

[0028] The control module is also configured as follows:

[0029] Control the self-moving device to move within the work area and establish an initial boundary map of the work area;

[0030] Receive and respond to control commands to control the self-moving device to detect whether there are isolated areas in the working area;

[0031] Control the mobile device to move to the isolated area and obtain the starting point for mapping the isolated area;

[0032] The self-moving device is controlled to move around the island region from the starting point of the island mapping and obtain the island outline information of the island region;

[0033] The island outline information is fitted to the initial boundary map to generate a working map of the working area;

[0034] Obtaining the starting point for island mapping includes:

[0035] The positioning accuracy of the mobile device in the isolated area is obtained;

[0036] Determine if the positioning accuracy meets the preset threshold; if it does, obtain the starting point for island mapping; if not, obtain the starting point for island mapping after relocation.

[0037] As a further improvement to the embodiments of this application, the self-moving device also includes a visual positioning module;

[0038] The visual positioning module is configured to detect whether there are isolated areas in the working area that are different from the initial boundary map, and after the mobile device moves to the isolated area, obtain the positioning information of the mobile device in the isolated area, obtain the positioning accuracy of the mobile device in the isolated area based on the positioning information, and determine whether the positioning accuracy meets the preset threshold.

[0039] If the conditions are met, the control module selects a location point as the starting point for island mapping and controls the self-moving device to run around the island area from the starting point of island mapping.

[0040] If the conditions are not met, the control module receives and responds to the relocation command from the terminal device, controls the self-moving device to move from the isolated area to the vicinity of the outline boundary in the initial boundary map, and performs relocation of the self-moving device.

[0041] As a further improvement to the embodiments of this application, the visual positioning module is also configured as follows:

[0042] Image data acquired from the mobile device during its movement;

[0043] Save the visual and positional information of each frame of the image.

[0044] The working map generation method provided in this application selects points in the isolated area that meet the positioning accuracy requirements as the starting point for island mapping, and then runs along the island boundary from the starting point to generate a working map containing island contour information. On the one hand, by selecting points that meet the positioning requirements as the starting point for obtaining island contour information, the accuracy of obtaining island contour information is effectively improved. On the other hand, by fitting the obtained island contour information into the initial boundary map of the working area, the obtained working map can accurately display the isolated areas within the working area, which helps to better plan the working path of the self-moving device, enabling the self-moving device to avoid isolated areas when running according to the working map, thereby improving work efficiency. Attached Figure Description

[0045] Figure 1 A flowchart illustrating a working map generation method provided in this application embodiment;

[0046] Figure 2 A schematic diagram of the process for obtaining the starting point of island mapping in a working map generation method provided in this application embodiment;

[0047] Figure 3 Application scenario diagram of the working map generation method provided in the embodiments of this application;

[0048] Figure 4 A schematic diagram of the structure of a self-moving system provided for an embodiment of this application;

[0049] Figure 5 A schematic diagram of the structure of the self-moving device provided in the embodiments of this application;

[0050] Figure 6 Structural block diagram of the self-moving device provided in the embodiments of this application;

[0051] Figure 7 This is an application scenario diagram of another self-moving system provided for the implementation of this application.

[0052] Figure label:

[0053] 100. Working area; 101. Relocation point; 200. Isolated area; 201. Starting point for mapping in the isolated area; 10. Self-moving device; 11. Mobility module; 12. Task execution module; 13. Control module; 14. Visual positioning module; 20. Terminal equipment; 30. Base station. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0055] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by a person skilled in the art to which this application pertains. The terms "comprising" or "including," or similar words used in the embodiments of this application, mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects.

[0056] It should be noted that although this application provides method operation steps as shown in the following embodiments or figures, the method may include more or fewer operation steps based on conventional or non-inventive effort. For steps that do not logically have a necessary causal relationship, the execution order of these steps is not limited to the execution order provided in the embodiments of this application.

[0057] The self-moving system includes a self-moving device, which can move autonomously within a map-defined work area. The self-moving device is a robot that carries all necessary components, such as a positioning module, sensors, a control module, and a battery. During automatic operation, it can independently complete certain tasks without user input or control. Of course, the self-moving device can also receive control commands from terminal devices and perform corresponding tasks based on those commands.

[0058] In this application, the self-moving device can be an automatic lawnmower, automatic cleaning equipment, automatic irrigation equipment, automatic snowplow, or other equipment suitable for unattended operation. The self-moving device automatically moves on the ground or surface of the work area to perform tasks such as cleaning, mowing, or snow removal.

[0059] In some home scenarios, self-moving devices move within a work area based on a acquired work map. However, the environment of this work area changes with usage needs. For example, the addition of relatively fixed areas or objects like swimming pools, flower beds, or slides that won't move quickly creates new isolated areas. To enable better task completion, the existing work map needs updating to reflect the changed environment. However, the inventors discovered that due to limitations in the self-moving device's positioning accuracy and method, it cannot accurately pinpoint the boundaries and locations of isolated areas. This makes it difficult to accurately reflect the actual environment of the work area, affecting the accuracy of the generated map. Consequently, the self-moving device cannot precisely avoid isolated areas when moving according to the work map, reducing its efficiency and user-friendliness.

[0060] Based on this, this application provides a working map generation method and a self-moving system to solve the above-mentioned technical problems.

[0061] Some implementation methods of this application provide working map generation methods such as Figure 1 and Figure 2 As shown, this method can be applied to self-moving systems. Specifically, as... Figure 3 As shown, the self-mobility system includes a self-mobility device 10 and a terminal device 20. Of course, in other embodiments of this application, the self-mobility system may also include a base station for maintaining the self-mobility device 10.

[0062] In this embodiment, the self-moving device 10 moves and / or works within a defined work area 100, where isolated areas 200 exist. Specifically, the self-moving device 10 can acquire a work map of the work area 100 and operate within the work area 100 based on the work map to complete corresponding tasks. The work map generation method for the self-moving device 10 to acquire the work map may include the following steps:

[0063] Step S1: Control the self-moving device 10 to move within the working area 100 and obtain the initial boundary map of the working area 100;

[0064] Step S2: Control the self-moving device 10 to move within the working area 100 and detect whether there is an isolated area 200 in the working area 100;

[0065] Step S3: Control the mobile device 10 to move to the isolated area 200 and obtain the starting point 201 for the isolated map construction;

[0066] Step S4: Control the self-moving device 10 to run around the island region 200 from the island mapping starting point 201 to obtain the island outline information of the island region 200;

[0067] Step S5: Fit the island outline information to the initial boundary map to generate a working map of the working area.

[0068] In step S3, obtaining the starting point 201 for island mapping also includes the following steps:

[0069] Step S31: Obtain the positioning accuracy of the mobile device 10 in the isolated area 200;

[0070] Step S32: Determine whether the positioning accuracy meets the preset threshold.

[0071] Step S33: If satisfied, obtain the starting point 201 for island mapping.

[0072] Step S34: If the condition is not met, obtain the starting point 201 for island mapping after relocation.

[0073] The working map generation method of this application selects a point in the isolated area 200 that meets the positioning accuracy as the starting point 201 for island mapping, and starts running along the island boundary from the starting point 201 to generate a working map containing island outline information. This allows the self-moving device 10 to avoid the island during operation. This setting ensures that the position of the island mapping starting point 201 meets the positioning requirements, thereby improving the accuracy of island map generation. On the other hand, since the island outline information can be fitted and saved based on the initial boundary map, the self-moving device 10 can better plan its working path and improve work efficiency during edge-following or coverage work.

[0074] Specifically, the island outline information is fitted onto the initial boundary map of working area 100 to generate a new working map; this process can also be called island mapping / island supplementary mapping. Island area 200 may include the area where the island is located and the area near the island's boundary. In addition to island area 200, working area 100 may also contain one or more special areas (such as areas containing houses and areas that do not require cutting, such as flowerbeds), sub-areas, passageways, and obstacles (such as trees and pits).

[0075] The initial boundary map is the boundary information of the work area 100 recorded by the user-controlled self-moving device 10 as it moves within the work area. This boundary information includes at least the regional outline information of the work area and the internal outline information within the work area. The regional outline information corresponds to the outer boundary of the work area, which is the maximum delimitable range of the work area 100. The internal outline information corresponds to the inner boundary, representing the outline information of some special areas within the work area 100. This ensures that the self-moving device 10 can identify the range of the work area and special areas, providing accurate basic data for subsequent work planning.

[0076] Furthermore, the isolated area 200 is the area whose contour information cannot be obtained during the initial boundary map acquisition process; the isolated areas 200 in the work area 100 are mostly independent, and under normal circumstances, the isolated areas 200 are not connected to the boundary of the work area 100 or the boundary of special areas; of course, the isolated area 200 can also be an obstacle area newly added to the work area 100 in the subsequent work process, such as a newly added slide, swing or swimming pool; when acquiring the initial boundary map of the work area 100, since the position of the isolated area 200 is relatively independent, the moving device 10 cannot acquire it synchronously when moving along the boundary of the work area 100 and the internal boundary of the special area, so it is necessary to acquire the isolated contour information of the isolated area 200 separately.

[0077] In fact, since the more than 200 isolated island regions exist independently, when obtaining the island outline information of the isolated island regions, the island outline information is usually independent of the region outline information and internal outline information in the initial boundary map. If the region outline information or internal outline information can be obtained / perceived simultaneously when obtaining the island outline information of the isolated island regions, then the island outline information can be directly fitted to the initial boundary map.

[0078] If the contour information of the isolated island is not acquired / perceived simultaneously with the contour information of the region or the internal contour information when acquiring the island contour information, then when the island contour information is directly fitted into the initial boundary map, there will be a lack of correlation between the island contour information and the contour information. When the self-moving device 10 moves along the initial boundary map and the island contour information fitted in the initial boundary map, it will cause the self-moving device 10 to malfunction. At this time, it is necessary to correlate the island contour information and the initial boundary map when fitting the island contour information into the initial boundary map.

[0079] In this application, the association between the island outline information and the initial boundary map is accomplished through relocation. Specifically, relocation involves matching the island outline information with the boundary information in the initial boundary map when acquiring the island outline information of the island region, and recording the relative positional relationship between the existing boundary information and the island region by moving the mobile device 10, thereby completing the relative binding between the boundary information and the island outline information.

[0080] In some preferred embodiments of this application, the relocation in step S34 includes: controlling the self-moving device 10 to move from the isolated area 200 to the vicinity of the inner or outer boundary of the working area 100, and moving along the initial boundary map near the inner or outer boundary of the working area 100, searching for a relocation point 101 near the working area 100, and then controlling the self-moving device 10 to relocate at the relocation point 101.

[0081] Here, repositioning point 101 refers to a point where, if the positioning accuracy does not meet the threshold, the user can remotely control the self-moving device 10 to reposition to the nearest boundary of the working area 100. By repositioning the isolated area at repositioning point 101, the positioning accuracy of the relative positioning between the isolated area and the outer or inner boundary of the working area is improved, ensuring that the self-moving device 10 can more accurately obtain the area map of the entire working area.

[0082] Of course, in other implementations, relocation methods can take many forms besides returning to the nearest boundary (including the inner or outer boundary). For example, relocation based on landmarks or feature points can involve setting up obvious markers in the environment and determining the location by identifying these markers; using algorithms to optimize the entire trajectory and map to find the optimal pose estimate; combining data from multiple sensors such as vision, inertial measurement units, and GPS for comprehensive analysis and positioning; matching the current environmental information with existing maps to find similar locations; and using deep learning algorithms to process image or sensor data to achieve more accurate pose estimation and relocation. These methods can be selected and combined according to specific application scenarios and needs to improve the accuracy and reliability of relocation.

[0083] In some preferred embodiments, the working map generation method may further include: after the repositioning in step S34, controlling the self-moving device 10 to move its repositioning point 101 back to the isolated area 200, and again determining whether the positioning accuracy of the self-moving device 10 in the isolated area meets the preset threshold. In this way, it can be ensured that the positioning accuracy of the self-moving device 10 can meet the requirements when entering the isolated area 200 to perform mapping operations, thereby ensuring the accuracy and reliability of the obtained isolated island contour information.

[0084] In some preferred embodiments, relocation point 101 is a point in the initial boundary map that can form a positioning loop.

[0085] When the self-moving device 10 returns to a previously visited location (forming a positioning loop), it can more accurately estimate and correct its position and attitude by comparing previous map information with current perception information. This effectively reduces positioning deviations caused by sensor errors, cumulative errors, and other factors. Selecting points that form positioning loops as repositioning points allows for better utilization of the loop's advantages, ensuring that the self-moving device can more accurately determine its location after repositioning, thereby better completing subsequent tasks, such as accurate mapping in isolated areas.

[0086] Of course, in other implementations, the relocation point 101 can be located not only at points that can form a positioning loop in the initial boundary map, but also at locations with significant visual features, near fixed landmarks, at known coordinate points, and at the boundaries of specific functional areas.

[0087] In some preferred embodiments, the positioning accuracy of the self-moving device 10 in the isolated area 200 is the relative positioning accuracy between the island mapping starting point 201 and the outline boundary of the initial boundary map.

[0088] Specifically, in island mapping, relative positioning accuracy refers to the accuracy of determining the relative position between the island mapping starting point 201 and the initial boundary map. It reflects the positioning accuracy of the mobile device 10 when it starts island mapping with the initial boundary map as a reference. It can be used to measure whether the mobile device 10 can accurately transition from the initial boundary map to the island area for accurate mapping.

[0089] In some preferred embodiments, the preset thresholds are set as time thresholds and / or distance thresholds. For example, the current positioning accuracy is determined based on whether the time taken for the self-moving device 10 to move from the boundary of the working area 100 is within the time threshold or whether the distance moved is within the distance threshold.

[0090] Specifically, the positioning accuracy value when the self-moving device 10 moves from the boundary of the working area 100 in 10 seconds or a distance of 30 meters is used as the preset threshold for positioning accuracy. The positioning accuracy can be determined by the SLAM (Simultaneous Localization and Mapping) system of the self-moving device 10. After relocation is triggered, the positioning accuracy of the relocation point 101 is the best; the positioning accuracy decreases as time and distance increase. Preferably, after relocation is triggered, the positioning accuracy is acceptable if the self-moving device 10 moves from the boundary of the working area 100 in less than 10 seconds or a distance of less than 30 meters.

[0091] In some preferred embodiments, step S3 involves controlling the self-moving device 10 to run around the island region 200 from the island mapping starting point 201 to obtain the island outline information of the island region 200; specifically, this includes controlling the self-moving device 10 to run around the island region 200 in the same direction as the boundary outline of the initial boundary map to obtain the island outline information of the island region 200.

[0092] Specifically, when mapping an isolated island, the direction along the island's boundary is the same as the mapping direction used to obtain the initial boundary map. Typically, the working map (including islands) is built using a right-edge approach, meaning the right side of the mobile device 10 is outside the boundary, and the map is built along the boundary from the right side of the mobile device 10. If an impassable area is encountered during mapping, a left turn is required. Using a right-edge approach for island mapping and requiring a left turn when encountering impassable areas maintains consistency and ease of use, facilitating the development of user habits. From a safety perspective, a left turn keeps the mobile device 10 away from impassable areas, reducing risk.

[0093] In general, the island mapping process is as follows: After receiving a user's request to create an island map, the user remotely moves the mobile device to the vicinity of the island area. If the positioning accuracy meets the threshold, the system automatically starts mapping along the island's edge. If the positioning accuracy does not meet the threshold, the user is prompted to remotely move the device back to the vicinity of the outline boundary for repositioning, and then the mapping is resumed. Once the island mapping is complete, the user confirms whether it is an island, and the island map is automatically saved.

[0094] like Figures 4 to 6 As shown, some other embodiments of this application also provide a self-moving system, which includes a self-moving device 10 and a terminal device 20.

[0095] The self-moving device 10 includes a moving module 11, a task execution module 12, and a control module 13. The moving module 11 drives the self-moving device 10 to move. The task execution module 12 performs work tasks. The control module 13 is signal-connected to both the moving module 11 and the task execution module 12, and can control both the moving module 11 and the task execution module 12 to perform work tasks. Specifically, taking an automatic lawnmower as an example, the moving module 11 may include wheels to drive the automatic lawnmower. The task execution module 12 may include a cutting disc to perform the cutting work of the automatic lawnmower.

[0096] The control module 13 can control the self-moving device 10 to generate a working map, specifically including: controlling the self-moving device 10 to move within the working area 100 (including along the boundary of the working area 100 and the boundary of special areas within the working area) to establish an initial boundary map of the working area 100; receiving and responding to control commands, controlling the self-moving device 10 to detect whether there is an isolated area 200 in the working area 100; when there is an isolated area 200, controlling the self-moving device 10 to move to the isolated area 200 and obtain the island mapping starting point 201; controlling the self-moving device 10 to run around the isolated area 200 from the island mapping starting point 201 to obtain the island contour information of the isolated area 200; and fitting the island contour information to the initial boundary map to generate a working map of the working area 100.

[0097] The process of obtaining the island mapping start point 201 includes: obtaining the positioning accuracy of the mobile device 10 in the island area 200; determining whether the positioning accuracy meets a preset threshold; if it does, obtaining the island mapping start point 201; if it does not, obtaining the island mapping start point 201 after repositioning.

[0098] During the process of generating the working map, the terminal device 20 can send control commands to the control module 13 to control the self-moving device 10 to operate based on the control commands. The terminal device 20 can also display the working status of the self-moving device 10 in real time.

[0099] The self-moving system of this application selects a point in the isolated area 200 that meets the positioning accuracy as the starting point 201 for island mapping, and starts moving along the island boundary from the starting point 201 to generate a working map containing island outline information. This allows the self-moving device 10 to avoid the island during operation. This setting ensures that the position of the island mapping starting point 201 meets the positioning requirements, thereby improving the accuracy of island map generation. On the other hand, since the island outline information can be fitted and saved based on the initial boundary map, the self-moving device 10 can better plan its working path and improve work efficiency during edge-moving or coverage work.

[0100] This application also enables remote control and interaction with the self-moving device 10 via the terminal device 20, allowing real-time monitoring of its location, status, and recorded boundary information. The terminal device 20 can store boundary information, allow editing and correction, and generate map displays. Furthermore, it can set operating parameters and perform task planning, enabling functional expansion and customization, thereby improving the adaptability, efficiency, and automation level of the self-moving device.

[0101] For example, in this application, the self-moving device 10 can be an automatic lawnmower, or an automatic cleaning device, automatic irrigation device, automatic snow sweeper, or other equipment suitable for unattended operation.

[0102] For example, terminal device 20 may include an electronic device applied to the user side, capable of data input, data transmission, and other functions. Terminal device 20 may be, for example, a desktop computer, tablet computer, laptop computer, smartphone, remote control, etc. For instance, a user may use a mobile phone with an APP (Application) pre-installed with the self-mobile device 10 as a terminal device, and then use the mobile phone to conveniently control the self-mobile device 10 to perform various specific work tasks, such as determining the boundary information of the work area, including area outline information and island outline information; creating an island map, or cutting or covering cuts along the edges within the work area, etc.

[0103] Overall, users can actively trigger island-building commands through terminal device 20, causing the mobile device 10 to automatically enter island mapping mode. The island mapping process can be based on an existing initial boundary map. Upon receiving a user's request to build an island map, the mobile device 10 is remotely controlled to the vicinity of the island. If the positioning accuracy meets a threshold, it automatically begins to build the island map along the island's edge. If the positioning accuracy does not meet the threshold, the user is prompted to remotely return to the boundary for repositioning before resuming remote mapping. Once island mapping is complete, the user confirms whether it is an island, and the island map is automatically saved. The entire island mapping process is displayed in real-time in the APP on terminal device 20. During the remote island mapping process via terminal device 20, the SLAM system of the visual positioning module 14 can save the visual and positional information of each frame based on the captured image data. This information is saved after island mapping is complete, and finally, overall map optimization and adjustments are performed. Specifically, boundary information for certain areas is collected, and the accuracy of the island map is ensured by judging the positioning accuracy (repositioning at the boundary is required if inaccurate). Since the updated map is based on the original map, the cutting path can be better planned during the lawnmower's edge cutting or overlay cutting process, thus improving cutting efficiency.

[0104] In some preferred embodiments, the self-moving device 10 includes a visual positioning module 14. The visual positioning module 14 is configured to: detect whether there is an isolated region 200 in the working area 100 that is different from the initial boundary map; and after the self-moving device 10 moves to the isolated region 200, acquire the positioning information of the self-moving device 10 in the isolated region 200, acquire the positioning accuracy of the self-moving device 10 in the isolated region 200 based on the positioning information, and determine whether the positioning accuracy meets a preset threshold; if it does, the control module 13 selects a location point as the starting point 201 for isolated mapping, and controls the self-moving device 10 to run around the isolated region 200 from the starting point 201; if it does not meet the threshold, the control module 13 receives and responds to a repositioning command from the terminal device 20, controls the self-moving device 10 to move from the isolated region 200 to the vicinity of the outline boundary in the initial boundary map, and performs repositioning of the self-moving device 10.

[0105] The relocation process includes: controlling the self-moving device 10 to move from the isolated area 200 to the vicinity of the inner or outer boundary of the working area 100, moving along the initial boundary map near the inner or outer boundary of the working area 100, searching for a relocation point 101 near the working area 100, and then controlling the self-moving device 10 to relocate at the relocation point 101.

[0106] Here, repositioning point 101 refers to a point where, if the positioning accuracy does not meet the threshold, the user can remotely control the self-moving device 10 to reposition to the nearest boundary of the working area 100. By repositioning the isolated area at repositioning point 101, the positioning accuracy of the relative positioning between the isolated area and the outer or inner boundary of the working area is improved, ensuring that the self-moving device 10 can more accurately obtain the area map of the entire working area.

[0107] Specifically, after the visual positioning module 14 detects an isolated region 200 in the working area 100 that differs from the initial boundary map, the control module 13 controls the self-moving device 10 to perform isolated region mapping. For example, the visual positioning module 14 includes a visual sensor and a SLAM system. The visual positioning module 14 can collect surrounding environmental information through a visual sensor (e.g., a camera) or other sensors, extract features, and compare them with existing map data to determine the existence of an isolated region 200 in the working area 100. It can also compare the location with a preset positioning benchmark to determine whether the positioning accuracy of the self-moving device 10 in the isolated region 200 meets the positioning accuracy requirements.

[0108] In some preferred embodiments, the visual positioning module 14 is further configured to: acquire image data from the mobile device 10 during its movement; and save the visual information and position information of each frame of image.

[0109] The visual positioning module 14 stores the visual and positional data for each frame, fully utilizing the rich information acquired during the mapping process and providing ample material for subsequent map optimization. After the island mapping is completed, this information is saved for easy retrieval and analysis. Furthermore, overall map optimization and adjustments can further improve the map's accuracy and completeness.

[0110] Furthermore, such as Figure 7 As shown, the automated operating system may also include a base station 30.

[0111] Specifically, upon receiving a user's request to create an island map, the mobile device 10 can move from the base station 30 to a specific area to establish the island. It determines whether relocation is needed based on positioning accuracy. After completion, it issues a termination command on the terminal device 20 and saves the island map. After mapping is finished, the mobile device 10 returns to the base station 30. For example, the base station 30 may include a charging station, or it may include fixed markers, wireless signal transmitters, or satellite positioning auxiliary equipment, depending on the environmental characteristics of the island, mapping requirements, and technical feasibility.

[0112] It should be noted that some embodiments of this application have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that in the above embodiments and still achieve the desired result. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired result.

[0113] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of this application (including the claims) is limited to these examples; under the concept of this application, the above embodiments or technical features of different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the embodiments of this application as described above, which are not provided in detail for the sake of brevity.

[0114] The embodiments described herein are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments described herein should be included within the protection scope of this application.

Claims

1. A method for generating a working map, characterized in that, The method includes: Obtain the initial boundary map of the work area; The self-moving device is controlled to move within the working area to detect whether there are isolated areas within the working area; Control the self-moving device to move to the isolated area and obtain the starting point for island mapping; The self-moving device is controlled to run around the island region from the island mapping starting point to obtain the island contour information of the island region; The island outline information is fitted to the initial boundary map to generate a working map of the working area; Obtaining the starting point for island mapping includes: Obtain the positioning accuracy of the self-moving device in the isolated area; Determine whether the positioning accuracy meets a preset threshold; if it does, obtain the starting point of the island mapping; if it does not, obtain the starting point of the island mapping after relocation.

2. The working map generation method according to any of the preceding claims, characterized in that, The relocation includes: Control the self-moving device to move from the isolated area to the vicinity of the outline boundary in the initial boundary map, and move along the outline boundary to search for a relocation point near the outline boundary; control the self-moving device to relocate at the relocation point.

3. The working map generation method according to any of the preceding claims, characterized in that, The method further includes: After the repositioning is completed at the repositioning point, the self-moving device is controlled to move from the repositioning point back to the island area, and the positioning accuracy of the self-moving device in the island area is determined again to meet the preset threshold.

4. The working map generation method according to any of the preceding claims, characterized in that, The relocation point is a point in the initial boundary map that can form a positioning loop.

5. The working map generation method according to any of the preceding claims, characterized in that, The positioning accuracy is the relative positioning accuracy between the starting point of the island mapping and the outline boundary of the initial boundary map.

6. The working map generation method according to any of the preceding claims, characterized in that, The preset threshold is set as a time threshold and / or a distance threshold.

7. The working map generation method according to any of the preceding claims, characterized in that, Controlling the self-moving device to run around the island region from the island mapping starting point, and acquiring the island contour information of the island region, including: The self-moving device is controlled to run around the isolated area in the same direction as the boundary contour of the initial boundary map, and the island contour information of the isolated area is obtained.

8. A self-moving system, comprising a self-moving device and a terminal equipment, characterized in that, The self-moving device includes: The mobile module is configured to drive the self-moving device to move; The task execution module is configured to execute work tasks; The control module is configured to be signal-connected to the moving module and the task execution module respectively, so as to control the moving module to move and control the task execution module to perform work tasks; The terminal device is configured to display the working status of the self-moving device and to send control commands to the control module to control the self-moving device to operate based on the control commands. The control module is also configured to: Control the self-moving device to move within the working area and establish an initial boundary map of the working area; Receive and respond to the control command to control the self-moving device to detect whether there are isolated areas in the working area; Control the self-moving device to move to the isolated area and obtain the starting point for island mapping; The self-moving device is controlled to run around the island region from the island mapping starting point to obtain the island outline information of the island region; The island outline information is fitted to the initial boundary map to generate a working map of the working area; Obtaining the starting point for island mapping includes: Obtain the positioning accuracy of the self-moving device in the isolated area; Determine whether the positioning accuracy meets a preset threshold; if it does, obtain the starting point of the island mapping; if it does not, obtain the starting point of the island mapping after relocation.

9. The self-moving system according to any of the preceding claims, characterized in that, The self-moving device also includes a visual positioning module; The visual positioning module is configured to detect whether there is an isolated area in the working area that is different from the initial boundary map, and after the self-moving device moves to the isolated area, obtain the positioning information of the self-moving device in the isolated area, obtain the positioning accuracy of the self-moving device in the isolated area based on the positioning information, and determine whether the positioning accuracy meets a preset threshold. If the conditions are met, the control module selects a location point as the starting point for island mapping and controls the self-moving device to run around the island area from the starting point for island mapping. If the conditions are not met, the control module receives and responds to a relocation command from the terminal device, controls the self-moving device to move from the isolated area to the vicinity of the outline boundary in the initial boundary map, and performs relocation of the self-moving device.

10. The self-moving system according to any of the preceding claims, characterized in that, The visual positioning module is also configured to: Acquire image data of the self-moving device during its movement; Save the visual and positional information of each frame of the image.

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