Map correction method and apparatus, device, and medium

Abstract

The present application discloses a map correction method and apparatus, a device, and a storage medium. The method comprises: acquiring first point sets outside the maximum inner contour in an original map and second point sets outside an outer contour; deleting the first point sets and the second point sets on the map to obtain an adjusted map; determining an overlapping point set according to the first point sets and the second point sets, wherein the overlapping point set comprises overlapping points in the first point sets and the second point sets; and supplementing the overlapping point set to the adjusted map to obtain a corrected map. When the original map is acquired, the original map is post-processed, so that the requirement for the computing power of an onboard processor is reduced, and the correction efficiency and accuracy of the map are improved.

Description

Map correction method, device, equipment and medium

[0001] This application claims priority to the following patent applications, the entire contents of which are incorporated herein by reference: Chinese patent application filed with the State Intellectual Property Office of China on June 19, 2023, application number 2023107334318, and invention name “A method, device, equipment and medium for correcting a map”. Technical Field

[0002] The present application relates to the field of automatic control, and in particular to a map correction method, apparatus, device and medium for autonomous operating equipment. Background Art

[0003] Currently, autonomous operating equipment travels along an ideal boundary, records boundary coordinates, and uses them to create an electronic map. During actual remote-controlled travel, deviations from the ideal boundary are inevitable. Existing technologies typically use back-off actions and related algorithms to correct for these deviations. However, since these corrections are performed in real time, they require a high level of computing power from the autonomous equipment, increasing its computing resources and maintenance costs. Summary of the Invention

[0004] The purpose of the present disclosure is to provide an improved map correction method, apparatus, device, and storage medium that solves at least one of the above problems.

[0005] According to the first aspect of the present disclosure, the purpose is at least partially achieved by a map correction method. The method comprises: obtaining a first point set outside the maximum inner contour and a second point set outside the outer contour in the original map; deleting the first point set and the second point set on the map to obtain an adjusted map; determining an overlapping point set based on the first point set and the second point set, wherein the overlapping point set includes the overlapping points in the first point set and the second point set; and adding the overlapping point set to the adjusted map to obtain a corrected map. Therefore, the correction method with the above characteristics reduces the demand for computing power of the onboard processor by post-processing the original map after obtaining it, thereby improving the efficiency and accuracy of map correction.

[0006] According to a second aspect of the present disclosure, this objective is at least partially achieved by a map correction device. The device comprises: a point set acquisition module for acquiring a first point set outside a maximum inner contour and a second point set outside an outer contour in an original map; an adjustment map acquisition module for deleting the first and second point sets from the map to obtain an adjusted map; a coincident point set determination module for determining a coincident point set based on the first and second point sets, wherein the coincident point set includes coincident points in the first and second point sets; and a correction map acquisition module for adding the coincident point set to the adjustment map to obtain a correction map.

[0007] According to a third aspect of the present disclosure, this objective is achieved at least in part by a computer device. The computer device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform a correction method according to any embodiment of the present invention.

[0008] According to a fourth aspect of the present disclosure, the object is at least partially achieved by a computer-readable storage medium having computer instructions stored therein, the computer instructions being configured to cause a processor to implement a correction method according to any embodiment of the present invention when executed.

[0009] The details of at least one embodiment are set forth in the accompanying drawings and the description below. Other features, objects, and advantages will be apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0011] FIG1 is a flow chart of a map correction method provided according to a first embodiment of the present invention.

[0012] FIG2 is a schematic diagram of an original map in a bitmap recording format provided according to the first embodiment of the present invention.

[0013] FIG3 is a schematic diagram of an original map in a coordinate recording format provided according to the first embodiment of the present invention.

[0014] FIG4 is a schematic diagram of the maximum inner contour in the original map in the bitmap recording format provided according to the first embodiment of the present invention.

[0015] FIG5 is a schematic diagram of the outer contour of an original map in a bitmap recording format according to the first embodiment of the present invention.

[0016] FIG6 is a schematic diagram of an adjustment map in a bitmap recording format provided according to a first embodiment of the present invention.

[0017] FIG7 is a schematic diagram of a correction map in a bitmap recording format provided according to the first embodiment of the present invention.

[0018] FIG8 is a schematic diagram of the maximum inner contour in the original map in the coordinate recording format provided by the first embodiment of the present invention.

[0019] FIG9 is a schematic diagram of the outer contour of an original map in a coordinate recording format provided according to the first embodiment of the present invention.

[0020] FIG10 is a schematic diagram of an adjustment map in a coordinate recording format provided according to the first embodiment of the present invention.

[0021] FIG. 11 is a schematic diagram of a corrected map in a coordinate recording format according to a first embodiment of the present invention.

[0022] FIG12 is a flowchart of a map correction method provided according to a second embodiment of the present invention.

[0023] FIG13 is a schematic structural diagram of a map correction device provided according to a third embodiment of the present invention.

[0024] FIG14 is a schematic structural diagram of an electronic device provided in accordance with a fourth embodiment of the present invention. Implementation Method

[0025] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," and the like in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the numbers used in this manner are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, "including," "having," and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, apparatus, product, or device comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or devices. Example

[0027] FIG1 is a flowchart of a map correction method provided in accordance with a first embodiment of the present invention. This embodiment is applicable to the case of correcting an original map. The method can be performed by a map correction device, which can be implemented in the form of hardware and / or software and can be integrated into an electronic device. As shown in FIG1 , the method includes:

[0028] Step S101: Acquire a first point set outside the maximum inner contour and a second point set outside the outer contour in the original map.

[0029] Specifically, the autonomous operating device in this embodiment includes at least a main body, a mobile mechanism, a working mechanism, an energy module, a detection module, an interaction module, and a control module. The main body typically includes a chassis and a housing. The chassis is used to mount and accommodate functional mechanisms and modules such as the mobile mechanism, working mechanism, energy module, detection module, interaction module, and control module. The housing is typically configured to at least partially cover the chassis, primarily serving to enhance the aesthetics and recognizability of the autonomous operating device. In this embodiment, the housing is configured to translate and / or rotate relative to the chassis under the action of external forces. In conjunction with appropriate detection modules, such as Hall effect sensors, it can further detect events such as collisions and lift. The mobile mechanism is configured to support the main body on the ground and drive it to move on the ground. It typically includes wheeled mobile mechanisms, tracked or semi-tracked mobile mechanisms, and walking mobile mechanisms. In this embodiment, the mobile mechanism is a wheeled mobile mechanism, comprising at least one drive wheel and at least one driving motor. The driving motor is preferably an electric motor; in other embodiments, it can also be an internal combustion engine or a machine that uses other types of energy to generate power. In this embodiment, a left drive wheel, a left travel motor driving the left drive wheel, a right drive wheel, and a right travel motor driving the right drive wheel are preferably provided. In this embodiment, straight-line travel of the autonomous working device is achieved by the left and right drive wheels rotating in the same direction and at the same speed, while turning is achieved by the left and right drive wheels rotating in the same direction and at different speeds or in opposite directions. In other embodiments, the moving mechanism may further include a steering mechanism independent of the drive wheels and a steering motor independent of the travel motor. In this embodiment, the moving mechanism also includes at least one driven wheel, typically a universal wheel, with the driving wheel and driven wheel located at the front and rear ends of the autonomous working device, respectively. The working mechanism is configured to perform a specific work task and includes a working element and a working motor that drives the working element. For example, for an intelligent sweeper / vacuum cleaner, the working element includes a roller brush, a suction pipe, and a dust collection chamber. For an intelligent lawn mower, the working element includes a cutting blade or a cutting disc, and may further include other components to optimize or adjust the mowing effect, such as a height adjustment mechanism for adjusting the cutting height. The working prime mover is preferably an electric motor, and in other embodiments it can also be an internal combustion engine or a machine that uses other types of energy to generate power. In some other embodiments, the working prime mover and the travel prime mover are constructed as the same prime mover.

[0030] Furthermore, the energy module is configured to provide energy for various operations of the autonomous operating device. In this embodiment, the energy module includes a battery and a charging connection structure, wherein the battery is preferably a rechargeable battery, and the charging connection structure is preferably a charging electrode that can be exposed to the outside of the autonomous operating device. The detection module is configured to include at least one sensor for sensing environmental parameters of the autonomous operating device or its own operating parameters. Typically, the detection module may include sensors related to defining the operating area, such as magnetic induction, collision, ultrasonic, infrared, and radio sensors. The sensor type is adapted to the location and number of corresponding signal generating devices. The detection module may also include sensors related to positioning and navigation, such as GPS positioning devices, laser positioning devices, electronic compasses, and geomagnetic sensors. The detection module may also include sensors related to its own operational safety, such as obstacle sensors, lift sensors, and battery pack temperature sensors. The detection module may also include sensors related to the external environment, such as ambient temperature sensors, ambient humidity sensors, acceleration sensors, and light sensors. The interaction module is configured to at least receive control command information input by the user, transmit information requiring user perception, and communicate with other systems or devices to transmit and receive information. In this embodiment, the interaction module includes an input device provided on the autonomous operating equipment for receiving control command information input by the user, typically such as a control panel, an emergency stop button, etc.; the interaction module also includes a display screen and / or a buzzer provided on the autonomous operating equipment, which allows the user to perceive information by emitting light and / or sound. In other embodiments, the interaction module also includes a communication module provided on the autonomous operating equipment and a terminal device independent of the autonomous operating equipment, such as a mobile phone, a computer, a network server, etc. The user's control command information or other information can be input on the terminal device and reach the autonomous operating equipment via a wired or wireless communication module. Among them, the control module generally includes at least one processor and at least one non-volatile memory, which stores a pre-written computer program or instruction set. The processor controls the execution of the movement, work, and other actions of the autonomous operating equipment according to the computer program or instruction set. Furthermore, the control module can also control and adjust the corresponding behavior of the autonomous operating equipment, modify the data in the memory, etc. according to the signal of the detection module and / or the user control instruction.

[0031] Optionally, before obtaining the first point set outside the maximum inner contour and the second point set outside the outer contour in the original map, the method further includes: determining an ideal boundary, where the ideal boundary is a closed path in a specified format, wherein the specified format includes a bitmap record or a coordinate record; walking forward along the ideal boundary, and returning to the ideal boundary by turning when it is determined that the vehicle has deviated from the ideal boundary; and when returning to the starting point of the ideal boundary, using the curve formed by the entire walking process as the original map.

[0032] Optionally, when it is determined that the vehicle has deviated from the ideal boundary, the vehicle returns to the ideal boundary by turning, including: determining the deviation target point when it is determined that the vehicle has deviated from the ideal boundary; using a specified walking mode to walk to the deviation target point or a position point on the ideal boundary before the deviation target point in a turning manner to return to the ideal boundary, wherein the specified walking mode includes turning while moving forward, and this walking mode is easier to control for remote control, and avoids damage to the lawn caused by retreating or turning in place.

[0033] In this embodiment, the self-operating device can be a lawn mower robot. Therefore, when the lawn mower robot receives a control instruction, it will walk along a closed path of a specified format, that is, an ideal boundary. Since the remote control will inevitably go out of the boundary during the walking process, and when it is determined that the boundary has been exceeded, it will continue to receive control instructions to return to the previous normal trajectory. Therefore, when it returns to the starting point of the ideal boundary, the curve formed by the entire walking process is used as the original map. Usually, various scenarios of path closure will appear in this case. Figure 2 shows an example of the original map in bitmap recording format, and Figure 3 shows an example of the original map in coordinate recording format. Of course, this embodiment is only an example and does not limit the specific display format of the original map.

[0034] It should be noted that the ideal boundary in this embodiment is used to limit the working area of ​​the autonomous operating device. In some embodiments, the boundary can be physical, typically such as a wall, fence, or railing. In some embodiments, the boundary can also be virtual, typically such as a virtual boundary signal emitted by a boundary signal generating device. This virtual boundary signal is typically an electromagnetic signal emitted by a closed, energized wire, or an optical or ultrasonic signal emitted by other devices. In the embodiments provided herein, the autonomous operating device is configured to include a positioning device, specifically an RTK positioning device, and the virtual boundary is a virtual boundary set in an electronic map formed by two-dimensional or three-dimensional coordinates. In some embodiments, the autonomous operating device can also be configured to include a VSLAM (Visual Simultaneous Localization and Mapping) device to establish the virtual boundary. A docking station is typically constructed on or near the boundary for the autonomous operating device to dock, and in particular, to supply energy to the autonomous operating device docked at the docking station. Therefore, when the robot is controlled to walk along the ideal boundary and record a trajectory, if it deviates from the ideal boundary, it is necessary to control the robot to move forward and turn while returning to the recorded ideal boundary. Specifically, it needs to return to the deviated target point corresponding to the initial deviation moment or a point before the deviated target point. This ensures that there is an intersection between the deviated path and the ideal boundary, and only then can subsequent processing be completed. Furthermore, the use of a forward and turning walking mode makes it easier to control and avoids damage to the lawn due to backward movement or turning in place.

[0035] Optionally, obtaining a first point set outside the maximum inner contour and a second point set outside the outer contour in the original map includes: determining the maximum inner contour in the original map and retaining a first path curve segment outside the maximum inner contour; forming a first point set from points covered in the first path curve segment; determining the outer contour in the original map and retaining a second path curve segment outside the outer contour; and forming a second point set from points covered in the second path curve segment.

[0036] Specifically, in this embodiment, the original map in the bitmap recording format shown in FIG. 2 can be corrected as an example. Since the original map in the bitmap recording format can be distinguished by binarization in different areas, the maximum inner contour in the original map shown in FIG. 2 can be determined, and the points within the large inner contour can be marked, for example, by blackening them. As shown in FIG. 4 , which is a schematic diagram of the maximum inner contour in the original map in the bitmap recording format, the first path curve segment outside the maximum inner contour is retained, such as the dotted line segment marked by the dotted line in FIG. 4 , and the points covered in the first path curve segment constitute a first point set. In addition, the outer contour in the original map shown in FIG. 2 can also be determined, and the points outside the outer contour can be marked, for example, by blackening them. As shown in FIG. 5 , which is a schematic diagram of the outer contour in the original map in the bitmap recording format, the second path curve segment outside the outer contour is retained, such as the dotted line segment marked by the dotted line in FIG. 5 , and the points covered in the second path curve segment constitute a second point set.

[0037] Step S102: Delete the first point set and the second point set on the original map to obtain an adjusted map.

[0038] Specifically, in this embodiment, after obtaining the first point set corresponding to the outside of the maximum inner contour represented by the dotted line segment in Figure 4 and the second point set corresponding to the outside of the outer contour represented by the dotted line segment in Figure 5, the first point set and the second point set corresponding to the above two types of dotted line segments will be deleted in the original map shown in Figure 2, thereby obtaining a schematic diagram of the adjusted map in the bitmap record format as shown in Figure 6.

[0039] Step S103: determining a coincident point set according to the first point set and the second point set.

[0040] Optionally, determining a coincident point set based on the first point set and the second point set includes: determining the position information of each point in the first point set, and the position information of each point in the second point set; obtaining a target point having the same position information as that in the first point set and the second point set; taking the target point as the coincident point in the first point set and the second point set, and forming a coincident point set based on the coincident points.

[0041] Specifically, the coincident point set in this embodiment includes the coincident points in the first point set and the second point set. When determining the coincident points in the two point sets, the position information of each point in the first point set and the position information of each point in the second point set are specifically determined, and the points with the same position information in the two point sets are considered coincident points. For example, if there are a portion of dashed line segments in the upper right corners of Figures 4 and 5 that have the same position, then this portion of dashed line segments corresponds to the coincident point set obtained above. Of course, this embodiment is merely an example and does not limit the specific size of the coincident point set or the position of each coincident point included in the coincident point set.

[0042] Step S104: Supplement the coincident point set to the adjustment map to obtain a corrected map.

[0043] Optionally, adding the coincident point set to the adjustment map to obtain a revised map includes: adding the coincident point set to the adjustment map to obtain a filled map; and performing correction according to the filled map to obtain the revised map.

[0044] Optionally, correction is performed based on the filled map to obtain a revised map, including: when it is determined that there is an interruption position in the filled map, splicing adjacent path curves at the interruption position to obtain a spliced ​​map; and smoothing the spliced ​​map to obtain the revised map.

[0045] Specifically, in this embodiment, after obtaining the adjustment map, since there is a large gap in the adjustment map at this time, and the line segment corresponding to the overlapping point set completely or partially corresponds to the gap, the overlapping point set can be added to the adjustment map to obtain a filled map. When the overlapping point set completely corresponds to the gap, the overlapping point set is added to the adjustment map to obtain a filled map, and the filled map is smoothed to obtain a corrected map in the bitmap record format as shown in Figure 7. However, when the line segment corresponding to the overlapping point set only partially corresponds to the gap, it is necessary to determine the location of the interruption in the filled map and splice the adjacent path curves at the interruption location to obtain a spliced ​​map. At this time, the spliced ​​map is a closed curve, and the spliced ​​map is then smoothed to obtain the corrected map.

[0046] It should be noted that since there are generally no particularly sharp corners in the actual path map, when it is determined that there are sharp corners in the spliced ​​map, it is necessary to perform smoothing and remove the sharp corners to ensure the smoothness of the obtained corrected map.

[0047] It should be noted that the above embodiment is an example of the process of correcting the original map in the bitmap recording format. Of course, the present invention can also correct the original map in the coordinate recording format. For example, FIG8 is a schematic diagram of the maximum inner contour in the original map in the coordinate recording format, such as the black border portion in FIG8; FIG9 is a schematic diagram of the outer contour in the original map in the coordinate recording format, such as the black border portion in FIG9. Determine the first point set outside the maximum inner contour and the second point set outside the outer contour, and delete the first point set and the second point set on the original map to obtain the schematic diagram of the adjusted map in the coordinate recording format as shown in FIG10, and form an overlapping point set by the points that overlap in the first point set and the second point set, and add the overlapping point set to the adjusted map to obtain the schematic diagram of the corrected map in the coordinate recording format as shown in FIG11. Since the principles of the correction method of the original map under the coordinate recording format and the correction method under the bitmap recording format are roughly the same, they will not be described in detail in this embodiment.

[0048] The embodiment of the present invention performs post-processing on the original map after acquiring the original map, thereby reducing the demand for computing power of the onboard processor and improving the efficiency and accuracy of map correction. Example

[0049] FIG12 is a flow chart of a map correction method according to a second embodiment of the present invention. Based on the above embodiment, after adding the coincident point set to the adjustment map to obtain the corrected map, the method further includes: receiving a job start instruction, and executing the job within the range of the corrected map according to the job start instruction. As shown in FIG12 , the method includes:

[0050] Step S201: Acquire a first point set outside the maximum inner contour and a second point set outside the outer contour in the original map.

[0051] Optionally, before obtaining the first point set outside the maximum inner contour and the second point set outside the outer contour in the original map, the method further includes: determining an ideal boundary, where the ideal boundary is a closed path in a specified format, wherein the specified format includes a bitmap record or a coordinate record; walking forward along the ideal boundary, and returning to the ideal boundary by turning when it is determined that the vehicle has deviated from the ideal boundary; and when returning to the starting point of the ideal boundary, using the curve formed by the entire walking process as the original map.

[0052] Optionally, obtaining a first point set outside the maximum inner contour and a second point set outside the outer contour in the original map includes: determining the maximum inner contour in the original map and retaining a first path curve segment outside the maximum inner contour; forming a first point set from points covered in the first path curve segment; determining the outer contour in the original map and retaining a second path curve segment outside the outer contour; and forming a second point set from points covered in the second path curve segment.

[0053] Step S202: Delete the first point set and the second point set on the original map to obtain an adjusted map.

[0054] Step S203: determining a coincident point set according to the first point set and the second point set.

[0055] Optionally, determining a coincident point set based on the first point set and the second point set includes: determining the position information of each point in the first point set, and the position information of each point in the second point set; obtaining a target point having the same position information as that in the first point set and the second point set; taking the target point as the coincident point in the first point set and the second point set, and forming a coincident point set based on the coincident points.

[0056] Step S204: Add the coincident point set to the adjustment map to obtain a corrected map.

[0057] Optionally, adding the coincident point set to the adjustment map to obtain a revised map includes: adding the coincident point set to the adjustment map to obtain a filled map; and performing correction according to the filled map to obtain the revised map.

[0058] Optionally, correction is performed based on the filled map to obtain a revised map, including: when it is determined that there is an interruption position in the filled map, splicing adjacent path curves at the interruption position to obtain a spliced ​​map; and smoothing the spliced ​​map to obtain the revised map.

[0059] Step S205: receiving a job start instruction, and executing the job within the scope of the revised map according to the job start instruction.

[0060] Specifically, the purpose of obtaining a revised map in this embodiment is to facilitate subsequent mowing operations by the mowing robot. Therefore, after the original map is corrected and the revised map is obtained, upon receipt of a start command, the mowing robot can execute the mowing operation within the range of the revised map according to the start command. During the mowing operation, the robot will not exceed the range defined by the revised map. Thus, the revised map limits the mowing range of the mowing robot, ensuring that the mowing robot executes the mowing operation within the designated area.

[0061] It should be noted that when the mowing robot performs mowing operations within the scope of the revised map, it may perform mowing operations sequentially from the outside to the inside, or repeatedly from left to right. This embodiment does not limit the specific operating method of the mowing robot within the revised operation scope. When it is determined that the entire scope of the revised map has been traversed, the mowing operation is completed. At this time, a mowing completion signal is issued to prompt the user to terminate the mowing robot's operation within the current revised map to save energy.

[0062] After acquiring the original map, the present invention performs post-processing on it, thereby reducing the computing power requirements of the onboard processor and improving the efficiency and accuracy of map correction. Upon receiving a job start command, the robot executes the job within the corrected map according to the job start command, ensuring that the robot mower performs the mowing operation within the specified range and that the mowing operation is performed normally. Example

[0063] FIG13 is a schematic diagram of the structure of a map correction device provided by Embodiment 3 of the present invention. As shown in FIG13 , the device includes: a point set acquisition module 310 , an adjustment map acquisition module 320 , a coincidence point set determination module 330 , and a correction map acquisition module 340 .

[0064] A point set acquisition module 310 is configured to acquire a first point set outside the maximum inner contour and a second point set outside the outer contour in the original map;

[0065] An adjusted map acquisition module 320 is configured to delete the first point set and the second point set on the original map to acquire an adjusted map;

[0066] A coincident point set determining module 330 is configured to determine a coincident point set based on the first point set and the second point set, wherein the coincident point set includes coincident points in the first point set and the second point set;

[0067] The revised map acquisition module 340 is configured to add the coincident point set to the adjustment map to acquire a revised map.

[0068] Optionally, the device further includes an original map acquisition module, configured to determine an ideal boundary, where the ideal boundary is a closed path in a specified format, wherein the specified format includes a bitmap record or a coordinate record;

[0069] Walk forward along the ideal boundary, and when it is determined that it has deviated from the ideal boundary, turn back to the ideal boundary;

[0070] When returning to the starting point of the ideal boundary, the curve formed by the entire walking process is used as the original map.

[0071] Optionally, a point set acquisition module is used to determine the maximum inner contour in the original map and retain the first path curve segment outside the maximum inner contour;

[0072] The points covered by the first path curve segment form a first point set;

[0073] Determine the outer contour in the original map, and retain the second path curve segment outside the outer contour;

[0074] The points covered by the second path curve segment form a second point set.

[0075] Optionally, a coincident point set determination module is used to determine the position information of each point in the first point set and the position information of each point in the second point set;

[0076] Obtain target points with the same position information as the first point set and the second point set;

[0077] The target point is taken as the coincident point in the first point set and the second point set, and a coincident point set is constructed based on the coincident points.

[0078] Optionally, modify the map acquisition module, including:

[0079] A filling map acquisition unit, used for adding the coincident point set to the adjustment map to obtain a filling map;

[0080] The correction map acquisition unit is used to perform correction according to the filled map to acquire the correction map.

[0081] Optionally, the modified map acquisition unit is configured to, when determining that there is an interruption position in the filled map, splice adjacent path curves at the interruption position to obtain a spliced ​​map;

[0082] Smooth the mosaic map to obtain a corrected map.

[0083] Optionally, the device further includes a job execution module, configured to receive a job start instruction;

[0084] The job is executed within the scope of the corrected map according to the job start command.

[0085] A map correction device provided by an embodiment of the present invention can execute a map correction method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects of the execution method. Example

[0086] FIG14 shows a block diagram of an electronic device 10 that can be used to implement an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0087] The components shown herein, their connections and relationships, and their functions, are examples only, and are not meant to limit implementations of the inventions described and / or claimed herein.

[0088] As shown in Figure 14, electronic device 10 includes at least one processor 11 and memory, such as read-only memory (ROM) 12 and random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. Processor 11 can perform various appropriate actions and processes based on the computer programs stored in ROM 12 or loaded from storage unit 18 into RAM 13. RAM 13 can also store various programs and data required for the operation of electronic device 10. Processor 11, ROM 12, and RAM 13 are interconnected via bus 14. An input / output (I / O) interface 15 is also connected to bus 14.

[0089] Multiple components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0090] Processor 11 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any other suitable processor, controller, microcontroller, etc. Processor 11 executes the various methods and processes described above, such as the map correction method.

[0091] In some embodiments, the map correction method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the map correction method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to execute the map correction method via any other suitable means (e.g., via firmware).

[0092] Various embodiments of the devices and techniques described above herein can be implemented in digital electronic circuit devices, integrated circuit devices, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), devices on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable device that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage device, at least one input device, and at least one output device, and transmit data and instructions to the storage device, the at least one input device, and the at least one output device.

[0093] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable modified device, such that when executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0094] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution device, apparatus, or device. A computer-readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor device, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media may include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0095] To provide interaction with a user, the apparatus and techniques described herein can be implemented on a device having: a display device (e.g., a touch screen) for displaying information to the user; and keys through which the user can provide input to the device. Other types of apparatuses can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0096] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0097] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A map correction method, characterized in that: Applied to autonomous working equipment, including: Obtain the first point set outside the maximum inner contour and the second point set outside the outer contour in the original map; Deleting the first point set and the second point set on the original map to obtain an adjusted map; Determine a coincident point set according to the first point set and the second point set, wherein the coincident point set includes coincident points in the first point set and the second point set; The coincident point set is added to the adjustment map to obtain a correction map.

2. The method according to claim 1, characterized in that Before obtaining the first point set outside the maximum inner contour and the second point set outside the outer contour in the original map, the method further includes: Determine an ideal boundary, where the ideal boundary is a closed path in a specified format, wherein the specified format includes a bitmap record or a coordinate record; Walking forward along the ideal boundary, and returning to the ideal boundary by turning when it is determined that the ideal boundary has deviated; When returning to the starting point of the ideal boundary, the curve formed by the entire walking process is used as the original map.

3. The method according to claim 2, characterized in that When it is determined that the ideal boundary has deviated from, returning to the ideal boundary by turning, comprises: Determining a deviation from the target point when a deviation from the ideal boundary is determined; The designated walking mode is adopted to walk to the deviated target point or a position point on the ideal boundary before the deviated target point in a turning manner to return to the ideal boundary, wherein the designated walking mode includes turning while moving forward.

4. The method according to claim 1, characterized in that: The step of obtaining a first point set outside the maximum inner contour and a second point set outside the outer contour in the original map includes: Determine the maximum inner contour in the original map, and retain the first path curve segment outside the maximum inner contour; The points covered by the first path curve segment constitute the first point set; Determine the outer contour in the original map, and retain the second path curve segment outside the outer contour; The points covered by the second path curve segment constitute the second point set.

5. The method according to claim 1, characterized in that The determining of the coincident point set according to the first point set and the second point set comprises: Determine the position information of each point in the first point set and the position information of each point in the second point set; Acquire a target point having the same position information as that in the first point set and the second point set; The target point is used as a coincident point in the first point set and the second point set, and the coincident point set is constructed based on the coincident point.

6. The method according to claim 1, characterized in that The step of adding the coincident point set to the adjustment map to obtain a corrected map includes: Supplementing the set of coincident points into the adjustment map to obtain a filled map; Correction is performed according to the filled map to obtain the revised map.

7. The method according to claim 6, characterized in that The step of correcting the filled map to obtain the revised map includes: When it is determined that there is an interruption position in the filled map, adjacent path curves at the interruption position are spliced ​​to obtain a spliced ​​map; The stitched map is smoothed to obtain the corrected map.

8. The method according to claim 1, characterized in that After the overlapping point set is added to the adjustment map to obtain the corrected map, the method further includes: Receive a job start instruction; The operation is executed within the range of the correction map according to the operation start instruction.

9. A map correction device, characterized in that: include: A point set acquisition module, used for acquiring a first point set outside the maximum inner contour and a second point set outside the outer contour in the original map; An adjusted map acquisition module, used for deleting the first point set and the second point set on the original map to acquire an adjusted map; A coincident point set determining module, configured to determine a coincident point set according to the first point set and the second point set, wherein the coincident point set includes coincident points in the first point set and the second point set; The revised map acquisition module is used to add the coincident point set to the adjustment map to obtain a revised map.

10. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 8 is implemented.

11. A computer executable instruction storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method as described in any one of claims 1 to 8 is implemented.

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