Self-propelled device

Abstract

A self-propelled device, characterized in that the self-propelled device comprises: a first wheel group and a second wheel group, and a drive component, wherein the drive component drives the first wheel group; the self-propelled device further comprises: a command execution unit that responds to a received map creation command and executes a movement path under the map creation command, wherein the map creation command is configured to create an area map boundary for a specific area and generate a created map boundary according to the movement path of the self-propelled device;the command execution unit is also configured, in response to a received delete command, to control the self-propelled device from its current position to the first boundary point corresponding to the delete command, wherein the map creation command uses this first boundary point as a starting point for modifying the area map boundary; ; - when the self-driving device travels based on the map creation command to generate the movement path, the self-driving device moves in the traveling direction such that the first wheel group is in front of the second wheel group; during the process in which the self-driving device travels to the first boundary point based on the delete command, the self-driving device moves in the traveling direction such that the first wheel group is behind the second wheel group.

Description

Technical FieldThe embodiments of this invention relate to the field of intelligent appliances, in particular a self-propelled appliance.Prior ArtCurrently, smart lawn mowers rely on precise map boundary information to plan paths for mowing and to avoid obstacles. Therefore, it is necessary to generate an area map for the area to be mowed of the lawn mower. If the map boundary of a constructed area map needs to be modified or updated, reconstruction of the map boundary is necessary. Since lawn mower deployment scenarios can include up to several thousand square meters, rebuilding the map boundary takes considerable time and can result in subsequent inefficient and incomplete lawnmahd.It will be appreciated from this that in the prior art smart lawn mower, when processing the area map, it takes a very long time until the map boundary is reconstructed.Content of the Present Utility ModelThe embodiments of this utility model provide a self-propelled apparatus to solve at least the technical problem that when the area map is processed by the self-propelled apparatus in the related art, it takes a long time to re-construct the map boundary.According to embodiments of this utility model, there is provided a self-driving apparatus, the self-driving apparatus including: a first wheel group and a second wheel group; and a driving component, the driving component driving the first wheel group; the self-driving apparatus further including: a command executing unit that responds to a received map creation command and executes a movement path among the map creation command, the map creation command being configured to create an area map boundary for a specific area and generate a created map boundary according to the movement path of the self-driving apparatus; the command execution unit is also configured to, in response to a received delete command, control the self-driving device from its current position to the first boundary point corresponding to the delete command, the map creation command using this first boundary point as a starting point for modifying the area map boundary; when the self-driving device travels based on the map creation command to generate the moving path, the self-driving device moves in the traveling direction so that the first wheel group is located in front of the second wheel group; during the process in which the self-driving device travels to the first boundary point based on the delete command, the self-driving device moves in the traveling direction so that the first wheel group is located in behind the second wheel group.In creating map boundaries during map creation, it is necessary to quickly respond to user map creation commands, such as directional modifications, to accurately draw the corresponding mowing area boundaries according to the terrain shape and position of obstacles. By the traveling manner in which the first wheel group directly driven by the driving component is located in front of the second wheel group, compared to the traveling manner in which the second wheel group is located in front of the first wheel group, the steering precision of the self-propelled apparatus can be improved and the efficiency and accuracy of map generation can be increased. When deleting the map boundary during map creation, the self-driving device must reach the corresponding destination of the deletion quickly, wherein the already mapped area is known.Thereby, the requirement for the sensitivity of the steering reaction of the self-propelled apparatus can be relatively reduced. In this case, the second wheel group is positioned in front of the first wheel group, which relatively increases the stability of the movement, and allows the self-driving device to reach the corresponding target point of deletion more quickly, thereby improving the efficiency of map creation and optimizing the user experience.In this embodiment of the invention, a method is used in which during the map creation process map boundaries are deleted in real time based on delete operations performed on the map creation surface. The self-propelled device comprises a first wheel group and a second wheel group as well as a drive component, wherein the drive component drives the first wheel group. The self-driving device further includes: a command execution unit that responds to received map creation commands and executes the movement path under the map creation command, wherein the map creation command is configured to create area map boundaries for a specific area and generate created map boundaries according to the movement path of the self-driving device. The self-driving device may be controlled to move and generate created map boundaries according to the movement path of the self-driving device under the map creation command by the map creation command; the command execution unit is also configured to control the self-driving device from its current position to the first boundary point corresponding to the delete command in response to a received delete command. Upon receipt of a clear command, the self-driving device can automatically travel to the corresponding limit point and thus clear a part of the already created map boundary. By this method, the self-driving device can promptly respond to received delete commands during the map creation process, remove undesired boundaries on the map, and simultaneously travel to the position of the modified boundary endpoint, facilitating the subsequent map boundary creation process. Since modifications or updates to the map boundary do not need to be made until after the map creation is completed, the time for the map boundary to be restored can be shortened and the efficiency and accuracy of the boundary creation can be improved. This solves the technical problem that when the area map is processed by the self-driving apparatus in the related art, it takes a long time to re-establish the map boundary. At the same time, during map creation, the self-driving device moves so that the first wheel group is located in front of the second wheel group based on the map creation command to generate a movement path; when the self-driving device moves to the first boundary point based on the clear command, it moves so that the first wheel group is located behind the second wheel group. Since different control methods are used during the process of map boundary creation and clearing of the map boundary, no turning or rotating at a larger angle is required to return to the position of the modified boundary endpoint. This can reduce the risk of tipping over and increase the driving safety of the self-propelled device.Summary of the FiguresFIG. 1 is a structural diagram of an optional self-propelled apparatus according to an embodiment of this utility model; FIG. 2 is a diagram of an optional map creation surface; FIG. 3 is a diagram of another optional map creation surface; FIG. 4 is a diagram of another optional map creation surface; FIG. 5 is a structural diagram of another optional self-propelled apparatus according to an embodiment of this utility model; FIG. 6 is a diagram of another optional map creation surface; FIG. 7 is a diagram of another optional map creation surface; FIG. 8 is a diagram of another optional map creation surface; FIG. 9 is a diagram of an application scenario of an optional method for processing an area map; FIG. 10 is a flow diagram of an optional method for processing an area map; FIG. 11 is a diagram of another optional map creation surface; FIG. 12 is a diagram of another optional map creation surface; FIG. 13 is a structural diagram of an optional terminal; FIG. 14 is a block diagram of the computer architecture of an optional electronic device.DETAILED EMBODIMENTSIn order to enable those skilled in the art to understand the solution of this utility model more clearly and completely, the technical solutions in the embodiments of this utility model will be described below in conjunction with the drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without inventive activity should fall within the scope of this utility model.It should be noted that the terms "first", "second", etc. are used in the specification, claims and above-mentioned drawings of this utility model to distinguish similar objects and do not necessarily describe a particular order or sequence. It should be understood that such data used may be interchangeable under appropriate circumstances, such that the embodiments of the utility model described herein may be practiced in a different order than that illustrated or described herein. Moreover, the terms "comprise" and "have", and variations thereof, are intended to cover a non-exclusive inclusion. For example, systems, products, or devices comprising a number of units are not limited to the expressly listed units, but may also include other units not expressly listed or inherent to these products or devices.According to embodiments of this utility model, a self-driving device is provided that can be used in scenarios in which the self-driving device is used to map a specific area. The above-mentioned self-driving device may be a smart lawn mower or another device that can move without human intervention. The above-mentioned particular area may be a lawn area or another similar area that needs to be mapped. Taking a self-driving device as an intelligent lawn mower as an example and a certain area as a lawn area, the intelligent lawn mower is a device that can independently perform lawn mowing work without direct human control and operation. As technology for smart lawn mowers is developed, the need for efficient and precise lawn care is increasing. Smart lawn mowers rely on precise map boundary information to plan mowing paths and avoid obstructions. Therefore, it is necessary to generate an area map for the area to be mowed of the lawn mower.In the corresponding technology, when an area map is created, the map boundary must be re-established if the map boundary is to be modified or updated, and the map boundary can be modified or updated only after the map creation is completed. This limitation results in the lawn mower not being sufficiently fault tolerant when creating range boundaries and not being able to update the boundaries in time when anomalies are detected. Since the lawn mower deployment scenarios can reach up to several thousand square meters, the subsequent reconstruction of the map boundary takes a lot of time and can result in inefficient and incomplete lawn mowing performance.To at least partially solve the above problems, this example provides a map deletion method that allows the user to delete and update map limitation information in real time during the map creation process. By introducing a map boundary correction method that enables real-time map deletion, the self-driving device responds to the received map creation command during the map creation process, executes the movement path according to the map creation command, and thus can generate the boundary of the created map corresponding to the movement path of the self-driving device; when it is necessary to delete parts of the already created map boundary, the self-driving device responds to the received deletion command by traveling from its current position to the first boundary point corresponding to the deletion command, and using this first boundary point as a starting point for modifying the area map boundary;Map errors can be corrected in real time during the map creation process without having to wait for full rescan or manual adjustments, which increases the flexibility and response speed of map correction, improves the efficiency and accuracy of boundary creation, and thus ensures the efficiency and precision of the subsequent mowing operation, and avoids errors in mowing due to old maps.FIG. 1 is a structural diagram of an optional self-propelled apparatus according to an embodiment of this utility model. As shown in FIG. 1, the self-propelled apparatus includes a first wheel group 101, a second wheel group 102, and a driving component 103, wherein the driving component 103 drives the first wheel group 101. Optionally, the first wheel group 101 may be the front wheel of the self-propelled device, the second wheel group 102 may be the rear wheel of the self-propelled device, and the propulsion component 103 may be a hub motor drive or other component that provides propulsion to the first wheel group 101. In addition, the self-driving device includes: a command execution unit 104 that responds to the received map creation command and executes the movement path according to the map creation command.When an area map for a certain area needs to be created, the user may send a map creation command to the self-driving device via his terminal. The map creation command is to create the map boundary for the specific area and generate the created map boundary according to the movement path of the self-driving device. For the self-driving device, map creation commands may instruct its movement path, and the command execution unit may control the self-driving device to execute the movement path under the map creation command. That is, the self-propelled apparatus moves along the boundary of the specified range under the control of the map creation command, and its moving path information can be recorded and transmitted to the terminal for recording, or the moving path information is recorded directly from the terminal. The movement path information is used to describe the movement path of the self-driving device. For the terminal, it may record the above-mentioned moving path information and display the boundary of the created map on the map creation surface of the terminal based on the recorded moving path information.It should be noted that map creation commands may be transmitted continuously. Each transmitted map creation command may control the self-driving device along the moving direction indicated by the map creation command over a certain distance, or each transmitted map creation command may control the self-driving device along the moving direction indicated by the map creation command until a new map creation command or an end-of-movement command is received. Other control methods may also be used as long as it is ensured that the self-driving device pulls lines (pulling lines means pulling the map boundary to draw) under the control of the map creation command. The creation of an area map is a process that continues for a certain time. At a certain time during the map creation process, the created area map is an area map for a part of the specified area, and the created map boundary is the map boundary of the created area map.If the map boundary of a built map needs to be modified or updated, the user may perform a delete operation on the map creation interface. The delete operation is for deleting at least a portion of the created map boundary, and may be a single operation or a combination of multiple operations including, but not limited to, at least one of the following: click operation, double click operation, long print operation, wipe operation, etc. Based on the operation information of the delete operation, the terminal may determine the boundary link parameters. Here, the operation information of the erase operation may be distinguishable information such as the type of the erase operation, the duration of the erase operation, the number of erase operations, etc., or other operation information; this is not limited in this embodiment. The limit distance parameters serve to indicate the limit distance of the map boundary to be deleted. The determination of the boundary link parameters based on the operating information of the clearing process can be carried out by table lookup, by data conversion according to established correspondence relationships or by other methods. In the case of different operating information items of the erasing operation, the corresponding limit distances of the map boundary to be erased can be different.Based on the limit distance parameters, the first limit point may be determined. The first boundary point is the modified boundary end point that can be determined on the basis of the movement path information or the created map boundary. That is, the first boundary point may be the modified end point determined after the boundary distance indicated by the boundary distance parameter is removed from the moving path of the self-driving device (i.e., the reset boundary end point), or may be the modified end point determined after the boundary distance indicated by the boundary distance parameter is removed from the created map boundary (i.e., the reset boundary end point).After determining the first boundary point, the self-driving device may be controlled from its current position to the position of the first boundary point. The control of the self-driving device may be performed by sending a move command or clear command to the self-driving device. The move or delete command sent to the self-driving device may indicate the position of the first boundary point or indicate the movement path from the current position of the self-driving device to the position of the first boundary point. Other information may be displayed as long as it is ensured that the self-driving device travels from its current position to the destination point corresponding to the movement or deletion command. Here, the target point of the move or cancel command is the position of the first boundary point. The self-driving device can travel directly from its current position to the destination point corresponding to the move or delete command without having to follow the original movement path from the map creation process.At the same time, the terminal can delete a portion of the map boundary between the limit end point of the created map boundary and the first limit point. The point in time for clearing the above-mentioned section of the map boundary can be carried out either after the determination of the first boundary point or after the movement of the self-propelled device to the position of the first boundary point. In both cases, the clearing of said section of the map boundary can be carried out at a specific point in time. In the time between the determination of the first limit point and the reaching of the point in time for clearing a section of the map boundary, this section can be represented as a dashed line or in a special form, i.e. in a display state other than the map boundaries which are not to be cleared. Optionally, a device icon corresponding to the self-driving device (may be regarded as a virtual moving body) may be displayed on the map creation interface to clarify the moving situation of the self-driving device to the user. This device symbol can move along in accordance with the movement of the self-propelled device.For example, during the map creation process, the initial trajectory of the lawn mower is recorded. When the user deletes a boundary, the corresponding modification starting point (i.e., the boundary ending point after modification) is recognized from the user operation commands in association with the initial trajectory, the lawn mower is controlled to this modification starting point, and the boundaries not desired by the user are deleted from the map. As shown in FIG. 2, the user performs a clear operation on the map creation interface to change the limit end point of the already created map boundary. The terminal determines the modified boundary endpoint (an example of the first boundary point), wherein the base station icon on the map creation surface is configured to identify the base station matching the lawn mower. The map boundary between the original boundary endpoint and the modified boundary endpoint is the map boundary to be deleted, as shown in FIG. 3. After the determination of the modified limit endpoint, the lawn mower may be controlled to the position of the modified limit endpoint, and the map boundary between the original limit endpoint and the modified limit endpoint in FIG. 3 is deleted, thereby obtaining the updated created map boundary as illustrated in FIG. 4.For the self-driving device, the command execution unit thereon also serves to receive a clear command to control the self-driving device from its current position to the first boundary point corresponding to the clear command. There are various ways to travel to the first boundary point corresponding to the clear command, including, but not limited to: returning to the first boundary point along the path of travel of map creation; planning a path of travel from the current location of the self-driving device to the first boundary point; and traveling to the first boundary point along the planned path of travel. Here, the final position to which the self-driving device moves may be a specific position in the vicinity of the first boundary point. In the subsequent map creation process, the position of the self-driving device may be finely adjusted based on newly received map creation commands first before the movement path is executed under the new map creation command to ensure flexibility of the map creation process.In this embodiment, during the generation of the movement path based on the map creation command, the self-driving device moves with the first wheel group in front of the second wheel group; this type of travel may be defined as forward movement; when the self-driving device travels to the first boundary point based on a clear command, the self-driving device moves so that the first wheel group is behind the second wheel group. This type of travel can be defined as rearward movement. By the above-mentioned motion control method, the self-propelled apparatus does not need to turn or rotate larger angles when returning or moving again, which not only increases the convenience and flexibility of the traveling process but also improves the safety of the new traveling process.Optionally, the self-driving device also includes a detection sensor that can be used to detect the environment around the self-driving device and assists in the travel of the self-driving device. This may include, but is not limited to, at least one of the following: perception sensor, camera. The position of the detection sensor may be adjusted as needed. In order to ensure convenience of information recognition, the recognition sensor may be positioned closer to the first wheel group relative to the second wheel group.As shown in FIG. 5, for example, a detection sensor 501 that can be positioned closer to the first wheel group 101 relative to the second wheel group 102 is also mounted on the self-driving apparatus.By the embodiments provided in this utility model, the self-driving device includes a first wheel group and a second wheel group, and a driving component, the driving component driving the first wheel group; the self-driving device further includes: a command executing unit that responds to a received map creation command and executes the movement path under the map creation command, the map creation command being configured to create a map boundary for a specific area and generate a created map boundary according to the movement path of the self-driving device; the command executing unit is also configured to receive deletion commands to control the self-driving device from its current position to the first boundary point corresponding to the deletion command; When the self-driving device travels to generate a travel path based on the map creation command, the self-driving device travels such that the first wheel group is located in front of the second wheel group; when the self-driving device travels to the first boundary point based on the clear command, the self-driving device travels such that the first wheel group is located behind the second wheel group. This solves the problem of the prior art that the reconstruction of the map boundary takes a very long time when processing an area map by the self-driving device. The time required for reconstruction of the map boundary is shortened and the efficiency and accuracy of the boundary determination are improved.In an exemplary embodiment, the self-driving device is communicatively connected to the terminal, wherein the terminal and the self-driving device have a binding relationship. It may be a mobile phone, a desktop computer, a tablet, etc., or other devices capable of executing applications. For map creation, map information that is within a predefined range around the self-driving device during its movement (i.e., the record of map information in the predefined range around the self-driving device during its movement) may be recorded, and a created range map is generated based on this map information. With respect to the self-driving apparatus, it further includes: an information recording unit that records, during the moving path under the map creation command, map information within a predefined range around the self-driving apparatus and transmits this map information to the terminal to generate a created range map.During the travel path of the self-driving device under the map creation command, the information recording unit may record map information within a predefined range around the self-driving device. This recorded map information is sent to the terminal to allow the terminal to generate a prepared area map. The manner in which the terminal generates the created area map is similar to that described in the preceding exemplary embodiments and has already been explained, and therefore will not be discussed further here.It should be noted that the process of sending map information may be performed in real time, for example, the recorded map information may be transmitted to the terminal in real time, or may be performed periodically, for example, transmission of the recorded map information every 5 seconds, or other transmission strategies may be applied. In this embodiment, this is not limited.The above map information includes at least one or a combination of visual sensor parameters and positioning data parameters, and may include information about obstacles within a predefined range around the self-driving device. Here, the predefined range may be set based on experience values. Its value may be related to the performance of the sensors on the self-driving device or may be related to the area type of the specified area. The predefined area may be square, circular, elliptical, or other shape. In this embodiment, this is not limited.In controlling the self-driving device from its current position to the position of the first boundary point, the self-driving device may be controlled to return within the range of the already created range map, and the self-driving device moves toward the first boundary point within the range of the created range map. Here, the manner of returning may be as follows within the range of the already created range map: For the self-driving device, an optimized movement path is planned from the current position of the self-driving device to the position of the first boundary point, wherein the planned optimized movement path bypasses the obstacles in the created range map.For example, while the user sets the boundaries, laser data may be simultaneously acquired from the vicinity of the boundaries to generate 3D point cloud data, obtain obstacle information, and generate an area map. In deleting or updating the map boundary, the lawn mower may be controlled to return within the created area map.By this embodiment, an area map is created based on the recorded map information that is within a predefined area during the movement of the self-driving device. When the self-driving device moves toward the boundary position to be modified within the created area map, the user-friendliness of area map creation can be ensured while improving the safety of return of the self-driving device.In an example embodiment, in response to a detected delete operation performed on the created map boundary, the terminal determines the boundary link parameters according to the delete operation operation information. Based on the limit distance parameters, the first limit point is determined based on the movement path information or the created map boundary. The manner in which the terminal determines the boundary link parameters and sets the first boundary point is similar to the aforementioned embodiments and will not be repeated here.The self-driving device may receive the position information of the first boundary point and move from its current position to the position of the first boundary point. The position information of the first boundary point may be included in the clear command. The position of the first boundary point is extracted from the clear command, and based on this position, the device moves from its current position to the position of the first boundary point.In controlling the self-driving device from its current position to the position corresponding to the first boundary point, the self-driving device may be returned within the range of the already-created range map. For example, while the user sets the boundaries, laser data may be simultaneously acquired from the vicinity of the boundaries to generate 3D point cloud data, obtain obstacle information, and generate an area map. In deleting or updating the map boundary, the lawn mower may be controlled to return within the created area map.In order to improve the control capability via the self-driving device and at the same time to reduce the requirements for the computing power of the self-driving device, the return can be effected within the region of the region map already created as follows: within the created region map, an optimized movement path is planned for the self-driving device, which movement path leads from the current position of the self-driving device to the position corresponding to the first limit point, wherein the planned optimized movement path bypasses obstacles within the created region map. The optimized motion path may be included in the clear command. Here, the optimized movement path may be either a straight path between the boundary end point and the first boundary point of the created map boundary, or a path having a certain curvature established by comprehensively considering the map information of the already created map. In this exemplary embodiment, the optimized movement path is not restricted.According to the created optimized movement path, the self-driving device can be controlled from its current position to the position corresponding to the first boundary point. The method for controlling the self-driving device from its current position to the position corresponding to the first boundary point may be as follows: the optimized motion path is sent to the self-driving device such that the self-driving device navigates to the position of the first boundary point based on the received optimized motion path in combination with the environment information about the position of the first boundary point acquired by the perception device; alternatively, motion or delete commands according to the optimized motion path may be continuously sent to the self-driving device until the self-driving device reaches the vicinity of the position corresponding to the first boundary point.For example, if a modification starting point is detected, the lawn mower is directly controlled to this modification starting point without having to follow the predetermined exit path. As shown in FIG. 6, the optimized motion path is the shortest path between the original boundary end point of the created map boundary and the modified boundary end point. The self-driving device may travel along the optimized travel path to the position of the modified limit endpoint to complete the deletion of the map boundary to be removed.For the self-driving device, the command execution unit is also responsible for responding to a received delete command and controlling the self-driving device from its current position to the position of the first boundary point according to the optimized movement path. Here, the self-driving device may extract the optimization of the motion path from the delete command, and according to this optimization of the motion path, control the self-driving device from its current position to the position corresponding to the first boundary point.By this embodiment, the area map is created based on the recorded map information that is within a predefined area around the self-driving device during the movement of the self-driving device. When the self-driving device returns to the area of the created area map, the user-friendliness of the area map creation can be ensured and, at the same time, the safety of the movement of the self-driving device can be increased. When the self-driving device returns to the range of the created range map according to the optimization of the movement path scheduled by the terminal, the user-friendliness of the movement control can be improved and, at the same time, the computational requirements on the self-driving device can be reduced.In an exemplary embodiment, the self-driving device moves toward the first boundary point within the range of the created range map, the created range map including obstacle information about recognized obstacles within the range of the created range map.For the command execution unit on the self-driving device, it can also be used to control the self-driving device according to the optimized movement path from its current position in the direction of the first limit point and thereby bypass obstacles in the area of the created area map until it reaches the position corresponding to the first limit point.In order to increase the safety of the movement of the self-driving device and provide more flexibility to the self-driving device, in the control of the movement of the self-driving device, the self-driving device may be controlled according to the optimized movement path from its current position toward the first boundary point, bypassing obstacles in the area of the created area map until it reaches the position of the first boundary point. The bypass of obstacles by the self-driving device may be controlled either by the terminal or performed by the self-driving device itself based on the obstacle information acquired by its sensing devices. The first method may reduce hardware and software requirements on the self-driving device, while the second method may increase user-friendliness of device control while improving device movement security.For example, as illustrated in FIG. 7, the self-driving device encounters an obstacle while traveling along the optimized travel path to the position of the modified boundary end point. The self-driving device first bypasses the encountered obstacle and then continues its movement along the optimized path of movement to the position of the modified boundary endpoint.By this embodiment, the self-driving device can travel to the position of the modified limit end point with an optimized travel path, which improves the efficiency of map modification; while by bypassing obstacles during the travel of the self-driving device, the safety of the map creation process can be enhanced.In an exemplary embodiment, the command execution unit is also configured to control the self-driving device toward the position corresponding to the first boundary point until returning to the position of the first boundary point if the distance between the boundary end point of the created map boundary and the first boundary point is equal to or less than the preset distance threshold.At this time, when the distance between the boundary end point and the first boundary point of the created map boundary is less than or equal to the preset distance threshold, the distance between the original boundary end point and the modified boundary end point is relatively small. When the self-driving device turns, inaccuracies in control may occur due to the insufficient motion space. In order to improve user-friendliness of control of the self-driving device, when the distance between the limit end point and the first limit point of the created map boundary is less than or equal to the preset distance threshold, the self-driving device may travel backward toward the position corresponding to the first limit point until returning to the position corresponding to the first limit point.The preset distance threshold may be set based on experience and adjusted according to user requirements or historical usage data of the self-driving device. When the distance between the limit end point and the first limit point of the created map boundary corresponds to the actual distance between the corresponding positions, the preset distance threshold may be 1 meter, 0.8 meter, or another value; when the distance between the limit end point and the first limit point of the created map boundary corresponds to the distance between the limit end point and the first limit point of the map boundary within the created area map, the preset distance threshold may be 5 centimeters, 10 centimeters, or another value; in this embodiment, the preset distance threshold is not limited.In the case where the distance between the boundary end point and the first boundary point of a created map boundary is less than or equal to the preset distance threshold, the terminal may transmit a return command to the self-driving device. The self-driving device then travels along the original path according to the return command until it is near the position of the first boundary point. The control of the self-driving device to move backward toward the position of the first boundary point may be performed on the basis of a travel path scheduled for the self-driving device (e.g., optimization of the travel path), or by controlling the self-driving device along the path used in map creation, or directly by direction buttons until the self-driving device has returned to the position of the modified boundary end point.For example, as shown in FIG. 8, the distance between the original boundary endpoint and the modified boundary endpoint is relatively short and is below the preset distance threshold. The self-driving device may travel directly along the created map boundary to reach the position of the modified boundary endpoint.Optionally, for the backup strategy, the backup track and the backup images of the self-driving device may be recorded. Based on the return lane and the obstacle information in the return images, the shortest return route may be created to return the self-driving device to the position of the first boundary point along this shortest return route. One or more sensors for obstacle detection can be installed on the self-driving device. In order to ensure safety of the self-driving device when driving backward, at least some of the obstacle detection sensors may be aligned horizontally or rearward. Thereby, obstacle information in the rearward direction can be recognized. Here, the type and number of the sensors may be determined by experience and include at least one of, but are not limited to, ultrasonic obstacle sensors, binocular vision modules, laser radar, cameras, infrared sensors, etc. In this embodiment, this is not limited.For example, when reversing, the sensors may be aligned horizontally or backwards, such as the laser radar horizontally or backwards and the image sensor backwards, according to the reversing plan. Here, the sensor may be fixed by placing it horizontally or backward in a horizontal or backward position, or the sensor may be rotated for backward travel as needed to position it horizontally or backward.By this embodiment, when the distance between the original boundary end point and the modified boundary end point is relatively small, the self-driving device can directly return to the position of the modified boundary end point, which improves flexibility and accuracy of device control.In an exemplary embodiment, the command execution unit is also configured to, after the control of the self-driving device from its current position to the position of the first boundary point, react to a received position correction command to correct the position of the self-driving device, wherein the position correction process is for correcting the position of the self-driving device, and the position correction command indicates at least one of the following: movement direction, movement distance.During the operation in which the self-driving device travels to the position corresponding to the first boundary point, problems such as inaccurate positioning or interference with obstacles may occur, which may result in the actually reached position of the self-driving device deviating from the position to be reached. In order to ensure the accuracy of map production, a correction of the current position of the self-driving device can be carried out after the movement of the self-driving device has been completed. The user may perform a position correction operation on the map creation surface to correct the position of the self-driving device. The terminal may transmit, in response to the detected position correction operation, a position correction command corresponding to the position correction operation to the self-driving device to control the self-driving device to the corrected position. The position correction command may be used to indicate at least one of the following: the moving direction, the moving distance, thereby to control the moving direction and / or the moving distance of the self-driving device.Note that, when accurately positioned, the self-driving device can judge whether its current position coincides with the position (position coordinates) of the first boundary point. If there is no match, it may automatically perform position correction. In the case of inaccurate positioning (when the positioning error exceeds the error threshold value), the above-mentioned method for position correction of the self-driving device may be applied.By this embodiment, after completion of the movement of the self-propelled apparatus, correction of the actually reached end point can be made, which can improve the accuracy of map production.In an exemplary embodiment, boundary endpoints may be tracked based on real-time kinematic (RTK) data. Accordingly, the information recording unit also serves to record the real-time kinematic difference data of the self-driving device and sends the map information to the terminal device to track the boundary endpoints and obtain the created map boundary.Here, the real-time kinematic difference data is the data used for the RTK technology. RTK technology is a measurement method that enables centimeter-accurate position determination in real time outdoors and can be used for off-road surveying, construction cutting, high-precision map creation, construction monitoring and other areas. In this embodiment, the RTK technology can be used to track the limit endpoint and obtain the created map boundary based on real-time differential data of the self-driving device.In order to facilitate the return of the self-driving device within the area map and ensure the safety of the movement of the self-driving device, an area map may be created based on obstacle information recognized by the perception device of the self-driving device. That is, the area map is constructed by using obstacle information recognized from the perception data of the perception device on the self-driving device to obtain a created area map. The obstacle detection from the perception data of the perception device on the self-driving device may be performed by the terminal device, the self-driving device, or another device. Optionally, the above-mentioned sensing device may comprise at least one of the following, but is not limited thereto: image sensor, laser radar.As an optional implementation mode, the information recording unit is also configured to acquire sensor data from the image sensor of the self-driving device and transmit the sensor data to the terminal device to perform obstacle detection of the sensor data and use the detected obstacle information for creating an area map, thereby obtaining a created area map.In the case that the perception device comprises an image sensor, the terminal device can perform obstacle detection of the sensor data from the image sensor of the self-driving device and use the detected obstacle information for creating an area map. The method for obstacle detection from the sensor data of the image sensor may be any method that can detect certain types of obstacles from the sensor data of the image sensor. In this embodiment, this is not limited.As a further optional embodiment, the information recording unit is also configured to acquire sensor data from the image sensor of the self-driving device, perform obstacle detection of the sensor data, and transmit the detected obstacle information to the terminal device to use the obstacle information for creating an area map, thereby obtaining a created area map.In the case where the sensing device includes an image sensor, the self-driving device or other devices may perform obstacle detection of the sensor data from the image sensor of the self-driving device and transmit the detected obstacle information to the terminal device. The terminal may use the detected obstacle information to create an area map. The method for obstacle detection from the sensor data of the image sensor may be any method that can detect certain types of obstacles from the sensor data of the image sensor. In this embodiment, this is not limited.As a further optional implementation mode, the information recording unit is also configured to obtain the 3D point cloud data acquired by the laser radar of the self-driving device and transmit it to the terminal device in order to perform obstacle detection of the 3D point cloud data and use the detected obstacle information to create an area map, thereby creating a created area map.In the case that the sensing device comprises a laser radar, the terminal device can use the 3D point cloud data acquired by the laser radar of the self-driving device for obstacle detection and use the detected obstacle information to generate an area map. The method for obstacle detection from the 3D point cloud data acquired by the laser radar may be any method that can identify certain types of obstacles from the 3D point cloud data acquired by the laser radar. In this embodiment, this is not limited.As another optional embodiment, the information recording unit is also configured to obtain the 3D point cloud data acquired by the laser radar of the self-driving device, perform obstacle detection of the 3D point cloud data, and transmit the detected obstacle information to the terminal device to use the obstacle information for creation of the area map, and obtain a created area map.In the case where the sensing device includes a laser radar, the 3D point cloud data acquired by the laser radar of the self-driving device may be processed by either the self-driving device itself or other obstacle detection devices, and the detected obstacle information is transmitted to the terminal device. The terminal may use the detected obstacle information to create an area map. The method for obstacle detection from the 3D point cloud data acquired by the laser radar may be any method that can identify certain types of obstacles from the 3D point cloud data acquired by the laser radar. In this embodiment, this is not limited.By this embodiment, the boundary end point is tracked based on RTK data, and obstacle information is detected using image sensors and / or laser radar to create an area map that enables the self-driving device to be returned within the area map, whereby the safety of the movement of the self-driving device can be improved.A method of processing an area map may be applied to the self-driving device in the above embodiment. Optionally, the above-mentioned method of processing the area map may be applied in a hardware environment including a self-driving device 902, a server 904, and a terminal 906 as illustrated in FIG. 9. As shown in FIG. 9, the self-driving device 902 may be a smart lawn mower having network and map creation functions or another device that can move without human intervention. The server 904 may be connected to the self-driving device 902 and the terminal 906 via a network and provide services (such as communication services, etc.) to the self-driving device 902 and the terminal 906. The terminal 906 may have a map creation interface to send commands to the self-driving device 902. The user may use the terminal 906 to send commands to the self-driving device 902 via the server 904 to control the movement of the self-driving device 902 and to complete the map creation process for the specified area.The above-mentioned network may include at least one of, but is not limited to, a wired network, a wireless network. The above wired network may include at least one of, but is not limited to, wide area network, metropolitan area network, local area network. The above wireless network may include at least one of, but is not limited to, wireless fidelity (WIFI), Bluetooth.The method of processing the area map may be executed either by the terminal 906 alone or by the terminal 906 in cooperation with at least one of the self-driving devices 902 and the server 904, and the above-mentioned method of processing the area map executed by the terminal 906 may be executed by a client (application program) running thereon.Taking the example of execution of the above-mentioned method for processing an area map by the terminal 906, FIG. 10 shows a flow chart of an optional method for processing the area maps. As shown in FIG. 10, the flow of the above method may include the following steps:Step S 1002: during the process of creating an area map with a self-driving device, recording the movement path information of the self-driving device under the map creation command, displaying a created map boundary on a map creation surface based on the movement path information, wherein the movement path information is configured to describe the movement path of the self-driving device, and the created map boundary is the map boundary of the created area map;Step S 1004, responsive to a detected delete operation performed on the created map boundary, determines a travel limit parameter according to the operation information of the delete operation, the delete operation for deleting at least a part of the created map boundary, and the travel limit parameter indicates the travel limit of the map boundary to be deleted;Step S 1006 determines a first boundary point based on the movement path information or the created map boundary based on the boundary distance parameter;Step S 1008, controlling the self-driving device to travel from its current position to the position corresponding to the first limit point, and deleting a portion of the created map boundary from the limit end point of the created map boundary to the first limit point.The above-mentioned method for processing the area map can be used in the area of intelligent devices, in particular in scenarios in which a self-driving device is used for map creation of a specific area. The above-mentioned self-driving device may be any of the self-driving devices described in the previous embodiments, which has been already explained and will not be repeated here.In the corresponding technology, when an area map is created, the map boundary must be re-established if the map boundary is to be modified or updated, and the map boundary can be modified or updated only after the map creation is completed. This limitation results in the lawn mower not being sufficiently fault tolerant when creating range boundaries and not being able to update the boundaries in time when anomalies are detected. At the same time, the subsequent reconstruction of the map boundary requires a great amount of time and can lead to inefficient and incomplete lawnmahd.To at least partially solve the above-mentioned problems, a map deletion method is provided that allows users to delete and update map limitation information in real time during the map creation process. By introducing a method for correcting the map boundary with real-time map deletion, users can work directly on the user interface of the terminal and trigger the deletion of already created map boundaries. This allows for the precise removal of undesirable boundaries on the map, saves time and resources (avoids the need for full map re-formation, saves map creation time and labor, users can correct map errors during the map creation process in real time without having to wait for full re-scanning or manual adjustments, improves the flexibility and response speed of map correction), increases the efficiency and accuracy of boundary creation, and thus ensures the efficiency and precision of subsequent lawnmahd while avoiding errors from legacy maps.When an area map for a certain area needs to be created, the user may send a map creation command to the mobile device via his terminal to control the self-driving device to execute the movement path under the map creation command. Here, the map creation command serves to create an area map for the specific area, and the line drawing operation is the moving operation performed according to the map creation command. The manner in which the map creation command is sent is similar to the above content and is not repeated here. The self-driving device may travel along the boundaries of the specified area in the same or similar manner as the above content based on the control of the map creation command, and its movement path information is for describing the movement path of the self-driving device. For the terminal, it is possible to record the above-mentioned moving path information and display the created map boundary on the map creation surface of the terminal based on the recorded moving path information.Similar to the above content, when the created map boundary needs to be modified or updated, the user can perform a deletion operation on the map creation interface. The above-mentioned erasing operation can be performed for a certain area on the map creation surface. In order to enhance the user-friendliness in deleting the map boundary, the above-mentioned deleting operation may be performed by operating a delete key on the map creation interface. The clear key is a virtual key on the map creation surface, and the clear operation is the operation of this clear key. The shape and style of the clear key may be determined as desired, for example, round, square or other shape. This is not limited.In order to improve the clarity of the map creation interface and to avoid difficulties in information retrieval by too many keys, the clear key may function as a reverse key, i.e., the key that controls the self-driving device backward. In order to distinguish whether the purpose of the back button is to control the self-driving device backward or to clear the already created map boundary, it may be determined whether the backward movement path of the self-driving device coincides with the movement path during map creation. When the rearward movement path of the self-driving device coincides with the movement path, the part of the movement path that coincides with the rearward movement path is deleted. This is shown in the already created map boundary by deleting the portion of the map boundary corresponding to the overlapping path. The overlapping path is the part of the movement path that coincides with the rearward movement path.According to the operation information of the deletion operation, the terminal may determine the boundary link parameters in the same or similar manner as in the previous examples; based on the boundary link parameters, the first boundary point is determined based on the movement path information or the created map boundary, and the self-driving device is controlled to move from its current position to the position of the first boundary point. This has already been explained and will not be repeated here. In addition, in order to ensure the accuracy of information presentation, the terminal may delete a portion of the created map boundary from the boundary end point of the created map boundary to the first boundary point. The method for deleting this portion of the created map boundary may be performed either directly at once, stepwise with the movement of the self-driving device, or after the self-driving device has reached the position of the first boundary point. In this example, the method of deleting the above-mentioned section of the created map boundary is not set.Optionally, in this example, the self-driving device may include: a first wheel group and a second wheel group, a driving component, and a second sensor, wherein the driving component drives the first wheel group, and the second sensor is positioned closer to the second wheel group than the first wheel group; when the self-driving device travels based on the map creation command to generate a moving path, the self-driving device moves so that the first wheel group is located in front of the second wheel group; when the self-driving device travels to the first boundary point based on the delete command, the self-driving device moves so that the first wheel group is located behind the second wheel group. The structure and manner of movement of the self-propelled device are similar to the previously described embodiments which have already been explained and will not be repeated here.In this example, during the process of creating an area map with the self-driving device, the moving path information of the self-driving device is recorded under the map creation command, and based on the moving path information, the created map boundary is displayed on the map creation surface, the moving path information is for describing the moving path of the self-driving device, and the created map boundary is the map boundary of the created area map; in response to a recognized delete operation performed on the map boundary of a created map, the boundary distance parameter is determined according to the operation information of the delete operation, the delete operation is for deleting at least a part of the created map boundary, and the boundary distance parameter is for indicating the boundary distance of the map boundary to be deleted; Based on the boundary distance parameter, a first boundary point is determined from the movement path information or the created map boundary; the self-driving device is controlled to travel from its current position to the position corresponding to the first boundary point, and a portion of the created map boundary from the boundary end point of the created map boundary to the first boundary point is deleted, thereby solving the problem of time-consuming re-creation of map boundaries in related technologies for processing area maps, shortening the time for re-creation of map boundaries, and improving the efficiency and accuracy of the boundary creation.In an example, the above-mentioned method further includes: recording the map information within a preset range around the self-driving device while the self-driving device tracks the map creation command and records its movement path, generating a created range map, the map information including at least one or a combination of visual sensor parameters and positioning data parameters, the self-driving device moving toward the first boundary point in the area corresponding to the created range map.For map creation, the map information that is within a preset range around the self-driving device while moving (i.e., the map information is recorded within a preset range around the self-driving device during its movement) may be recorded, and a created range map is generated based on this map information. The manner of recording the map information, the kinds of map information, and the method of generating the created area map are similar to those in the previous examples and will not be repeated here. The self-driving device may move toward the first boundary point in the area corresponding to the created area map (its movement tendency is to approach the first boundary point).By this example, an area map is created based on the recorded map information that is within a predefined range around the self-driving device during the movement of the self-driving device, and the self-driving device moves toward the boundary position to be modified within the range of the created area map, which ensures user-friendliness of the area map creation and at the same time increases the safety of the return of the mobile device.In one example, the determination of the first limit point on the created map boundary based on the limit distance parameter includes: starting from the limit end point of the created map boundary, the map boundary is tracked back according to the limit distance indicated by the limit distance parameter to obtain the first limit point.In this example, in order to improve user-friendliness in the boundary modification, the first boundary point on the created map boundary may be determined based on the boundary distance parameter. In this case, the limit distance parameter can specify the limit distance (limit length) of the map boundary to be deleted, the number of clearing operations for the created map boundary (it being possible for the limit distance to be configured for a single clearing operation of the map boundary), or other information which is used to determine the first limit point on the created map boundary. When determining the modified limit end point, one can start from the limit end point of the created map boundary and go back along the created map boundary according to the limit distance parameter of the map boundary to be deleted, in order to obtain the first limit point. Here, the above-mentioned limit end point of the created map boundary is the limit end point of the created map boundary before the recognition of the deletion process.In this example, by walking back along the map boundary according to the boundary distance indicated by the boundary distance parameter, the modified boundary endpoint may be determined, which may improve user-friendliness of the boundary modification.In one example, controlling the self-driving device to arrive from its current position to the position corresponding to the first boundary point comprises: planning an optimized travel path for the self-driving device within the created area map, wherein the boundary end point of the created map boundary serves as a starting point and the first boundary point serves as an end point; controlling the self-driving device according to the optimized travel path from its current position to the position corresponding to the first boundary point.In this example, when controlling the self-driving device to travel directly from its current position to the first boundary point, an optimized travel path for the self-driving device starting at the boundary end point of the created map boundary and ending at the first boundary point may be first scheduled in the created area map, and then the self-driving device may be controlled according to this optimized travel path from its current position to the position corresponding to the first boundary point. The planning of the optimized movement path and the control of the self-driving device according to this optimized movement path are carried out similarly to the previous embodiments and are not repeated here.In this example, within the created range map for the self-driving device, an optimized movement path from the original boundary endpoint to the modified boundary endpoint is scheduled, whereby the self-driving device can be directly controlled to the modified boundary endpoint, improving user-friendliness of device movement.In this example, the self-driving device may return (to the first position point, the first boundary point) in the area corresponding to the created area map, the created area map including obstacle information about recognized obstacles within the area of the created area map. For example, during map creation, a map can be created for a specific area of the lawn mower, while during return, the return takes place within the already mapped area.Optionally, in this example, in order to increase the safety of the movement of the self-driving device and provide more flexibility to the self-driving device, controlling the self-driving device according to the optimized movement path from its current position to the position of the first boundary point may include: controlling the self-driving device according to the optimized movement path to move from its current position toward the first boundary point, bypassing obstacles within the range of the created range map until reaching the position corresponding to the first boundary point. The control of the self-driving device according to the optimized movement path is performed similarly to the above-described embodiment and is not repeated here.In one example, the delete command also includes deleting the start point. The command execution unit is also configured to, in response to the received delete command, move the self-driving device from its current position to the position corresponding to the delete starting point and the first boundary point, respectively, according to the optimization of the movement path, the optimization of the movement path being an optimized movement path scheduled by the terminal within the created area map for the self-driving device, having the delete starting point as the starting point and the first boundary point as the ending point. In this example, by controlling the self-driving device to move along the optimized travel path to the position of the modified boundary endpoint, efficiency of map modification may be improved; while by bypassing obstacles during the movement of the self-driving device, security of the map creation process may be increased.In one example, the controller of the self-driving device to travel from its current position to the position corresponding to the first limit point includes: when the distance between the limit end point of the created map boundary and the first limit point is less than or equal to the preset distance threshold, the self-driving device is controlled to travel backward toward the position corresponding to the first limit point until reaching the position corresponding to the first limit point.At this time, when the distance between the boundary end point and the first boundary point of the created map boundary is less than or equal to the preset distance threshold, the distance between the original boundary end point and the modified boundary end point is relatively small. When the self-driving device turns, inaccuracies in control may occur due to the insufficient motion space. In order to improve user-friendliness of control of the self-driving device, when the distance between the limit end point and the first limit point of the created map boundary is less than or equal to the preset distance threshold, the self-driving device may travel backward toward the position corresponding to the first limit point until returning to the position corresponding to the first limit point. The manner in which the terminal controls the self-driving device to travel backward toward the position corresponding to the first boundary point is similar to the above examples and will not be repeated here.In this example, when the distance between the original boundary endpoint and the modified boundary endpoint is relatively small, the self-driving device can directly return to the position of the modified boundary endpoint, which improves flexibility and accuracy of device control.In one example, in response to a detected clear operation being performed on the map creation surface, the boundary distance parameter may be determined according to the time or number of operations of the clear command to determine the boundary endpoint to be deleted. The positioning information of the approach (e.g., images and position parameters) may be retrieved to directly control the self-driving device (e.g., lawn mower) to the point corresponding to the positioning information.As an optional implementation mode, the determination of the limit distance parameter on the basis of the operating information of the clearing process comprises: determining the limit distance parameter on the basis of the duration of the clearing process.Here, the duration of the clearing operation correlates positively with the limit distance indicated by the limit distance parameter, i.e. the longer the duration of the clearing operation, the longer the limit distance indicated by the limit distance parameter; conversely, the shorter the duration of the clearing operation, the shorter the limit distance indicated by the limit distance parameter. Accordingly, the clear command (the command generated in response to a clear operation) corresponds to a unit time. The erase operation may take one or more forms, and accordingly, there may also be one or more methods to determine the duration of the erase operation. For example, the erase operation may be a long press, wherein the duration of the erase operation corresponds to the duration of holding the erase key pressed. Another example: The clear operation may be a multiple click operation, wherein the time interval between two consecutive clicks may not exceed a fixed first time threshold to be evaluated as a contiguous multiple click (without interruption). The duration of the erase operation is the time from the first click to the last click or the time from the first click to a certain time point after the last click. The time interval from the last click to the certain time may be the first time threshold or another interval. In this example, the determination method for the erase operation and the duration of the erase operation is not limited.Optionally, in this example, there may be one or more methods to increase the limit distance indicated by the limit distance parameter according to the duration of the erase operation. For example, the duration of the erase operation may be in a linear function (i.e., a linear relationship) to the limit distance indicated by the limit distance parameter, such as: For each increase in the duration of the erase operation by 1 second, the limit distance indicated by the limit distance parameter increases by 0.5 meters, 1 meter, or another value. A further example: As the duration of the clearing process increases, the rate of increase of the limit distance indicated by the limit distance parameter can be increased. Moreover, other respective solutions may also be, which are not restricted.Note that for the erase operation, which may be a long press, to avoid misunderstanding, the erase operation may be detected as a long press only when the key is held pressed for a duration greater than or equal to the second time threshold. Here, the first and second time thresholds may be set based on empirical values. Both may be identical or different. For example, the first time threshold may be 1 second, 2 seconds, or another value, and the second time threshold may be 0.5 seconds, 1 second, or another value. It does not impose any restrictions on this.As another optional embodiment, the determination of the limit distance parameter according to the operation information of the erase operation includes: the determination of the limit distance parameter according to the number of erase operations.Here, the number of erases positively correlates with the limit distance indicated by the limit distance parameter. That is, the higher the number of erases, the longer the limit distance indicated by the limit distance parameter. Conversely, the smaller the number of erases, the shorter the distance indicated by the distance parameter. Accordingly, the clear command refers to the number of operations.Optionally, in this example, there are one or more methods to increase the limit distance indicated by the limit distance parameter based on the number of erases. For example, the number of erases may be in a linear function (i.e., in a linear relationship) to the boundary distance indicated by the boundary distance parameter. For example, any additional execution of a clear operation could increase the limit distance indicated by the limit distance parameter by 0.5 meters, 1 meter, or some other value. For example, the increase speed of the limit distance indicated by the limit distance parameter may be increased as the number of times of deletion increases. Moreover, other respective solutions may also be, which are not restricted.Optionally, the kilometers count of the limit distance indicated by the limit distance parameter (which may be referred to as a unit kilometer count) added per second increase in the operating time of the clearing operation or per additional clearing operation may also be automatically adjusted based on the limit length of the generated map boundary. The shorter the limit length of the created map boundary, the smaller the unit kilometer number; the longer the limit length of the created map boundary, the larger the unit kilometer number. Moreover, other respective solutions may also be, which are not restricted.It should be noted that the method for determining the limit distance parameter based on the duration of the clearing operation can be combined with the method for determining the limit distance parameter based on the number of clearing operations. For example, the user may combine long presses and taps to indicate the limit distance to be deleted. For example, the user may first keep the clear key pressed to continuously increase the limit distance value indicated by the limit distance parameter to avoid the cumbersome repeated tapping of the clear key. As the limit distance value indicated by the limit distance parameter approaches the user's desired value, he can release the clear button and by tapping fine adjust the limit distance value indicated by the limit distance parameter to indicate the exact limit distance to be cleared.Note that the map boundary processing in the existing technique requires a plurality of auxiliary operations having different points to select, by a plurality of points, the boundary direction, the boundary distance to be deleted, and so on. The entire process is complicated and not user friendly enough for normal users. In this example, in the map creation state, the device may determine the order of the boundary points directly based on the order of the boundary creation. The user only needs to control the duration of the erase operation and the number of erase operations to go down precisely. Overall, the operation is simple, requires no skills and is user-friendly to normal users.In this example, the limit distance indicated by the limit distance parameter is determined based on the duration of the clear operation and / or the number of clear operations, which may improve user friendliness and accuracy of the limit clear operation and thus increase the user experience.In one example, after the control of the self-driving device to move from its current position to the position of the first boundary point, the method also includes: in response to a detected position correction operation on the map creation surface, a position correction command corresponding to the position correction operation is sent to the self-driving device to correct the position of the self-driving device.During the operation in which the self-driving device travels to the position corresponding to the first boundary point, problems such as inaccurate positioning or interference with obstacles may occur, which may result in the actually reached position of the self-driving device deviating from the position to be reached. In order to ensure the accuracy of map production, a correction of the current position of the self-driving device can be carried out after the movement of the self-driving device has been completed. The user may perform a position correction operation on the map creation surface to correct the position of the self-driving device. The terminal may transmit, in response to the detected position correction operation, a position correction command corresponding to the position correction operation to the self-driving device to control the self-driving device to the corrected position. The position correction operation and the position correction command may be similar to those in the above examples, which will not be described in detail here.By this example, after the movement of the self-propelled device is completed, a correction of the actually reached end point can be made, which can improve the accuracy of map creation.In one example, the terminal may track the limit endpoint based on the real-time difference data of the self-driving device, thereby determining the generated map boundary. The method for tracking the boundary endpoint based on RTK data is similar to the examples mentioned above and has already been explained, which will not be discussed in detail here.As an optional implementation method, the above-mentioned method also includes: performing obstacle detection based on the sensor data of the image sensor on the self-driving device and using the detected obstacle information to construct an area map to obtain a constructed area map; or acquiring obstacle information from the sensor data of the image sensor on the self-driving device and using the acquired obstacle information to construct an area map to obtain a constructed area map.The method for obstacle detection and creation of an area map based on the sensor data of the image sensor on the self-driving device is similar to the previous examples that have already been explained and will not be repeated here.As another optional embodiment, the above-mentioned method also includes: performing obstacle detection on 3D point cloud data acquired by the laser radar on the self-driving device and using the detected obstacle information to generate an area map to obtain a generated area map; or acquiring the obstacle information detected from the 3D point cloud data acquired by the laser radar of the self-driving device and using the acquired obstacle information to generate an area map to obtain a generated area map.The method for obstacle detection and creation of an area map based on the 3D point cloud data acquired by the laser radar of the self-driving device is similar to the previous examples and has already been explained, so it will not be discussed here in any further detail.By this example, the boundary end point is tracked based on RTK data, and obstacle information is detected using image sensors and / or laser radar to create an area map that enables the self-driving device to be returned within the area map, whereby the safety of the movement of the self-driving device can be improved.In one example, after deleting a portion of the map boundary from the limit end point of the created map boundary to the first limit point, the method further includes: in response to a newly detected deletion operation, using the limit end point of the first modified created map boundary as a starting point for the second modification to find the end point of the second modification, thereby obtaining a second limit point; controlling the self-driving device to travel from the current position of the self-driving device to the position corresponding to the second limit point, and deleting a portion of the map boundary between the limit end point of the map boundary created after the first modification and the second limit point.In this example, the modification of the map boundary may be a continuous process. The aforementioned first boundary point may be the end point of the first modification. When the user continues to perform a delete operation on the map creation interface. For the terminal, in response to the detected new deletion operation, the limit end point of the map boundary created after the first modification may be used as the starting point for the second modification to find the end point of the second modification. Here, the reaction modes of successive modification operations may be either identical or different. For example, in the second and subsequent modification operations, the self-driving device may travel back a distance along the already created map boundary in order to perform a precise boundary modification. Therefore, the endpoint of the second modification may be determined based on the response modes of various modification operations, thereby determining the second boundary point.After the second boundary point is determined, the self-driving device may be controlled from its current position to the second boundary point position in the same or similar manner as in the previous examples, whereby the map boundary portion between the boundary end point of the map created after the first modification and the second boundary point is deleted. The manner in which the self-driving device is controlled from its current position to the position corresponding to the second boundary point may correspond to the manner of reacting the applied second modification process. This is not limited.For example, the user may act directly on the user interface, performing the first deletion after triggering the delete operation. In performing the second erasure, the boundary end point after the first modification may be used as the starting point for the second modification, and the end point of the second modification is determined according to the erasure command. By multiple consecutive modifications, after clearing undesirable boundaries on the map, an action to end the clearing action may be triggered (as shown in FIG. 11 ) to complete the current boundary modification. The map boundary after the completion of the clearing operation is shown in FIG. 12.By multiple consecutive modifications of the card, the first modification can serve as a coarse modification, while subsequent modifications can function as fine tunings, which can increase the precision of the boundary modification.In one example, in response to a newly detected delete operation, the limit endpoint of the map boundary created after the first modification is used as a starting point for the second modification to find the end point of the second modification and obtain the second limit point, including: determining new limit link parameters based on the operation information of the new delete operation; based on the new limit link parameters, the limit endpoint of the map boundary created after the first modification is used as a starting point for the second modification to find the end point of the second modification on the created map boundary and obtain the second limit point.For the second boundary modification, the same method as in the first boundary modification may also be used to determine the end point of the second modification, i.e., the new boundary link parameters are determined based on the operation information of the second deletion operation, and the end point of the second modification is searched based on the new boundary link parameters. What has already been explained is not repeated here.The second boundary modification also uses the method of first determining the boundary link parameters and then specifying the modification endpoint, making long distance clearing scenarios adaptable (as well as other scenarios) and increasing the flexibility of the map boundary modification.From the above description, it will be clearly understood by those skilled in the art that the said method can be implemented by means of software and the necessary general hardware platform, of course also by hardware, but in many cases the former is the better implementation method. Based on this understanding, the technical solution of this application may be represented substantially or the part contributing to the relevant technology may be represented in the form of a software product. This computer software product is stored on a storage medium and comprises a plurality of instructions which cause a terminal device to carry out the above method. The above storage medium may be ROM (Read-Only Memory), RAM (Random Access Memory), a magnetic disk or an optical disk, etc., and the above terminal may be a mobile phone, a computer, a server or a network device, etc.A terminal device which can be used to implement the above-mentioned method for processing the area map. What has already been explained is not repeated. As used herein, the term "module" may be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following examples are preferably implemented in software, implementations in hardware or a combination of software and hardware are also possible and provided.FIG. 13 is a structural diagram of an optional terminal. As shown in FIG. 13, the area map processing apparatus includes:a first execution unit 1302 configured to, during the process of creating an area map with the self-driving device, record the moving path information of the self-driving device under the map creation command and display, based on the moving path information, the boundary of the created map on the map creation surface, the moving path information for describing the moving path of the self-driving device, and the boundary of the created map being the map boundary of the created area map;a first determination unit 1304 configured to determine the boundary link parameters in response to a detected delete operation performed on a created map boundary according to the delete operation operation information, wherein the delete operation is used to delete at least a portion of the created map boundary, and the boundary link parameters are used to indicate the boundary link of the map boundary to be deleted; and a first boundary point is determined based on the boundary link parameter based on the movement path information or the created map boundary;a command transmission unit 1306 configured to move the self-driving device from its current position to the position corresponding to the first boundary point;a control unit 1308 configured to delete a portion of the created map boundary from the boundary end point of the created map boundary to the first boundary point.In this example, the first execution unit 1302 may be used to execute the aforementioned step S 1002, the first determination unit 1302 may be used to execute the aforementioned steps S 1004 and S 1006, and the command transmission unit 1306 and the control unit 1308 are used to execute the aforementioned step S 1008.In this example, during the process of creating an area map with the self-driving device, the moving path information of the self-driving device is recorded under the map creation command, and based on the moving path information, the created map boundary is displayed on the map creation surface, the moving path information is for describing the moving path of the self-driving device, and the created map boundary is the map boundary of the created area map; in response to a recognized delete operation performed on the map boundary of a created map, the boundary distance parameter is determined according to the operation information of the delete operation, the delete operation is for deleting at least a part of the created map boundary, and the boundary distance parameter is for indicating the boundary distance of the map boundary to be deleted; Based on the boundary distance parameter, a first boundary point is determined from the movement path information or the created map boundary; the self-driving device is controlled to travel from its current position to the position corresponding to the first boundary point, and a portion of the created map boundary from the boundary end point of the created map boundary to the first boundary point is deleted, thereby solving the problem of time-consuming re-creation of map boundaries in related technologies for processing area maps, shortening the time for re-creation of map boundaries, and improving the efficiency and accuracy of the boundary creation.In an example, the above-mentioned apparatus further includes: a second execution unit configured to record the map information that is within a preset range from the self-driving device while the self-driving device tracks its movement path under execution of the map creation command to generate a created range map, wherein the map information includes at least one or a combination of visual sensor parameters and positioning data parameters, and the self-driving device moves toward the first boundary point within the range of the created range map.In one example, the first determination unit includes: a reset module configured to perform a map boundary reset operation from the boundary end point of the created map boundary as the starting point according to the boundary distance indicated by the boundary distance parameter to obtain the first boundary point.In one example, the instruction transmission unit includes: a planning module that plans, within the created range map for the self-driving device, an optimized movement path that starts at the boundary end point of the created map boundary and ends at the first boundary point; a first control module configured to move the self-driving device from its current position to the position corresponding to the first boundary point according to the optimized movement path.In one example, the self-driving device returns to the area corresponding to the created area map, the created area map including obstacle information about recognized obstacles within the area corresponding to the created area map; the first control module includes: an execution sub-module configured to control the self-driving device from its current position toward the first boundary point according to the optimized movement path, and when encounter obstacles within the area of the created area map, bypass these obstacles until reaching the position corresponding to the first boundary point.In one example, the command transmission unit includes: a second control module configured to, in the case that the distance between the limit end point of the created map boundary and the first limit point is less than or equal to the preset distance threshold, control the self-driving device to travel backward toward the position corresponding to the first limit point until returning to the position corresponding to the first limit point.In one example, the sensors used at least partially to detect obstacles on the self-driving device are flat or oriented rearward.In one example, the self-driving device includes: a first wheel group and a second wheel group, a driving component, and a second sensor, the driving component driving the first wheel group, and the second sensor being disposed closer to the second wheel group than the first wheel group; when the self-driving device travels based on the map creation command to generate a moving path, the self-driving device moves so that the first wheel group is located in front of the second wheel group; when the self-driving device travels to the first boundary point based on the clear command, the self-driving device moves so that the first wheel group is located behind the second wheel group.In one example, the map creation interface includes a clear key, wherein the clear key may be a virtual key on the map creation interface, and the clear operation is an operation performed on the clear key.In an example, the first determination unit comprises one of: a first determination module for determining the limit distance parameter based on the duration of the clear operation, wherein the duration of the clear operation positively correlates with the limit distance indicated by the limit distance parameter; and a second determination module configured to determine the limit distance parameter based on the number of clear operations, wherein the number of clear operations positively correlates with the limit distance indicated by the limit distance parameter.In one example, the clear key is the reverse key. When the rearward movement path of the self-driving device coincides with the movement path, the part of the movement path that coincides with the rearward movement path is deleted.In an example, the above-mentioned apparatus further includes: a transmitting unit that, after the self-driving device is moved from its current position to the position corresponding to the first boundary point, transmits, to the self-driving device, a position correction command corresponding to the position correction process in response to the detected position correction process being executed on the map creating surface, to correct the position of the self-driving device, wherein the position correction process is for correcting the position of the self-driving device, and the position correction command indicates at least one of the following: moving direction, moving distance.In an example, the above-mentioned apparatus further includes: a first tracking unit configured to track the boundary end point based on real-time differential data of the self-driving device to obtain a created map boundary; a third execution unit configured to use the sensor data of the image sensor on the self-driving device for obstacle detection and create a range map with the detected obstacle information to obtain a created range map; or, acquire obstacle information from the sensor data of the image sensor on the self-driving device and use the acquired obstacle information to create a range map to obtain a created range map.In an example, the above-mentioned apparatus further includes: a second tracking unit configured to track the boundary end point based on real-time differential data of the self-driving device to obtain a created map boundary; a fourth execution unit configured to obstacle detection of the 3D point cloud data acquired by the laser radar of the self-driving device and use the detected obstacle information to create an area map to obtain a created area map; or, acquisition of the obstacle information detected from the 3D point cloud data acquired by the laser radar of the self-driving device and use the acquired obstacle information to create an area map to obtain a created area map.In one example, the first boundary point is the endpoint of the first modification. The above-mentioned apparatus further includes: a searching unit that, after deleting a portion of the map boundary from the limit end point of the created map boundary to the first limit point, uses, in response to a newly recognized deletion operation, the limit end point of the map boundary created after the first modification as a starting point for the second modification to find the end point of the second modification and obtain the second limit point; a fifth executing unit configured to move the self-driving device from its current position to the position corresponding to the second limit point, and delete a portion of the map boundary from the limit end point of the map boundary created after the first modification to the second limit point.In one example, the searching unit includes: a third determining module that determines new limit distance parameters based on the operation information of the new deletion in response to a newly detected deletion operation; and a searching module that searches, based on the new limit distance parameters, the end point of the second modification on the created map boundary with the limit end point of the map boundary created after the first modification as the start point of the second modification, thereby determining the second limit point.It should be noted that the above-mentioned modules may be implemented by software or hardware. For the latter, the implementation may be done in the following manner, but is not limited thereto: all of the above-mentioned modules are located in the same processor; or the above-mentioned modules are located in different processors in any combination.A computer readable storage medium for carrying out the steps of the above methods, wherein the computer readable storage medium comprises a stored program, and wherein the program, when executed, carries out the steps of any of the above methods.The above-mentioned computer readable storage medium may include, among others, USB sticks, ROM, RAM, external hard disks, magnetic disks, or optical disks, as well as various other media capable of storing computer programs.An electronic device for performing the above steps, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor being configured to perform the steps in any of the above methods by the computer program. The above-mentioned electronic device may also include a transmission device and an input-output device, wherein the transmission device is connected to the above-mentioned processor and the input-output device is connected to the above-mentioned processor.FIG. 14 is a block diagram of the computer architecture of an optional electronic device. As illustrated in FIG. 14, the computer system 1400 includes a CPU (Central Processing Unit) 1401 that can execute various appropriate actions and processing according to a program stored in the ROM 1402 or loaded from the storage part 1408 into the RAM 1403. The random access memory 1403 also stores various programs and data required for the system operation. The central processor 1401, the read-only memory 1402, and the random access memory 1403 are connected to each other via the bus 1404. The I / O (input / output) interface 1405 is also connected to the bus 1404.The following components are connected to the I / O interface 1405: the input part 1406 including keyboard, mouse and other input devices; the output part 1407 including devices such as CRT (cathode ray tube), LCD (liquid crystal display) and speakers; the storage part 1408 including hard disks and the like; and a communication part 1409 including network interface cards such as LAN cards, modems and the like. The communication part 1409 performs communication processing via networks such as the Internet. Drive 1410 is also connected to input / output interface 1405, if desired. Removable media 1411, such as floppy disks, optical disks, magneto-optical disks, semiconductor memories, and the like, are installed in the drive 1410 as needed so that computer programs read therefrom can be installed in the storage part 1408 as needed.In particular, the processes described in the method flow diagrams can be implemented as computer software programs. For example, a computer program product comprises a computer program stored on a computer-readable medium, wherein the computer program comprises program code for executing the method shown in the flow chart. The computer program may be downloaded and installed from a network via the communication part 1409, and / or installed from a removable medium 1411. When this computer program is executed by the central processor 1401, the various functions defined in the system of this application are executed.It should be noted that the electronic device computer system 1400 shown in FIG. 14 is only one example and should not place restrictions on the functionality and scope of the embodiments of this application.It should be apparent to those skilled in the art that the various modules or steps of this utility model may be implemented by general purpose computing devices. They may be centralized on a single computing device or distributed among multiple computing devices in a network. They may be implemented by computer device executable program code so that they may be stored in memory devices and executed by computing devices. In some cases, the steps illustrated or described may be performed in a different order, or may be fabricated as separate integrated circuit modules, or multiple modules or steps may be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.The above embodiments are merely preferred embodiments of this utility model and are not intended to limit this utility model. Various modifications and variations may occur to those skilled in the art. All modifications, equivalents, improvements, etc., made within the principles of this utility model should be included within the scope of this utility model.In summary, the exemplary embodiments of this utility model relate to a self-driving device, in particular a self-driving vehicle or autonomous vehicle. The self-driving device includes: a first wheel group and a second wheel group, and a driving component, wherein the driving component drives the first wheel group; the self-driving device further includes: a command execution unit that responds to a received map creation command, executes a movement path under the map creation command, wherein the map creation command is configured to create an area map boundary for a specific area and generate a created map boundary according to the movement path of the self-driving device; and in response to a received delete command, the self-driving device is controlled so that the self-driving device travels from a current position of the self-driving device to a first boundary point corresponding to the delete command; When the self-driving device travels to generate a travel path based on the map creation command, the self-driving device travels such that the first wheel group is located in front of the second wheel group; when the self-driving device travels to the first boundary point based on the clear command, the self-driving device travels such that the first wheel group is located behind the second wheel group.List of reference charactersFIG. 1 101 shows a first wheel group 102 of a second wheel groupFIG. 2 201 Lawn mower 202 Original boundary endpoint 203 Modified boundary endpoint 204 Starting point 205 Base stationFIG. 3 301 original boundary end point 302 map boundary 303 modified boundary end point 304 starting point 305 base station to be deletedFIG. 4 401 modified boundary end point 402 starting point 403 base stationFIG. 5 101 shows first wheel group 102 second wheel group 103 drive component 104 command execution unit 501 detection sensorFIG. 6 601 original boundary endpoint 602 map boundary 603 modified boundary endpoint 604 shortest movement path 605 map creation starting point to be deletedFIG. 7 701 original boundary end point 702 map boundary 703 shortest moving path 704 obstacle 705 obstacle avoidance path 706 modified boundary end point 707 map creation starting pointFIG. 8 801 original boundary endpoint 802 to modified map boundary 803 modified boundary endpoint 804 map creation starting pointFIG. 9 910 networkFIG. 10 S 1002 illustrates the process of creating an area map with a self-driving device, recording the movement path information of the self-driving device under the map creation command, displaying a created map boundary on a map creation surface based on the movement path information, the movement path information being configured to describe the movement path of the self-driving device, and the created map boundary being the map boundary of the created area map S 1004 in response to a detected delete operation performed on the created map boundary, a boundary distance parameter is determined according to the operation information of the delete operation, wherein the deleting operation is for deleting at least a part of the created map boundary and the boundary distance parameter indicates the boundary distance of the map boundary to be deleted S 1006 based on the boundary distance parameter, a first boundary point is determined based on the movement path information or the created map boundary S 1008 control of the self-driving device to travel from its current position to the position corresponding to the first boundary point, and deleting a portion of the created map boundary from the boundary end point of the created map boundary to the first boundary pointFigure 11 1101 Delete End 1102 Starting Point 1103 Base StationFigure 12 1201 terminates 1202 egress point 1203 base stationFIG. 13 1302 shows first execution unit 1304, first determination unit 1306, instruction transfer unit 1308, control unit 1310, terminal

Claims

A self-driving apparatus, characterized in that the self-driving apparatus comprises: a first wheel group and a second wheel group, and a driving component, wherein the driving component drives the first wheel group; the self-driving apparatus further comprises: a command executing unit that responds to a received map creation command and executes a movement path among the map creation command, wherein the map creation command is configured to create an area map boundary for a specific area and generate a created map boundary according to the movement path of the self-driving apparatus; the command executing unit is also configured to, in response to a received delete command, control the self-driving apparatus from its current position to the first boundary point corresponding to the delete command, wherein the map creation command uses this first boundary point as a starting point for modifying the area map boundary; when the self-driving device travels to the first boundary point based on the map creation command to generate the travel path, the self-driving device travels in the travel direction so that the first wheel group is located in front of the second wheel group; during the process in which the self-driving device travels to the first boundary point based on the delete command, the self-driving device travels in the travel direction so that the first wheel group is located behind the second wheel group.The self-propelled apparatus according to claim 1, characterized in that the self-propelled apparatus further comprises a detection sensor, wherein the detection sensor is disposed closer to the first wheel group compared to the second wheel group.The self-driving device according to claim 1, characterized in that the self-driving device is communicatively connected to a terminal; the self-driving device further comprises: an information recording unit configured to, during execution of the movement path under the map creation command, record the map information within a preset range around the self-driving device and send the map information to the terminal to generate a created area map, wherein the map information comprises at least one or a combination of visual sensor parameters and positioning data parameters, and the self-driving device moves toward the first boundary point in the range corresponding to the created area map.The self-driving device according to claim 3, characterized in that the command execution unit is further configured to, in response to the received delete command, control the self-driving device according to an optimized movement path from a current position of the self-driving device to a position corresponding to the first boundary point, the optimized movement path being scheduled by the terminal within the created area map for the self-driving device, with the boundary end point of the created map boundary as a starting point and the first boundary point as an end point of the optimized movement path.The self-driving device according to claim 4, characterized in that the self-driving device moves toward the first boundary point in the range corresponding to the created range map, the created range map including obstacle information about recognized obstacles in the range corresponding to the created range map; - wherein the command execution unit is also configured to control the self-driving device from its current position toward the first boundary point according to the optimized movement path, thereby bypassing obstacles within the range of the created range map until reaching the position corresponding to the first boundary point.The self-driving device according to claim 3, characterized in that the delete command also comprises a delete starting point, wherein the command execution unit is also configured to, in response to the received delete command, move the self-driving device according to an optimized movement path from its current position to the position of the delete starting point and to the position of the first boundary point, respectively, wherein the optimized movement path is scheduled by the terminal within the created area map for the self-driving device, with the delete starting point as starting point and the first boundary point as ending point.The self-driving device according to claim 3, characterized in that the command execution unit is also configured to, in the case that the distance between the limit end point of the created map boundary and the first limit point is less than or equal to the preset distance threshold, control the self-driving device to travel toward the position corresponding to the first limit point until returning to the position corresponding to the first limit point.The self-driving device according to claim 3, characterized in that the command execution unit is also configured to correct the position of the self-driving device in response to a received position correction command after the self-driving device is controlled from its current position to the position corresponding to the first boundary point, wherein the position correction operation is configured to correct the position of the self-driving device, and the position correction command is configured to indicate at least one of the following: moving direction, moving distance.The self-driving device according to any one of claims 3 to 8, characterized in that - the information recording unit is further configured to record the real-time differential data of the self-driving device and transmit the map information to the terminal device to track the boundary end point and obtain the created map boundary; - the information recording unit is further configured to acquire sensor data of an image sensor on the self-driving device and transmit the sensor data to the terminal device to perform obstacle detection on the sensor data and use the detected obstacle information to create an area map to obtain a created area map; or acquiring sensor data of the image sensor on the self-driving device to perform obstacle detection on the sensor data and transmit the detected obstacle information to the terminal device to use the obstacle information for creating an area map to obtain a created area map.The self-driving device according to any one of claims 3 to 8, characterized in that, the information recording unit is further configured to record the real-time differential data of the self-driving device and transmit the map information to the terminal device to track the boundary end point and obtain the created map boundary; the information recording unit is also configured to obtain the 3D point cloud data acquired by a laser radar of the self-driving device and transmit this 3D point cloud data to the terminal device to perform obstacle detection of the 3D point cloud data and use the detected obstacle information to create an area map to obtain a created area map; or obtaining the 3D point cloud data acquired by the laser radar of the self-driving device, performing obstacle detection for the 3D point cloud data, and sending the detected obstacle information to the terminal device to use the obstacle information for the creation of the area map and obtain a created area map.

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