Method for processing a mobile device and an area map

Abstract

Embodiments of the present application provide a self-moving device and a processing method of a region map. The self-moving device comprises: an instruction execution unit configured to execute a walking track under a mapping instruction in response to the received mapping instruction, wherein the mapping instruction is used to establish a region map boundary for a specified region, and generate a built map boundary according to the walking track of the self-moving device; the instruction execution unit is further configured to receive an erasing instruction, and control the self-moving device to travel from a current position of the self-moving device to a position of an erasing end point corresponding to the erasing instruction, wherein the erasing instruction is used to erase a section of the map boundary from an erasing start point to the erasing end point on the built map boundary based on an erasing track, and the walking track of the self-moving device is consistent with the erasing track after the self-moving device receives the erasing instruction. Through the present application, the problem of low efficiency of map boundary modification is solved.

Description

Technical Field

[0001] This application relates to the field of communications, and more specifically, to a method for processing self-moving devices and regional maps. Background Technology

[0002] Currently, intelligent lawnmowers rely on precise map boundary information to plan their mowing paths and avoid obstacles. Therefore, it is necessary to create a regional map for the area the lawnmower needs to mow. If modifications or updates to the map boundaries are required, multiple points must be used to select the boundary direction. This process is complex, and ordinary users spend a significant amount of time modifying map boundaries, resulting in low efficiency.

[0003] It is evident that the regional map processing methods in related technologies suffer from low efficiency in modifying map boundaries. Summary of the Invention

[0004] This application provides a method for processing self-moving devices and regional maps, so as to at least solve the technical problem of low efficiency in modifying map boundaries in related technologies.

[0005] According to one aspect of the embodiments of this application, a self-moving device is provided, comprising: the self-moving device includes: a first wheel set and a second wheel set, and a power component, wherein the power component drives the first wheel set; the self-moving device further includes: an instruction execution unit, configured to execute a walking trajectory under the mapping instruction in response to a received mapping instruction, wherein the mapping instruction is used to establish a regional map boundary for a specified area, and generate the established map boundary according to the walking trajectory of the self-moving device; the instruction execution unit is further configured to receive an erasure instruction, and control the self-moving device to move from its current position to a position adjacent to the erasure instruction. The location of the erase endpoint corresponding to the instruction, wherein the erase instruction is used to erase a segment of the map boundary from the erase start point to the erase endpoint on the boundary of the established map based on the erase trajectory. After receiving the erase instruction, the walking trajectory of the self-moving device is consistent with the erase trajectory until the self-moving device meets one of the following conditions: the self-moving device stays at a position within a preset range from the walking trajectory under the mapping instruction for a longer than a preset time, or the self-moving device moves from the two sides of the walking trajectory under the mapping instruction to the walking trajectory under the mapping instruction, or the erase end instruction is received.

[0006] According to one aspect of the embodiments of this application, a method for processing a regional map is provided, comprising:

[0007] During the process of creating a regional map using a self-moving device, the boundaries of the created map are displayed on the map creation interface of the terminal device. The boundaries of the created map are the boundaries of the created regional map. The map creation interface includes an erase control, which is a control used to trigger the start of map boundary erasure.

[0008] In response to a detected trigger operation performed on the erase control, an erase tool is displayed on the mapping interface, wherein the erase tool is a tool for erasing map boundaries;

[0009] In response to a detected movement control operation performed on the erasing tool, the erasing tool is controlled to move on the mapping interface;

[0010] Based on the intersection of the movement trajectory of the erasing tool and the boundary of the established map, the erasing start point and the erasing end point on the boundary of the established map are determined.

[0011] Delete a segment of the map boundary between the erasure start point and the erasure end point on the existing map boundary, and control the self-moving device to move to the position corresponding to the erasure end point, wherein the erasure tool and the self-moving device move along the same trajectory.

[0012] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer program, wherein the computer program, when executed by a processor, implements the steps in any of the above method embodiments.

[0013] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps in any of the above method embodiments.

[0014] According to another aspect of the embodiments of this application, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the steps in any of the method embodiments described above.

[0015] In this embodiment, when a user observes that the map boundary is inaccurate or needs adjustment, they can immediately modify the map by sending an erase command. After receiving the erase command, the instruction execution unit of the self-moving device controls the self-moving device to travel along the erase trajectory. The self-moving device allows the user to erase and update the map boundary information in real time during the mapping process, without waiting for the entire map to be rebuilt or manually adjusting multiple points. This allows for the precise deletion of boundary parts on the map that are not expected by the user, avoiding the need for the entire map to be rebuilt and improving the efficiency of map correction. Attached Figure Description

[0016] Figure 1 This is a structural diagram of a self-moving device according to an embodiment of this application;

[0017] Figure 2 This is a schematic diagram illustrating an application scenario of a method for processing a regional map according to an embodiment of this application;

[0018] Figure 3 This is a flowchart illustrating an optional method for processing a regional map according to an embodiment of this application;

[0019] Figure 4 This is a schematic diagram of the movement trajectory of an optional erasing tool according to an embodiment of this application;

[0020] Figure 5 This is a schematic diagram of an optional mapping interface display for establishing map boundaries according to an embodiment of this application;

[0021] Figure 6 This is a schematic diagram of an optional method for erasing the boundaries of an existing map according to an embodiment of this application;

[0022] Figure 7 This is a schematic diagram of another optional mapping interface display for establishing map boundaries according to an embodiment of this application;

[0023] Figure 8 This is a structural block diagram of an optional terminal device according to an embodiment of this application;

[0024] Figure 9 This is a computer system architecture block diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] According to one aspect of the embodiments of this application, a self-moving device is provided, which can be applied to scenarios where a designated area is mapped using the self-moving device. The self-moving device can be a smart lawnmower or other devices capable of moving without human intervention. The designated area can be a lawn area or other similar areas requiring mapping. Taking a smart lawnmower as the self-moving device and a lawn area as the designated area as an example, a smart lawnmower is a device that can autonomously complete lawn mowing without direct human control or operation. With the development of smart lawnmower technology, the demand for efficient and precise lawn maintenance is gradually increasing. Smart lawnmowers rely on accurate map boundary information to plan mowing paths and avoid obstacles; therefore, it is necessary to create a regional map for the area where the lawnmower needs to mow.

[0028] In related technologies, intelligent lawnmowers rely on accurate map boundary information to plan mowing paths and avoid obstacles. Therefore, it is necessary to create a regional map for the area where the lawnmower needs to mow. If the map boundary needs to be modified or updated, multiple points need to be used to select the boundary direction. The entire operation is complex, and ordinary users spend a lot of time modifying map boundaries, resulting in low efficiency in boundary modification.

[0029] To at least partially address the aforementioned issues, this embodiment provides a self-moving device that allows users to erase and update map boundary information in real time during the mapping process. The self-moving device can trigger the deletion of established map boundaries based on user commands, accurately deleting boundaries that are not desired by the user. This saves time and resources (avoiding the need for complete map reconstruction, saving mapping time and manpower; users can correct map errors in real time during mapping without waiting for a full rescan or manual adjustment, improving the flexibility and response speed of map correction), and increasing the efficiency and accuracy of boundary establishment. This ensures the efficiency and accuracy of subsequent mowing, avoiding erroneous mowing caused by excessively large maps.

[0030] Figure 1 This is a schematic diagram of the structure of an optional self-moving device according to an embodiment of this application, such as... Figure 1 As shown, the self-moving device includes a first wheel set 101, a second wheel set 102, and a power component 103, wherein the power component 103 drives the first wheel set 101. Optionally, the first wheel set 101 may be the front wheel of the self-moving device, the second wheel set 102 may be the rear wheel of the self-moving device, and the power component 103 may be a hub motor or other component capable of providing power to the first wheel set 101. In addition, the self-moving device also includes: an instruction execution unit 104, used to respond to a received mapping instruction and execute the walking trajectory under the mapping instruction, wherein the mapping instruction is used to establish a regional map boundary for a specified area and generate the established map boundary according to the walking trajectory of the self-moving device; the instruction execution unit is also used to receive an erasure instruction and control the self-moving device to move from its current position to the erasure endpoint corresponding to the erasure instruction, wherein the erasure instruction is used to erase a segment of the map boundary from the erasure start point to the erasure endpoint on the established map boundary based on the erasure trajectory. After receiving the erasure instruction, the self-moving device's walking trajectory and the erasure trajectory are consistent until the self-moving device meets one of the following conditions: the self-moving device stays at a position within a preset range from the walking trajectory under the mapping instruction for a longer than a preset time, or the self-moving device moves from the areas on both sides of the walking trajectory under the mapping instruction to the walking trajectory under the mapping instruction, or the erasure end instruction is received.

[0031] When a map needs to be created for a specified area, the user can send a mapping command to the self-moving device through their terminal device to control the self-moving device to perform a line-drawing operation. Here, the mapping command is used to create a map for the specified area, and the line-drawing operation is a walking operation performed according to the mapping command. That is, the self-moving device walks along the boundary of the specified area based on the control of the mapping command. Its walking trajectory information can be recorded and transmitted to the terminal device for recording, or the walking trajectory information can be directly recorded by the terminal device. The walking trajectory information is used to describe the walking trajectory of the self-moving device. The corresponding terminal device can record the above-mentioned walking trajectory information and display the created map boundary on the mapping interface of the terminal device according to the recorded walking trajectory information. The created map boundary refers to the map boundary formed by the walking trajectory of the self-moving device along the boundary of the area in the created map.

[0032] It should be noted that mapping commands can be sent continuously. Each sent mapping command can control the mobile device to move a certain distance along the direction indicated by the mapping command, or each sent mapping command can control the mobile device to move along the direction indicated by the mapping command until a new mapping command or an erasure end command is received. Other control methods are also possible, as long as it ensures that the mobile device can draw lines (drawing lines means drawing map boundaries) under the control of the mapping commands. Creating a regional map is a continuous process over a certain period of time. At a certain point in the mapping process, the created regional map is a partial map of the specified area, and the boundary of the created map is the boundary of the created regional map.

[0033] When it is necessary to erase a section of the map boundary on an existing map, the user can send an erase command to the self-moving device through their terminal device. The erase command typically includes an erase start point and an erase end point. The erase start point refers to the position on the existing map boundary where the erase operation begins, and the erase end point refers to the position on the existing map boundary where the erase operation ends.

[0034] The erasure trajectory refers to the removal of traces along a distance on the boundary of an existing map. During the erasure process, the movement trajectory of the self-moving device is consistent with the erasure trajectory.

[0035] The travel trajectory refers to the path taken by the mobile device when executing various commands (such as mapping commands, erasing commands, etc.). Under mapping commands, the travel trajectory is used to establish the boundary of a specified area map and generate the established map boundary according to the travel trajectory of the mobile device. Under erasing commands, the travel trajectory coincides with the erasing trajectory and is used to perform the erasing operation.

[0036] The preset range of the walking trajectory refers to a specific area defined around the walking trajectory of the self-moving device under the mapping command. This preset range is used to determine whether the self-moving device returns to the vicinity of the walking trajectory under the mapping command or whether it stays in the specific area for a sufficient period of time when executing the erase command. When the self-moving device stays in a position within the preset range of the walking trajectory under the mapping command for a longer than a preset time, it can be considered that the self-moving device has returned to the vicinity of the walking trajectory or has stayed in that area for a sufficient period of time. When the self-moving device moves from the areas on either side of the walking trajectory under the mapping command to the walking trajectory under the mapping command, it can also be considered that the self-moving device has returned to the walking trajectory. When the self-moving device receives the erase end command, it stops the erase task.

[0037] Optionally, after receiving a mapping instruction (which specifies the area to be mapped), the instruction execution unit of the self-moving device controls the self-moving device to move within the designated area according to a predetermined walking trajectory. During the movement, the self-moving device uses sensors (such as LiDAR, cameras, etc.) to perceive the surrounding environment and update map information in real time. As the self-moving device moves, it gradually generates the boundaries of the constructed map based on the walking trajectory and perceived environmental information. During the mapping process, if the instruction execution unit receives an erasure instruction (usually containing the location information of the erasure start and end points), the self-moving device immediately interrupts the current mapping operation and prepares to execute the erasure task. The instruction execution unit calculates an erasure trajectory from the current position to the erasure end point based on the erasure instruction. The self-moving device moves along the erasure trajectory and deletes a segment of the map boundary from the erasure start point to the erasure end point on the constructed map boundary during the movement. During the erasure process, the instruction execution unit continuously checks whether the termination condition is met. The termination condition includes at least one of the following: the self-moving device stays at a position within a preset range of the walking trajectory under the mapping command for a period of time greater than a preset time; the self-moving device moves from the areas on either side of the walking trajectory under the mapping command to the walking trajectory under the mapping command; or an erase termination command is received. Once the termination condition is met, the command execution unit will stop the erase operation and resume the mapping operation as needed.

[0038] Through the embodiments provided in this application, when a user observes that the map boundary is inaccurate or needs adjustment, they can immediately modify the map by sending an erasure command. After receiving the erasure command, the command execution unit of the self-moving device controls the self-moving device to travel along the erasure trajectory. The self-moving device allows users to erase and update map boundary information in real time during the mapping process, without waiting for the entire map to be rebuilt or manually adjusting multiple points. This allows for the precise deletion of boundary parts on the map that are not expected by the user, avoiding the need for the entire map to be rebuilt and improving the efficiency of map correction.

[0039] In one exemplary embodiment, the self-moving device and the terminal device are communicatively connected. The terminal device is bound to the self-moving device and can be a mobile phone, desktop computer, tablet computer, or other device capable of running applications. For mapping, the terminal device can record map information about the distance between the self-moving device and the self-moving device within a preset range while the self-moving device is moving (i.e., record map information about the area around the self-moving device within a preset range while it is moving), and generate a map of the established area based on this map information.

[0040] The mapping interface on the terminal device displays the boundaries of the completed map and the device icon of the self-moving device. The device icon, displayed on the mapping interface, indicates the current location or status of the self-moving device, allowing users to visually monitor the mapping progress. After the terminal device initiates mapping mode, the self-moving device begins moving along the boundaries of the regional map, collecting data in real time through sensors to establish the map boundaries. The terminal device displays the mapping interface, which includes the completed map boundaries, the device icon of the self-moving device, and other relevant information (such as mapping progress and remaining time).

[0041] The mapping interface of the terminal device also includes an erase control, which is used to trigger erase commands. If it is necessary to modify or update the boundaries of the existing map, the user can perform a trigger operation on the erase control to initiate the erasure of the existing map boundaries. Here, the erase control refers to a function button or control on the mapping interface used to trigger the start of the map boundary erasure operation. When the terminal device detects a trigger operation on the erase control, it indicates that the erase mode is activated, and the terminal device enters the erase mode. At this time, the user can draw an erase path on the existing map boundaries displayed on the mapping interface using a mouse, finger, or other input device. The terminal device identifies and erases the corresponding map boundaries according to the erase path drawn by the user, and updates the map display in real time during the erasure process to reflect the result of the erasure operation. At the same time, the self-moving device pauses the current boundary creation work and enters the erase mode. After determining the erase path, the self-moving device will go back and recreate the map boundaries between the erased parts.

[0042] In this embodiment, during the process of creating a regional map using a self-moving device, the terminal device provides a visual map-building interface. The map-building interface displays the boundaries of the created map and an erase control. The erase control is used to trigger the start of map boundary erasure. This design provides the function of map erasure and makes the erasure operation of the erase control easy to implement, thereby improving erasure efficiency.

[0043] In an exemplary embodiment, the instruction execution unit is further configured to plan an optimized movement path for the self-moving device within an established area map, with the current location of the self-moving device as the starting point and the location corresponding to the erasure endpoint as the ending point; and control the self-moving device to move from its current location to the location corresponding to the erasure endpoint according to the optimized movement path.

[0044] In this embodiment, after the self-moving device receives the erase command, the command execution unit can first plan an optimized movement path for the self-moving device within the established area map. This optimized movement path starts from the current location of the self-moving device and ends at the location corresponding to the erase endpoint. The optimized movement path can be a straight line between the current location of the self-moving device and the erase endpoint, or it can be a path with a certain degree of curvature established by comprehensively considering the map information of the established map. This embodiment does not limit the optimized movement path.

[0045] In this embodiment, by planning an optimized movement path for the self-moving device within an established area map, from the current location of the self-moving device to the location corresponding to the erasure endpoint, the self-moving device can be controlled to travel directly to the location corresponding to the erasure endpoint, thereby improving the convenience of device movement.

[0046] In an exemplary embodiment, if the time the self-moving device stays at a position within a preset range of the walking trajectory under the mapping command is greater than a preset time, the point on the walking trajectory under the mapping command that is closest to the position where the self-moving device stays is identified as the erasure endpoint.

[0047] In the process of the self-moving device traveling towards the erasure endpoint corresponding to the erasure command, if the self-moving device stays for a longer than a preset time within a preset range of the travel trajectory under the mapping command, it means that the self-moving device has returned to the vicinity of the travel trajectory or has stayed in that area for a sufficient period of time. The reason for this situation may be that the erasure position of the self-moving device deviates from the actual path due to positioning errors or uncertainties in the device's travel process. In this case, even if the self-moving device has not traveled to the erasure endpoint corresponding to the erasure command, the point on the travel trajectory under the mapping command that is closest to the location where the self-moving device is staying will be used as the erasure endpoint. There is no need to wait for the self-moving device to travel to the designated erasure endpoint, which can save the travel time of the self-moving device and improve the overall work efficiency and adaptability.

[0048] In this embodiment, if the dwell time of the self-moving device within a preset range of the walking trajectory under the mapping command is greater than a preset time, the point on the walking trajectory under the mapping command that is closest to the dwell position of the self-moving device is identified as the erasure endpoint. There is no need to wait for the self-moving device to travel to the designated erasure endpoint, which can save the travel time of the self-moving device and improve the overall work efficiency and adaptability.

[0049] In an exemplary embodiment, when the self-moving device moves from the areas on either side of the walking trajectory under the mapping command to the walking trajectory under the mapping command, the position where the self-moving device and the walking trajectory under the mapping command finally intersect is identified as the erasure endpoint.

[0050] The movement of the self-moving device along the sides of the mapping command's trajectory indicates that it is following an optimized path as it travels towards the erase endpoint. Therefore, when the self-moving device moves from the sides of the mapping command's trajectory to the actual mapping trajectory, it means it has found the optimal path to the erase endpoint. Continuing to move along the trajectory signifies that this trajectory is the final segment of the optimized path to the erase endpoint. The final intersection of the self-moving device and the mapping command's trajectory is the erase endpoint. This avoids errors caused by positioning mistakes or uncertainties during device movement, reducing unnecessary travel distance and time, ensuring the erase operation targets the correct path segment, and improving erase accuracy.

[0051] In this embodiment, when the self-moving device moves from the areas on both sides of the walking trajectory under the mapping command to the walking trajectory under the mapping command, the final intersection of the self-moving device and the walking trajectory under the mapping command is confirmed as the erasure endpoint. This can avoid the problem of the erasure position deviating from the actual path due to positioning errors or uncertainties in the device's movement, reduce unnecessary travel distance and time, ensure that the erasure operation can be performed on the correct path segment, and improve the accuracy of erasure.

[0052] According to one aspect of the embodiments of this application, a method for processing a regional map is provided. Optionally, in this embodiment, the above-described method for processing a regional map can be applied to, for example... Figure 2 The hardware environment shown includes self-moving device 202, server 204, and terminal device 206. For example... Figure 2As shown, the self-moving device 202 can be a smart lawnmower with network connectivity and mapping capabilities, or other devices capable of moving unattended. The server 204 can connect to the self-moving device 202 and the terminal device 206 via a network, providing services (such as data transmission services) to both. The terminal device 206 can have a mapping interface for sending commands to the self-moving device 202. Users can use the terminal device 206 to send commands to the self-moving device 202 via the server 204 to control its movement and complete the mapping process for a specified area.

[0053] In this embodiment, the network may include, but is not limited to, at least one of the following: a wired network and a wireless network. The wired network may include, but is not limited to, at least one of the following: a wide area network (WAN), a metropolitan area network (MAN), and a local area network (LAN). The wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity) and Bluetooth.

[0054] The method for processing the regional map in this embodiment can be executed by the terminal device 206 alone, or it can be executed collaboratively by the terminal device 206 and at least one of the self-moving device 202 and the server 204. The method for processing the regional map in this embodiment executed by the terminal device 206 can be executed by a client (application) running on it.

[0055] Taking the method of processing the regional map in this embodiment executed by the terminal device 206 as an example, Figure 3 This is a flowchart illustrating an optional regional map processing method according to an embodiment of this application, such as... Figure 3 As shown, the process includes the following steps:

[0056] Step S302: During the process of creating a regional map using a self-moving device, the boundaries of the created map are displayed on the map creation interface of the terminal device. The boundaries of the created map are the boundaries of the created regional map. The map creation interface includes an erase control, which is a control used to trigger the start of erasing the map boundaries.

[0057] Step S304: In response to the detected trigger operation performed on the erase control, the erase tool is displayed on the mapping interface, wherein the erase tool is a tool used to erase the map boundary;

[0058] Step S306: In response to the detected movement control operation performed on the erasure tool, control the erasure tool to move on the drawing interface;

[0059] Step S308: Based on the intersection of the movement trajectory of the erasing tool and the boundary of the existing map, determine the erasing start point and the erasing end point on the boundary of the existing map.

[0060] Step S310: Delete a section of map boundary between the erasure start point and the erasure end point on the existing map boundary, and control the self-moving device to move to the position corresponding to the erasure end point, wherein the erasure tool and the self-moving device move in the same direction.

[0061] The area map processing method in this embodiment can be applied to the field of smart devices, specifically to scenarios where a self-moving device is used to map a designated area. This self-moving device can be a smart lawnmower or any other device capable of moving unattended. The designated area can be a lawn area or other similar areas requiring mapping. Taking a smart lawnmower as the self-moving device and a lawn area as the designated area as an example, a smart lawnmower is a device that can autonomously complete lawn mowing without direct human control or operation. With the development of smart lawnmower technology, the demand for efficient and precise lawn maintenance is gradually increasing. Smart lawnmowers rely on accurate map boundary information to plan mowing paths and avoid obstacles; therefore, it is necessary to create an area map for the area the lawnmower needs to mow.

[0062] In related technologies, intelligent lawnmowers rely on accurate map boundary information to plan mowing paths and avoid obstacles. Therefore, it is necessary to create a regional map for the area where the lawnmower needs to mow. If the map boundary needs to be modified or updated, multiple points need to be used to select the boundary direction. The entire operation is complex, and ordinary users spend a lot of time modifying map boundaries, resulting in low efficiency in boundary modification.

[0063] To at least partially address the aforementioned issues, this embodiment provides a map erasing scheme that allows users to erase and update map boundary information in real time during the mapping process. By introducing a map boundary correction method capable of real-time map erasing, users can directly operate on the terminal device interface to trigger the deletion of established map boundaries. This can accurately delete boundaries on the map that are not desired by the user, saving time and resources (avoiding the need for complete map reconstruction, saving mapping time and manpower investment; users can correct map errors in real time during the mapping process without waiting for a complete rescan or manual adjustment, improving the flexibility and response speed of map correction), and improving the efficiency and accuracy of boundary establishment, thereby ensuring the efficiency and accuracy of subsequent mowing and avoiding erroneous mowing caused by excessively large maps.

[0064] When a map needs to be created for a specified area, the user can send a mapping command to the self-moving device through their terminal device to control the self-moving device to perform a line-drawing operation. Here, the mapping command is used to create a map for the specified area, and the line-drawing operation is a walking operation performed according to the mapping command. That is, the self-moving device walks along the boundary of the specified area based on the control of the mapping command. Its walking trajectory information can be recorded and transmitted to the terminal device for recording, or the walking trajectory information can be directly recorded by the terminal device. The walking trajectory information is used to describe the walking trajectory of the self-moving device. The corresponding terminal device can record the above-mentioned walking trajectory information and display the created map boundary on the mapping interface of the terminal device according to the recorded walking trajectory information.

[0065] The mapping interface can also display the device icon of the self-moving device, allowing users to intuitively view the mapping progress. After the terminal device starts the mapping mode, the self-moving device begins to move along the boundary of the regional map and collects data in real time through sensors to establish the map boundary. The terminal device displays the mapping interface, which includes the established map boundary, the device icon of the self-moving device, and other relevant information (such as mapping progress, remaining time, etc.).

[0066] Optionally, in this embodiment, a regional map refers to a map representing the terrain, obstacles, and boundaries of a specific area, created using the self-moving device's sensors (such as lasers, vision, etc.) and algorithms. The mapping interface refers to the interface on the terminal device (such as a mobile app) used to display information such as the self-moving device's mapping progress, map boundaries, and device icon. An established regional map refers to a map constructed by the self-moving device that includes information such as the boundaries of a specified area and the locations of obstacles. The established map boundary refers to the map boundary formed by the self-moving device's movement along the area boundary in the established regional map. The device icon refers to the icon displayed on the terminal device's mapping interface that indicates the self-moving device's current location or status.

[0067] It should be noted that mapping commands can be sent continuously. Each sent mapping command can control the mobile device to move a certain distance along the direction indicated by the mapping command, or each sent mapping command can control the mobile device to move along the direction indicated by the mapping command until a new mapping command or an erasure end command is received. Other control methods are also possible, as long as it ensures that the mobile device can draw lines (drawing lines means drawing map boundaries) under the control of the mapping commands. Creating a regional map is a continuous process over a certain period of time. At a certain point in the mapping process, the created regional map is a partial map of the specified area, and the boundary of the created map is the boundary of the created regional map.

[0068] The mapping interface includes an erase control, which is used to trigger the erasure of the starting map boundary. If it is necessary to modify or update the boundary of an existing map, the user can perform a trigger operation on the erase control to initiate the erasure of the existing map boundary. Here, the erase control refers to a function button or control on the mapping interface used to trigger the erasure operation of the starting map boundary.

[0069] The trigger operation refers to the user's action on the erase control on the mapping interface of the terminal device, such as clicking, touching, or long-pressing, to activate the erase control. When the terminal device detects a trigger operation on the erase control, it indicates that the erase mode is activated, and the terminal device enters erase mode. At this time, the user can draw an erase path on the existing map boundary displayed on the mapping interface using a mouse, finger, or other input device. The terminal device identifies and erases the corresponding map boundary according to the erase path drawn by the user, and updates the map display in real time during the erase process to reflect the result of the erase operation. At the same time, the self-moving device pauses the current boundary creation work and enters erase mode. After determining the erase path, the self-moving device will go back and re-create the map boundary between the erased parts.

[0070] The erase tool refers to the tool displayed on the mapping interface of the terminal device after detecting a trigger operation on the erase control, used to erase map boundaries. When the erase mode is activated, the mapping interface of the terminal device will also display relevant erase options, such as erase path width selection, erase tool type (straight line erase, curve erase, rectangle erase, etc.), erase preview, undo / redo erase, etc., to guide the user to the next step.

[0071] Optionally, the terminal device listens to the erase control on the drawing interface. When the user performs a trigger operation on the erase control (such as clicking), the terminal device captures the trigger operation and responds to the detected trigger operation by dynamically displaying the erase tool icon or button on the drawing interface.

[0072] The user can control the movement of the displayed eraser tool. For the terminal device, in response to detected movement control operations performed on the eraser tool, the eraser tool is moved across the mapping interface. Based on the intersection of the eraser tool's movement trajectory and the boundary of the existing map, the eraser start point and eraser end point on the existing map boundary are determined. The eraser start point refers to the position on the existing map boundary where the eraser operation begins, and the eraser end point refers to the position on the existing map boundary where the eraser operation ends.

[0073] Movement control operations refer to actions performed by the user using a mouse, finger, or other input devices to control the movement of the eraser tool on the drawing interface. Movement control operations may include directional control (such as forward, backward, left turn, right turn, etc.), speed control (such as acceleration, deceleration, etc.), and possible special operations (such as moving along a specific path, rotating around a point, etc.).

[0074] Optionally, the terminal device continuously monitors user input on the mapping interface. When it detects a movement control operation performed by the user on the erasing tool, it captures relevant data of the movement control operation, such as movement direction and speed. Based on the detected data of the movement control operation, the terminal device calculates the new position of the erasing tool on the mapping interface, updates and displays the position information of the erasing tool in real time, so that it moves on the mapping interface according to the direction and speed specified by the user.

[0075] The eraser tool's movement trajectory refers to the path or trajectory formed by the eraser tool's movement as detected by the terminal device on the mapping interface after a movement control operation is performed on the eraser tool. The movement trajectory includes the location information of multiple movement points. The eraser tool's movement trajectory can be a straight line, curve, or discrete points intersecting the boundary of the existing map. For example, Figure 4 This is a schematic diagram of the movement trajectory of the erasing tool in one embodiment, such as... Figure 4 As shown, solid lines represent the boundaries of the existing map, arrows indicate the direction in which the map boundaries were created (i.e., the direction the mobile device travels when creating map boundaries), and dashed lines represent the movement trajectory of the eraser tool. Figure 4 As shown, the movement trajectory of the eraser tool on the mapping interface can be a straight line or curve intersecting the boundary of the existing map, a straight line coinciding with the boundary of the existing map, or two discrete points coinciding with the boundary of the existing map.

[0076] Optionally, after detecting a movement control operation performed on the erasing tool, the terminal device records the movement trajectory of the erasing tool on the mapping interface. Following the opposite direction of the map creation direction (i.e., the reverse direction of the self-moving device during the mapping process), the terminal device traverses the movement trajectory of the erasing tool, detecting its intersections with the existing map boundary. From the detected intersections, the first intersection is selected as the erasing start point. The terminal device continues to traverse the movement trajectory until it finds the last intersection with the existing map boundary, which is then used as the erasing end point.

[0077] For example, such as Figure 4 As shown, if the erase tool's movement trajectory is a straight line intersecting the boundary of the existing map, then select the first intersection point in the opposite direction to the creation direction of the existing map boundary (e.g., ...). Figure 4 Using A) as the erasure start point, select the last intersection point (e.g., ...). Figure 4(B) is used as the erasure endpoint. If the erase tool's movement trajectory is a curve intersecting the boundary of the existing map, then the first intersection point (e.g., B) is selected in the opposite direction to the creation direction of the existing map boundary. Figure 4 Using C as the erase start point, select the last intersection point (e.g., ...). Figure 4 D) is taken as the erasure endpoint. If the erase tool's movement trajectory is a straight line coinciding with the boundary of the existing map or two discrete points, then select the first point coinciding with the boundary of the existing map (e.g., D) in the opposite direction to the direction in which the boundary of the existing map was created. Figure 4 Using E as the starting point for erasing, select the last point that coincides with the boundary of the existing map (e.g., E in the original text). Figure 4 F) is used as the erasure endpoint.

[0078] Figure 5 An example of displaying the map boundary in the mapping interface is given, such as... Figure 5 As shown in (a), the terminal device determines the map boundary area to be deleted based on the determined erasure start point and erasure end point on the established map boundary, and deletes the boundary segment from the erasure start point to the erasure end point from the established map boundary. Figure 5 As shown in (b) and (c), the terminal device sends a movement command to the self-moving device, instructing it to revert to the erasure endpoint. During this process, the device icon moves along with the self-moving device. Figure 5 As shown in (d), after the mobile device reverts to the erase endpoint, it re-establishes the map boundary using the erase endpoint as the starting point. The device icon moves with the mobile device, and its position on the map is updated simultaneously with the mobile device's movement to ensure it always follows the device.

[0079] The embodiments provided in this application offer a visual mapping interface displaying an eraser control for triggering the start of map boundary erasure. This design provides map erasure functionality and makes the erasure operation of the eraser control easy to implement, thereby improving erasure efficiency. Furthermore, in response to a detected trigger operation on the eraser control, an eraser tool is displayed, and in response to a detected movement control operation performed on the eraser tool, the movement of the eraser tool on the mapping interface is controlled, thereby precisely controlling the eraser's range and path. Compared to existing methods requiring multiple auxiliary operations, this method determines the eraser's start and end points based on the intersection of the eraser tool's movement trajectory and the existing map boundary, quickly identifying a section of map boundary that needs to be erased. The overall operation is simple, requiring no professional knowledge to modify the map, and further deleting a corresponding section of map boundary from the existing map boundary. This significantly reduces the time and effort required for manually editing map boundaries, solving the problem of low efficiency in map boundary modification in related regional map processing methods and improving the efficiency of map boundary modification.

[0080] In an exemplary embodiment, in response to a detected movement control operation performed on the erasing tool, the erasing tool is controlled to move on the mapping interface, including: in response to the detected movement control operation performed on the erasing tool, the self-moving device is controlled to follow the movement trajectory of the erasing tool, starting from the actual position corresponding to the boundary endpoint of the built map boundary, until the erasing tool meets one of the following conditions: the erasing tool stays in the area within a preset range from the built map boundary for a longer than a preset time, or the erasing tool moves from both sides of the built map boundary to the built map boundary, or an erasure end command is received, wherein the mapping interface displays a device icon corresponding to the self-moving device, and after the erasing control performs a trigger operation, the device icon is converted into an erasing tool.

[0081] The boundary endpoint of the established map boundary refers to a point on the established map boundary that marks the end of the boundary line, i.e., the last point of the established map boundary.

[0082] An erase end command is a signal or command used to instruct a moving eraser to stop its current movement. Specifically, the erase end command is generated by the terminal device in response to a detected cancellation of a movement control operation on the eraser. If the terminal device detects a movement control operation triggered on an established map boundary, it controls the self-moving device to follow the eraser's movement trajectory, starting from the actual position corresponding to the boundary endpoint of the established map boundary. After the terminal device detects a cancellation of the movement control operation performed on the eraser, it generates an erase end command to switch the eraser from the erase state to the non-erasing state and stops recording the eraser's movement trajectory.

[0083] For example, Figure 6 An example of erasing the boundaries of an existing map is given, such as... Figure 6 As shown in (a), when the self-moving device is in a mapping task, the terminal device detects a motion control operation triggered at the boundary endpoint of the built map (i.e., the current position of the self-moving device), as follows: Figure 6 As shown in (b), the eraser tool at this time is similar to an eraser. Starting from the endpoint of the existing map boundary, the eraser tool is moved along the existing map boundary towards its starting point. The movement trajectory of the eraser tool (i.e., the map boundary to be deleted) is as follows: Figure 6 As shown in (b) above. The map boundary after deleting the map boundary to be deleted is as follows. Figure 6 As shown in (c).

[0084] Optionally, in response to a detected movement control operation performed on the erasing tool, the terminal device controls the self-moving device to follow the movement trajectory of the erasing tool, starting from the actual position corresponding to the boundary endpoint of the established map boundary, and deletes a segment of the map boundary from the erasing start point to the erasing endpoint during the movement. During the erasing process, the terminal device continuously checks whether the termination condition is met. The termination condition includes at least one of the following: the erasing tool stays in an area within a preset range from the established map boundary for a time longer than a preset time; or, the erasing tool moves from either side of the established map boundary to the established map boundary; or, an erasing termination command is received. Once the termination condition is met, the terminal device stops the erasing operation and resumes mapping operation as needed.

[0085] In this embodiment, the terminal device can respond in real time to the detected movement control operations performed on the erasure tool, meaning that the user can instruct the self-moving device to modify the map boundary through intuitive movement control (such as swiping the erasure tool icon on the screen); the self-moving device follows the movement trajectory of the erasure tool, starting from the actual position corresponding to the boundary endpoint of the built map boundary. This following mechanism ensures that the erasure operation can be carried out accurately along the path specified by the user, thereby improving the accuracy and efficiency of modifying the map boundary.

[0086] In one exemplary embodiment, the erasing tool moves in sync with the self-moving device until one of the following conditions is met: the erasing tool stays in an area within a preset range from the boundary of the established map for a period of time longer than a preset time; or, the erasing tool moves from the areas on either side of the boundary of the established map to the boundary of the established map; or, an erasing end command is received.

[0087] In this embodiment, when a user indicates a movement trajectory on the interface using the erasure tool, the self-moving device can respond in real time and move along the same trajectory. This synchronized movement ensures the accuracy of the erasure operation because the self-moving device directly follows the path specified by the user on the interface for erasure. Since the movement trajectories of the erasure tool and the self-moving device are consistent, the user can more accurately control the range and path of erasure, thereby reducing the possibility of accidental erasure and improving the efficiency and accuracy of map boundary modification.

[0088] In one exemplary embodiment, in response to a detected movement control operation performed on the erasing tool, controlling the erasing tool to move on the drawing interface includes:

[0089] In response to a detected movement control operation performed on the eraser tool, the eraser tool is controlled to move on one side of the existing map boundary, starting from either the boundary endpoint of the existing map boundary or a specified location point on the existing map boundary.

[0090] The endpoint of the established map boundary refers to the last point along the established map boundary direction. For example, if the mobile device is currently performing the task of establishing the map boundary, the endpoint of the established map boundary is the location of the mobile device's icon. Conversely, if the mobile device has completed the task of establishing the map boundary, the endpoint of the established map boundary is the last recorded point on the established map boundary.

[0091] Specify a location point, another location point besides the boundary endpoints, within an existing area map, specified based on specific needs or conditions. This specified location point is located on the boundaries of the existing map and serves as the starting point for the erase tool's movement or operations. For example, using... Figure 4 Point D in the diagram is the starting point for the eraser tool to move back and forth around the boundaries of the existing map, such as the path between points D and C.

[0092] It should be noted that when a user discovers an error in the map currently created by their mobile device and needs to go back to a certain location to correct it, the endpoint of the boundary of the created map (i.e., the current location of the device icon) will serve as the starting point for the erasure tool. The user can select the specific location to go back to through the interface and trigger the erasure operation. The terminal device then controls the erasure tool to move from the current location along the boundary of the created map towards the location to go back to, performing the necessary erasure.

[0093] When the mobile device has completed its mapping task, or is still performing a mapping task but there is a section of the map boundary that needs to be erased, the user can specify a point as the starting point for the erasure tool. This specified point is typically located on the map boundary segment to be erased, and the user can determine this point on the map by clicking, selecting, or entering coordinates. Upon receiving the user's specification, the terminal device sets the starting point of the erasure tool to this specified point and prepares to begin the erasure operation.

[0094] In this embodiment, the movement control operation includes relevant action data for moving back and forth along the boundary of the established map, such as forward, backward, left turn, right turn, etc.

[0095] Optionally, after detecting a movement control operation performed on the erasure tool, the terminal device determines the starting point of the erasure tool. Specifically, when the self-moving device discovers an error during mapping and needs to revert from its current position to a certain position for correction, the terminal device automatically sets the endpoint of the already constructed map boundary as the starting point of the erasure tool. If the self-moving device has completed the mapping task, or if a section of the already constructed map boundary needs to be erased during mapping, the terminal device detects the user's specified operation and, based on the specified operation, uses a specified location point on the already constructed map boundary as the starting point of the erasure tool. After determining the starting point of the erasure tool, if the terminal device listens for movement control operations performed by the user on the erasure tool, it controls the erasure tool to move back and forth along the already constructed map boundary from the starting point according to the movement control operation, until the terminal device no longer detects any movement control operations on the erasure tool, at which point it stops moving the erasure tool.

[0096] In this embodiment, in response to the detected movement control operation performed on the erasing tool, the erasing tool is controlled to start from the boundary endpoint of the existing map boundary or a specified location point of the existing map boundary. This allows the most suitable starting point to be selected for the erasing operation according to actual needs, thereby further improving the efficiency and accuracy of map boundary modification. Furthermore, without the need for complex erasing parameter settings, the erasing tool can be controlled to move back and forth around the existing map boundary according to the movement control operation, enabling the erasing tool to quickly cover and modify the map boundary, reducing the time and effort of manual operation, and significantly improving the efficiency of map boundary modification.

[0097] In an exemplary embodiment, when the mapping area is large, modifying the map boundary requires the mobile device to move precisely to a preset erasure endpoint. This method not only demands high positioning accuracy for both the erasure endpoint and the mobile device, but also may suffer from low efficiency in map boundary modification due to device positioning errors, environmental interference, and other factors in actual operation. Therefore, to solve the above problems, controlling the mobile device to move to the position corresponding to the erasure endpoint includes:

[0098] 1. During the process of moving the self-device to the position corresponding to the erasure endpoint, a preset visual graphic is used on the mapping interface to represent the erasure end range. The erasure end range refers to the area constructed with the erasure endpoint as the feature point. The erasure end range is used to indicate the range within which the self-device is allowed to end the erasure.

[0099] Among them, preset visual graphics are pre-designed graphic elements used to intuitively represent the erasure end range on the drawing interface. Preset visual graphics can be of various shapes and styles to meet the needs of different application scenarios. For example, preset visual graphics can be semi-transparent or background-colored circles, rectangles, or other shapes.

[0100] The erase end range refers to a region defined by the erase endpoint, used to indicate to the user that the erase operation can be terminated within this range. When the user device (and its icon) enters the erase end range, it indicates that the erase operation has approached or reached its intended goal, and the user can be prompted to end the erase operation.

[0101] Optionally, Figure 7 An example of displaying the map boundary in the mapping interface is given, such as... Figure 7 As shown in (a), during the process of the terminal device moving from the mobile device to the position corresponding to the erasure endpoint, firstly, the erasure start point and erasure endpoint are determined. Secondly, as... Figure 7 As shown in (b), the erasure endpoint is used as a feature point, and the erasure end range is constructed according to preset rules or algorithms (such as a circular area with a certain radius centered on the erasure endpoint, or a rectangular area with a certain length and direction centered on the erasure endpoint). The terminal device selects a suitable graphic from a preset visualization graphic library, matches the selected preset visualization graphic with the erasure end range, and displays it intuitively on the mapping interface.

[0102] In some embodiments, during the process of the self-moving device moving to the position corresponding to the erasure endpoint, the terminal device may use remote control to control the self-moving device to move to the position corresponding to the erasure endpoint, or it may use remote control to control the self-moving device to move to a specified boundary position.

[0103] 2. When the device icon enters the end range of the erase process, an end prompt message will be displayed. The device icon will move with the device being moved. The end prompt message is used to indicate that the erase process is allowed to end.

[0104] The end prompt message is a text message used to inform the user that the erasure operation can be ended. The end prompt message is usually displayed after the device icon enters the end area of ​​the erasure operation, guiding the user to complete the final step. For example, the end prompt message includes prompt text (such as "Erasing end area has been entered, do you want to end the erasure?"), confirmation controls (such as "Confirm" or "Yes"), and cancellation controls (such as "Cancel" or "No").

[0105] Optionally, such as Figure 7 As shown in (c), during the process of the mobile device moving to the position corresponding to the erasure endpoint, the device icon moves with the mobile device. When the terminal device detects that the device icon has entered the erasure end range, it displays an end prompt message.

[0106] 3. In response to the detected confirmation operation performed on the end prompt message, connect the erasure endpoint with the current position of the device icon, and use the current position of the device icon as the new erasure endpoint. Re-establish the map boundary with the new erasure endpoint as the starting point. The confirmation operation is used to confirm the end of erasure.

[0107] The confirmation operation performed on the end prompt message refers to the action performed on the prompt message to confirm the end of erasing. For example, if the end prompt message includes a confirmation control (such as a "Confirm" or "Yes" control), then the confirmation operation performed on the end prompt message refers to triggering the confirmation control. For example, if the end prompt message only includes prompt text, then the confirmation operation performed on the end prompt message refers to detecting a cancellation operation of the movement control operation of the erasing tool.

[0108] Optionally, such as Figure 7 As shown in (d), after the terminal device displays the end prompt message, if a confirmation operation is detected for the end prompt message, in response to the confirmation operation, the erasure endpoint is connected to the current position of the device icon, and the current position of the device icon is used as the new erasure endpoint. The map boundary is re-established with the new erasure endpoint as the starting point.

[0109] In this embodiment, the erasure end range is dynamically set according to the erasure endpoint. When the mobile device enters the erasure end range, an end prompt message is displayed. It is not necessary to move the mobile device precisely to the position indicated by the erasure endpoint. As long as the mobile device enters the erasure end range, the erasure can be ended. This reduces the requirements for positioning accuracy and reduces the extra movement time caused by positioning errors or environmental interference. At the same time, in response to the detected confirmation operation of the end prompt message, the erasure endpoint is connected to the current position of the device icon, and the current position of the device icon is used as the new erasure endpoint. In the process of re-establishing the map boundary, there is no need to make additional adjustments or corrections to the starting point of re-establishing the map boundary, which improves the efficiency of establishing the map boundary.

[0110] In an exemplary embodiment, determining the erasure start point and erasure end point on the established map boundary based on the intersection point between the movement trajectory of the erasure tool and the boundary of the established map includes: determining the first intersection point of the movement trajectory of the erasure tool and the boundary of the established map in the opposite direction to the establishment direction of the established map boundary as the erasure start point on the established map boundary; and determining the last intersection point of the movement trajectory of the erasure tool and the boundary of the established map in the opposite direction to the establishment direction of the established map boundary as the erasure end point on the established map boundary.

[0111] The direction in which the boundaries of an existing map are established refers to the specific direction along which the map boundary lines are drawn when the map boundaries are created. This direction is usually closely related to the actual direction in which the mobile device moves along the map boundaries during map creation. Simply put, it's how the map boundaries are "drawn," and the direction in which they are "drawn" is the direction in which the boundaries of the existing map are established. For example, as... Figure 4 As shown, the direction in which the boundaries of the existing map are established is counterclockwise, and the opposite direction is clockwise.

[0112] Optionally, the terminal device determines the creation direction of the existing map boundary based on the existing map boundary, records the movement trajectory of the erasing tool, compares the movement trajectory of the erasing tool with the existing map boundary, and finds intersection points. Among all the found intersection points, the first point that intersects with the erasing tool's movement trajectory and is located in the opposite direction of the creation direction is determined as the erasing start point. Similarly, the last point that intersects with the erasing tool's movement trajectory and is located in the opposite direction of the creation direction is determined as the erasing end point.

[0113] In this embodiment, the first and last intersection points of the eraser's movement trajectory with the existing map boundary in the opposite direction of the map boundary's creation direction are determined as the eraser start point and eraser end point, respectively. The eraser start point and eraser end point can be automatically determined simply by moving the eraser, eliminating the need for complex operations to select the modification area, reducing the difficulty of operation, and improving the efficiency of map boundary modification.

[0114] In one exemplary embodiment, the mapping interface also includes an end-erasing control, which is a control used to trigger the end of map boundary erasing; during the process of creating a regional map using a self-moving device, the erasing tool is a device icon in an erasing state, and the erasing state is a state that allows erasing of map boundaries.

[0115] After the erase tool is displayed on the mapping interface, the above-mentioned area map processing method further includes: in response to the detected trigger operation of the end erase control, controlling the device icon to exit the erasure state, wherein the position where the device icon exits the erasure state is the end position of the movement trajectory of the erase tool.

[0116] The "End Erase" control is a control on the mapping interface used to trigger the end of map boundary erasure. When the terminal device detects a trigger operation on the "End Erase" control, it will stop the current erasure operation of the erasure tool.

[0117] Wipe state refers to a specific state of the device icon. In this state, the device icon can respond to user commands and wipe or modify the map boundaries.

[0118] Optionally, the terminal device provides an end-of-wipe control on the mapping interface. Upon detecting a trigger operation (such as a click, touch, or other user-defined interaction) on the end-of-wipe control, the terminal device immediately controls the device icon to exit the wiping state, and sets the position where the device icon exits the wiping state as the end position of the wiping tool's movement trajectory. The terminal device generates the wiping tool's movement trajectory based on the end position of the wiping tool's movement trajectory.

[0119] This embodiment provides an end-of-erasure control on the drawing interface, allowing for more flexible control over the timing of the erasure operation. In response to the trigger operation of the end-of-erasure control, the device icon can be immediately exited from the erasure state, greatly improving operational flexibility. Furthermore, setting the exit position of the device icon as the end position of the erasure tool's movement trajectory means that the erasure operation will stop precisely at the specified position, thus avoiding inaccurate erasure boundaries caused by network latency or misoperation.

[0120] In one exemplary embodiment, controlling the self-mobile device to move to the location corresponding to the erasure endpoint includes: within an established area map, planning an optimized movement path for the self-mobile device, starting from the current location of the self-mobile device and ending at the location corresponding to the erasure endpoint; and controlling the self-mobile device to move from its current location to the location corresponding to the erasure endpoint according to the optimized movement path.

[0121] In this embodiment, after the control device icon exits the wiping state, the self-moving device can be controlled to travel directly from its current location to the location corresponding to the wiping endpoint. When controlling the self-moving device to travel directly from its current location to the location corresponding to the wiping endpoint, an optimized movement path can first be planned for the self-moving device within the established area map. This optimized movement path can be a straight path between the boundary endpoint of the established map and the wiping endpoint, or it can be a path with a certain degree of curvature established by comprehensively considering the map information of the established map. In this embodiment, there is no limitation on the optimized movement path.

[0122] According to the established optimized movement path, the self-moving device can be controlled to move from its current location to the location corresponding to the erasure endpoint. This can be achieved by: sending the optimized movement path to the self-moving device, which then moves to the location corresponding to the erasure endpoint based on the received path and environmental information detected by its sensors; or by continuously sending movement or erasure commands to the self-moving device according to the optimized movement path until it reaches the vicinity of the erasure endpoint.

[0123] In this embodiment, by planning an optimized movement path for the self-moving device within an established area map, from the current location of the self-moving device to the location corresponding to the erasure endpoint, the self-moving device can be controlled to travel directly to the location corresponding to the erasure endpoint, thereby improving the convenience of device movement.

[0124] In one exemplary embodiment, the self-moving device follows the trajectory of the erasing tool. In a scenario where the movement starts from a specified location point on the boundary of the existing map and ends at the boundary endpoint of the existing map, the self-moving device follows the trajectory of the erasing tool.

[0125] In one exemplary embodiment, controlling the mobile device to move to the location corresponding to the erasure endpoint may include: within an established area map, planning an optimized movement path for the mobile device, starting from its current location and ending at the location corresponding to the erasure endpoint; and controlling the mobile device to move from its current location to the location corresponding to the erasure endpoint according to the optimized movement path. The methods for planning the optimized movement path and controlling the mobile device to move from its current location to the location corresponding to the erasure endpoint according to the optimized movement path are similar to those in the previous embodiments and will not be described again here.

[0126] In one exemplary embodiment, the self-moving device can regress within an area corresponding to an established area map, which contains obstacle information of the identified obstacles within the area corresponding to the established area map.

[0127] The established area map can be generated based on map information recorded when the self-moving device is within a preset range. The map information includes at least one or a combination of visual sensing parameters and positioning data parameters. The established area map also includes obstacle information of obstacles identified within the area corresponding to the established area map. For example, during mapping, a map can be created within a certain area of ​​the lawnmower, while regression can be performed within the mapped area.

[0128] Optionally, in this embodiment, controlling the self-moving device to move from its current position to the position corresponding to the wiping endpoint according to the optimized movement path includes: controlling the self-moving device to walk from its current position toward the wiping endpoint according to the optimized movement path, and bypassing obstacles encountered in the area corresponding to the established area map, until it moves to the position corresponding to the wiping endpoint.

[0129] To improve the safety and flexibility of self-moving devices, their movement can be controlled via an optimized path, guiding them from their current location towards the wiping endpoint. When encountering obstacles within a pre-defined area map, the device can avoid them until it reaches the endpoint. This obstacle avoidance can be controlled by the terminal device or by the self-moving device itself based on obstacle information detected by its sensors. The former reduces the hardware and software requirements of the self-moving device, while the latter improves both control convenience and safety.

[0130] This embodiment improves the efficiency of map modification by controlling the self-moving device to optimize its movement path to the location corresponding to the modified boundary endpoint; and enhances the safety of the mapping process by allowing the self-moving device to avoid obstacles during movement.

[0131] In an exemplary embodiment, controlling the self-moving device to move from its current position to a position corresponding to the wiping endpoint includes: if the distance between the boundary endpoint of the established map boundary and the wiping endpoint is less than or equal to a preset distance threshold, controlling the self-moving device to walk backward toward the position corresponding to the wiping endpoint until it returns to the position corresponding to the wiping endpoint.

[0132] If the distance between the endpoint of the existing map boundary and the endpoint of the wipe is less than or equal to a preset distance threshold, the distance between the original endpoint and the modified endpoint will be small. If the mobile device turns its head, inaccurate control may occur due to insufficient movement space. To improve the ease of controlling the mobile device, when the distance between the endpoint of the existing map boundary and the endpoint of the wipe is less than or equal to the preset distance threshold, the mobile device can be controlled to move backward towards the position corresponding to the wipe endpoint until it returns to the position corresponding to the wipe endpoint.

[0133] The preset distance threshold can be set based on experience and can be modified according to user needs or historical usage data of the mobile device. If the distance between the boundary endpoint of the established map and the erasure endpoint is the actual distance between the corresponding locations, the preset distance threshold can be 1 meter, 0.8 meters, or other values; if the distance between the boundary endpoint of the established map and the erasure endpoint is the distance between the boundary endpoint of the established map and the erasure endpoint within the established area map, the preset distance threshold can be 5 centimeters, 10 centimeters, or other values. In this embodiment, the preset distance threshold is not limited.

[0134] If the distance between the endpoint of the existing map boundary and the erasure endpoint is less than or equal to a preset distance threshold, the terminal device can send a reverse command to the self-moving device. The self-moving device will then travel along its original trajectory according to the command until it returns to the vicinity of the erasure endpoint. Controlling the self-moving device to move backward toward the location corresponding to the erasure endpoint can be based on a planned movement path (e.g., an optimized movement path), or it can be controlled according to the movement path during map creation, or it can be directly controlled using the directional keys, until the self-moving device returns to the location corresponding to the modified boundary endpoint.

[0135] Optionally, for the reversing scheme, the reversing trajectory and image of the self-moving device can be recorded. A shortest regression route is established based on obstacle information in the reversing trajectory and image, thereby controlling the self-moving device to reverse along the shortest regression route back to the position corresponding to the wiping endpoint. One or more sensors for obstacle detection can be installed on the self-moving device. To ensure the safety of reversing the self-moving device, at least some of the obstacle detection sensors can be placed horizontally or rearward. This allows for the detection of obstacle information in the reversing direction. The types and number of sensors can be set empirically and may include, but are not limited to, at least one of the following: ultrasonic obstacle avoidance sensors, binocular vision modules, LiDAR, cameras, infrared sensors, etc. This embodiment does not impose any limitations on these.

[0136] For example, when reversing, the sensor positions in the reversing scheme can be either horizontal or rearward. This could mean placing the radar horizontally or rearward, or the image sensor rearward. Placing the sensor horizontally or rearward can either fix it in a horizontal or rearward position, or, when reversing is needed, rotate the sensor to place it horizontally or rearward.

[0137] In this embodiment, when the distance between the original boundary endpoint and the modified boundary endpoint is close, directly controlling the self-moving device to walk backward toward the position corresponding to the modified boundary endpoint can improve the flexibility and accuracy of device control.

[0138] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0139] According to another aspect of the embodiments of this application, a terminal device is also provided, which can be used to implement the area map processing method provided in the above embodiments, and will not be repeated hereafter. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0140] Figure 8 This is a structural block diagram of an optional terminal device according to an embodiment of this application, such as... Figure 8 As shown, the processing device for the area map includes:

[0141] Display unit 801 is used to display the boundaries of the created map and the device icon of the self-moving device on the mapping interface of the terminal device during the process of creating a regional map using the self-moving device. The boundaries of the created map are the map boundaries of the created regional map. The mapping interface includes an erase control, which is a control used to trigger the start of erasing the map boundaries.

[0142] The first execution unit 802 is used to display the erasure tool on the mapping interface in response to the detected trigger operation of the erasure control. The erasure tool is a tool used to erase the map boundary.

[0143] Control unit 803 is used to control the movement of the erasure tool on the drawing interface in response to a detected movement control operation performed on the erasure tool.

[0144] The second execution unit 804 is used to determine the erasure start point and erasure end point on the existing map boundary based on the intersection point between the movement trajectory of the erasure tool and the boundary of the existing map; and to delete a section of map boundary between the erasure start point and the erasure end point on the existing map boundary, and to control the self-moving device to move to the position corresponding to the erasure end point, wherein the device icon moves along the movement trajectory of the self-moving device.

[0145] In this embodiment, the display unit 801 can be used to execute step S302 in the aforementioned embodiment, the first execution unit 802 can be used to execute step S304 in the aforementioned embodiment, the control unit 803 can be used to execute step S306 in the aforementioned embodiment, and the second execution unit 804 can be used to execute steps S308 and S310 in the aforementioned embodiment.

[0146] According to the embodiments provided in this application, during the process of building a regional map using a self-moving device, the boundary of the built map and the device icon of the self-moving device are displayed on the mapping interface of the terminal device. The boundary of the built map is the map boundary of the built regional map. The mapping interface includes an erase control, which is used to trigger the start of map boundary erasure. In response to a detected trigger operation performed on the erase control, an erase tool is displayed on the mapping interface. The erase tool is used to erase the map boundary. In response to a detected movement control operation performed on the erase tool, the erase tool is controlled to move on the mapping interface. Based on the intersection of the erase tool's movement trajectory and the built map boundary, the erase start point and erase end point on the built map boundary are determined. A segment of the map boundary between the erase start point and the erase end point on the built map boundary is deleted, and the self-moving device is controlled to move to the position corresponding to the erase end point. The device icon moves along the movement trajectory of the self-moving device. This solves the problem of low efficiency in map boundary modification in related technologies for regional map processing methods and improves the efficiency of map boundary modification.

[0147] In an exemplary embodiment, the control unit 803 is further configured to, in response to a detected movement control operation performed on the erasing tool, control the erasing tool to automatically move along the boundary of the established map from the boundary endpoint of the established map boundary to the boundary endpoint of the established map boundary until an erasing end command is obtained, or to move from a first specified location point of the established map boundary to the boundary endpoint of the established map boundary.

[0148] In one exemplary embodiment, the control unit 803 is further configured to, in response to a detected movement control operation performed on the erasing tool, control the erasing tool to move back and forth around the boundary of the established map, starting from the boundary endpoint of the established map boundary or a designated location point of the established map boundary.

[0149] In an exemplary embodiment, the second execution unit 804 is further configured to, during the process of the self-mobile device moving to the position corresponding to the erasure endpoint, use a preset visual graphic to represent the erasure end range on the mapping interface, wherein the erasure end range refers to the area range constructed with the erasure endpoint as a feature point, and the erasure end range is used to indicate the range within which the self-mobile device is allowed to end the erasure; when the device icon enters the erasure end range, display an end prompt message, wherein the device icon moves with the self-mobile device; the end prompt message is used to indicate that the erasure is allowed to end; in response to the detected confirmation operation performed on the end prompt message, connect the erasure endpoint and the current position of the device icon, and take the current position of the device icon as the new erasure endpoint, and re-establish the map boundary with the new erasure endpoint as the starting point, wherein the confirmation operation is used to confirm the end of the erasure.

[0150] In an exemplary embodiment, the second execution unit 804 is further configured to determine the first intersection point of the movement trajectory of the erasing tool and the boundary of the established map in the opposite direction to the establishment direction of the established map boundary as the erasing start point on the established map boundary; and to determine the last intersection point of the movement trajectory of the erasing tool and the boundary of the established map in the opposite direction to the establishment direction of the established map boundary as the erasing end point on the established map boundary.

[0151] In an exemplary embodiment, the mapping interface further includes an end-erasing control, which is a control used to trigger the end of map boundary erasing; during the process of creating a regional map using a self-moving device, the erasing tool is a device icon in an erasing state, and the erasing state is a state in which erasing of map boundaries is permitted; after the erasing tool is displayed on the mapping interface, the control unit 803 is further configured to, in response to the detected trigger operation performed on the end-erasing control, control the device icon to exit the erasing state, wherein the position where the device icon exits the erasing state is the end position of the movement trajectory of the erasing tool.

[0152] In an exemplary embodiment, the second execution unit 804 is further configured to plan an optimized movement path for the self-moving device within an established area map, with the current location of the self-moving device as the starting point and the location corresponding to the erasure endpoint as the ending point; and control the self-moving device to move from its current location to the location corresponding to the erasure endpoint according to the optimized movement path.

[0153] In one exemplary embodiment, the self-moving device follows the trajectory of the erasing tool.

[0154] In an exemplary embodiment, the second execution unit 804 is further configured to plan an optimized movement path for the self-moving device within an established area map, with the current location of the self-moving device as the starting point and the location corresponding to the erasure endpoint as the ending point; and control the self-moving device to move from its current location to the location corresponding to the erasure endpoint according to the optimized movement path.

[0155] In an exemplary embodiment, the self-moving device returns to the area corresponding to the established area map, which contains obstacle information of the identified obstacles in the area corresponding to the established area map; the second execution unit 804 is further configured to control the self-moving device to move from the current position of the self-moving device to the direction of the erasure endpoint according to the optimized movement path, and to bypass the obstacles encountered when encountering obstacles in the area corresponding to the established area map, until it moves to the position corresponding to the erasure endpoint.

[0156] In an exemplary embodiment, the second execution unit 804 is further configured to control the self-moving device to walk backward toward the position corresponding to the erasure endpoint when the distance between the boundary endpoint of the built map boundary and the erasure endpoint is less than or equal to a preset distance threshold, until it returns to the position corresponding to the erasure endpoint.

[0157] In an exemplary embodiment, if the time the self-moving device stays at a position within a preset range of the walking trajectory under the mapping command is greater than a preset time, the point on the walking trajectory under the mapping command that is closest to the position where the self-moving device stays is identified as the erasure endpoint.

[0158] In an exemplary embodiment, when the self-moving device moves from the areas on either side of the walking trajectory under the mapping command to the walking trajectory under the mapping command, the position where the self-moving device and the walking trajectory under the mapping command finally intersect is identified as the erasure endpoint.

[0159] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0160] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes the steps in any of the above method embodiments when it is run.

[0161] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0162] According to another aspect of the embodiments of this application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor is configured to perform the steps of any of the method embodiments described above via the computer program. In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0163] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0164] According to another aspect of the embodiments of this application, a computer program product is also provided, comprising a computer program / instructions containing program code for performing the methods shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication section 909, and / or installed from a removable medium 911. When the computer program is executed by a central processing unit 901, it performs various functions provided in the embodiments of this application. The sequence numbers of the embodiments of this application above are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0165] Figure 9 A schematic block diagram of a computer system architecture for implementing embodiments of the present application is shown. Figure 9 As shown, the computer system 900 includes a CPU (Central Processing Unit) 901, which can perform various appropriate actions and processes based on programs stored in ROM 902 or programs loaded into RAM 903 from storage section 908. Random access memory 903 also stores various programs and data required for system operation. The CPU 901, ROM 902, and RAM 903 are interconnected via bus 904. An I / O (Input / Output) interface 905 is also connected to bus 904.

[0166] The following components are connected to I / O interface 905: input section 906 including keyboard, mouse, etc.; output section 907 including CRT (Cathode Ray Tube), LCD (Liquid Crystal Display), etc., and speakers, etc.; storage section 908 including hard disk, etc.; and communication section 909 including network interface card, modem, etc. Communication section 909 performs communication processing via a network such as the Internet. Drive 910 is also connected to I / O interface 905 as needed. Removable media 911, such as disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 910 as needed so that computer programs read from them can be installed into storage section 908 as needed.

[0167] Specifically, according to embodiments of this application, the processes described in the various method flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 909, and / or installed from removable medium 911. When the computer program is executed by central processing unit 901, it performs various functions defined in the system of this application.

[0168] It should be noted that, Figure 9 The computer system 900 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0169] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0170] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A self-moving device, characterized in that, The self-moving device includes: a first wheel set, a second wheel set, and a power component, wherein the power component drives the first wheel set; the self-moving device further includes: an instruction execution unit, configured to respond to a received mapping instruction and execute a walking trajectory under the mapping instruction, wherein the mapping instruction is used to establish a regional map boundary for a specified area and generate the established map boundary according to the walking trajectory of the self-moving device; the instruction execution unit is also configured to receive an erasure instruction and control the self-moving device to travel from its current position to an erasure endpoint corresponding to the erasure instruction, wherein the erasure instruction is used to erase a segment of the map boundary from the erasure start point to the erasure endpoint on the established map boundary based on the erasure trajectory, and after receiving the erasure instruction, the walking trajectory of the self-moving device is consistent with the erasure trajectory until the self-moving device meets one of the following conditions: the self-moving device stays at a position within a preset range from the walking trajectory under the mapping instruction for a longer than a preset time, or the self-moving device moves from the areas on both sides of the walking trajectory under the mapping instruction to the walking trajectory under the mapping instruction, or an erasure end instruction is received.

2. The self-moving device according to claim 1, characterized in that, The system includes a communication connection between the self-moving device and the terminal device, a mapping interface on the terminal device displaying the boundaries of the existing map and the device icon of the self-moving device, and a mapping interface including an erase control, which is a control used to trigger the erase command.

3. The self-moving device according to claim 1, characterized in that, The instruction execution unit is further configured to plan an optimized movement path for the self-moving device within the established area map, starting from the current location of the self-moving device and ending at the location corresponding to the erasure endpoint; and to control the self-moving device to move from its current location to the location corresponding to the erasure endpoint according to the optimized movement path.

4. The self-moving device according to claim 1, characterized in that, If the self-moving device stays at a position within a preset range of the walking trajectory under the mapping command for a longer than a preset time, the point on the walking trajectory under the mapping command that is closest to the position where the self-moving device stays is identified as the erasure endpoint.

5. The self-moving device according to claim 1, characterized in that, When the self-moving device moves from the area on either side of the walking trajectory under the mapping command to the walking trajectory under the mapping command, the final intersection of the self-moving device and the walking trajectory under the mapping command is confirmed as the erasure endpoint.

6. A method for processing regional maps, characterized in that, include: During the process of creating a regional map using a self-moving device, the boundaries of the created map are displayed on the map creation interface of the terminal device. The boundaries of the created map are the boundaries of the created regional map. The map creation interface includes an erase control, which is a control used to trigger the start of map boundary erasure. In response to a detected trigger operation performed on the erase control, an erase tool is displayed on the mapping interface, wherein the erase tool is a tool for erasing map boundaries; In response to a detected movement control operation performed on the erasing tool, the erasing tool is controlled to move on the mapping interface; Based on the intersection of the movement trajectory of the erasing tool and the boundary of the established map, the erasing start point and the erasing end point on the boundary of the established map are determined. Delete a segment of the map boundary between the erasure start point and the erasure end point on the existing map boundary, and control the self-moving device to move to the position corresponding to the erasure end point, wherein the erasure tool and the self-moving device move along the same trajectory.

7. The method according to claim 6, characterized in that, The step of controlling the eraser to move on the drawing interface in response to a detected movement control operation performed on the eraser includes: In response to a detected movement control operation performed on the erasing tool, the self-moving device is controlled to follow the movement trajectory of the erasing tool, starting from the actual position corresponding to the boundary endpoint of the built map boundary, until the erasing tool meets one of the following conditions: the erasing tool stays in the area within a preset range from the built map boundary for a longer than a preset time; or, the erasing tool moves from both sides of the built map boundary to the built map boundary; or, an erasure end command is received. The mapping interface displays a device icon corresponding to the self-moving device, and after the erasure control performs a trigger operation, the device icon is converted to the erasing tool.

8. The method according to claim 6, characterized in that, The erasing tool moves in the same trajectory as the self-moving device until the erasing tool meets one of the following conditions: the erasing tool stays in the area within a preset range from the boundary of the established map for a longer than a preset time, or the erasing tool moves from the areas on both sides of the boundary of the established map to the boundary of the established map, or the erasing end command is received.

9. The method according to claim 6, characterized in that, The step of controlling the eraser to move on the drawing interface in response to a detected movement control operation performed on the eraser includes: In response to a detected movement control operation performed on the erasing tool, the erasing tool is controlled to move on one side of the existing map boundary, starting from either the boundary endpoint of the existing map boundary or a designated location point on the existing map boundary.

10. The method according to claim 6, characterized in that, The mapping interface displays a device icon corresponding to the self-moving device; controlling the self-moving device to move to the position corresponding to the erasure endpoint includes: During the process of the self-mobile device moving to the position corresponding to the erasure endpoint, a preset visual graphic is used on the mapping interface to represent the erasure end range. The erasure end range refers to the area constructed with the erasure endpoint as the feature point. The erasure end range is used to indicate the range within which the self-mobile device is allowed to end the erasure. When the device icon enters the erasure termination area, an end prompt message is displayed, wherein the device icon moves with the self-moving device; the end prompt message is used to indicate that the erasure can be terminated. In response to the detected confirmation operation performed on the end prompt information, the erasure endpoint is connected to the current position of the device icon, and the current position of the device icon is used as the new erasure endpoint. The map boundary is re-established with the new erasure endpoint as the starting point, wherein the confirmation operation is used to confirm the end of erasure.

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