Multi-region mapping method and apparatus, and related device

Abstract

A multi-region mapping method and apparatus, and a related device, the method comprising: an autonomous mobile machine moves from a starting position through a plurality of regions, thereby obtaining coordinates corresponding to traversed positions and coordinates corresponding to each of the plurality of regions; establishes a movement path on the basis of the coordinates corresponding to the traversed positions; and the autonomous mobile machine moves according to the movement path, and, when passing the coordinates corresponding to each region, constructs a map corresponding to the region. By implementing the present mapping method, a user can first control the autonomous mobile machine to pass through a plurality of regions, and then the autonomous mobile machine autonomously moves along the movement path and completes construction of the maps respectively corresponding to the plurality of regions while moving, thereby shortening the waiting time of the user.

Description

A multi-region mapping method, apparatus, and related equipment

[0001] This application claims priority to Chinese Patent Application No. 202411813623.0, filed on December 10, 2024, entitled "A Multi-Region Mapping Method, Apparatus and Related Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of mobile robot mapping and exploration technology, and in particular to a multi-region mapping method, apparatus and related equipment. Background Technology

[0003] Existing multi-region mapping methods mainly involve the user controlling an autonomous mobile machine (including robotic vacuum cleaners and automatic lawnmowers) to move to a certain region. Once the autonomous mobile machine completes the map construction of that region based on calibration parameters, the user then controls the autonomous mobile machine to move to the next region. The autonomous mobile machine then completes the connection path between the two regions and the map construction of the new region based on the calibration parameters. This process is repeated until the user controls the autonomous mobile machine to move to all regions. For example, if a user wants to create a map of lawns A, B, and C within an automatic lawnmower, the user can first control the lawnmower to move to lawn A. Once the lawnmower has completed map creation for lawn A, it can then move to lawn B, creating a map of the connecting paths between lawns A and B. After completing map creation for lawn B, the user can then control the lawnmower to move to lawn C, creating a map of the connecting paths between lawns B and C. Finally, once the lawnmower has completed map creation for lawn C, the user has completed the creation of the map information for lawns A, B, and C within the automatic lawnmower.

[0004] In existing multi-region mapping methods, users need to wait for the autonomous mobile machine to complete map construction for region A before moving to region B. Then, the user must wait again for the autonomous mobile machine to complete map construction for region B before moving to the new region. Therefore, when the number of regions requiring map construction is large, the user's waiting time will be considerable. Summary of the Invention

[0005] This application provides a multi-region mapping method, apparatus, and related equipment, which allows users to first control an autonomous mobile machine to move from a starting position through multiple regions, and then the autonomous mobile machine moves along the movement path autonomously, completing the construction of maps corresponding to each of the multiple regions during the movement, thereby shortening the user's waiting time.

[0006] In a first aspect, this application provides a multi-region mapping method, the method comprising: an autonomous mobile machine moving from a starting position through multiple regions to obtain multiple first coordinates and multiple second coordinates, wherein the multiple first coordinates are coordinates corresponding to various positions passed by the autonomous mobile machine during the movement, and the positions corresponding to the second coordinates are located within the regions, and the multiple first coordinates include multiple second coordinates; the autonomous mobile machine establishing a movement path based on the multiple first coordinates and autonomously moving along the movement path to obtain multiple maps, wherein each of the multiple maps is obtained by the autonomous mobile machine constructing a map when it moves to the second coordinate corresponding to the region where the map is located.

[0007] In one possible implementation of the first aspect, the method further includes: the autonomous mobile machine determining a connectivity path between multiple maps based on the movement path and multiple maps.

[0008] In one possible implementation of the first aspect, the autonomous mobile machine determines a connecting path between multiple maps based on a movement path and multiple maps, including: the autonomous mobile machine determines multiple intersections between the movement path and the multiple maps; and extracts a path between a first intersection and a second intersection from the movement path as a connecting path between the map where the first intersection is located and the map where the second intersection is located, wherein the first intersection and the second intersection are two intersections located on different maps among the multiple intersections, and the first intersection and the second intersection are adjacent.

[0009] In one possible implementation of the first aspect, the method further includes: the autonomous mobile machine determining whether the starting position is located within multiple maps; if the starting position is not located within multiple maps, extracting the path between the starting position and a third intersection point from the movement path as a connected path to the multiple maps, wherein the third intersection point is the first intersection point between the movement path and the multiple maps.

[0010] In one possible implementation of the first aspect, the autonomous mobile machine moves along a movement path to obtain multiple maps, including: the autonomous mobile machine moves along the movement path autonomously, and during the movement, at each second coordinate, it moves autonomously within the area corresponding to the second coordinate and collects environmental information within the area, and constructs a map of the area corresponding to the second coordinate based on the environmental information, and after the map is constructed, it returns to the movement path and continues to move along the movement path.

[0011] In one possible implementation of the first aspect, obtaining multiple first coordinates includes: during the movement of the autonomous mobile machine from its starting position through multiple areas, positioning the autonomous mobile machine to obtain multiple first coordinates, wherein the positioning includes one or more of real-time dynamic RTK positioning, visual positioning, and radar positioning.

[0012] In one possible implementation of the first aspect, obtaining multiple second coordinates includes: during the movement of the autonomous mobile machine from its starting position through multiple areas, the autonomous mobile machine receives a first instruction and, in response to the first instruction, determines the coordinates corresponding to its current position as second coordinates, thereby obtaining multiple second coordinates. The first instruction is used to instruct the autonomous mobile machine to determine the coordinates corresponding to its current position as second coordinates.

[0013] In one possible implementation of the first aspect, during the movement of the autonomous mobile machine from its starting position through multiple areas, after determining a second coordinate, the autonomous mobile machine also acquires environmental information around the second coordinate and constructs a local map at the second coordinate based on the environmental information, thereby acquiring local maps corresponding to multiple second coordinates; during the autonomous movement of the autonomous mobile machine along the movement path, before constructing a map at a second coordinate, the autonomous mobile machine also acquires environmental information around the second coordinate and matches the environmental information with the local map corresponding to the second coordinate, thereby correcting the current position of the autonomous mobile machine.

[0014] In one possible implementation of the first aspect, the autonomous mobile machine moves from a starting position through multiple areas, including: the autonomous mobile machine receiving a movement command sent by a remote control device, the movement command indicating that the machine is moving through multiple areas; and the autonomous mobile machine moving from the starting position through multiple areas based on the movement command.

[0015] Secondly, this application provides a multi-region mapping device, comprising: a first moving module, configured to control the multi-region mapping device to move from a starting position through multiple regions to obtain multiple first coordinates and multiple second coordinates, wherein the multiple first coordinates are coordinates corresponding to various positions passed by the multi-region mapping device during the movement, and the positions corresponding to the second coordinates are located within the regions, and the multiple first coordinates include multiple second coordinates; and a second moving module, configured to establish a moving path based on the multiple first coordinates and control the multi-region mapping device to move along the moving path to obtain multiple maps, wherein each of the multiple maps is obtained by the multi-region mapping device constructing a map when it moves to the second coordinate corresponding to the region where the map is located.

[0016] In one possible implementation of the second aspect, the apparatus further includes a map path module for determining a connectivity path between multiple maps based on the movement path and multiple maps.

[0017] In one possible implementation of the second aspect, the map path module is specifically used to: determine multiple intersections between the movement path and multiple maps; extract the path between the first intersection and the second intersection from the movement path as a connecting path between the map where the first intersection is located and the map where the second intersection is located, wherein the first intersection and the second intersection are two intersections located on different maps among the multiple intersections, and the first intersection and the second intersection are adjacent.

[0018] In one possible implementation of the second aspect, the map path module is further configured to: determine whether the starting position is located within multiple maps; if the starting position is not located within multiple maps, extract the path between the starting position and the third intersection point from the movement path as a connected path to the multiple maps, wherein the third intersection point is the first intersection point between the movement path and the multiple maps.

[0019] In one possible implementation of the second aspect, the second moving module is specifically used to: control the multi-region mapping device to move along the moving path; during the movement, at each second coordinate, autonomously move within the area corresponding to the second coordinate and collect environmental information within the area, and construct a map of the area corresponding to the second coordinate based on the environmental information; after the map is constructed, return to the moving path and continue moving along the moving path.

[0020] In one possible implementation of the second aspect, the first moving module is specifically used to: locate the multi-region mapping device during the process of the multi-region mapping device moving from the starting position through multiple regions, thereby obtaining multiple first coordinates, wherein the location positioning includes one or more of real-time dynamic RTK positioning, visual positioning, and radar positioning.

[0021] In one possible implementation of the second aspect, the first moving module is specifically used to: during the movement of the multi-region mapping device from the starting position through multiple regions, the first moving module receives a first instruction and, in response to the first instruction, determines the coordinates corresponding to the current position as second coordinates, thereby obtaining multiple second coordinates. The first instruction is used to instruct the first moving module to determine the coordinates corresponding to the current position as second coordinates.

[0022] In one possible implementation of the second aspect, during the movement of the multi-region mapping device from its starting position through multiple regions, after determining a second coordinate, the first moving module also acquires environmental information around the second coordinate and constructs a local map at the second coordinate based on the environmental information, thereby acquiring local maps corresponding to each of the multiple second coordinates; during the movement of the multi-region mapping device along the moving path, before the multi-region mapping device moves to a second coordinate and constructs a map, the second moving module is also used to acquire environmental information around the second coordinate and match the environmental information with the local map corresponding to the second coordinate, thereby correcting the current position of the multi-region mapping device.

[0023] In one possible implementation of the second aspect, the first moving module is specifically used to: receive moving instructions sent by the remote control device, the moving instructions being used to indicate moving through multiple areas; and control the multi-area mapping device to move from the starting position through multiple areas based on the moving instructions.

[0024] Thirdly, this application provides an electronic device, which includes a memory and a processor. The memory stores computer program instructions, and the processor executes the computer program instructions to enable an autonomous mobile machine equipped with the electronic device to implement the methods described in the first aspect and any possible implementation thereof.

[0025] Fourthly, this application provides an autonomous mobile machine, which includes the electronic equipment described in the third aspect.

[0026] Fifthly, this application provides an automatic lawnmower that includes the electronic equipment described in the third aspect.

[0027] In a sixth aspect, this application provides a computer program product containing instructions, which is a software or program product containing instructions capable of running on a computing device or stored in any available medium, and which, when run on at least one electronic device, causes the at least one electronic device to perform the methods as described in the first aspect and any possible implementation thereof.

[0028] In a seventh aspect, this application provides a computer-readable storage medium including computer instructions that, when executed by a processor, implement the method as described in the first aspect and any possible implementation thereof.

[0029] Based on the implementation methods provided in the above aspects, this application can be further combined to provide more implementation methods. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 is a schematic diagram of a multi-region mapping method provided in this application;

[0032] Figure 2 is a schematic diagram of the route of an autonomous mobile machine passing through multiple areas provided in this application;

[0033] Figure 3 is a schematic diagram of the route of another autonomous mobile machine provided in this application through multiple areas;

[0034] Figure 4 is a schematic diagram illustrating the relationship between a travel route and multiple maps provided in this application;

[0035] Figure 5 is an architectural diagram of an apparatus including a confirmation keyframe provided in this application;

[0036] Figure 6 is a schematic diagram of the structure of an electronic device provided in this application;

[0037] Figure 7 is a structural schematic diagram of an automatic lawnmower provided in this application. Detailed Implementation

[0038] The technical solutions involved in this application will be clearly and completely described below with reference to the accompanying drawings. The embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0039] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the term "comprising," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such processes, methods, products, or apparatus.

[0040] It should be noted that the terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms "a," "the," and "the" in this application are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0041] Multi-region mapping refers to the process of constructing maps for multiple different regions using traditional surveying techniques, remote sensing technology, geographic information system technology, or modern positioning and sensor technology. Its main function is navigation and positioning, enabling autonomous mobile machines not only to move freely within each region but also to switch or transition between different regions. For example, in a smart home environment, a robotic vacuum cleaner constructs maps of multiple rooms, including the living room, bedroom, kitchen, and bathroom. After cleaning the living room based on the map information, the robot can accurately move to the bedroom, kitchen, or bathroom to continue cleaning, until all rooms are cleaned. Similarly, in a lawn mowing environment, an automatic lawnmower constructs maps of multiple lawns, including lawn A, lawn B, and lawn C. After mowing lawn A based on the map information, the automatic lawnmower can accurately move to lawn B or lawn C to continue mowing, until all lawns are mowed.

[0042] In existing multi-region mapping methods, users need to wait for the autonomous mobile machine to complete the map construction of region A before controlling the autonomous mobile machine to move to region B. At this point, users need to wait for the autonomous mobile machine to complete the map construction of region B before controlling the autonomous mobile machine to move to the new region, resulting in a long waiting time for users.

[0043] To address the issue of long user waiting times in current multi-region mapping methods, this application provides a multi-region mapping method, apparatus, and related equipment. The multi-region mapping method includes: an autonomous mobile machine starting from a starting position and moving through multiple regions; during the movement, the autonomous mobile machine acquires the coordinates of each position it passes through, and determines the coordinates of each region within the multiple regions; the autonomous mobile machine constructs a movement path based on the coordinates of each position and moves autonomously according to the movement path, constructing a map for each region as it passes through its coordinates. By implementing this method, users can first control the autonomous mobile machine to traverse multiple regions, and then the machine autonomously moves along the movement path, completing the construction of maps for each region during the movement, thereby shortening the user's waiting time.

[0044] The multi-region mapping method provided in this application will be described below with reference to Figure 1. Referring to Figure 1, which is a schematic diagram of a multi-region mapping method provided in this application, the multi-region mapping method includes:

[0045] S101: The autonomous mobile machine moves from its starting position through multiple areas, thereby obtaining multiple first coordinates and multiple second coordinates.

[0046] The aforementioned autonomous mobile machines are a type of machine equipment that can move autonomously in the work area and perform corresponding tasks without the need for additional user operation. Specifically, they can be robotic vacuum cleaners or automatic lawn mowers, etc. For a detailed description of autonomous mobile machines, please refer to Figure 5 below.

[0047] The first coordinate mentioned above is the coordinate corresponding to each position traversed by the autonomous mobile machine. That is, the autonomous mobile machine establishes a coordinate system on the plane where multiple regions are located, and each position in multiple regions can uniquely correspond to a coordinate on the coordinate system.

[0048] This means that the coordinate system described above can be created autonomously by a mobile machine or manually.

[0049] Autonomous mobile machines can create a coordinate system for their environment using various sensors. For example, an autonomous mobile machine can use a lidar system to emit laser beams and receive reflected light to construct a point cloud map of its surroundings. By analyzing the feature points in the point cloud map, it can determine its own position relative to these feature points and thus establish a coordinate system for the area. Alternatively, an autonomous mobile machine can use a camera to identify and analyze landmarks or features in the environment, and then combine this with visual algorithms to correlate its own position, thereby completing the establishment of a coordinate system.

[0050] Manually creating a coordinate system allows workers to directly set the coordinates of their area within the system of an autonomous moving machine. For example, when using an automatic lawnmower to mow a lawn, workers can pre-set landmarks or features within the lawn area, and then set the coordinates of these landmarks or features in the area's coordinate system to the automatic lawnmower's system. The automatic lawnmower uses sensors to identify these landmarks and features, thereby achieving positioning and movement. Similarly, when using a sweeper to clean, workers can set the coordinates of key locations (areas that require frequent cleaning) within the room to the sweeper's system, allowing the sweeper to position and move based on these preset coordinates.

[0051] The aforementioned second coordinate can be the coordinates of key points on the boundary of a region when defining it. For example, when the region is a polygon, the second coordinate can be the coordinates of each vertex of the polygon. For instance, taking a rectangular region as an example, since a rectangle has four vertices, the second coordinate corresponding to the rectangular region can be the coordinates of the four vertices of the rectangular region. In some other application scenarios, the second coordinate can also be the coordinate corresponding to any point within a region when defining it. For example, when the region is a circular region, the second coordinate can be the coordinate corresponding to the center point of the circular region. It should be noted that a region can correspond to one or more second coordinates, and the appropriate selection should be made according to the actual application scenario. For ease of explanation, the following content will use one region corresponding to one second coordinate as an example.

[0052] It should be understood here that, due to the establishment of the above coordinate system, the second coordinates corresponding to each of the multiple regions can also be uniquely identified by coordinates. Furthermore, since the first coordinates are the coordinates corresponding to each position when the autonomous mobile machine passes through multiple regions, and the second coordinates are the coordinates corresponding to each of the multiple regions passed through by the autonomous mobile machine, it can also be deduced that multiple first coordinates contain multiple second coordinates.

[0053] The aforementioned starting position is the starting point of the autonomous mobile machine, which is usually the charging station or transfer station of the autonomous mobile machine. For example, when the autonomous mobile machine is a robot vacuum cleaner or an automatic lawnmower, the starting position can be the charging station of the robot vacuum cleaner; when the autonomous mobile machine is a cargo handling robot, the starting position can be the loading and unloading area; when the autonomous mobile machine is a pathfinding robot, the starting position is the position where the pathfinding robot begins to move.

[0054] The autonomous mobile machine moves from its starting position through multiple areas, thereby obtaining multiple first coordinates and multiple second coordinates. The specific steps include: a user sending a movement command to the autonomous mobile machine via a remote control device, controlling the machine to move through multiple areas and establishing coordinate systems corresponding to the multiple areas based on the starting position; the autonomous mobile machine performing position positioning at each location during the movement, obtaining multiple first coordinates; during the movement, when the autonomous mobile machine passes a certain location within an area, the user sending a first command to the machine via the remote control device, and the autonomous mobile machine determining the coordinates corresponding to the current location as second coordinates based on the first command, thus obtaining multiple second coordinates.

[0055] The aforementioned first instruction is an instruction issued by the user's remote control device, used to indicate that the first coordinates corresponding to the current position are the second coordinates. Furthermore, the user can send the first instruction to the autonomous mobile machine when the autonomous mobile machine moves to any position in the area.

[0056] Optionally, to facilitate user operation, when the user needs to create maps corresponding to multiple areas in the autonomous mobile machine, the software in the aforementioned remote control device can also prompt the user to move the autonomous mobile machine through multiple areas via text, audio, and images, and prompt the user to select any location in each area to mark (send the first command). Based on the above prompts, the user can remotely control the autonomous mobile machine to move through multiple areas in real time and mark the second coordinates corresponding to the multiple areas. The method by which the user sends movement commands and the first command to the autonomous mobile machine through the remote control device can be wired or wireless. Wired methods include Ethernet, Universal Serial Bus (USB) connection, serial communication, etc.; wireless methods include Wireless Fidelity (Wi-Fi), Bluetooth, wireless sensor networks, etc. This application does not limit the specific method by which the user sends commands to the autonomous mobile machine through the remote control device.

[0057] The aforementioned location positioning includes Real-Time Kinematic (RTK) positioning, visual positioning, and radar positioning. RTK positioning is a positioning technology based on a satellite navigation positioning system. It corrects the positioning error of the mobile station by real-time data communication between a base station and a rover station, combined with carrier phase observations. Here, the location of the base station can be the starting position in this application, and the mobile station can be an autonomous mobile machine. Visual positioning is a technology that uses computer vision to determine its location. It acquires environmental information of the surrounding environment through image sensors such as cameras or webcams, and calculates its position relative to the target coordinate system based on image feature extraction and matching algorithms. Radar positioning is a technology that uses the reflection of radar waves to determine the position of a target object. It transmits electromagnetic waves, which are reflected when they encounter the target object. The radar receives the reflected waves and determines the position of the target object based on the time difference and phase changes between the transmitted and reflected waves. Since the position is relative, the location of the target object can be used as the origin to determine its own position based on radar positioning.

[0058] It should be understood here that since the autonomous mobile machine itself does not know the location of the multiple areas that need to be mapped, the user needs to control the autonomous mobile machine to move through multiple areas through a remote control device. When passing through each area, the user sends a first command to the autonomous mobile machine through the remote control device. The autonomous mobile machine marks the current position as the second coordinate corresponding to the area where the current position is located according to the first command.

[0059] Optionally, after receiving the first instruction and determining the second coordinates, the autonomous mobile machine will also collect environmental information about the surrounding environment at the location of the second coordinates and build a local map at the second coordinates based on this environmental information.

[0060] The aforementioned partial map is not the map corresponding to the area where the second coordinate is located, but only a map of a small area around the second coordinate. It is used to perform position matching when the autonomous mobile machine moves to the location of the second coordinate again, thereby reducing the error caused by the autonomous mobile machine each time due to position offset.

[0061] Referring to Figure 2, which is a schematic diagram of the route of an autonomous mobile machine passing through multiple areas according to this application, the multiple areas include area A, area B, and area C. Area A includes the starting position of the autonomous mobile machine, a second coordinate A, and a local map corresponding to the second coordinate A, where the second coordinate A is the second coordinate corresponding to area A. Area B includes the second coordinate B and a local map corresponding to the second coordinate B, where the second coordinate B is the second coordinate corresponding to area B. Area C includes the ending position of the autonomous mobile machine, a second coordinate C, and a local map corresponding to the second coordinate C, where the second coordinate C is the second coordinate corresponding to area C.

[0062] As shown in Figure 2, the autonomous mobile machine moves from its starting position through multiple areas. During the movement, the process of acquiring multiple first coordinates and determining multiple second coordinates includes: the user sends a movement command to the autonomous mobile machine through a remote control device, and the autonomous mobile machine responds to the movement command and begins to move; (1) the user controls the autonomous mobile machine to move to a certain position in area A (represented in Figure 2 as the position corresponding to the second coordinate A). At this time, the user sends a first command to the autonomous mobile machine through a remote control device, indicating that the current position is the second coordinate corresponding to area A. The autonomous mobile machine responds to the first command, marks the coordinates corresponding to the current position, and establishes a local map at the current position; (2) the user controls the autonomous mobile machine to move to a certain position in area B (represented in Figure 2 as the position corresponding to the second coordinate A). Figure 2 shows the position corresponding to the second coordinate B. At this time, the user sends a first command to the autonomous mobile machine through the remote control device, indicating that the current position is the second coordinate corresponding to area B. The autonomous mobile machine responds to the first command, marks the coordinate corresponding to the current position, and establishes a local map at the current position. (3) The user controls the autonomous mobile machine to move to a certain position in area C (in Figure 2, the position corresponding to the second coordinate C). At this time, the user sends a first command to the autonomous mobile machine through the remote control device, indicating that the current position is the second coordinate corresponding to area C. The autonomous mobile machine responds to the first command, marks the coordinate corresponding to the current position, and establishes a local map at the current position. (4) The user controls the autonomous mobile machine to move to the destination position.

[0063] It should be understood here that Figure 2 is merely an example provided in this application and should not be regarded as a specific limitation. For example, in Figure 2, the position of the second coordinate A can be any position in region A, the position of the second coordinate B can be any position in region B, and the position of the second coordinate C can be any position in region C.

[0064] S102: The autonomous mobile machine establishes a movement path based on multiple first coordinates and moves autonomously along the movement path to obtain multiple maps.

[0065] The above-mentioned movement path is the route taken by the autonomous mobile machine when the user controls the autonomous mobile machine to pass through multiple areas.

[0066] The autonomous mobile machine establishes a movement path based on multiple first coordinates, specifically including: the autonomous mobile machine determines the movement path based on multiple first coordinates and a first algorithm.

[0067] The aforementioned first algorithm includes methods such as the line-connection method and the curve-fitting method. The line-connection method directly connects adjacent first coordinates sequentially to form a broken line, which represents the movement path of the autonomous mobile machine. The curve-fitting method uses mathematical functions to fit multiple first coordinate points, obtaining a smooth curve to approximate the movement path of the autonomous mobile machine. It should be understood that the method by which the autonomous mobile machine establishes its movement path based on multiple first coordinates should be appropriately selected according to the specific application scenario. This application does not limit the method by which the autonomous mobile machine establishes its movement path based on multiple first coordinates.

[0068] The autonomous mobile machine moves along a path, generating multiple maps. Specifically, the machine begins its movement along the path, acquiring the coordinates of each location it passes. When the coordinates of the current location match one of several second coordinates, the machine uses that current location as its starting point to create a map of the area containing that second coordinate. The size of the map is related to the size of the area containing that second coordinate. After creating the map, the machine continues moving along the path until it has completed its journey. It should be understood that the autonomous mobile machine's movement along the path can begin from either a starting point to an ending point, or vice versa.

[0069] The creation of the above map includes:

[0070] (1) Autonomous mobile machines use various sensors (e.g., lidar and cameras) to collect environmental information within the area.

[0071] (2) The autonomous mobile machine processes different types of data collected by various sensors (e.g., distance data from lidar and image data from cameras) and converts the different types of data into a unified coordinate system.

[0072] (3) Based on the converted results, the autonomous mobile machine extracts elements that can represent the environmental characteristics of the area from different types of data (for example, extracting the outline of objects through lidar data and identifying specific signs through camera images). Based on these features, it uses the corresponding map building algorithm to integrate the environmental information in the area and finally builds a map that covers the environmental information.

[0073] Optionally, when the autonomous mobile machine first passes the second coordinate and establishes a local map corresponding to that coordinate, it moves along its path. If the coordinates of its current location match the second coordinate, the machine also collects environmental information about its surroundings and matches this information with the local map at the second coordinate to calibrate its current position. It should be understood that since the local map is established based on the surrounding environmental information when the machine first moves to the second coordinate, when it returns to the second coordinate, matching the collected environmental information with the local map helps determine if there are any errors in its current position, thus improving the accuracy of multi-region mapping.

[0074] Referring to Figure 3, which is a schematic diagram of another autonomous mobile machine's route through multiple areas provided in this application, the multiple areas include area A, area B, and area C. Area A includes the starting position of the autonomous mobile machine, the second coordinate A, and the map corresponding to area A, where the second coordinate A is the second coordinate corresponding to area A. Area B includes the second coordinate B and the map corresponding to area B, where the second coordinate B is the second coordinate corresponding to area B. Area C includes the ending position of the autonomous mobile machine, the second coordinate C, and the map corresponding to area C, where the second coordinate C is the second coordinate corresponding to area C.

[0075] As shown in Figure 3, the autonomous mobile machine moves autonomously according to the movement path. When it moves to the second coordinate, the process of constructing a map of the area where the second coordinate is located includes: the autonomous mobile machine establishes a movement path based on multiple first coordinates, and moves from the end position to the starting position according to the movement path; (1) the autonomous mobile machine moves along the movement path to the second coordinate C, determines the second coordinate C as the second coordinate, and the autonomous mobile machine takes the position corresponding to the second coordinate C as the starting point, moves to collect nearby environmental information (environmental information in area C), and constructs a map corresponding to the area where the second coordinate C is located (area C) according to the collected environmental information; (2) the autonomous mobile machine moves along the movement path to the second coordinate C. (2) At point B, the second coordinate B is determined as the second coordinate. The autonomous mobile machine moves to collect nearby environmental information (environmental information in area B) from the position corresponding to the second coordinate B as the starting point, and constructs a map corresponding to the area where the second coordinate B is located (area B) based on the collected environmental information; (3) The autonomous mobile machine moves to the second coordinate A along the moving path, determines the second coordinate A as the second coordinate, and moves to collect nearby environmental information (environmental information in area A) from the position corresponding to the second coordinate A as the starting point, and constructs a map corresponding to the area where the second coordinate A is located (area A) based on the collected environmental information; (4) The autonomous mobile machine moves to the starting position along the moving path.

[0076] It should be understood here that Figure 3 is merely an example provided in this application in relation to Figure 2 and should not be regarded as a specific limitation.

[0077] S103: The autonomous mobile machine determines the connection path between multiple maps based on the movement path and multiple maps.

[0078] The above-mentioned maps are maps corresponding to multiple regions. It can be understood that after S102, the autonomous mobile machine has established maps corresponding to multiple regions.

[0079] The connecting paths between the aforementioned multiple maps are routes between different maps. These are paths that allow the autonomous mobile machine to move outside of multiple areas, enabling the autonomous mobile machine to move between different areas based on the connecting paths.

[0080] The autonomous mobile machine determines the connecting path between multiple maps based on the movement path and multiple maps. The specific steps include: the autonomous mobile machine determines multiple intersection points between the movement path and multiple maps; the path between the first intersection point and the second intersection point is extracted from the movement path as the connecting path between the map where the first intersection point is located and the map where the second intersection point is located, wherein the first intersection point and the second intersection point are two intersection points located on different maps among the multiple intersection points, and the first intersection point and the second intersection point are adjacent.

[0081] Optionally, the autonomous mobile machine may also determine whether the starting position is outside of multiple maps; if the starting position is determined to be outside of multiple maps, the path between the starting position and the third intersection point is extracted from the movement path as a connecting path to the multiple maps, wherein the third intersection point is the first intersection point between the movement path and the multiple maps.

[0082] This explains that since the starting position can exist within or outside of multiple maps, when the starting position is outside of multiple maps, it is necessary to establish additional connecting paths from the starting position to multiple maps.

[0083] Referring to Figure 4, which is a schematic diagram of the relationship between a mobile route and multiple maps provided in this application, the multiple areas include a map corresponding to area A, a map corresponding to area B, a map corresponding to area C, and the starting position of the autonomous mobile machine. The map corresponding to area A includes intersection point 1, second coordinate A, and intersection point 2, where second coordinate A is the second coordinate corresponding to area A; the map corresponding to area B includes intersection point 3, second coordinate B, and intersection point 4, where second coordinate B is the second coordinate corresponding to area B; the map corresponding to area C includes intersection point 5, second coordinate C, and the ending position of the autonomous mobile machine, where second coordinate C is the second coordinate corresponding to area C.

[0084] As shown in Figure 4, the process by which the autonomous mobile machine determines the connecting path between multiple maps based on the movement path and multiple maps includes: (1) The autonomous mobile machine obtains the intersection points (including intersection points 1 and 2) between the movement path and the map corresponding to region A; obtains the intersection points (including intersection points 3 and 4) between the movement path and the map corresponding to region B; obtains the intersection points (including intersection point 5) between the movement path and the map corresponding to region C; (2) The autonomous mobile machine extracts the path between intersection point 2 and intersection point 3 from the movement path as the connecting path between the map corresponding to region A and the map corresponding to region B; extracts the path between intersection point 4 and intersection point 5 from the movement path as the connecting path between the map corresponding to region B and the map corresponding to region C; (3) The autonomous mobile machine determines that the starting position is outside the maps corresponding to multiple regions, and extracts the path between the starting position and intersection point 1 from the movement path as the connecting path for the starting position to enter the map corresponding to region A.

[0085] It should be understood here that Figure 4 is merely an example provided in this application with respect to Figures 2 and 3, and should not be regarded as a specific limitation.

[0086] In summary, this application provides a multi-region mapping method, which includes: controlling an autonomous mobile machine to move from a starting position through multiple regions; during the movement, the autonomous mobile machine acquires the coordinates corresponding to each position it passes through, and determines the coordinates corresponding to each region within the multiple regions; after the movement is completed, the autonomous mobile machine constructs a movement path based on the coordinates corresponding to each position, and autonomously moves back to the starting position according to the movement path, constructing a map corresponding to each region as it passes through the coordinates corresponding to each region. By implementing this method, users can first control the autonomous mobile machine to traverse multiple regions, and then the autonomous mobile machine moves along the movement path autonomously, completing the construction of maps corresponding to each region and connecting paths between the multiple regions during the movement, thereby shortening the user's waiting time.

[0087] Referring to Figure 5, which is an architecture diagram of a device for confirming keyframes provided in this application, the autonomous mobile machine 500 includes a multi-region mapping device 510 and a mobile device 520. The mobile device 520 is used to acquire the current frame and send the scanning position and scanning angle range corresponding to the current frame to the multi-region mapping device 510. The multi-region mapping device 510 is used to determine whether the current frame is a keyframe based on the scanning position and scanning angle range corresponding to the current frame.

[0088] The multi-region mapping device 510 and mobile device 520 can be deployed on computing devices, including virtual machines, containers, or servers. A virtual machine is a virtualization technology implemented at the computer software level, enabling a single physical computer to create multiple virtual operating systems and application environments, each capable of running its own operating system and applications independently. A container is a lightweight software packaging method used to package an application and its application environment, allowing the application to run in the same way in different environments. Unlike virtual machines, containers do not contain a complete operating system but share the operating system of the physical computer they reside on, making them more lightweight. A server is a general-purpose physical server, including ARM servers or x86 servers.

[0089] The multi-region mapping device 510 and mobile device 520 can also be deployed on terminal devices, including computer terminal devices, mobile terminal devices, and network terminal devices. Among them, computer terminal devices include personal computers, laptops, and tablets; mobile terminal devices include smartphones, smartwatches, and portable music players; and network terminal devices include routers, switches, and modems.

[0090] The multi-region mapping device 510 can be further divided into multiple unit modules, as shown in Figure 5. The multi-region mapping device 510 also includes a first mobile module 501, a second mobile module 502, and a map path module 503. It should be understood that the number and names of the unit modules included in the multi-region mapping device 510 in Figure 5 are merely examples provided in this application. The multi-region mapping device 510 may include more or fewer unit modules, and the names of the unit modules are not limited to those in Figure 5. For example, the multi-region mapping device 510 may also include an environmental information acquisition module. This module acquires environmental information around the current location of the autonomous mobile machine 500, sends the acquired environmental information to the second mobile module 502, and sends the calculated results to the map path module 503. The first mobile module 501 and the second mobile module 502 in Figure 5 can be combined into a single mobile unit. The above examples are for illustrative purposes only and should not be considered as specific limitations.

[0091] The first movement module 501, the second movement module 502, and the map path module 503 mentioned above can be implemented by software or by hardware. The software and hardware implementation methods of the first movement module 501 will be introduced below. The software and hardware implementation methods of the second movement module 502 and the map path module 503 can be referred to the software and hardware implementation methods of the first movement module 501.

[0092] When the first mobile module 501 is implemented by software, the first mobile module 501 can be code running on the aforementioned computing device or terminal device, that is, the first mobile module 501 can be code running on a personal computer, smartphone or server, and the number of computing devices or terminal devices can be one or more, that is, the first mobile module 501 can also be code running on a cluster of computing devices.

[0093] When the first mobile module 501 is implemented in hardware, it can be implemented by at least one computing device or terminal device. Alternatively, the first mobile module 501 can also be implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), wherein the PLD includes one or more of complex programmable logic devices (CPLD), field-programmable gate arrays (FPGA), and generic array logic (GAL).

[0094] The following description uses an autonomous mobile machine 500 as an automatic lawnmower and multiple areas as multiple lawns as an example to illustrate the functions of the first mobile module 501, the second mobile module 502, and the map path module 503 in the multi-area mapping device 510. The aforementioned automatic lawnmower includes a cutting device, a control device 710, a moving device 520, and a scanning device 720. The moving device 520 drives the automatic lawnmower to move within the work area. The cutting device, located at the bottom of the lawnmower (not shown in Figure 7), cuts the grass. The control device 710 controls the automatic lawnmower to execute corresponding commands and performs operations. The control device 710 includes the aforementioned multi-area mapping device 510. The scanning device 720 acquires environmental information about the work area.

[0095] The first moving module 501 is used to control the automatic lawnmower to move from the starting position through multiple lawns, thereby obtaining multiple first coordinates and multiple second coordinates.

[0096] The first moving module 501 can be used to execute S101 in Figure 1 above.

[0097] For a description of the first coordinate, the second coordinate, and the starting position, please refer to the relevant content at S101 in Figure 1 above. This application will not elaborate further here.

[0098] The first moving module 501 controls the automatic lawnmower to move from its starting position through multiple lawns, thereby obtaining multiple first coordinates and multiple second coordinates. Specifically, the user sends a movement command to the automatic lawnmower via a remote control device. The first moving module 501 in the multi-area mapping device 510 receives the movement command and drives the moving device 520 to make the automatic lawnmower move through multiple lawns. During the movement, the first moving module 501 establishes a coordinate system corresponding to multiple lawns based on the starting position, performs position positioning at each position during the movement, and obtains multiple first coordinates. When the automatic lawnmower passes through a certain position in the lawn, the user sends a first command to the automatic lawnmower. The automatic lawnmower determines the coordinates corresponding to the current position as the second coordinates according to the first command, thereby obtaining multiple second coordinates.

[0099] The user can send movement commands and the first command to the automatic lawnmower via a remote control device in a wired or wireless manner. Wired methods include Ethernet, USB connection, serial communication, etc.; wireless methods include Wi-Fi, Bluetooth, wireless sensor networks, etc. This application does not limit the specific method by which the user sends commands to the autonomous mobile machine 500 via a remote control device.

[0100] The aforementioned location positioning includes RTK positioning, visual positioning, and radar positioning. For a description of RTK positioning, visual positioning, and radar positioning, please refer to the relevant content at S101 in Figure 1 above. This application will not elaborate further here.

[0101] The aforementioned first instruction is an instruction issued by the user's terminal, used to instruct the first moving module 501 to mark the first coordinate corresponding to the current position of the automatic lawnmower as the second coordinate.

[0102] Optionally, after receiving the first instruction and determining the second coordinates, the first moving module 501 will also collect environmental information around the location of the second coordinates and build a local map of the second coordinates based on this environmental information.

[0103] The aforementioned partial map is not the map corresponding to the lawn at the second coordinate, but only a map of a small area of ​​lawn around the second coordinate. It is used to match the position when the automatic lawnmower moves to the location of the second coordinate again, reducing the error caused by the automatic lawnmower's position shift each time.

[0104] The second moving module 502 establishes a moving path based on multiple first coordinates and moves autonomously according to the moving path to obtain a map corresponding to multiple lawns.

[0105] The second moving module 502 can be used to execute S102 in Figure 1 above.

[0106] For a description of the aforementioned movement path, please refer to the relevant content at S102 in Figure 1 above; this application will not elaborate further here.

[0107] The second moving module 502 establishes a moving path based on multiple first coordinates, specifically including: the second moving module 502 determines the moving path according to multiple first coordinates and internal algorithms.

[0108] The aforementioned internal algorithms include methods such as the connection method and the curve fitting method. For example, when the internal algorithm is the connection method, and the multiple first coordinates include (1,1), (1,2), (1,3), and (2,3), the second moving module 502 directly connects the coordinates (1,1) with (1,2), (1,2) with (1,3), and (1,3) with (2,3). It should be understood that the method by which the second moving module 502 establishes a moving path based on multiple first coordinates should be appropriately selected in conjunction with the specific application scenario. This application does not limit how the second moving module 502 establishes a moving path based on multiple first coordinates.

[0109] The second movement module 502 controls the automatic lawnmower to move autonomously according to the movement path, thereby obtaining maps corresponding to multiple lawns. Specifically, the second movement module 502 sends a movement command to the movement device 520, causing the automatic lawnmower to start moving along the movement path. At the same time, it obtains the coordinates corresponding to each position it passes through. When the coordinates corresponding to the current position are the same as one of the multiple second coordinates, the second movement module 502 uses the current position of the automatic lawnmower as the starting point to build a map corresponding to that area. After completing the map corresponding to the current position, the second movement module 502 continues to control the automatic lawnmower to move along the movement path until the automatic lawnmower completes the movement path.

[0110] The creation of the aforementioned map includes: the second mobile module 502 first uses various sensors to acquire environmental information within the lawn; the second mobile module 502 processes the acquired different types of data and converts the different types of data into a unified coordinate system; finally, based on the converted results, the second mobile module 502 extracts elements that can represent the environmental characteristics of the lawn from the different types of data, and then, based on these characteristics, uses the corresponding map building algorithm to integrate the environmental information within the lawn, and finally constructs a map that covers the environmental information.

[0111] Optionally, when the first moving module 501 controls the automatic lawnmower to pass the second coordinate and establishes a local map corresponding to the second coordinate, the second moving module 502 controls the automatic lawnmower to move along the moving path. When the coordinates corresponding to the current position of the automatic lawnmower are the same as the second coordinate, the second moving module 502 will also collect environmental information around the current position of the automatic lawnmower and match the collected environmental information with the local map corresponding to the second coordinate. Based on the matching result, the current position of the automatic lawnmower will be calibrated. It should be understood that since the local map is established based on the surrounding environmental information when the automatic lawnmower first moves to the second coordinate, when the automatic lawnmower returns to the second coordinate, by collecting the surrounding environmental information and matching it with the local map, it is possible to determine whether there is an error in the current position of the automatic lawnmower, thereby improving the accuracy of the multi-area mapping device 510.

[0112] Map path module 503 is used to determine the connecting paths between multiple maps based on the movement path and multiple maps.

[0113] The map path module 503 can be used to execute S103 in Figure 1 above.

[0114] For a description of the above-mentioned multiple maps and the connecting paths between the multiple maps, please refer to the relevant content at S103 in Figure 1 above, which will not be elaborated further in this application.

[0115] The map path module 503 determines the connecting path between multiple maps based on the movement path and multiple maps. The specific steps include: the map path module 503 determines multiple intersection points between the movement path and multiple maps; the path between the first intersection point and the second intersection point is extracted from the movement path as the connecting path between the map where the first intersection point is located and the map where the second intersection point is located, wherein the first intersection point and the second intersection point are two intersection points located on different maps among the multiple intersection points, and the first intersection point and the second intersection point are adjacent.

[0116] Optionally, the map path module 503 may also determine whether the starting position of the automatic lawnmower is outside of multiple maps; if it is determined that the starting position of the automatic lawnmower is outside of multiple maps, the path between the starting position and the third intersection point is extracted from the movement path as a connecting path to the multiple maps, wherein the third intersection point is the first intersection point between the movement path and the multiple maps.

[0117] This explains that since the starting position can exist within or outside of multiple lawns, when the starting position is outside of multiple lawns, it is necessary to establish additional connecting paths from the starting position to multiple lawns.

[0118] In summary, this application provides a multi-region mapping device 510. This device 510 controls an autonomous mobile machine 500 to move through multiple regions via a first movement module 501. During the movement, it acquires the coordinates of each passed location and determines the coordinates of each region within the multiple regions. After the movement is completed, a second movement module 502 constructs a movement path based on the coordinates of each location and controls the autonomous mobile machine 500 to move according to the path. When it reaches the coordinates of each region, it constructs a map for that region. Finally, a map path module 503 determines the connecting paths between the multiple maps based on the movement path and the maps corresponding to the multiple regions. When using the autonomous mobile machine 500 for multi-region mapping, the user can first control the autonomous mobile machine 500 to move through multiple regions, and then the autonomous mobile machine 500 moves autonomously along the movement path. During the movement, the multi-region mapping device 510 completes the construction of the maps corresponding to each region and the connecting paths between the multiple regions, thereby shortening the user's waiting time.

[0119] Referring to Figure 6, which is a schematic diagram of the structure of an electronic device provided in this application, the electronic device 600 includes a processor 601, a memory 602, a communication interface 603, and a bus 604. The processor 601, memory 602, and communication interface 603 can be interconnected via the internal bus 604, or they can communicate via wireless transmission or other means.

[0120] Processor 601 may consist of at least one general-purpose processor, such as a central processing unit (CPU), or a combination of a CPU and hardware chips. The hardware chips may be application-specific integrated circuits (ASICs), programmable logic devices (PLDs), or combinations thereof. The PLDs may be complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), generic array logic (GALs), or any combination thereof. Processor 601 is used to execute various types of digital storage instructions. Processor 601 can implement the method shown in Figure 1 by executing corresponding instructions.

[0121] Memory 602 can be volatile memory, such as random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR), cache, etc., and memory 602 can also include combinations of the above types. Memory 602 can include programs and data, and processor 601 can execute the method shown in Figure 1 by executing program code.

[0122] The communication interface 603 can be used for data interaction between the electronic device 600 and the user terminal. For example, the electronic device 600 can send a first command and a movement command to the user terminal through the communication interface 603. The specific communication process is not specifically limited in this application.

[0123] Bus 604 is a Peripheral Component Interconnect Express (PCIe) bus, or an Extended Industry Standard Architecture (EISA) bus, Unified Bus (Ubus or UB), Compute Express Link (CXL), Cache Coherent Interconnect for Accelerators (CCIX), etc. Bus 604 is divided into address bus, data bus, and control bus.

[0124] In addition to the data bus, bus 604 also includes a power bus, a control bus, and a status signal bus. However, for clarity, all buses are labeled as bus 604 in the diagram.

[0125] It should be noted that Figure 6 is merely one possible implementation of the embodiment of this application. In actual application scenarios, the electronic device 600 may include more or fewer components, which is not limited here.

[0126] This application also provides an autonomous mobile machine, which is internally equipped with the aforementioned electronic device 600. The specific form of this autonomous mobile machine can be an automatic lawnmower, as shown in Figure 7. Figure 7 is a structural schematic diagram of an automatic lawnmower provided in this application. The automatic lawnmower provided in this application includes a moving device 520, a scanning device 720, a cutting device (not shown in Figure 5), and a control device 710. The moving device 520 is used to drive the automatic lawnmower to move within the work area. The cutting device is used to cut the grass in the lawn. The scanning device 720 is used to acquire environmental information of the work area. The control device 710 contains either the multi-area mapping device 510 shown in Figure 5 or the electronic device 600 shown in Figure 6, enabling the implementation of the multi-area mapping method shown in Figure 1. For details on how the automatic lawnmower implements the multi-area mapping method shown in Figure 1, please refer to the relevant content in Figure 5; further details are omitted here.

[0127] This application also provides a computer program product containing instructions. The computer program product may be a software or program product containing instructions, capable of running on a computing device or stored on any usable medium. When the computer program product is run on at least one computing device, it causes the at least one computing device to perform a method for confirming keyframes.

[0128] This application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium capable of being stored by a computing device, or a data storage device such as a data center containing one or more available media. The available media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., high-density digital video discs (DVDs)), or semiconductor media (e.g., solid-state drives). The computer-readable storage medium includes instructions that instruct the computing device to perform a method for acknowledging keyframes.

[0129] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. A computer program product includes a plurality of computer instructions. When the computer program instructions are loaded or executed on a computer, all or part of the flow or function according to the embodiments of this application is generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another.

[0130] The embodiments of this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A multi-region mapping method, characterized in that, The method includes: The autonomous mobile machine moves from its starting position through multiple areas, thereby obtaining multiple first coordinates and multiple second coordinates. The multiple first coordinates are the coordinates corresponding to various positions passed by the autonomous mobile machine during its movement, and the positions corresponding to the second coordinates are located within the areas. The multiple first coordinates include the multiple second coordinates. The autonomous mobile machine establishes a movement path based on the plurality of first coordinates and moves autonomously along the movement path to obtain multiple maps. Each of the multiple maps is obtained by the autonomous mobile machine when it moves to the second coordinate corresponding to the area of ​​that map.

2. The method according to claim 1, characterized in that, The method further includes: The autonomous mobile machine determines the connection path between the multiple maps based on the movement path and the multiple maps.

3. The method according to claim 2, characterized in that, The autonomous mobile machine determines the connectivity paths between the multiple maps based on the movement path and the multiple maps, including: The autonomous mobile machine determines multiple intersections between the movement path and the multiple maps; The path between the first intersection point and the second intersection point is extracted from the movement path and used as a connecting path between the map where the first intersection point is located and the map where the second intersection point is located. The first intersection point and the second intersection point are two intersection points located on different maps among the plurality of intersection points, and the first intersection point and the second intersection point are adjacent to each other.

4. The method according to claim 3, characterized in that, The method further includes: The autonomous mobile machine determines whether the starting position is within the multiple maps; If it is determined that the starting position is not located within the multiple maps, the path between the starting position and the third intersection point is extracted from the movement path as a connecting path to the multiple maps, wherein the third intersection point is the first intersection point between the movement path and the multiple maps.

5. The method according to any one of claims 1 to 4, characterized in that, The autonomous vehicle moves along the movement path to obtain multiple maps, including: The autonomous mobile machine moves along the movement path autonomously. During the movement, at each second coordinate, it moves autonomously within the area corresponding to the second coordinate and collects environmental information within the area. Based on the environmental information, it constructs a map of the area corresponding to the second coordinate. After the map is constructed, it returns to the movement path and continues to move along the movement path.

6. The method according to claim 5, characterized in that, The obtained multiple first coordinates include: During the movement of the autonomous mobile machine from the starting position through the multiple areas, the autonomous mobile machine is positioned to obtain multiple first coordinates. The positioning includes one or more of real-time dynamic RTK positioning, visual positioning, and radar positioning.

7. The method according to claim 6, characterized in that, The obtained multiple second coordinates include: During the movement of the autonomous mobile machine from the starting position through the multiple areas, the autonomous mobile machine receives a first instruction and, in response to the first instruction, determines the coordinates corresponding to the current position as second coordinates, thereby obtaining multiple second coordinates. The first instruction is used to instruct the autonomous mobile machine to determine the coordinates corresponding to the current position as second coordinates.

8. The method according to claim 7, characterized in that, During the movement of the autonomous mobile machine from the starting position through the multiple areas, after determining a second coordinate, the autonomous mobile machine will also acquire environmental information around the second coordinate and construct a local map at the second coordinate based on the environmental information, thereby acquiring local maps corresponding to each of the multiple second coordinates. During the autonomous movement of the mobile machine along the movement path, before the mobile machine moves to a second coordinate and constructs a map, the mobile machine will also acquire environmental information around the second coordinate and match the environmental information with the local map corresponding to the second coordinate to correct the current position of the mobile machine.

9. The method according to any one of claims 6 to 8, characterized in that, The autonomous mobile machine moves from its starting position through multiple areas, including: the autonomous mobile machine receiving a movement command sent by a remote control device, the movement command being used to indicate that it moves through multiple areas; The autonomous mobile machine moves from its starting position through the multiple areas based on the movement command.

10. A multi-region mapping method, characterized in that, The method includes: The autonomous mobile machine moves along the movement path autonomously. During the movement, at each second coordinate, it moves autonomously within the area corresponding to the second coordinate and collects environmental information within the area. Construct a map of the area corresponding to the second coordinate based on the environmental information; After the construction is completed, the autonomous mobile machine returns to the mobile path and continues to move along the mobile path.

11. The method according to claim 10, characterized in that, The method further includes: the autonomous mobile machine moves from the starting position through multiple areas; during the process of the autonomous mobile machine moving from the starting position through the multiple areas, the autonomous mobile machine is located to obtain multiple first coordinates; and the movement path is established based on the multiple first coordinates.

12. The method according to claim 11, characterized in that, The autonomous mobile machine receives a movement command sent by a remote control device, and moves from the starting position through the multiple areas based on the movement command, wherein the movement command is sent by the user to the autonomous mobile machine through the remote control device.

13. The method according to claim 11, characterized in that, The method further includes: during the process of the autonomous mobile machine moving from the starting position through the multiple areas, the autonomous mobile machine receives a first instruction, the first instruction being used to instruct the autonomous mobile machine to determine the coordinates corresponding to the current position as a second coordinate, the first instruction being an instruction issued by the user through a remote control device.

14. The method according to claim 11, characterized in that, During the process of the autonomous mobile machine moving from the starting position through the multiple areas, after determining a second coordinate, the autonomous mobile machine will also acquire first environmental information around the second coordinate, and construct a local map at the second coordinate based on the first environmental information, thereby acquiring local maps corresponding to each of the multiple second coordinates. During the autonomous mobile machine's movement along the movement path, before it moves to a second coordinate and constructs a map, the autonomous mobile machine will also acquire second environmental information around the second coordinate and match the second environmental information with the local map corresponding to the second coordinate to correct the current position of the autonomous mobile machine.

15. The method according to claim 10, characterized in that, After the autonomous mobile machine moves along the movement path, it obtains multiple maps. Each of the multiple maps is constructed by the autonomous mobile machine when it moves to the second coordinate corresponding to the area of ​​that map.

16. The method according to claim 15, characterized in that, The autonomous mobile machine determines the connection paths between multiple areas based on the movement path and the multiple maps.

17. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing computer program instructions, and the processor executing the computer program instructions to cause an autonomous mobile machine equipped with the electronic device to perform the method as described in any one of claims 1 to 9 or 10 to 16.

18. An autonomous mobile machine, characterized in that, The autonomous mobile machine includes the electronic device as described in claim 17.

19. A computer program product containing instructions, characterized in that, The computer program product is a software or program product containing instructions that can run on a computing device or be stored on any available medium, and when the computer program product is run on at least one electronic device, causes the at least one electronic device to perform the method as described in any one of claims 1 to 9 or 10 to 16.

20. A computer-readable storage medium, characterized in that, Includes computer instructions that, when executed by a processor, implement the method as described in any one of claims 1 to 9 or 10 to 16.

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