Self-moving device, regional map processing method, and storage medium

Abstract

Provided in the embodiments of the present application are a self-moving device, a regional map processing method, and a storage medium. The self-moving device comprises a first wheel set, a second wheel set and a power assembly, wherein the power assembly drives the first wheel set. The self-moving device further comprises an instruction execution unit, which is configured to: in response to a received mapping instruction, execute a travel trajectory under the mapping instruction, wherein the mapping instruction is used for constructing a regional map boundary for a specified region, and generating a constructed map boundary according to the travel trajectory of the self-moving device; and in response to a received deletion instruction, control the self-moving device to travel from a current position of the self-moving device to a first boundary point corresponding to the deletion instruction, wherein when the self-moving device travels on the basis of the mapping instruction to generate the travel trajectory, the self-moving device travels in such a manner that the first wheel set is located in front of the second wheel set, and when the self-moving device travels on the basis of the deletion instruction to reach the first boundary point, the self-moving device travels in such a manner that the first wheel set is located behind the second wheel set.

Description

Self-moving devices, regional map processing methods and storage media

[0001] Cross-references to related applications

[0002] This application claims priority to the following Chinese patent application: Chinese Patent Application No. 202510052747.X, entitled “Processing Method for Self-Moving Device and Regional Map,” filed with the China National Intellectual Property Administration on January 13, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The embodiments of this application relate to, but are not limited to, the field of electronic devices. Specifically, they relate to a self-moving device, a method for processing regional maps, and a storage medium. Background Technology

[0004] Currently, intelligent lawnmowers rely on accurate map boundary information to plan their mowing paths and avoid obstacles. Therefore, it is necessary to create a regional map for the area the lawnmower needs to mow. If modifications or updates to the map boundaries are required, map boundary reconstruction is necessary. Current regional map processing methods suffer from the problem of time-consuming map boundary reconstruction. Summary of the Invention

[0005] This application provides a self-moving device, a method for processing regional maps, a terminal device, and a storage medium.

[0006] According to one aspect of the embodiments of this application, a self-moving device is provided, the self-moving device comprising: a first wheel set and a second wheel set, and a power component, the power component driving the first wheel set; the self-moving device further comprising: an instruction execution unit configured to execute a walking trajectory under the mapping instruction in response to a received mapping instruction, wherein the mapping instruction is used to establish a regional map boundary for a specified area and generate the established map boundary according to the walking trajectory of the self-moving device; the instruction execution unit is further configured to control the self-moving device to travel from its current position to a first boundary point corresponding to the deletion instruction in response to a received deletion instruction, the mapping instruction using the first boundary point as the starting point for modifying the regional map boundary; when the self-moving device travels based on the mapping instruction to generate the walking trajectory, in the walking direction, the self-moving device travels with the first wheel set in front of the second wheel set; during the process of the self-moving device traveling to the first boundary point based on the deletion instruction, in the walking direction, the self-moving device travels with the first wheel set in front of the second wheel set.

[0007] When establishing map boundaries, the system needs to respond quickly to user mapping commands, such as turning, to accurately delineate the boundaries of mowing areas based on terrain and obstacle locations. Moving with the first wheel group directly driven by the driven component in front of the second wheel group improves the auto-device's turning accuracy, thus increasing mapping efficiency and accuracy compared to the second wheel group being in front of the first. When deleting map boundaries, the auto-device needs to quickly approach the target point for deletion, and the mapped area should be known. This allows for a relatively lower requirement for the auto-device's turning response sensitivity. In this case, moving with the second wheel group in front of the first wheel group improves stability and allows the auto-device to reach the target point for deletion more quickly, thereby increasing mapping efficiency and optimizing the user experience.

[0008] According to another aspect of the embodiments of this application, a method for processing a regional map is also provided, comprising: during the process of establishing a regional map using a self-mobile device, recording the walking trajectory information of the self-mobile device under a map-building command, and displaying the established map boundary on a map-building interface according to the walking trajectory information, wherein the walking trajectory information is used to describe the walking trajectory of the self-mobile device, and the established map boundary is the map boundary of the established regional map; in response to a detected deletion operation performed on the established map boundary, determining a boundary distance parameter according to the operation information of the deletion operation, wherein the deletion operation is used to delete at least a portion of the map boundary of the established map boundary, and the boundary distance parameter is used to indicate the boundary distance of the map boundary to be deleted; determining the boundary distance parameter based on the walking trajectory information or the established map boundary; controlling the self-mobile device to move from its current position to a position corresponding to a first boundary point, and deleting a segment of the established map boundary from the boundary endpoint of the established map boundary to the first boundary point.

[0009] According to another aspect of the embodiments of this application, a terminal device is also provided, the terminal device comprising: a first execution unit configured to, during the process of establishing a regional map using a self-moving device, record the walking trajectory information of the self-moving device under a mapping instruction, and display the boundary of the established map on a mapping interface according to the walking trajectory information, wherein the walking trajectory information is used to describe the walking trajectory of the self-moving device, and the boundary of the established map is the map boundary of the established regional map; a first determining unit configured to, in response to a detected deletion operation performed on the boundary of the established map, determine a boundary distance parameter according to the operation information of the deletion operation, wherein the deletion operation is used to delete at least a portion of the boundary of the established map, and the boundary distance parameter is used to indicate the boundary distance of the map boundary to be deleted; and determine a first boundary point based on the boundary distance parameter, according to the walking trajectory information or the boundary of the established map; an instruction transmission unit configured to control the self-moving device to move from its current position to a position corresponding to the first boundary point; and a control unit configured to delete a segment of the established map boundary from the boundary endpoint of the established map boundary to the first boundary point.

[0010] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer program, wherein the computer program, when executed by a processor, implements the steps in any of the above method embodiments.

[0011] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps in any of the above method embodiments.

[0012] According to another aspect of the embodiments of this application, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the steps in any of the method embodiments described above.

[0013] In this embodiment, a method of real-time deletion of map boundaries based on deletion operations performed on the mapping interface during the mapping process is adopted. The self-moving device includes a first wheel group, a second wheel group, and a power component. The power component drives the first wheel group. The self-moving device also includes: an instruction execution unit, used to respond to a received mapping instruction and execute the walking trajectory under the mapping instruction. The mapping instruction is used to establish a regional map boundary for a specified area and generate the established map boundary according to the walking trajectory of the self-moving device. Through the mapping instruction, the self-moving device can be controlled to walk so as to generate the established map boundary according to the walking trajectory of the self-moving device under the mapping instruction. The instruction execution unit is also configured to respond to a received deletion instruction and control the self-moving device to move from its current position to its current position. The device moves to the first boundary point corresponding to the deletion command. Upon receiving the deletion command, the self-moving device can automatically move to the boundary point corresponding to the deletion command, thereby completing the partial deletion of the map boundary. In this way, the self-moving device can respond to the received deletion command in a timely manner during the mapping process. While deleting the non-user-expected boundary on the map, it moves to the position corresponding to the modified boundary endpoint, which facilitates the subsequent map boundary establishment process. Since the map boundary does not need to be modified or updated after the mapping is completed, it can achieve the technical effect of shortening the map boundary reconstruction time and improving the efficiency and accuracy of boundary establishment. This solves the technical problem of long map boundary reconstruction time in related regional map processing methods. Meanwhile, when the self-moving device moves based on mapping commands to generate a walking trajectory, the self-moving device moves with the first wheel group in front of the second wheel group; when the self-moving device moves to the first boundary point based on deletion commands, the self-moving device moves with the first wheel group behind the second wheel group. Since different control methods are used during the mapping boundary process and the map boundary deletion process, it can return to the position corresponding to the modified boundary endpoint without turning around or rotating at a large angle, which can reduce the risk of rollover and improve the safety of the self-moving device. Attached Figure Description

[0014] Figure 1 is a schematic diagram of the structure of an optional self-moving device according to an embodiment of this application;

[0015] Figure 2 is a schematic diagram of an optional drawing interface according to an embodiment of this application;

[0016] Figure 3 is a schematic diagram of another optional drawing interface according to an embodiment of this application;

[0017] Figure 4 is a schematic diagram of another optional drawing interface according to an embodiment of this application;

[0018] Figure 5 is a schematic diagram of the structure of another optional self-moving device according to an embodiment of this application;

[0019] Figure 6 is a schematic diagram of another optional drawing interface according to an embodiment of this application;

[0020] Figure 7 is a schematic diagram of another optional drawing interface according to an embodiment of this application;

[0021] Figure 8 is a schematic diagram of another optional drawing interface according to an embodiment of this application;

[0022] Figure 9 is a schematic diagram of an application scenario of an optional regional map processing method according to an embodiment of this application;

[0023] Figure 10 is a flowchart illustrating an optional method for processing a regional map according to an embodiment of this application;

[0024] Figure 11 is a schematic diagram of another optional drawing interface according to an embodiment of this application;

[0025] Figure 12 is a schematic diagram of another optional drawing interface according to an embodiment of this application;

[0026] Figure 13 is a structural block diagram of an optional terminal device according to an embodiment of this application;

[0027] Figure 14 is a computer system architecture block diagram of an optional electronic device according to an embodiment of this application. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] According to one aspect of the embodiments of this application, a self-moving device is provided, which can be applied to scenarios where a designated area is mapped using the self-moving device. The self-moving device can be a smart lawnmower or other devices capable of moving without human intervention. The designated area can be a lawn area or other similar areas requiring mapping. Taking a smart lawnmower as the self-moving device and a lawn area as the designated area as an example, a smart lawnmower is a device that can autonomously complete lawn mowing without direct human control or operation. With the development of smart lawnmower technology, the demand for efficient and precise lawn maintenance is gradually increasing. Smart lawnmowers rely on accurate map boundary information to plan mowing paths and avoid obstacles; therefore, it is necessary to create a regional map for the area where the lawnmower needs to mow.

[0031] In some cases, if the boundaries of an established area map need to be modified or updated, map boundary reconstruction is required. However, this can only be done after map creation is complete. This limitation makes lawnmowers insufficiently tolerant of errors when establishing area boundaries, unable to update boundaries promptly when anomalies are detected. Since lawnmower usage scenarios can reach thousands of square meters, post-construction map boundary reconstruction consumes a significant amount of time and may lead to low mowing efficiency and incomplete mowing. Therefore, this embodiment provides a map erasing scheme that allows users to erase and update map boundary information in real time during the mapping process. By introducing a map boundary correction method that enables real-time map erasure, during the mapping process, the self-moving device responds to the received mapping command and executes the walking trajectory under the mapping command, thereby generating the established map boundaries according to the self-moving device's walking trajectory. When it is necessary to delete part of the established map boundaries, the self-moving device responds to the received deletion command, moving from its current position to the first boundary point corresponding to the deletion command, using the first boundary point as the starting point for modifying the area map boundaries.

[0032] Map errors can be corrected in real time during the mapping process without waiting for a complete rescan or manual adjustment, improving the flexibility and response speed of map correction, and increasing the efficiency and accuracy of boundary establishment. This ensures the efficiency and accuracy of subsequent mowing and avoids erroneous mowing caused by outdated maps.

[0033] Figure 1 is a schematic diagram of an optional self-moving device according to an embodiment of this application. As shown in Figure 1, the self-moving device includes a first wheel set 101, a second wheel set 102, and a power component 103, wherein the power component 103 drives the first wheel set 101. Exemplarily, the first wheel set 101 may be the front wheel of the self-moving device, the second wheel set 102 may be the rear wheel of the self-moving device, and the power component 103 may be a hub motor or other component capable of providing power to the first wheel set 101. Furthermore, the self-moving device also includes an instruction execution unit 104, configured to execute a walking trajectory under a received mapping instruction.

[0034] When a map needs to be created for a specified area, the user can send a mapping command to the self-moving device through their terminal device. This command establishes the boundary of the map for the specified area, generating the map boundary according to the self-moving device's movement trajectory. For the self-moving device, the mapping command indicates its movement trajectory. The command execution unit can control the self-moving device to execute the movement trajectory under the mapping command. That is, the self-moving device moves along the boundary of the specified area based on the control of the mapping command. Its movement trajectory information can be recorded and transmitted to the terminal device for recording, or the terminal device can directly record the movement trajectory information. This movement trajectory information describes the movement trajectory of the self-moving device. The terminal device can record the aforementioned movement trajectory information and display the map boundary on its mapping interface based on the recorded movement trajectory information.

[0035] It should be noted that mapping commands can be sent continuously. Each sent mapping command can control the mobile device to move a certain distance along the direction indicated by the mapping command, or each sent mapping command can control the mobile device to move along the direction indicated by the mapping command until a new mapping command or a movement end command is received. Other control methods are also possible, as long as it ensures that the mobile device can draw lines (drawing lines means drawing map boundaries) under the control of the mapping commands. Creating a regional map is a continuous process over a certain period of time. At a certain point in the mapping process, the created regional map is a partial map of the specified area, and the boundary of the created map is the boundary of the created regional map.

[0036] If modifications or updates to the boundaries of an existing map are required, the user can perform a deletion operation on the map creation interface. This deletion operation removes at least a portion of the existing map boundaries and can be one or a combination of operations, including but not limited to at least one of the following: click, double-click, long-press, swipe, etc. Based on the deletion operation information, the terminal device can determine the boundary distance parameters. The deletion operation information can be distinguishable information, such as the type of deletion operation, the duration of the deletion operation, the number of deletion operations, etc., or other operation information, which is not limited in this embodiment. The boundary distance parameters indicate the boundary distance of the map boundary to be deleted. Determining the boundary distance parameters based on the deletion operation information can be done through table lookup, data conversion according to a set correspondence, or other methods. Different deletion operation information may correspond to different boundary distances for the map boundaries to be deleted.

[0037] Based on the boundary distance parameter, the first boundary point can be determined. The first boundary point is the modified boundary endpoint, which can be determined based on the walking trajectory information or the boundary of the existing map. That is, the first boundary point can be the modified endpoint (i.e., the boundary endpoint to which it reverts) determined after removing the boundary distance indicated by the boundary distance parameter from the walking trajectory of the self-moving device, or the modified endpoint (i.e., the boundary endpoint to which it reverts) determined after removing the boundary distance indicated by the boundary distance parameter from the boundary of the existing map.

[0038] After determining the first boundary point, the self-moving device can be controlled to move from its current position to the position corresponding to the first boundary point. Controlling the movement of the self-moving device can be achieved by sending a move command or a delete command to the self-moving device. The move command or delete command sent to the self-moving device can indicate the position corresponding to the first boundary point, or indicate the movement path from the current position of the self-moving device to the position corresponding to the first boundary point, or indicate other information, as long as it can ensure that the self-moving device travels from its current position to the endpoint position corresponding to the move command or delete command. Here, the endpoint position corresponding to the move command or delete command is the position corresponding to the first boundary point. The self-moving device can directly travel from its current position to the endpoint position corresponding to the move command or delete command without having to return along the original movement path during the mapping process.

[0039] Simultaneously, the terminal device can delete a segment of map boundary from the endpoint of the existing map boundary to the first boundary point. This deletion can be performed either after the first boundary point is determined, or after the mobile device moves to the position corresponding to the first boundary point. In both cases, the deletion can be an operation performed at a specific moment. Before the deletion occurs, the map boundary segment can be set as a dashed line or a special form, displaying a different state than the boundary that doesn't need to be deleted. For example, to facilitate user awareness of the mobile device's movement, the mapping interface can display a device icon (which can be considered a virtual moving object) matching the mobile device's movement. This device icon can move along with the mobile device.

[0040] For example, during the mapping process, the initial trajectory of the lawnmower is recorded. When the user deletes a boundary, based on the user's operation command and the initial trajectory, the corresponding modification initial point (i.e., the modified boundary endpoint) is identified. The lawnmower is then controlled to approach the modification initial point, and the boundary that is not desired by the user is erased from the map. As shown in Figure 2, the user performs a deletion operation on the mapping interface to modify the boundary endpoint of the established map boundary. The terminal device determines the modified boundary endpoint (an example of the first boundary point). The base station icon on the mapping interface is used to identify the base station that matches the lawnmower. The map boundary between the original boundary endpoint and the modified boundary endpoint is the map boundary to be deleted, as shown in Figure 3. After determining the modified boundary endpoint, the lawnmower can be controlled to move to the position corresponding to the modified boundary endpoint, and the map boundary between the original boundary endpoint and the modified boundary endpoint in Figure 3 is deleted, resulting in the updated map boundary, as shown in Figure 4.

[0041] For the self-moving device, its instruction execution unit is also configured to receive a deletion instruction to control the self-moving device to travel from its current position to the first boundary point corresponding to the deletion instruction. There are several ways to travel to the first boundary point, including but not limited to: returning to the first boundary point along the mapping trajectory; planning a path from the self-moving device's current position to the first boundary point and traveling according to the planned path. Here, the final location of the self-moving device may be near the first boundary point. In subsequent mapping processes, based on newly received mapping instructions, the self-moving device's position can be fine-tuned before executing the new mapping trajectory, thus ensuring the flexibility of the mapping process.

[0042] In this embodiment, when the self-moving device moves based on mapping instructions to generate a walking trajectory, the self-moving device travels with the first wheel group in front of the second wheel group, which can be defined as forward movement. When the self-moving device travels to the first boundary point based on deletion instructions, the self-moving device travels with the first wheel group behind the second wheel group, which can be defined as reverse movement. Through this movement control method, the self-moving device does not need to turn around or rotate a large angle when returning or resuming movement, which not only improves the convenience and flexibility of the movement process but also enhances its safety.

[0043] For example, the self-moving device also includes a detection sensor, which can be used to perceive the environment around the self-moving device and assist the self-moving device in its movement. The detection sensor may include, but is not limited to, at least one of the following: a perception sensor, a camera. The position of the detection sensor can be set as needed. To ensure convenient information detection, the detection sensor can be closer to the first wheel group than the second wheel group.

[0044] For example, as shown in Figure 5, the self-moving device is also equipped with a detection sensor 501, which can be closer to the first wheel group 101 than the second wheel group 102.

[0045] According to the embodiments provided in this application, the self-moving device includes a first wheel group, a second wheel group, and a power component, wherein the power component drives the first wheel group. The self-moving device also includes an instruction execution unit configured to execute a walking trajectory under the mapping instruction in response to a received mapping instruction, wherein the mapping instruction is used to establish a regional map boundary for a specified area and generate the established map boundary according to the walking trajectory of the self-moving device. The instruction execution unit is also used to receive a deletion instruction to control the self-moving device to travel from its current position to a first boundary point corresponding to the deletion instruction. When the self-moving device moves based on the mapping instruction to generate a walking trajectory, the self-moving device moves with the first wheel group in front of the second wheel group. When the self-moving device moves to the first boundary point based on the deletion instruction, the self-moving device moves with the first wheel group behind the second wheel group. This solves the problem of long map boundary reconstruction time in the regional map processing methods of related technologies, shortens the map boundary reconstruction time, and improves the efficiency and accuracy of boundary establishment.

[0046] In some embodiments, the self-moving device and the terminal device are communicatively connected, and the terminal device is bound to the self-moving device. The terminal device can be a mobile phone, desktop computer, tablet computer, or other device capable of running applications. For mapping, map information within a preset range of the self-moving device while it is moving can be recorded (i.e., map information within a preset range around the self-moving device while it is moving), and a map of the established area can be generated based on this map information. The self-moving device also includes an information recording unit, used to record map information within a preset range of the self-moving device while it is moving under mapping instructions, and to send the map information to the terminal device to generate a map of the established area.

[0047] When the self-moving device is executing the mapping command, the information recording unit can record map information within a preset range of distance from the self-moving device. The recorded map information is sent to the terminal device so that the terminal device can generate a map of the established area. The method by which the terminal device generates the map of the established area is similar to that in the previous embodiment and has been described before, so it will not be repeated here.

[0048] It should be noted that the process of sending map information can be performed in real time. For example, the recorded map information can be transmitted to the terminal device in real time, or it can be performed periodically. For example, the recorded map information can be transmitted every 5 seconds. Other transmission strategies can also be used. This embodiment does not limit this.

[0049] The aforementioned map information includes at least one or a combination of visual sensing parameters and positioning data parameters, and may include information such as obstacles within a preset range around the self-moving device. Here, the preset range can be set based on experience, and its value may be related to the sensor performance on the self-moving device or to the area type of the specified region. The preset range may be square, circular, elliptical, or other shapes, and this embodiment does not limit this.

[0050] When controlling the mobile device to move from its current location to the location corresponding to the first boundary point, the mobile device can be controlled to return within the area corresponding to the established regional map, and the mobile device will tend towards the first boundary point within the area corresponding to the established regional map. Here, the method of returning within the area corresponding to the established regional map can be: planning an optimized movement path for the mobile device to move from its current location to the location corresponding to the first boundary point, and the planned optimized movement path avoids obstacles within the established regional map.

[0051] For example, while the user defines the boundaries, laser sensors can be used to sense the data around the boundaries to create 3D point cloud data and acquire obstacle information, thus building a region map. When erasing or updating the map boundaries, the lawnmower can be controlled to return within the established region map.

[0052] In this embodiment, a regional map is constructed based on the map information of the distance between the self-moving device and the self-moving device within a preset range when the self-moving device walks. The boundary position of the self-moving device tends to be modified within the established regional map, which can ensure the convenience of regional map construction and improve the security of self-moving device return.

[0053] In some embodiments, in response to a detected deletion operation performed on the boundary of an existing map, the terminal device determines boundary distance parameters based on the operation information of the deletion operation; and determines a first boundary point based on the boundary distance parameters, either according to the walking trajectory information or the boundary of the existing map. The method by which the terminal device determines the boundary distance parameters and the first boundary point is similar to that in the aforementioned embodiments, and will not be described in detail here.

[0054] For the self-moving device, it can receive the location information of the first boundary point, move from the current location of the self-moving device to the location corresponding to the first boundary point. The location information of the first boundary point can be carried in the deletion instruction. The location corresponding to the first boundary point is extracted from the deletion instruction, and based on the location corresponding to the first boundary point, the self-moving device moves from the current location to the location corresponding to the first boundary point.

[0055] When controlling the self-moving device to move from its current location to a location corresponding to the first boundary point, the self-moving device can be controlled to return to the area corresponding to the established area map. For example, while the user defines the boundary, three-dimensional point cloud data can be created using laser sensing data around the boundary, obstacle information can be obtained, and an area map can be built. When erasing or updating the map boundary, the lawnmower can be controlled to return to the established area map.

[0056] To improve control over the self-moving device while reducing its computational requirements, the regression method within the area corresponding to the established map can be as follows: Within the established map, an optimized movement path is planned for the self-moving device, from its current location to the location corresponding to the first boundary point. This optimized path avoids obstacles within the established map. The optimized movement path can be included in the deletion command. Here, the optimized movement path can be a straight path between the boundary endpoint of the established map and the first boundary point, or it can be a path with a certain curvature established by comprehensively considering the map information of the established map. In this embodiment, the optimized movement path is not limited.

[0057] According to the established optimized movement path, the self-moving device can be controlled to move from its current location to the location corresponding to the first boundary point. The methods for controlling the self-moving device to move from its current location to the location corresponding to the first boundary point can be: sending the optimized movement path to the self-moving device, which then moves to the location corresponding to the first boundary point based on the received optimized movement path and environmental information sensed by its sensing devices; or continuously sending movement or deletion commands to the self-moving device according to the optimized movement path until the self-moving device reaches the vicinity of the location corresponding to the first boundary point.

[0058] For example, upon identifying a modified initial point, the lawnmower is controlled to directly approach the modified initial point without needing to follow a pre-defined initial trajectory. As shown in Figure 6, the optimized movement path is the shortest path between the original boundary endpoint and the modified boundary endpoint of the existing map boundary. The self-moving device can move along the optimized movement path to the position corresponding to the modified boundary endpoint, thereby completing the deletion of the map boundary to be deleted.

[0059] For the self-moving device, the instruction execution unit is further configured to, in response to a received deletion instruction, control the self-moving device to move from its current position to the position corresponding to the first boundary point according to an optimized movement path. Here, the self-moving device can extract the optimized movement path from the deletion instruction and control the self-moving device to move from its current position to the position corresponding to the first boundary point according to the optimized movement path.

[0060] In this embodiment, a regional map is constructed based on the map information of the self-moving device's distance from the self-moving device within a preset range during its movement. The self-moving device then returns to the area corresponding to the established regional map, which ensures the convenience of regional map construction and improves the safety of the self-moving device's movement. Furthermore, the self-moving device returns to the area corresponding to the established regional map according to the optimized movement path planned by the terminal device, which improves the convenience of movement control and reduces the computational power requirements of the self-moving device.

[0061] In some embodiments, the self-moving device approaches a first boundary point within an area corresponding to an established area map, the established area map containing obstacle information of identified obstacles within the area corresponding to the established area map.

[0062] The instruction execution unit on the self-moving device can also be used to control the self-moving device to move from its current position toward the first boundary point according to the optimized movement path, and to bypass the obstacles encountered when it encounters obstacles in the area corresponding to the established area map, until it moves to the position corresponding to the first boundary point.

[0063] To improve the safety and flexibility of self-moving devices, their movement can be controlled via an optimized path, guiding them from their current location towards a first boundary point. When encountering obstacles within the area corresponding to the established map, the device can avoid them until it reaches the location corresponding to the first boundary point. This obstacle avoidance can be controlled by the terminal device or by the self-moving device itself based on obstacle information detected by its sensing devices. The former reduces the hardware and software requirements of the self-moving device, while the latter improves control convenience and enhances movement safety.

[0064] For example, as shown in Figure 7, when the self-moving device encounters an obstacle while moving along the optimized movement path to the position corresponding to the modified boundary endpoint, the self-moving device first avoids the obstacle and then continues to move along the optimized movement path to the position corresponding to the modified boundary endpoint.

[0065] In this embodiment, the self-moving device can move to the location corresponding to the modified boundary endpoint by optimizing the movement path, which can improve the efficiency of map modification; and by the self-moving device avoiding obstacles encountered during movement, the safety of the mapping process can be improved.

[0066] In some embodiments, the instruction execution unit is further configured to control the self-moving device to walk toward the position corresponding to the first boundary point, until it returns to the position corresponding to the first boundary point, when the distance between the boundary endpoint of the built map boundary and the first boundary point is less than or equal to a preset distance threshold.

[0067] If the distance between the endpoint of the existing map boundary and the first boundary point is less than or equal to a preset distance threshold, the distance between the original and modified boundary endpoints will be small. If the mobile device turns its head, inaccurate control may occur due to insufficient movement space. To improve the ease of controlling the mobile device, when the distance between the endpoint of the existing map boundary and the first boundary point is less than or equal to the preset distance threshold, the mobile device can be controlled to move backward towards the position corresponding to the first boundary point until it returns to the position corresponding to the first boundary point.

[0068] The preset distance threshold can be set based on experience and can be modified according to user needs or historical usage data of the mobile device. If the distance between the endpoint of the existing map boundary and the first boundary point is the actual distance between the corresponding locations, the preset distance threshold can be 1 meter, 0.8 meters, or other values; if the distance between the endpoint of the existing map boundary and the first boundary point is the distance between the endpoint of the existing map boundary and the first boundary point within the existing map area, the preset distance threshold can be 5 centimeters, 10 centimeters, or other values. In this embodiment, the preset distance threshold is not limited.

[0069] If the distance between the endpoint of the existing map boundary and the first boundary point is less than or equal to a preset distance threshold, the terminal device can send a reverse command to the self-moving device. The self-moving device will then travel along its original trajectory according to the reverse command until it returns to the vicinity of the position corresponding to the first boundary point. Controlling the self-moving device to move backward toward the position corresponding to the first boundary point can be based on a planned movement path for the self-moving device (e.g., an optimized movement path), or it can be controlled according to the movement path during map creation, or it can be directly controlled using the directional keys, until the self-moving device returns to the position corresponding to the modified boundary endpoint.

[0070] For example, as shown in Figure 8, the distance between the original boundary endpoint and the modified boundary endpoint is short, less than the preset distance threshold. The self-moving device can be directly controlled to backtrack along the boundary of the existing map to the position corresponding to the modified boundary endpoint.

[0071] For example, in a reversing scenario, the reversing trajectory and image of the self-moving device can be recorded. A shortest regression route is established based on obstacle information in the trajectory and image, thereby controlling the self-moving device to reverse along the shortest regression route back to the position corresponding to the first boundary point. One or more sensors for obstacle detection can be installed on the self-moving device. To ensure the safety of reversing, at least some of the obstacle detection sensors can be placed horizontally or rearward. This allows for the detection of obstacle information in the reversing direction. The types and number of sensors can be set empirically and may include, but are not limited to, at least one of the following: ultrasonic obstacle avoidance sensors, binocular vision modules, LiDAR, cameras, infrared sensors, etc. This embodiment does not limit this.

[0072] For example, when reversing, the sensor positions in the reversing scheme can be either horizontal or rearward. This could mean placing the radar horizontally or rearward, or the image sensor rearward. Placing the sensor horizontally or rearward can either fix it in a horizontal or rearward position, or, when reversing is needed, rotate the sensor to place it horizontally or rearward.

[0073] In this embodiment, when the distance between the original boundary endpoint and the modified boundary endpoint is close, directly controlling the self-moving device to walk backward toward the position corresponding to the modified boundary endpoint can improve the flexibility and accuracy of device control.

[0074] In some embodiments, the instruction execution unit is further configured to, after controlling the self-moving device to move from its current position to a position corresponding to the first boundary point, correct the position of the self-moving device in response to a received position correction instruction, wherein the position correction operation is used to correct the position of the self-moving device, and the position correction instruction is used to indicate at least one of the following: movement direction, movement distance.

[0075] During the process of the self-moving device moving to the location corresponding to the first boundary point, problems such as inaccurate positioning or obstacle interference may occur, causing the actual location reached by the self-moving device to deviate from the required location. To ensure the accuracy of mapping, the current position of the self-moving device can be corrected after the movement is completed. The user can perform a position correction operation on the mapping interface to correct the position of the self-moving device. The terminal device can respond to the detected position correction operation by sending a position correction command matching the position correction operation to the self-moving device to control the self-moving device to move to the corrected position. The position correction command can be used to indicate at least one of the following: movement direction, movement distance, thereby controlling the movement direction and / or movement distance of the self-moving device.

[0076] It should be noted that, when the positioning is accurate, the self-moving device can determine whether its current position matches the position (position coordinates) corresponding to the first boundary point. If they do not match, it can automatically perform position correction. When the positioning is inaccurate (positioning error exceeds the error threshold), the above method can be used to correct the position of the self-moving device.

[0077] This embodiment improves the accuracy of mapping by correcting the actual destination reached by the self-moving device after it has completed its movement.

[0078] In some embodiments, the boundary endpoint can be traced based on RTK (Real-time kinematic) data. The information recording unit is also configured to record real-time dynamic differential data from the mobile device and send map information to the terminal device to trace the boundary endpoint and obtain the constructed map boundary.

[0079] For example, real-time dynamic differential data is data used in RTK technology. RTK technology is a measurement method that can obtain centimeter-level positioning accuracy in real time outdoors, and can be used for topographic mapping, construction layout, high-precision map production, construction monitoring, etc. In this embodiment, RTK technology can be used to track the boundary endpoint based on the real-time dynamic differential data of the self-moving device to obtain the boundary of the constructed map.

[0080] To facilitate the control of the self-moving device's return within the area map and ensure the safety of its movement, an area map can be built based on obstacle information identified by the sensing devices on the self-moving device. That is, the area map is constructed using obstacle information identified from the sensing data of the sensing devices on the self-moving device. Obstacle identification based on the sensing data of the sensing devices on the self-moving device can be performed by a terminal device, or by the self-moving device itself, or by other devices. For example, the aforementioned sensing devices may include, but are not limited to, at least one of the following: an image sensor, or a LiDAR.

[0081] In some implementations, the information recording unit is further configured to acquire sensor data from the image sensor on the mobile device and send the sensor data to the terminal device to identify obstacles in the sensor data and use the identified obstacle information to construct a region map to obtain an established region map.

[0082] When the sensing device includes an image sensor, the terminal device can perform obstacle identification on the sensor data of the image sensor on the self-moving device, and use the identified obstacle information to construct a region map. The method of obstacle identification on the image sensor data can be any method that can identify a specified type of obstacle from the image sensor data; this embodiment does not limit this.

[0083] In some implementations, the information recording unit is further configured to acquire sensor data from the image sensor on the mobile device, perform obstacle identification on the sensor data, and send the identified obstacle information to the terminal device to construct a region map using the obstacle information, thereby obtaining an established region map.

[0084] When the sensing device includes an image sensor, the self-moving device or other devices can perform obstacle identification on the sensor data of the image sensor on the self-moving device and send the identified obstacle information to the terminal device. The terminal device can use the identified obstacle information to construct a region map. The method of obstacle identification on the sensor data of the image sensor can be any method that can identify a specified type of obstacle from the sensor data of the image sensor; this embodiment does not limit this.

[0085] In some implementations, the information recording unit is further configured to acquire three-dimensional point cloud data sensed by the LiDAR on the mobile device, and send the three-dimensional point cloud data to the terminal device to identify obstacles in the three-dimensional point cloud data, and use the identified obstacle information to construct a region map to obtain an established region map.

[0086] When the sensing device includes LiDAR, the terminal device can perform obstacle identification on the 3D point cloud data sensed by the LiDAR on the self-moving device, and use the identified obstacle information to construct a region map. The method of obstacle identification on the 3D point cloud data sensed by the LiDAR can be any method that can identify a specified type of obstacle from the 3D point cloud data sensed by the LiDAR; this embodiment does not limit this.

[0087] In some implementations, the information recording unit is also configured to acquire three-dimensional point cloud data sensed by the LiDAR on the mobile device, perform obstacle identification on the three-dimensional point cloud data, and send the identified obstacle information to the terminal device to construct a region map using the obstacle information, thereby obtaining an established region map.

[0088] When the sensing device includes LiDAR, the self-moving device or other devices can perform obstacle identification on the 3D point cloud data sensed by the LiDAR on the self-moving device, and send the identified obstacle information to the terminal device. The terminal device can use the identified obstacle information to construct a region map. The method of obstacle identification on the 3D point cloud data sensed by the LiDAR can be any method that can identify a specified type of obstacle from the 3D point cloud data sensed by the LiDAR; this embodiment does not limit this.

[0089] In this embodiment, boundary endpoints are tracked based on RTK data, and obstacle information is identified using image sensors and / or LiDAR to create a regional map. This allows for the control of the self-moving device to return within the regional map, thereby improving the safety of the self-moving device's movement.

[0090] According to another aspect of the embodiments of this application, a method for processing a regional map is also provided. Exemplarily, in this embodiment, the above-described method for processing a regional map can be applied to a hardware environment including a self-moving device 902, a server 904, and a terminal device 906, as shown in FIG9. As shown in FIG9, the self-moving device 902 can be a smart lawnmower with networking and mapping functions, or other devices capable of moving without human intervention. The server 904 can connect to the self-moving device 902 and the terminal device 906 via a network and can be used to provide services (such as data transmission services) to the self-moving device 902 and the terminal device 906. The terminal device 906 can have a mapping interface for sending instructions to the self-moving device 902. Users can use the terminal device 906 to send instructions to the self-moving device 902 via the server 904 to control the movement of the self-moving device 902 to complete the mapping process of a specified area.

[0091] In this embodiment, the network may include, but is not limited to, at least one of the following: a wired network and a wireless network. The wired network may include, but is not limited to, at least one of the following: a wide area network (WAN), a metropolitan area network (MAN), and a local area network (LAN). The wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity) and Bluetooth.

[0092] The method for processing the regional map in this embodiment can be executed by the terminal device 906 alone, or it can be executed collaboratively by the terminal device 906 and at least one of the self-moving device 902 and the server 904. The method for processing the regional map in this embodiment executed by the terminal device 906 can be executed by a client (application) running on it.

[0093] Taking the region map processing method of this embodiment executed by terminal device 906 as an example, Figure 10 is a schematic flowchart of an optional region map processing method according to an embodiment of this application. As shown in Figure 10, the process of the above method may include the following steps:

[0094] Step S1002: During the process of creating a regional map using the self-mobile device, the walking trajectory information of the self-mobile device under the map creation command is recorded, and the boundary of the created map is displayed on the map creation interface according to the walking trajectory information. The walking trajectory information is used to describe the walking trajectory of the self-mobile device, and the boundary of the created map is the map boundary of the created regional map.

[0095] Step S1004: In response to the detected deletion operation performed on the boundary of the established map, determine the boundary path parameter according to the operation information of the deletion operation, wherein the deletion operation is used to delete at least part of the map boundary of the established map, and the boundary path parameter is used to indicate the boundary path of the map boundary to be deleted.

[0096] Step S1006: Based on the boundary path parameters, determine the first boundary point according to the walking trajectory information or the boundary of the established map;

[0097] Step S1008: Control the self-moving device to move from its current position to the position corresponding to the first boundary point, and delete a segment of the existing map boundary between the boundary endpoint of the existing map boundary and the first boundary point.

[0098] The area map processing method in this embodiment can be applied to the field of smart devices, specifically to scenarios where a self-moving device is used to create a map of a specified area. The aforementioned self-moving device can be any of the self-moving devices described in the preceding embodiments, which have already been explained and will not be repeated here.

[0099] In related technologies, if the boundaries of an established area map need to be modified or updated, map boundary reconstruction is required. However, map boundaries can only be modified or updated after map creation is complete. This limitation results in insufficient fault tolerance for lawnmowers when establishing area boundaries, making it impossible to update boundaries promptly when anomalies are detected. Furthermore, post-construction map boundary reconstruction consumes a significant amount of time and may lead to subsequent low mowing efficiency and incomplete mowing.

[0100] To at least partially address the aforementioned issues, this embodiment provides a map erasing scheme that allows users to erase and update map boundary information in real time during the mapping process. By introducing a map boundary correction method capable of real-time map erasing, users can directly operate on the terminal device interface to trigger the deletion of established map boundaries. This can accurately delete boundaries on the map that are not desired by the user, saving time and resources (avoiding the need for complete map reconstruction, saving mapping time and manpower investment; users can correct map errors in real time during the mapping process without waiting for a complete rescan or manual adjustment, improving the flexibility and response speed of map correction), and improving the efficiency and accuracy of boundary establishment, thereby ensuring the efficiency and accuracy of subsequent mowing and avoiding erroneous mowing caused by outdated maps.

[0101] When a map needs to be created for a specified area, the user can send a mapping command to the mobile device through their terminal device to control the mobile device to execute the walking trajectory under the mapping command. Here, the mapping command is used to create a map for the specified area, and the line drawing operation is the walking operation executed according to the mapping command. The method of sending the mapping command is similar to that in the previous embodiments and will not be repeated here. For the mobile device, it can use the same or similar method as in the previous embodiments to control the movement along the boundary of the specified area based on the mapping command, and its walking trajectory information is used to describe the walking trajectory of the mobile device. For the terminal device, it can record the above walking trajectory information and display the boundary of the created map on the mapping interface of the terminal device according to the recorded walking trajectory information.

[0102] Similar to the previous embodiments, if it is necessary to modify or update the boundaries of an existing map, the user can perform a deletion operation on the mapping interface. This deletion operation can be performed on a specified area on the mapping interface. To improve the convenience of deleting map boundaries, the deletion operation can be performed using the delete key on the mapping interface. The delete key is a virtual button on the mapping interface, and the deletion operation is performed on the delete key. The shape and style of the delete key can be set as needed, for example, a circle, a square, or other shapes; this embodiment does not limit this.

[0103] To improve the simplicity of the mapping interface and avoid inconvenience caused by too many buttons, the delete key can be replaced with a back key, i.e., a key that controls the device to move backward. The purpose of using the back key is to control the device to move backward or to delete an existing map boundary. This can be determined by whether the device's backward trajectory overlaps with its walking trajectory during mapping. When the backward trajectory overlaps with the walking trajectory, the overlapping portion of the walking trajectory is deleted. In terms of existing map boundaries, this means deleting a section of the map boundary that overlaps with the overlapping trajectory. The overlapping trajectory is the portion of the walking trajectory that overlaps with the backward trajectory.

[0104] Based on the deletion operation information, the terminal device can determine the boundary distance parameters in the same or similar manner as in the aforementioned embodiments. Based on the boundary distance parameters, a first boundary point is determined according to the walking trajectory information or the established map boundary, and the self-moving device is controlled to move from its current position to the position corresponding to the first boundary point. This has already been explained and will not be repeated here. Furthermore, to ensure the accuracy of information display, the terminal device can delete a segment of the established map boundary from the boundary endpoint to the first boundary point. This deletion can be done directly and all at once, gradually as the self-moving device moves, or after the self-moving device has moved to the position corresponding to the first boundary point. This embodiment does not limit the method for deleting this segment of the established map boundary.

[0105] For example, in this embodiment, the self-moving device may include: a first wheel group and a second wheel group, a power component and a second sensor. The power component drives the first wheel group, and the second sensor is closer to the second wheel group than the first wheel group. When the self-moving device moves based on mapping instructions to generate a walking trajectory, the self-moving device moves with the first wheel group in front of the second wheel group. When the self-moving device moves to a first boundary point based on a deletion instruction, the self-moving device moves with the first wheel group behind the second wheel group. The structure and movement of the self-moving device are similar to those in the previous embodiments and have been described before, so they will not be repeated here.

[0106] The embodiments provided in this application record the walking trajectory information of the self-mobile device under the mapping command during the process of building a regional map using a self-mobile device. The boundary of the built map is displayed on the mapping interface based on the walking trajectory information. The walking trajectory information describes the walking trajectory of the self-mobile device, and the built map boundary is the boundary of the built regional map. In response to the detected deletion operation performed on the built map boundary, the boundary distance parameter is determined based on the operation information of the deletion operation. The deletion operation is used to delete at least a part of the map boundary of the built map, and the boundary distance parameter is used to indicate the boundary distance of the map boundary to be deleted. Based on the boundary distance parameter, a first boundary point is determined according to the walking trajectory information or the built map boundary. The self-mobile device is controlled to move from its current position to the position corresponding to the first boundary point, and a segment of the built map boundary between the boundary endpoint of the built map boundary and the first boundary point is deleted. This solves the problem of long map boundary reconstruction time in the regional map processing methods of related technologies, shortens the map boundary reconstruction time, and improves the efficiency and accuracy of boundary establishment.

[0107] In some embodiments, the method further includes: recording map information of the distance between the self-moving device and the self-moving device within a preset range when the self-moving device walks along the trajectory under the mapping instruction, generating an established area map, wherein the map information includes at least one or a combination of visual sensing parameters and positioning data parameters, and the self-moving device tends towards a first boundary point within the area corresponding to the established area map.

[0108] To create a map, map information about the distance between the mobile device and the device within a preset range while the mobile device is moving can be recorded (i.e., map information about the area around the mobile device within a preset range while it is moving). Based on this map information, a map of the established region can be generated. The method of recording map information, the type of map information, and the method of generating the map of the established region are similar to those in the previous embodiments and will not be repeated here. For the mobile device, it can move towards a first boundary point within the area corresponding to the established region map (its movement trend is to move closer to the first boundary point).

[0109] In this embodiment, a regional map is constructed based on the map information of the distance between the self-moving device and the self-moving device within a preset range when the self-moving device walks. The self-moving device tends to modify the boundary position within the area corresponding to the established regional map, which can ensure the convenience of regional map construction and improve the security of self-moving device return.

[0110] In some embodiments, determining a first boundary point from an existing map boundary based on a boundary path parameter includes: starting from the boundary endpoint of the existing map boundary, performing map boundary backtracking according to the boundary path indicated by the boundary path parameter to obtain the first boundary point.

[0111] In this embodiment, to improve the convenience of boundary modification, a first boundary point can be determined from the existing map boundary based on a boundary path parameter. This boundary path parameter can indicate the boundary path (boundary length) of the map boundary to be deleted, the number of times the existing map boundary needs to be deleted (the boundary path for each deletion can be configured), or other information that allows the first boundary point to be determined from the existing map boundary. When determining the modified boundary endpoint, the first boundary point can be obtained by starting from the boundary endpoint of the existing map boundary and traversing back along the existing map boundary according to the boundary path of the map boundary to be deleted. Here, the boundary endpoint of the existing map boundary refers to the boundary endpoint of the existing map boundary before the deletion operation is detected.

[0112] In this embodiment, the map boundary is backtracked according to the boundary path indicated by the boundary path parameter, thereby determining the modified boundary endpoint, which can improve the convenience of boundary modification.

[0113] In some embodiments, controlling the self-moving device to move from its current location to a location corresponding to the first boundary point includes: within an established area map, planning an optimized movement path for the self-moving device, starting from the boundary endpoint of the established map boundary and ending at the first boundary point; and controlling the self-moving device to move from its current location to the location corresponding to the first boundary point according to the optimized movement path.

[0114] In this embodiment, when controlling the self-moving device to travel directly from its current location to the location corresponding to the first boundary point, an optimized movement path can first be planned for the self-moving device within the established area map. This path starts from the endpoint of the established map boundary and ends at the first boundary point. The self-moving device is then controlled to move from its current location to the location corresponding to the first boundary point according to this optimized movement path. The method of planning the optimized movement path and controlling the self-moving device according to the optimized movement path is similar to that in the previous embodiments and will not be described in detail here.

[0115] In this embodiment, by planning an optimized movement path for the self-moving device within an established area map, from the original boundary endpoint to the modified boundary endpoint, the self-moving device can be controlled to travel directly to the modified boundary endpoint, thereby improving the convenience of device movement.

[0116] In some embodiments, the self-moving device can regress (approach the first location point and the first boundary point) within the area corresponding to the established area map, which contains obstacle information of the identified obstacles within the area corresponding to the established area map. For example, during mapping, the map can be built within a certain area of ​​the lawnmower, while during regression, it can regress within the mapped area.

[0117] For example, in this embodiment, to improve the security of the self-moving device and give it more flexibility, the self-moving device is controlled to move from its current position to the position corresponding to the first boundary point according to an optimized movement path. This includes: controlling the self-moving device to walk from its current position towards the first boundary point according to the optimized movement path, and avoiding obstacles encountered in the area corresponding to the established area map, until it reaches the position corresponding to the first boundary point. The method of controlling the movement of the self-moving device according to the optimized movement path is similar to that in the aforementioned implementation and will not be described in detail here.

[0118] In some embodiments, the deletion instruction further includes a deletion starting point and an instruction execution unit, which, in response to the received deletion instruction, controls the self-moving device to move from its current position to the position corresponding to the deletion starting point and the position corresponding to the first boundary point, respectively, according to an optimized movement path. The optimized movement path is a movement path planned by the terminal device for the self-moving device within the established area map, starting from the deletion starting point and ending at the first boundary point. Through this embodiment, by controlling the self-moving device to move to the position corresponding to the modified boundary endpoint along the optimized movement path, the efficiency of map modification can be improved; and by allowing the self-moving device to avoid obstacles during movement, the safety of the mapping process can be improved.

[0119] In some embodiments, controlling the self-moving device to move from its current position to a position corresponding to the first boundary point includes: if the distance between the endpoint of the boundary of the built map boundary and the first boundary point is less than or equal to a preset distance threshold, controlling the self-moving device to walk backward toward the position corresponding to the first boundary point until it returns to the position corresponding to the first boundary point.

[0120] If the distance between the endpoint of the existing map boundary and the first boundary point is less than or equal to a preset distance threshold, the distance between the original and modified boundary endpoints is small. If the mobile device turns its head, inaccurate control may occur due to insufficient movement space. To improve the ease of controlling the mobile device, when the distance between the endpoint of the existing map boundary and the first boundary point is less than or equal to the preset distance threshold, the mobile device can be controlled to move backward towards the position corresponding to the first boundary point until it returns to the position corresponding to the first boundary point. The method by which the terminal device controls the mobile device to move backward towards the position corresponding to the first boundary point is similar to that in the previous embodiments and will not be described in detail here.

[0121] In this embodiment, when the distance between the original boundary endpoint and the modified boundary endpoint is close, directly controlling the self-moving device to walk backward toward the position corresponding to the modified boundary endpoint can improve the flexibility and accuracy of device control.

[0122] In some embodiments, in response to a detected deletion operation performed on the mapping interface, the distance parameters of the corresponding deletion boundary can be determined based on the time or number of times the deletion instruction is pressed, thereby obtaining the endpoint of the deletion boundary; the location information (e.g., image and location parameters) from the previous location can be retrieved, and the self-moving device (e.g., lawnmower) can be controlled to go directly to the point corresponding to the location information.

[0123] In some implementations, determining the boundary path parameters based on the operation information of the deletion operation includes determining the boundary path parameters based on the duration of the deletion operation.

[0124] Here, the duration of the deletion operation is positively correlated with the boundary path indicated by the boundary path parameter. That is, the longer the duration of the deletion operation, the longer the boundary path indicated by the boundary path parameter, and vice versa. Correspondingly, the deletion instruction (the instruction generated in response to the deletion operation) corresponds to a time unit. There can be one or more forms of deletion operations, and correspondingly, there can also be one or more ways to determine the duration of the deletion operation. For example, a deletion operation can be a long press operation, and the duration of the deletion operation is the duration of holding down the delete key. Another example is a double-click operation; if the interval between two clicks does not exceed a set first time threshold, it is considered a single double-click (the double-click is not interrupted), and the duration of the deletion operation is the duration from the first click to the last click, or the duration from the first click to a specified time after the last click. The time interval from the last click to the specified time can be the first time threshold or other intervals. This embodiment does not limit the deletion operation or the method for determining its duration.

[0125] For example, in this embodiment, there can be one or more ways to increase the boundary distance indicated by the boundary distance parameter according to the duration of the deletion operation. For instance, the duration of the deletion operation can have a linear relationship with the boundary distance indicated by the boundary distance parameter, such as increasing the boundary distance indicated by the boundary distance parameter by 0.5 meters, 1 meter, or other values ​​for every 1 second increase in the duration of the deletion operation. Alternatively, the rate of increase of the boundary distance indicated by the boundary distance parameter can be increased as the duration of the deletion operation increases. Furthermore, other corresponding solutions are possible, which are not limited in this embodiment.

[0126] It should be noted that, for cases where the delete operation can be a long press, to avoid false positives, a long press operation is only considered detected if the duration of the delete key being pressed is greater than or equal to the second time threshold. Here, the first and second time thresholds can be set empirically; they can be the same or different. For example, the first time threshold can be 1 second, 2 seconds, or other values, and the second time threshold can be 0.5 seconds, 1 second, or other values. This embodiment does not impose any limitations on this.

[0127] In some implementations, determining the boundary path parameters based on the operation information of the deletion operation includes: determining the boundary path parameters based on the number of deletion operations.

[0128] Here, the number of deletion operations is positively correlated with the boundary path indicated by the boundary path parameter. That is, the more deletion operations there are, the longer the boundary path indicated by the boundary path parameter, and vice versa. Correspondingly, the deletion command corresponds to the number of clicks.

[0129] For example, in this embodiment, there can be one or more ways to increase the boundary distance indicated by the boundary distance parameter based on the number of deletion operations. For instance, the number of deletion operations can have a linear relationship with the boundary distance indicated by the boundary distance parameter, such as the boundary distance indicated by the boundary distance parameter increasing by 0.5 meters, 1 meter, or other values ​​for each increase in the number of deletion operations. Alternatively, the rate of increase of the boundary distance indicated by the boundary distance parameter can be increased as the number of deletion operations increases. Furthermore, other corresponding solutions are possible, which are not limited in this embodiment.

[0130] For example, the boundary distance mileage (referred to as unit mileage) indicated by the boundary distance parameter can be automatically adjusted based on the boundary length of the established map boundary. This adjustment is made by increasing the boundary distance parameter by one second for each increase in the deletion operation time or the number of deletion operations. The shorter the boundary length of the established map boundary, the smaller the unit mileage; the longer the boundary length, the larger the unit mileage. Other corresponding solutions are also possible, but are not limited in this embodiment.

[0131] It should be noted that methods for determining the boundary distance parameter based on the duration of the deletion operation and methods based on the number of deletion operations can be combined. For example, users can combine long presses and taps to specify the desired boundary distance for deletion. For instance, a user can first long press the delete button to continuously increase the boundary distance indicated by the boundary distance parameter, avoiding the tedious operation of repeatedly tapping the delete button. When the boundary distance indicated by the boundary distance parameter is close to the user's needs, the user can release the delete button and tap to fine-tune the boundary distance indicated by the boundary distance parameter, thus providing the accurate desired boundary distance for deletion.

[0132] It should be noted that map boundary editing in related technologies requires auxiliary operations such as selecting multiple points to choose the boundary direction and the boundary mileage to be deleted. The entire process is complex and not user-friendly for ordinary users. In this embodiment, during the mapping process, the machine can directly determine the boundary point order based on the order in which the boundaries are created. Users only need to control the duration and number of deletion operations to accurately roll back the boundary. Overall, the operation is simple, requires no professional knowledge, and is user-friendly for ordinary users.

[0133] In this embodiment, by determining the boundary path indicated by the boundary path parameter through the duration of the deletion operation and / or the number of deletion operations, the convenience and accuracy of boundary deletion can be improved, thereby enhancing the user experience.

[0134] In some embodiments, after controlling the self-moving device to move from its current position to a position corresponding to the first boundary point, the method further includes: in response to a detected position correction operation performed on the mapping interface, sending a position correction instruction matching the position correction operation to the self-moving device to correct the position of the self-moving device.

[0135] During the process of the self-moving device moving to the location corresponding to the first boundary point, problems such as inaccurate positioning or obstacle interference may occur, causing the actual location reached by the self-moving device to deviate from the required location. To ensure the accuracy of mapping, the current location of the self-moving device can be corrected after the movement is completed. The user can perform a position correction operation on the mapping interface to correct the position of the self-moving device. The terminal device can respond to the detected position correction operation by sending a position correction command matching the position correction operation to the self-moving device to control the self-moving device to move to the corrected location. The position correction operation and position correction command are similar to those in the previous embodiments and will not be described in detail here.

[0136] This embodiment improves the accuracy of mapping by correcting the actual destination reached by the self-moving device after it has completed its movement.

[0137] In some embodiments, the terminal device can track the boundary endpoint based on real-time dynamic differential data from the self-moving device to obtain the boundary of the constructed map. The method of tracking the boundary endpoint based on RTK data is similar to that in the previous embodiments and has been described, so it will not be repeated here.

[0138] In some embodiments, the above method further includes: performing obstacle identification on sensor data from an image sensor on a self-moving device, and using the identified obstacle information to construct a region map to obtain an established region map; or, acquiring obstacle information identified from sensor data from an image sensor on a self-moving device, and using the acquired obstacle information to construct a region map to obtain an established region map.

[0139] The method of obstacle recognition and area map creation based on sensor data from the image sensor on the self-moving device is similar to that in the previous embodiments and has been described, so it will not be repeated here.

[0140] In some embodiments, the above method further includes: performing obstacle identification on the three-dimensional point cloud data sensed by the lidar on the self-moving device, and using the identified obstacle information to construct a region map to obtain an established region map; or, acquiring obstacle information identified from the three-dimensional point cloud data sensed by the lidar on the self-moving device, and using the acquired obstacle information to construct a region map to obtain an established region map.

[0141] The method of obstacle recognition and regional map creation based on the 3D point cloud data sensed by the LiDAR on the self-moving device is similar to that in the previous embodiments and has been explained, so it will not be repeated here.

[0142] In this embodiment, boundary endpoints are tracked based on RTK data, and obstacle information is identified using image sensors and / or LiDAR to create a regional map. This allows for the control of the self-moving device to return within the regional map, thereby improving the safety of the self-moving device's movement.

[0143] In some embodiments, after deleting a segment of map boundary from the boundary endpoint of the existing map boundary to the first boundary point, the method further includes: in response to a detected new deletion operation, finding the endpoint of the second modification using the boundary endpoint of the first modified existing map boundary as the initial point of the second modification, and obtaining the second boundary point; controlling the self-moving device to move from its current position to the position corresponding to the second boundary point, and deleting a segment of map boundary from the boundary endpoint of the first modified existing map boundary to the second boundary point.

[0144] In this embodiment, modifying the map boundary can be a continuous process. The aforementioned first boundary point can be the endpoint of the first modification. If the user continues to perform deletion operations on the mapping interface, for the terminal device, in response to the detected new deletion operation, the endpoint of the already built map boundary after the first modification can be used as the starting point for the second modification to find its endpoint. Here, for continuous modification operations, the response methods for different modification operations can be the same or different. For example, the second and subsequent modification operations can control the mobile device to backtrack a certain distance along the already built map boundary to perform fine-grained boundary modifications. Therefore, based on the response methods of different modification operations, the endpoint of the second modification can be determined, thereby obtaining the second boundary point.

[0145] After determining the second boundary point, the mobile device can be moved from its current location to the location corresponding to the second boundary point using the same or similar method as in the previous embodiments, and a segment of map boundary between the endpoint of the first modified map boundary and the second boundary point can be deleted. The method of controlling the mobile device to move from its current location to the location corresponding to the second boundary point can correspond to the response method of the second modification operation, and this embodiment does not limit this.

[0146] For example, users can directly operate on the interface to trigger the first erasure and perform the first erasure. During the second erasure, the endpoint of the boundary modified in the first step can be used as the starting point for the second modification, and the endpoint of the second modification can be found according to the deletion command. Through continuous modifications, after erasing the non-expected boundaries on the map, the erasure can be terminated (as shown in Figure 11), ending the boundary modification. The map boundary after erasure is complete is shown in Figure 12.

[0147] In this embodiment, by making multiple consecutive modifications to the map, the first modification can be considered a coarse modification, and subsequent modifications can be considered fine modifications, which can improve the accuracy of boundary modifications.

[0148] In some embodiments, in response to a detected new deletion operation, finding the endpoint of the second modification using the boundary endpoint of the first modified existing map boundary as the initial point of the second modification to obtain a second boundary point includes: determining new boundary path parameters based on the operation information of the new deletion operation; and finding the endpoint of the second modification on the existing map boundary based on the new boundary path parameters, using the boundary endpoint of the first modified existing map boundary as the initial point of the second modification to obtain a second boundary point.

[0149] In this embodiment, the endpoint of the second boundary modification can be determined in the same way as the first boundary modification. That is, the new boundary path parameters are determined based on the operation information of the second deletion operation, and the endpoint of the second modification is found based on the new boundary path parameters. As already explained, this will not be repeated here.

[0150] In this embodiment, the second boundary modification also adopts the method of first determining the boundary distance parameters and then determining the modification endpoint, which can be adapted to long-distance deletion scenarios (and other scenarios are also adapted), improving the flexibility of map boundary modification.

[0151] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the related technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a terminal device to execute the methods of the various embodiments of this application. The storage medium can be ROM (Read-Only Memory) / RAM (Random Access Memory), magnetic disk, or optical disk, etc., and the terminal device can be a mobile phone, computer, server, or network device, etc.

[0152] According to another aspect of the embodiments of this application, a terminal device is also provided, which can be used to implement the area map processing method provided in the above embodiments, and will not be repeated hereafter. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0153] Figure 13 is a structural block diagram of an optional terminal device according to an embodiment of this application. As shown in Figure 13, the area map processing device includes:

[0154] The first execution unit 1302 is configured to record the walking trajectory information of the self-moving device under the mapping instruction during the process of building a regional map using the self-moving device, and display the boundary of the built map on the mapping interface according to the walking trajectory information. The walking trajectory information is used to describe the walking trajectory of the self-moving device, and the boundary of the built map is the map boundary of the built regional map.

[0155] The first determining unit 1304 is configured to respond to a detected deletion operation performed on an existing map boundary, determine a boundary distance parameter based on the operation information of the deletion operation, wherein the deletion operation is used to delete at least a portion of the existing map boundary, and the boundary distance parameter is used to indicate the boundary distance of the map boundary to be deleted; and determine a first boundary point based on the boundary distance parameter, according to the walking trajectory information or the existing map boundary.

[0156] The instruction transmission unit 1306 is configured to control the self-moving device to move from its current position to a position corresponding to the first boundary point;

[0157] Control unit 1308 is configured to delete a segment of an existing map boundary from the boundary endpoint of the existing map boundary to the first boundary point.

[0158] In this embodiment, the first execution unit 1302 can be configured to execute step S1002 in the aforementioned embodiment, the first determination unit 1302 can be configured to execute steps S1004 and S1006 in the aforementioned embodiment, and the instruction transmission unit 1306 and the control unit 1308 are configured to execute step S1008 in the aforementioned embodiment.

[0159] The embodiments provided in this application record the walking trajectory information of the self-mobile device under the mapping command during the process of building a regional map using a self-mobile device. The boundary of the built map is displayed on the mapping interface based on the walking trajectory information. The walking trajectory information describes the walking trajectory of the self-mobile device, and the built map boundary is the boundary of the built regional map. In response to the detected deletion operation performed on the built map boundary, the boundary distance parameter is determined based on the operation information of the deletion operation. The deletion operation is used to delete at least a part of the map boundary of the built map, and the boundary distance parameter is used to indicate the boundary distance of the map boundary to be deleted. Based on the boundary distance parameter, a first boundary point is determined according to the walking trajectory information or the built map boundary. The self-mobile device is controlled to move from its current position to the position corresponding to the first boundary point, and a segment of the built map boundary between the boundary endpoint of the built map boundary and the first boundary point is deleted. This solves the problem of long map boundary reconstruction time in the regional map processing methods of related technologies, shortens the map boundary reconstruction time, and improves the efficiency and accuracy of boundary establishment.

[0160] In some embodiments, the above-described apparatus further includes: a second execution unit configured to record map information of the distance between the self-moving device and the self-moving device within a preset range when the self-moving device walks under the mapping instruction, and to generate an established area map, wherein the map information includes at least one or a combination of visual sensing parameters and positioning data parameters, and the self-moving device tends towards a first boundary point within the area corresponding to the established area map.

[0161] In some embodiments, the first determining unit includes: a backtracking module, configured to backtrack the map boundary starting from the boundary endpoint of the existing map boundary and according to the boundary path indicated by the boundary path parameter to obtain a first boundary point.

[0162] In some embodiments, the instruction transmission unit includes: a planning module configured to plan an optimized movement path for the self-moving device within an established area map, starting from the boundary endpoint of the established map boundary and ending at a first boundary point; and a first control module configured to control the self-moving device to move from its current position to a position corresponding to the first boundary point according to the optimized movement path.

[0163] In some embodiments, the self-moving device returns to the area corresponding to the established area map, the established area map containing obstacle information of the identified obstacles in the area corresponding to the established area map; the first control module includes: an execution submodule, used to control the self-moving device to move from its current position toward the first boundary point according to an optimized movement path, and to bypass the obstacles encountered when encountering obstacles in the area corresponding to the established area map, until it moves to the position corresponding to the first boundary point.

[0164] In some embodiments, the instruction transmission unit includes a second control module configured to control the self-moving device to walk backward toward the position corresponding to the first boundary point, until it returns to the position corresponding to the first boundary point, when the distance between the boundary endpoint of the built map boundary and the first boundary point is less than or equal to a preset distance threshold.

[0165] In some embodiments, the sensors on the self-moving device that are at least partially used for obstacle detection are positioned horizontally or rearward.

[0166] In some embodiments, the self-moving device includes: a first wheel set and a second wheel set, a power component and a second sensor, wherein the power component drives the first wheel set and the second sensor is closer to the second wheel set relative to the first wheel set; when the self-moving device moves based on mapping instructions to generate a walking trajectory, the self-moving device moves with the first wheel set in front of the second wheel set; when the self-moving device moves to a first boundary point based on a deletion instruction, the self-moving device moves with the first wheel set behind the second wheel set.

[0167] In some embodiments, the drawing interface includes a delete key, which can be a virtual button on the drawing interface, and the delete operation is performed on the delete key.

[0168] In some embodiments, the first determining unit includes one of the following: a first determining module configured to determine a boundary path parameter based on the duration of the deletion operation, wherein the duration of the deletion operation is positively correlated with the boundary path indicated by the boundary path parameter; and a second determining module configured to determine the boundary path parameter based on the number of deletion operations, wherein the number of deletion operations is positively correlated with the boundary path indicated by the boundary path parameter.

[0169] In some embodiments, the delete key is the back key, which deletes the part of the walking trajectory that overlaps with the back trajectory when the back trajectory of the self-moving device coincides with the walking trajectory.

[0170] In some embodiments, the above apparatus further includes: a sending unit configured to, after controlling the self-moving device to move from its current position to a position corresponding to the first boundary point, in response to a detected position correction operation performed on the mapping interface, send a position correction instruction matching the position correction operation to the self-moving device to correct the position of the self-moving device, wherein the position correction operation is used to correct the position of the self-moving device, and the position correction instruction is used to indicate at least one of the following: movement direction, movement distance.

[0171] In some embodiments, the above apparatus further includes: a first tracking unit configured to track the boundary endpoint based on real-time dynamic differential data of the self-moving device to obtain the boundary of the established map; and a third execution unit configured to perform obstacle recognition on sensor data from the image sensor on the self-moving device, and use the recognized obstacle information to construct a region map to obtain an established region map; or, to acquire obstacle information recognized from the sensor data of the image sensor on the self-moving device, and use the acquired obstacle information to construct a region map to obtain an established region map.

[0172] In some embodiments, the above apparatus further includes: a second tracking unit configured to track the boundary endpoint based on real-time dynamic differential data of the self-moving device to obtain the boundary of the established map; and a fourth execution unit configured to perform obstacle recognition on the three-dimensional point cloud data sensed by the lidar on the self-moving device, and use the recognized obstacle information to construct a region map to obtain an established region map; or, to acquire obstacle information identified from the three-dimensional point cloud data sensed by the lidar on the self-moving device, and use the acquired obstacle information to construct a region map to obtain an established region map.

[0173] In some embodiments, the first boundary point is the endpoint of the first modification. The apparatus further includes: a searching unit configured to, after deleting a segment of map boundary from the endpoint of the existing map boundary to the first boundary point, in response to a detected new deletion operation, search for the endpoint of the second modification using the endpoint of the existing map boundary after the first modification as the initial point for the second modification, thereby obtaining the second boundary point; and a fifth execution unit configured to control the self-moving device to move from its current position to a position corresponding to the second boundary point, and delete the segment of map boundary from the endpoint of the existing map boundary after the first modification to the second boundary point.

[0174] In some embodiments, the searching unit includes: a third determining module configured to determine new boundary path parameters based on the operation information of the new deletion operation in response to a detected new deletion operation; and a searching module configured to search for the endpoint of the second modification on the existing map boundary based on the new boundary path parameters, using the boundary endpoint of the first modified existing map boundary as the initial point of the second modification, to obtain the second boundary point.

[0175] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0176] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes the steps in any of the above method embodiments when it is run.

[0177] In some embodiments, the computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0178] According to another aspect of the embodiments of this application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor is configured to perform the steps of any of the method embodiments described above via the computer program. In some embodiments, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0179] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0180] According to another aspect of the embodiments of this application, a computer program product is also provided, comprising a computer program / instructions containing program code for performing the methods shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via communication section 1409, and / or installed from removable medium 1411. When the computer program is executed by central processing unit 1401, it performs various functions provided in the embodiments of this application. The sequence numbers of the embodiments of this application above are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0181] Figure 14 is a block diagram of a computer system architecture of an optional electronic device according to an embodiment of this application. As shown in Figure 14, the computer system 1400 includes a CPU (Central Processing Unit) 1401, which can perform various appropriate actions and processes according to a program stored in ROM 1402 or a program loaded from storage portion 1408 into RAM 1403. Various programs and data required for system operation are also stored in random access memory 1403. The CPU 1401, ROM 1402, and random access memory 1403 are interconnected via bus 1404. An I / O (Input / Output) interface 1405 is also connected to bus 1404.

[0182] The following components are connected to I / O interface 1405: input section 1406 including keyboard, mouse, etc.; output section 1407 including CRT (Cathode Ray Tube), LCD (Liquid Crystal Display), etc., and speakers, etc.; storage section 1408 including hard disk, etc.; and communication section 1409 including network interface card, modem, etc. Communication section 1409 performs communication processing via a network such as the Internet. Drive 1410 is also connected to I / O interface 1405 as needed. Removable media 1411, such as disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1410 as needed so that computer programs read from them can be installed into storage section 1408 as needed.

[0183] Specifically, according to embodiments of this application, the processes described in the various method flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1409, and / or installed from removable medium 1411. When the computer program is executed by central processing unit 1401, it performs various functions defined in the system of this application.

[0184] It should be noted that the computer system 1400 of the electronic device shown in Figure 14 is only an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0185] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0186] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. A self-moving device, the self-moving device comprising: A first wheel assembly, a second wheel assembly, and a power component, wherein the power component drives the first wheel assembly; The self-moving device further includes: an instruction execution unit configured to execute a walking trajectory under the received mapping instruction in response to a received mapping instruction, wherein the mapping instruction is used to establish a regional map boundary for a specified area and generate the established map boundary according to the walking trajectory of the self-moving device; the instruction execution unit is also configured to control the self-moving device to travel from its current position to a first boundary point corresponding to the deletion instruction in response to a received deletion instruction, wherein the mapping instruction uses the first boundary point as the starting point for modifying the regional map boundary; When the self-moving device moves based on the mapping command to generate the walking trajectory, in the walking direction, the self-moving device moves with the first wheel set in front of the second wheel set; when the self-moving device moves to the first boundary point based on the deletion command, in the walking direction, the self-moving device moves with the first wheel set behind the second wheel set.

2. The self-moving device according to claim 1, wherein, The self-moving device also includes a detection sensor, which is closer to the first wheel set than the second wheel set.

3. The self-moving device according to claim 1, wherein, The self-moving device and the terminal device are connected in communication; the self-moving device further includes: an information recording unit, configured to record map information within a preset range of the self-moving device when executing the walking trajectory under the mapping instruction, and send the map information to the terminal device to generate an established area map, wherein the map information includes at least one or a combination of visual sensing parameters and positioning data parameters, and the self-moving device moves toward the first boundary point within the area corresponding to the established area map.

4. The self-moving device according to claim 3, wherein, The instruction execution unit is further configured to, in response to the received deletion instruction, control the self-moving device to move from its current position to a position corresponding to the first boundary point according to an optimized movement path, wherein the optimized movement path is an optimized movement path planned by the terminal device for the self-moving device within the established area map, starting from the boundary endpoint of the established map boundary and ending at the first boundary point.

5. The self-moving device according to claim 4, wherein, The self-moving device approaches the first boundary point within the area corresponding to the established area map, and the established area map contains obstacle information of the identified obstacles within the area corresponding to the established area map; The instruction execution unit is further configured to control the self-moving device to move from its current position toward the first boundary point according to the optimized movement path, and to bypass obstacles encountered in the area corresponding to the established area map until it moves to the position corresponding to the first boundary point.

6. The self-moving device according to claim 3, wherein, The deletion instruction also includes a deletion starting point. The instruction execution unit is further configured to, in response to the received deletion instruction, control the self-moving device to move from its current position to the position corresponding to the deletion starting point and the position corresponding to the first boundary point, respectively, according to an optimized movement path. The optimized movement path is an optimized movement path planned by the terminal device for the self-moving device within the established area map, with the deletion starting point as the starting point and the first boundary point as the ending point.

7. The self-moving device according to claim 3, wherein, The instruction execution unit is further configured to, when the distance between the boundary endpoint of the established map boundary and the first boundary point is less than or equal to a preset distance threshold, control the self-moving device to walk toward the position corresponding to the first boundary point until it returns to the position corresponding to the first boundary point.

8. The self-moving device according to claim 3, wherein, The instruction execution unit is further configured to, after controlling the self-moving device to move from its current position to a position corresponding to the first boundary point, correct the position of the self-moving device in response to a received position correction instruction, wherein the position correction operation is used to correct the position of the self-moving device, and the position correction instruction is used to indicate at least one of the following: movement direction, movement distance.

9. The self-moving device according to any one of claims 3 to 8, wherein, The information recording unit is also configured to record the real-time dynamic differential data of the self-mobile device and send the map information to the terminal device to track the boundary endpoint and obtain the built map boundary. The information recording unit is further configured to acquire sensor data from the image sensor on the self-moving device, and send the sensor data to the terminal device to perform obstacle recognition on the sensor data, and use the recognized obstacle information to construct a region map to obtain an established region map; or, acquire sensor data from the image sensor on the self-moving device, perform obstacle recognition on the sensor data, and send the recognized obstacle information to the terminal device to use the obstacle information to construct a region map to obtain an established region map.

10. The self-moving device according to any one of claims 3 to 8, wherein, The information recording unit is also configured to record the real-time dynamic differential data of the self-mobile device and send the map information to the terminal device to track the boundary endpoint and obtain the built map boundary. The information recording unit is further configured to acquire three-dimensional point cloud data sensed by the lidar on the self-mobile device, and send the three-dimensional point cloud data to the terminal device to perform obstacle identification on the three-dimensional point cloud data, and use the identified obstacle information to construct a region map to obtain an established region map; or, acquire three-dimensional point cloud data sensed by the lidar on the self-mobile device, perform obstacle identification on the three-dimensional point cloud data, and send the identified obstacle information to the terminal device to use the obstacle information to construct a region map to obtain an established region map.

11. A method for processing a regional map, comprising: During the process of creating a regional map using a self-moving device, the walking trajectory information of the self-moving device under the map creation command is recorded. The boundary of the created map is displayed on the map creation interface based on the walking trajectory information. The walking trajectory information is used to describe the walking trajectory of the self-moving device, and the boundary of the created map is the map boundary of the created regional map. In response to a detected deletion operation performed on the established map boundary, a boundary distance parameter is determined based on the operation information of the deletion operation, wherein the deletion operation is used to delete at least a portion of the map boundary of the established map boundary, and the boundary distance parameter is used to indicate the boundary distance of the map boundary to be deleted. Based on the boundary distance parameters, the first boundary point is determined according to the walking trajectory information or the established map boundary. Control the self-moving device to move from its current position to the position corresponding to the first boundary point, and delete a segment of the existing map boundary between the boundary endpoint of the existing map boundary and the first boundary point.

12. The method according to claim 11, wherein, The method further includes: The system records map information within a preset range of the distance between the self-moving device and the self-moving device when executing the mapping command, and generates the established area map. The map information includes at least one or a combination of visual sensing parameters and positioning data parameters. The self-moving device moves toward the first boundary point within the area corresponding to the established area map.

13. The method according to claim 11, wherein, The step of determining the first boundary point from the boundary of the established map based on the boundary path parameters includes: Starting from the boundary endpoint of the established map boundary, the map boundary is backtracked according to the boundary distance indicated by the boundary distance parameter to obtain the first boundary point.

14. The method according to claim 11, wherein, The step of controlling the self-moving device to move from its current position to a position corresponding to the first boundary point includes: Within the established area map, an optimized movement path is planned for the self-moving device, starting from the boundary endpoint of the established map boundary and ending at the first boundary point. According to the optimized movement path, the self-moving device is controlled to move from its current position to the position corresponding to the first boundary point.

15. The method according to claim 14, wherein, The self-moving device returns to the area corresponding to the established area map, and the established area map contains obstacle information of the identified obstacles in the area corresponding to the established area map; The step of controlling the self-moving device to move from its current position to the position corresponding to the first boundary point according to the optimized movement path includes: According to the optimized movement path, the self-moving device moves from its current position toward the first boundary point, and when it encounters obstacles in the area corresponding to the established area map, it avoids the obstacles until it moves to the position corresponding to the first boundary point.

16. The method according to claim 11, wherein, The step of controlling the self-moving device to move from its current position to a position corresponding to the first boundary point includes: If the distance between the endpoint of the established map boundary and the first boundary point is less than or equal to a preset distance threshold, the self-moving device is controlled to walk backward toward the position corresponding to the first boundary point until it returns to the position corresponding to the first boundary point.

17. The method according to claim 16, wherein, The self-moving device includes: a first wheel set and a second wheel set, a power component and a second sensor, wherein the power component drives the first wheel set and the second sensor is closer to the second wheel set relative to the first wheel set; When the self-moving device moves based on the mapping command to generate the walking trajectory, the self-moving device moves with the first wheel set in front of the second wheel set; when the self-moving device moves to the first boundary point based on the deletion command, the self-moving device moves with the first wheel set behind the second wheel set.

18. The method according to claim 11, wherein, The drawing interface includes a delete key, which is a virtual button on the drawing interface. The delete operation is performed on the delete key.

19. The method according to claim 18, wherein, In response to a detected deletion operation performed on the mapping interface, the boundary path parameters are determined based on the operation information of the deletion operation, including one of the following: The boundary path parameter is determined based on the duration of the deletion operation, wherein the duration of the deletion operation is positively correlated with the boundary path indicated by the boundary path parameter. The boundary path parameter is determined based on the number of operations of the deletion operation, wherein the number of operations of the deletion operation is positively correlated with the boundary path indicated by the boundary path parameter.

20. The method according to claim 18, wherein, The delete key is the back key. When the back trajectory of the self-moving device coincides with the walking trajectory, the part of the walking trajectory that coincides with the back trajectory is deleted.

21. The method according to claim 11, wherein, After controlling the self-moving device to move from its current position to the position corresponding to the first boundary point, the method further includes: In response to a detected position correction operation performed on the mapping interface, a position correction instruction matching the position correction operation is sent to the self-moving device to correct the position of the self-moving device, wherein the position correction operation is used to correct the position of the self-moving device, and the position correction instruction is used to indicate at least one of the following: movement direction, movement distance.

22. The method according to any one of claims 11 to 21, wherein, The method further includes: Based on the real-time dynamic differential data of the self-mobile device, the boundary endpoint is tracked to obtain the boundary of the established map; Obstacle identification is performed on the sensor data from the image sensor on the self-moving device, and the identified obstacle information is used to construct a region map to obtain the established region map; or, Obstacle information identified from sensor data of the image sensor on the self-moving device is acquired, and the acquired obstacle information is used to construct a region map to obtain the established region map.

23. The method according to any one of claims 11 to 21, wherein, The method further includes: Based on the real-time dynamic differential data of the self-mobile device, the boundary endpoint is tracked to obtain the boundary of the established map; Obstacle identification is performed on the 3D point cloud data sensed by the LiDAR on the self-moving device, and the identified obstacle information is used to construct a region map to obtain the established region map; or, Obstacle information is acquired from the 3D point cloud data sensed by the LiDAR on the self-moving device, and the acquired obstacle information is used to construct a region map to obtain the established region map.

24. The method according to any one of claims 11 to 21, wherein, The first boundary point is the endpoint of the first modification; After deleting a segment of map boundary from the endpoint of the existing map boundary to the first boundary point, the method further includes: In response to the detected new deletion operation, the endpoint of the second modification is found by using the boundary endpoint of the first modified existing map boundary as the starting point of the second modification, and the second boundary point is obtained. Control the self-moving device to move from its current position to the position corresponding to the second boundary point, and delete a segment of map boundary between the boundary endpoint of the first modified existing map boundary and the second boundary point.

25. The method according to claim 24, wherein, In response to the detected new deletion operation, the endpoint of the second modification is found by using the boundary endpoint of the existing map boundary after the first modification as the starting point for the second modification, thus obtaining the second boundary point, including: In response to the detected new deletion operation, a new boundary path parameter is determined based on the operation information of the new deletion operation; Based on the new boundary path parameters, the endpoint of the existing map boundary after the first modification is used as the starting point for the second modification. The endpoint of the second modification is then found on the existing map boundary to obtain the second boundary point.

26. A computer-readable storage medium storing a computer program, wherein, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 11 to 25.

27. The computer-readable storage medium according to claim 26, wherein, include: The first execution unit is configured to record the walking trajectory information of the self-moving device under the mapping instruction during the process of building a regional map using the self-moving device, and display the boundary of the built map on the mapping interface according to the walking trajectory information. The walking trajectory information is used to describe the walking trajectory of the self-moving device, and the boundary of the built map is the map boundary of the built regional map. The first determining unit is configured to respond to a detected deletion operation performed on the established map boundary, determine a boundary distance parameter based on the operation information of the deletion operation, wherein the deletion operation is used to delete at least a portion of the map boundary of the established map boundary, and the boundary distance parameter is used to indicate the boundary distance of the map boundary to be deleted; and determine a first boundary point based on the boundary distance parameter, according to the walking trajectory information or the established map boundary. The instruction transmission unit is configured to control the self-moving device to move from its current position to a position corresponding to the first boundary point; The control unit is configured to delete a segment of the existing map boundary from the boundary endpoint of the existing map boundary to the first boundary point.

28. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, When the processor executes the computer program, it implements the steps of the method according to any one of claims 11 to 25.

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