Method for constructing boundary map and related apparatus

Abstract

Provided in the present application are a method for constructing a boundary map and a related apparatus. The method comprises: determining satellite signal strength during the movement of a target device; on the basis of the satellite signal strength and / or a preset traveling distance, correcting priorities of a plurality of positioning modes to obtain a priority order, the plurality of positioning modes all being positioning modes corresponding to the target device, the plurality of positioning modes comprising a first positioning mode and a second positioning mode, and the preset traveling distance being a distance traveled by the target device in the second positioning mode; on the basis of the priority order, determining a target positioning mode of the target device; and, on the basis of the target positioning mode, acquiring and recording boundary point coordinates of a target lawn area, the boundary point coordinates being used for constructing a working area map. In this way, an adapted positioning mode can be determined in the process of the target device constructing the boundary map, thereby ensuring overall positioning accuracy, and further improving the accuracy of the constructed boundary map.

Description

Method for constructing boundary map and related device

[0001] The present application claims priority to the Chinese patent application No. 2024108251694, filed on June 25, 2024, and titled "Method for constructing boundary map and related device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application belongs to the field of positioning technology, and specifically relates to a method for constructing a boundary map and related device. BACKGROUND

[0003] Currently, in the process of constructing a boundary map by a self-moving device, the real-time position of the self-moving device during movement is generally determined by a satellite positioning system. However, during the movement of the self-moving device, due to reasons such as obstruction by obstacles or signal blind area, the satellite positioning accuracy is reduced, so that the position of the self-moving device cannot be accurately known, and positioning errors occur, resulting in reduced work accuracy. SUMMARY

[0004] The present application provides a method for constructing a boundary map and related device to reduce the overall positioning accuracy and improve the accuracy of the constructed boundary map.

[0005] In a first aspect, the present application provides a method for constructing a boundary map, comprising:

[0006] determining a satellite signal strength during the movement of a target device;

[0007] correcting the priority of a plurality of positioning modes according to the satellite signal strength and / or a preset driving distance to obtain a priority order, the plurality of positioning modes being corresponding positioning modes of the target device, the plurality of positioning modes including a first positioning mode and a second positioning mode, and the preset driving distance being a distance driven by the target device in the second positioning mode;

[0008] determining a target positioning mode of the target device according to the priority order;

[0009] acquiring and recording boundary point coordinates of a target lawn area according to the target positioning mode, the boundary point coordinates being used for constructing a work area map.

[0010] In a second aspect, the present application provides a device for constructing a boundary map, comprising:

[0011] a determination unit configured to determine a satellite signal strength during the movement of a target device;

[0012] The correction unit is configured to correct priorities of a plurality of positioning modes according to the satellite signal strength and / or a preset driving distance, to obtain a priority order, wherein the plurality of positioning modes are corresponding positioning modes of the target device, and the plurality of positioning modes include a first positioning mode and a second positioning mode, and the preset driving distance is a distance driven by the target device in the second positioning mode.

[0013] The determination unit is further configured to determine a target positioning mode of the target device according to the priority order.

[0014] The positioning unit is configured to acquire and record boundary point coordinates of a target lawn area according to the target positioning mode, wherein the boundary point coordinates are used to construct a working area map.

[0015] In a third aspect, the present application provides an electronic device, including a processor, a memory, a communication interface, and one or more programs stored in the memory and configured to be executed by the processor, and the program includes instructions for performing the steps in the first aspect or the second aspect of the present application.

[0016] In a fourth aspect, the present application provides a computer readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to perform some or all of the steps described in the first aspect or the second aspect of the present application.

[0017] In a fifth aspect, the present application provides a computer program product, wherein the computer program product includes a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform some or all of the steps described in the first aspect or the second aspect of the present application. The computer program product can be a software installation package.

[0018] It can be seen that, in the present application, firstly, the satellite signal strength is determined in the process of the target device advancing; then, priorities of a plurality of positioning modes are corrected according to the satellite signal strength and / or a preset driving distance, to obtain a priority order; then, a target positioning mode of the target device is determined according to the priority order; finally, boundary point coordinates of a target lawn area are acquired and recorded according to the target positioning mode, and the boundary point coordinates are used to construct a working area map. In this way, an adaptive positioning mode can be determined in the process of the target device constructing a boundary map, the overall positioning accuracy is ensured, and the accuracy of the constructed boundary map is improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only represent some of the embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative effort.

[0020] Fig. 1 is a structural schematic diagram of an electronic device provided by an embodiment of the present application;

[0021] Fig. 2 is a flow schematic diagram of a method for constructing a boundary map provided by an embodiment of the present application;

[0022] Fig. 3 is a structural schematic diagram of an air exchange embodiment provided by an embodiment of the present application;

[0023] Fig. 4 is a flow schematic diagram of a device for constructing a boundary map provided by an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the personnel in the technical field better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments only represent some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort fall within the scope of the present application.

[0025] The terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, system, product or device.

[0026] In this paper, the term "embodiment" means that the specific features, structures or characteristics described in conjunction with the embodiment can be included in at least one embodiment of the present application. The phrase appears in the specification at various places does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] Currently, in the process of constructing a boundary map by a self-moving device, a real-time position of the self-moving device in the moving process is generally determined by a satellite positioning system. However, in the moving process of the self-moving device, due to reasons such as obstruction of obstacles or signal blind area, the satellite positioning accuracy is reduced, so that the position of the self-moving device cannot be accurately known, and positioning error occurs, resulting in reduced operation accuracy.

[0028] To solve the above problems, an embodiment of the present application provides a method for constructing a boundary map. The method for constructing a boundary map can be applied to a scenario of constructing a boundary map. The satellite signal strength can be determined in the process of the target device traveling; then the priority of multiple positioning modes is corrected according to the satellite signal strength and / or a preset travel distance, to obtain a priority order; the target positioning mode of the target device is determined according to the priority order; finally, the boundary point coordinates of the target lawn area are acquired and recorded according to the target positioning mode, and the boundary point coordinates are used to construct a work area map. In this way, the positioning mode that is suitable for the process of constructing a boundary map by the target device can be determined, the overall positioning accuracy is ensured, and the accuracy of the constructed boundary map is improved. The present scheme can be applied to various scenarios, including but not limited to the application scenarios mentioned above, for example, a self-moving device navigation scenario.

[0029] The system architecture related to the embodiments of the present application will be introduced below.

[0030] The present application also provides an electronic device 10, as shown in FIG. 1, which includes at least one processor 11, a display screen 12, and a memory 13, and can also include a communications interface 15 and a bus 14. The processor 11, the display screen 12, the memory 13, and the communications interface 15 can communicate with each other through the bus 14. The display screen 12 is configured to display a preset user guide interface in an initial setting mode. The communications interface 15 can transmit information. The processor 11 can call the logical instructions in the memory 13 to execute the method in the above embodiments.

[0031] Optionally, the electronic device 10 can be a mobile electronic device, an electronic device, or other devices, which is not limited herein.

[0032] In addition, the logical instructions in the memory 13 described above can be implemented in the form of a software functional unit and sold or used as an independent product, which can be stored in a computer readable storage medium.

[0033] The memory 13 can be configured to store software programs, computer executable programs, such as program instructions or modules corresponding to the method in the embodiments of the present disclosure, as a computer readable storage medium. The processor 11 executes the functions of the application and data processing by running the software programs, instructions or modules stored in the memory 13, that is, implements the method in the above embodiments.

[0034] The memory 13 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function; the data storage area can store data created according to the use of the electronic device 10, etc. In addition, the memory 13 can include a high-speed random access memory, and can also include a non-volatile memory. For example, a variety of media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (Read-Only Memory, ROM), a random access memory (Random Access Memory, RAM), a magnetic disk or an optical disk, etc. can also be a temporary storage medium.

[0035] The specific method will be described in detail below.

[0036] Referring to FIG. 2, the present application also provides a method for constructing a boundary map, comprising:

[0037] Step S201, determining the satellite signal strength in the process of the target device traveling.

[0038] For example, the target device can be a lawn mowing robot, a sweeping robot, a tool vehicle for field work, etc., which is not limited herein. The moving mode of the target device can be autonomous path finding by the target device, or the target device can be controlled to move by a remote control device, a software program, etc., which is not limited herein.

[0039] In a specific implementation, when the target device travels along the boundary of the working area, the positioning is generally performed by satellite signals, and then the corresponding working area map is drawn according to the positioning, so it is necessary to acquire and update the satellite signals in real time to ensure the accuracy of the positioning. When the target device is in a satellite signal blind area, the acquired satellite signal will be weakened, so it is necessary to determine the strength of the satellite signal in real time.

[0040] Step S202, correcting the priority of a plurality of positioning modes according to the satellite signal strength and / or a preset travel distance to obtain a priority order.

[0041] The plurality of positioning modes are corresponding positioning modes of the target device, the plurality of positioning modes include a first positioning mode and a second positioning mode, and the preset travel distance is a distance traveled by the target device in the second positioning mode.

[0042] In a specific implementation, in order to ensure positioning accuracy when the satellite signal strength is weak, other positioning modes can be switched to perform navigation for emergency. Therefore, a plurality of positioning modes can be set in advance, the priorities of the plurality of positioning modes are determined by satellite signals and / or preset driving distances, and the positioning mode with the best current positioning effect is always determined as the highest priority to determine that the target device can maintain relatively accurate positioning in different scenarios. It can be understood that the number of the plurality of positioning modes is not limited.

[0043] Specifically, the index of the satellite signal strength can be set according to actual conditions, which is not limited herein. For example, the satellite signal strength can be determined according to a plurality of satellite signal influencing factors. The plurality of satellite signal influencing factors include but are not limited to: the number of satellites that can be received by the satellite navigation device installed on the target device, the RTK signal strength state indication, and the precision factor. The satellite signal strength is determined according to one or more of the plurality of satellite signal influencing factors, and when the satellite signal strength is determined according to a plurality of satellite signal influencing factors, the satellite signal strength can be calculated by setting an importance weight or other determination method. It can be understood that a satellite signal strength indicator can be set on the target device or the controller of the target device to indicate the current satellite signal strength. For example, a flashing light can be set, when the positioning state accuracy is high, the machine can flash a green light, when it is weak, a yellow light flashes, and when the positioning state is poor, a red light flashes; a display can also be set, and the display can display the indication information; or other indication methods, which are not limited herein.

[0044] The embodiments of the present application are described below taking two positioning modes as examples.

[0045] Specifically, the plurality of positioning modes include a first positioning mode and a second positioning mode. The first positioning mode refers to positioning by satellite signals, for example, RTK positioning, GPS positioning, etc. The second positioning mode refers to positioning by sensors and / or controllers built-in the target device, for example, visual or inertial (IMU) positioning, SLAM positioning, etc.

[0046] In a possible embodiment, the priority order includes a first priority order and a second priority order; and the priority order is obtained by modifying priorities of the plurality of positioning modes according to the satellite signal strength and / or a preset driving distance, including: when the satellite signal strength is greater than or equal to a preset strength, determining that a priority of the first positioning mode is higher than a priority of the second positioning mode to obtain the first priority order; when the satellite signal strength is less than the preset strength and a driving distance of the target device is greater than or equal to the preset driving distance, determining that the priority of the first positioning mode is higher than the priority of the second positioning mode to obtain the first priority order; and when the satellite signal strength is less than the preset strength and the driving distance of the target device is less than the preset driving distance, determining that a priority of the second positioning mode is higher than the priority of the first positioning mode to obtain the second priority order.

[0047] For example, the sensor includes but is not limited to a position sensor, an inertial navigation sensor. The position sensor includes but is not limited to a camera, a radar, a capacitive sensor, an inertial navigation sensor. The inertial navigation sensor includes but is not limited to an accelerometer, an odometer, a compass, a gyroscope, a posture detection sensor, to detect the speed, acceleration, driving direction, etc. of the mobile device.

[0048] In a specific implementation, when the satellite signal strength is greater than or equal to the preset strength, it indicates that the satellite signal is good at this time and can meet the positioning requirements. Since the satellite positioning is the positioning mode with the highest accuracy among the two positioning modes, the first positioning mode is determined as the highest priority positioning mode, and the first priority order is determined, that is, “first positioning mode→second positioning mode”.

[0049] When the satellite signal is less than the preset strength, the positioning accuracy of the first positioning mode will be reduced to be lower than the second positioning mode, and therefore the second positioning mode can be determined as the highest priority, and the second priority order is obtained, that is, “second positioning mode→first positioning mode”.

[0050] However, when the target device is driven in the second positioning mode, the positioning accuracy will gradually decrease; when the driving distance of the target device is greater than the preset driving distance, the decrease of the positioning accuracy will make the positioning error of the target device greater than a conventional error range; therefore, when the target device is operated in the second positioning mode, the driving distance of the target device needs to be determined in real time, and the priority order is re-determined according to a comparison result of the driving distance and the preset driving distance; that is, when the driving distance of the target device is greater than or equal to the preset driving distance, the first priority order is determined; and when the driving distance of the target device is less than the preset driving distance, the second priority order is determined.

[0051] It can be seen that, in the embodiment, the priority of the positioning mode is determined based on the satellite signal strength and the preset driving distance, ensuring that the positioning mode with the highest positioning accuracy at the current time is determined as the highest priority, so as to ensure that the positioning is accurate enough.

[0052] In step S203, the target positioning mode of the target device is determined according to the priority order.

[0053] Further, the target positioning mode of the target device is determined according to the priority order, including: when the priority order is the first priority order, the target positioning mode is determined as the first positioning mode; and when the priority order is the second priority order, the target positioning mode is determined as the second positioning mode.

[0054] Specifically, in the first priority order, the first positioning mode has the highest priority, and therefore, the first positioning mode is determined as the target positioning mode; in the second priority order, the second positioning mode has the highest priority, and therefore, the second positioning mode is determined as the target positioning mode.

[0055] It can be seen that, in the embodiment, the target positioning mode of the target device is determined according to the priority, ensuring that the positioning is accurate enough.

[0056] In step S204, the boundary point coordinates of the target lawn area are acquired and recorded according to the target positioning mode, and the boundary point coordinates are used to construct a work area map.

[0057] In a specific implementation, after the target positioning mode is determined, the target device is positioned according to the target positioning mode to acquire corresponding boundary point coordinates, and finally, a work area map is constructed based on the obtained multiple boundary point coordinates.

[0058] In one possible embodiment, the boundary point coordinates of the target lawn area are acquired and recorded according to the target positioning mode, including: when the target positioning mode is the first positioning mode, a satellite signal is acquired; and the boundary point coordinates are determined according to the satellite signal.

[0059] In a specific implementation, in the first positioning mode, a satellite signal is acquired, a second coordinate of the current position of the target device is determined according to a target satellite positioning technology of the target device, and the second coordinate of the current position is determined as the boundary point coordinate of the current position.

[0060] Specifically, the satellite positioning technology includes, but is not limited to, Global Navigation Satellite System (GNSS), Landmark Navigation, map-based positioning (template matching), and RTK positioning. After determining the target satellite positioning technology corresponding to the first positioning mode, the program corresponding to the target satellite positioning technology is called to calculate the corresponding second coordinate, and the boundary point coordinate of the current position is obtained. In the first positioning mode, the boundary point coordinate is determined in the manner in the embodiment.

[0061] In one possible embodiment, the method of obtaining and recording the boundary point coordinate of the target lawn area according to the target positioning mode includes: when the target positioning mode is the second positioning mode, determining the pose data of the target device according to the sensor and / or controller of the target device; and determining the boundary point coordinate according to the pose data.

[0062] In a specific implementation, in the second positioning mode, the satellite signal is obtained, the third coordinate of the current position of the target device is determined according to the target autonomous positioning technology of the target device, and the third coordinate of the current position is determined as the boundary point coordinate of the current position.

[0063] Specifically, the target autonomous positioning technology includes, but is not limited to, visual or inertial (IMU) positioning, SLAM positioning. After determining the target autonomous positioning technology corresponding to the second positioning mode, the program corresponding to the target autonomous positioning technology is called to calculate the corresponding second coordinate, and the boundary point coordinate of the current position is obtained. In the second positioning mode, the boundary point coordinate is determined in the manner in the embodiment.

[0064] It can be seen that in the embodiment, different boundary point coordinate calculations are performed according to different positioning modes to ensure that the target device can realize positioning in different situations.

[0065] It can be understood that when positioning in the first positioning mode, the second positioning mode can be calibrated synchronously, and the positioning accuracy of the second positioning mode is aligned with the first positioning accuracy. The time of synchronous calibration can be set as a time interval, or real-time calibration can be performed, which is not limited herein. When positioning in the second positioning mode, in order to avoid too large positioning error, the positioning accuracy calibration is performed after the target device travels a preset distance. The positioning accuracy calibration manner in the second positioning mode is described below.

[0066] In one possible embodiment, referring to FIG. 3, the first positioning mode refers to positioning by satellite signals, and the second positioning mode refers to positioning by sensors and / or controllers provided by the target device; after the boundary point coordinates of the target lawn area are acquired and recorded according to the target positioning mode, the method further comprises: when the target positioning mode is the second positioning mode and the driving distance of the target device is greater than or equal to the preset driving distance, recording the current first coordinate point 32; controlling the target device to move within a first preset range 34 with the first coordinate point 32 as the origin and a first distance threshold as the radius, and detecting satellite signals in the moving process; switching the target positioning mode from the second positioning mode to the first positioning mode to correct the positioning accuracy of the target device according to the satellite signals; when the positioning accuracy reaches a preset accuracy, clearing the preset driving distance and controlling the target device to return to the position corresponding to the first coordinate point 32; re-determining the target positioning mode according to the current satellite signal strength; and continuing to perform the acquisition and recording operation of the boundary point coordinates according to the re-determined target positioning mode.

[0067] Specifically, the re-determination of the target positioning mode according to the current satellite signal strength comprises: re-determining the satellite signal strength; if the satellite signal strength is greater than or equal to the preset strength, determining the target positioning mode as the first positioning mode; and if the satellite signal strength is still less than the preset strength, determining the target positioning mode as the second positioning mode.

[0068] In a specific implementation, as shown in FIG. 3, the solid line part is the boundary line determined by the target device in the first positioning mode, and the dashed line part is the boundary line determined by the target device in the second positioning mode. In the process of detecting the boundary point coordinates, when the target device is in a satellite signal blind area or other conditions cause the satellite signal to weaken, the second positioning mode is switched to perform positioning. When the target positioning mode is the second positioning mode, the fourth coordinate point 31 at the current time is recorded when the second positioning mode is switched, and after the recording is completed, the driving distance of the target device is detected in real time with the fourth coordinate point as the starting point. When the driving distance is greater than or equal to the preset driving distance, it indicates that the current positioning error reaches a certain value, and further driving will cause the positioning accuracy to drop sharply; therefore, the first coordinate point 32 at this time is recorded, and the target device is controlled to search for satellite signals within the first preset range 34 with the first coordinate point 32 as the origin and the first distance threshold as the radius, and after the satellite signals are detected, the target positioning mode is switched to the first positioning mode (for example, the satellite signals are detected at the fifth coordinate point 33 in FIG. 3), and the accurate positioning accuracy is determined through the first positioning mode, and the positioning accuracy of the second positioning mode is calibrated synchronously.

[0069] After the positioning accuracy calibration of the second positioning mode is completed, the preset driving distance is cleared, and the target device is controlled to return to the position corresponding to the first coordinate point 32. And the target positioning mode is determined again at the position corresponding to the first coordinate point 32. Specifically, the satellite signal strength is detected again at the position of the first coordinate point 32. When the satellite signal strength is greater than or equal to the preset strength, the first positioning mode is still used for navigation. When the satellite signal strength is less than the preset strength, the second positioning mode is switched back to continue the work of boundary point coordinate acquisition and recording. As shown in FIG. 3, after the awakening is completed at the first coordinate point, the satellite signal strength does not reach the preset strength, and the second positioning mode is switched back to work until the sixth coordinate point 35 is reached. The satellite signal strength is greater than or equal to the preset strength, and the first positioning mode is switched back to work.

[0070] It can be seen that in the embodiment, when the positioning accuracy of the target device in the autonomous positioning mode is reduced to a certain extent, the satellite positioning mode is switched through the ventilation mechanism to calibrate the positioning accuracy of the autonomous positioning mode, so that the target device can work in a good positioning accuracy range during the work process, and the accuracy of the constructed boundary map is improved.

[0071] The above mainly introduces the scheme of the embodiments of the present application from the perspective of the method execution process. It can be understood that the mobile electronic device includes hardware structures and / or software modules corresponding to the execution of each function in order to realize the above functions. Those skilled in the art should easily realize that the units and algorithm steps of each example described in combination with the embodiments provided in the present text can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0072] The embodiments of the present application can divide the functional units of the electronic device according to the above method examples. For example, each functional unit can be divided corresponding to each function, or two or more functions can be integrated in one processing unit. The integrated unit can be realized in the form of hardware or software functional unit. It should be noted that the division of units in the embodiments of the present application is illustrative, and is only a logical function division. There can be another division way when actually implemented.

[0073] Referring to FIG. 4, the present application further provides a device 40 for constructing a boundary map, comprising:

[0074] The determining unit 41 is configured to determine the satellite signal strength during the travel of the target device.

[0075] The correction unit 42 is configured to correct priorities of a plurality of positioning modes according to the satellite signal strength and / or a preset driving distance, to obtain a priority order, the plurality of positioning modes are corresponding positioning modes of the target device, the plurality of positioning modes include a first positioning mode and a second positioning mode, and the preset driving distance is a distance that the target device drives in the second positioning mode.

[0076] The determination unit 41 is further configured to determine a target positioning mode of the target device according to the priority order.

[0077] The positioning unit 43 is configured to acquire and record boundary point coordinates of a target lawn area according to the target positioning mode, and the boundary point coordinates are used to construct a working area map.

[0078] It can be seen that, in the present application, firstly, the satellite signal strength is determined in the process of the target device driving; then, priorities of a plurality of positioning modes are corrected according to the satellite signal strength and / or a preset driving distance, to obtain a priority order; then, a target positioning mode of the target device is determined according to the priority order; finally, boundary point coordinates of a target lawn area are acquired and recorded according to the target positioning mode, and the boundary point coordinates are used to construct a working area map. In this way, an adaptive positioning mode can be determined in the process of the target device constructing a boundary map, the overall positioning accuracy is ensured, and the accuracy of the constructed boundary map is improved.

[0079] In one possible embodiment, the first positioning mode refers to positioning by a satellite signal, and the second positioning mode refers to positioning by a sensor and / or a controller that the target device is provided with; after the aspect of acquiring and recording boundary point coordinates of a target lawn area according to the target positioning mode, the method further includes:

[0080] The positioning unit 43 is further configured to, when the target positioning mode is the second positioning mode and a driving distance of the target device is greater than or equal to the preset driving distance, record a current first coordinate point; control the target device to move in a first preset range of the first coordinate point, and detect a satellite signal in the moving process, a radius of the first preset range is a first distance threshold; switch the target positioning mode from the second positioning mode to the first positioning mode, to correct positioning accuracy of the target device according to the satellite signal; and when the positioning accuracy reaches a preset accuracy, clear the preset driving distance, and control the target device to return to a position corresponding to the first coordinate point; the determination unit 41 is further configured to redetermine the target positioning mode according to the current satellite signal strength; and the positioning unit 43 is further configured to continue the acquisition and recording operation of the boundary point coordinates according to the redetermined target positioning mode.

[0081] In a possible implementation, the aspect of determining the target positioning mode according to the current satellite signal strength, the determining unit 41 is specifically configured to: redetermine the satellite signal strength; if the satellite signal strength is greater than or equal to the preset strength, determine the target positioning mode as the first positioning mode; if the satellite signal strength is still less than the preset strength, determine the target positioning mode as the second positioning mode.

[0082] In a possible implementation, the priority order includes a first priority order and a second priority order; the aspect of correcting the priority of the plurality of positioning modes according to the satellite signal strength and / or the preset driving distance to obtain the priority order, the correcting unit 42 is specifically configured to: when the satellite signal strength is greater than or equal to the preset strength, determine that the priority of the first positioning mode is higher than the priority of the second positioning mode to obtain the first priority order; when the satellite signal strength is less than the preset strength, and the driving distance of the target device is greater than or equal to the preset driving distance, determine that the priority of the first positioning mode is higher than the priority of the second positioning mode to obtain the first priority order; when the satellite signal strength is less than the preset strength, and the driving distance of the target device is less than the preset driving distance, determine that the priority of the second positioning mode is higher than the priority of the first positioning mode to obtain the second priority order.

[0083] In a possible implementation, the aspect of determining the target positioning mode of the target device according to the priority order, the determining unit 41 is specifically configured to: when the priority order is the first priority order, determine the target positioning mode as the first positioning mode; when the priority order is the second priority order, determine the target positioning mode as the second positioning mode.

[0084] In a possible implementation, the aspect of acquiring and recording the boundary point coordinates of the target lawn area according to the target positioning mode, the positioning unit 43 is specifically configured to: when the target positioning mode is the first positioning mode, acquire a satellite signal; determine the boundary point coordinates according to the satellite signal.

[0085] In a possible implementation, the aspect of acquiring and recording the boundary point coordinates of the target lawn area according to the target positioning mode, the positioning unit 43 is specifically configured to: when the target positioning mode is the second positioning mode, determine the pose data of the target device according to the sensor and / or the controller of the target device; determine the boundary point coordinates according to the pose data.

[0086] The above-described embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, the above-described embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present application are wholly or partially generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center through a wired or wireless manner. The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server, data center, or the like, which includes one or more available medium collections. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state disk.

[0087] The embodiments of the present application also provide a computer storage medium, which stores a computer program for electronic data exchange, and the computer program causes a computer to perform some or all of the steps of any of the methods described in the above method embodiments. The computer includes an electronic device.

[0088] The embodiments of the present application also provide a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program. The computer program is operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments. The computer program product can be a software installation package, and the computer includes an electronic device.

[0089] It should be understood that, in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0090] In several embodiments provided in the present application, it should be understood that the disclosed method, device and system can be implemented in other manners. For example, the described device embodiments are merely illustrative; for example, the division of the units is merely logical function division; and there can be another division manner in actual implementation; for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0091] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments.

[0092] In addition, each functional unit in the various embodiments of the present application can be integrated in a processing unit, or each unit can be a separate physical unit, or two or more units can be integrated in a unit. The integrated unit can be implemented in the form of hardware, or in the form of hardware plus software function units.

[0093] The integrated unit in the form of software function unit can be stored in a computer readable storage medium. The software function unit is stored in a storage medium, including a plurality of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute part of steps of the method according to various embodiments of the present application. The aforementioned storage medium includes a U disk, a mobile hard disk, a magnetic disk, an optical disk, a volatile memory or a non-volatile memory. The non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM) used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) can be used, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM). Various media that can store program codes.

[0094] Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can easily conceive variations or substitutions without departing from the spirit and scope of the present application, and various modifications can be made, including combinations of different functions and implementation steps, including software and hardware implementations, which are all within the scope of the present application.

Claims

1. A method for constructing a boundary map, characterized in that, include: Determine the satellite signal strength as the target equipment moves; The priority of multiple positioning modes is adjusted according to the satellite signal strength and / or the preset driving distance to obtain a priority order. The multiple positioning modes are all positioning modes corresponding to the target device. The multiple positioning modes include a first positioning mode and a second positioning mode. The preset driving distance is the distance traveled by the target device in the second positioning mode. The target positioning mode of the target device is determined according to the priority order; The boundary point coordinates of the target lawn area are obtained and recorded according to the target positioning mode, and the boundary point coordinates are used to construct a work area map.

2. The method according to claim 1, characterized in that, The first positioning mode refers to positioning via satellite signals, and the second positioning mode refers to positioning via the sensors and / or controllers built into the target device. After obtaining and recording the boundary point coordinates of the target lawn area according to the target positioning mode, the method further includes: When the target positioning mode is the second positioning mode and the travel distance of the target device is greater than or equal to the preset travel distance, record the current first coordinate point; The target device is controlled to move within a first preset range from the first coordinate point, and satellite signals are detected during the movement. The radius of the first preset range is a first distance threshold. The target positioning mode is switched from the second positioning mode to the first positioning mode to correct the positioning accuracy of the target device based on the satellite signal; When the positioning accuracy reaches the preset accuracy, the preset driving distance is cleared to zero, and the target device is controlled to return to the position corresponding to the first coordinate point; The target positioning mode is redefined based on the current satellite signal strength. The acquisition and recording of the boundary point coordinates will continue based on the redefined target positioning mode.

3. The method according to claim 2, characterized in that, The step of re-determining the target positioning mode based on the current satellite signal strength includes: The satellite signal strength was reassessed. If the satellite signal strength is greater than or equal to a preset strength, then the target positioning mode is determined as the first positioning mode; If the satellite signal strength is still less than the preset strength, then the target positioning mode is determined to be the second positioning mode.

4. The method according to claim 1, characterized in that, The priority order includes a first priority order and a second priority order; The process of adjusting the priority of multiple positioning modes based on the satellite signal strength and / or a preset driving distance to obtain a priority order includes: When the satellite signal strength is greater than or equal to a preset strength, the priority of the first positioning mode is determined to be higher than the priority of the second positioning mode, thus obtaining the first priority order; When the satellite signal strength is less than a preset strength and the travel distance of the target device is greater than or equal to the preset travel distance, the priority of the first positioning mode is determined to be higher than the priority of the second positioning mode, thus obtaining the first priority order; When the satellite signal strength is less than a preset strength and the travel distance of the target device is less than the preset travel distance, the priority of the second positioning mode is determined to be higher than the priority of the first positioning mode, thus obtaining the second priority order.

5. The method according to claim 4, characterized in that, Determining the target positioning mode of the target device according to the priority order includes: When the priority order is the first priority order, the target positioning mode is determined to be the first positioning mode; When the priority order is the second priority order, the target positioning mode is determined to be the second positioning mode.

6. The method according to any one of claims 1-5, characterized in that, According to the target positioning mode, the coordinates of the boundary points of the target lawn area are obtained and recorded, including: When the target positioning mode is the first positioning mode, acquire satellite signals; The coordinates of the boundary point are determined based on the satellite signal.

7. The method according to any one of claims 1-5, characterized in that, The step of obtaining and recording the boundary point coordinates of the target lawn area according to the target positioning mode includes: When the target positioning mode is the second positioning mode, the pose data of the target device is determined according to the sensor and / or controller of the target device; The coordinates of the boundary point are determined based on the pose data.

8. An apparatus for constructing a boundary map, characterized in that, include: The determination unit is used to determine the satellite signal strength as the target device moves. The correction unit is used to correct the priority of multiple positioning modes according to the satellite signal strength and / or the preset driving distance to obtain a priority order. The multiple positioning modes are all positioning modes corresponding to the target device. The multiple positioning modes include a first positioning mode and a second positioning mode. The preset driving distance is the distance traveled by the target device in the second positioning mode. The determining unit is further configured to determine the target positioning mode of the target device according to the priority order; The positioning unit is used to acquire and record the boundary point coordinates of the target lawn area according to the target positioning mode, and the boundary point coordinates are used to construct a work area map.

9. An electronic device, characterized in that, The method includes a processor, a memory, a communication interface, and one or more programs, said one or more programs being stored in the memory and configured to be executed by the processor, said programs including instructions for performing the steps of the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, A computer program for storing electronic data interchange is provided, wherein the computer program causes a computer to execute instructions for the steps of the method as described in any one of claims 1-7.

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