CN-116518987-B - Map processing method, system and self-mobile device

CN116518987BCN 116518987 BCN116518987 BCN 116518987BCN-116518987-B

Abstract

The invention discloses a map processing method, a map processing system and self-mobile equipment. Based on the method, after a first map which is generated before and a second map which is generated after the first map and the second map which are generated after the second map are acquired, a comparison result of the first map and the second map can be generated according to contour lines which are respectively contained in the first map and the second map, wherein the contour lines comprise contour lines of partition boundaries which are contained in corresponding maps and/or contour lines of internal barriers which are contained in corresponding maps, and the second map and the first map are utilized to distinguish different situations for processing and updating according to the comparison result so as to generate the target map. Therefore, the map processing process is more targeted, the problems of map boundary blurring, large errors and the like existing when a map is processed and updated by adopting a map overlapping updating mode can be effectively avoided, processing errors can be reduced, and a target map with higher precision can be obtained.

Inventors

ZHANG LUHAN
CAO MENG
SUN JIAJIA

Assignees

追觅创新科技(苏州)有限公司

Dates

Publication Date: 20260505
Application Date: 20220124

Claims (8)

1. A map processing method, characterized by comprising: Acquiring a first map and a second map of a target area, wherein the second map is generated after the first map; generating a comparison result of the first map and the second map according to contour lines respectively contained in the first map and the second map, wherein the contour lines comprise contour lines of partition boundaries contained in the corresponding map and contour lines of internal barriers contained in the corresponding map; generating a target map according to the comparison result, the second map and the first map, including: Determining the difference degree of the first map and the second map according to the comparison result, wherein the difference degree of the first map and the second map comprises the difference degree of the contour lines of the partition boundaries contained in the first map and the second map and the difference degree of the contour lines of the internal barriers contained in the first map and the second map; When the difference degree does not meet a preset condition, determining a corresponding updating rule according to the comparison result, and updating the first map according to the corresponding updating rule and the second map to generate the target map; and when the difference degree meets the preset condition, determining the first map as the target map.
2. The map processing method according to claim 1, wherein the contour lines include contour lines of partition boundaries included in the corresponding map and contour lines of internal obstacles included in the corresponding map, And when the difference degree meets the preset condition, determining that the first map is the target map comprises the following steps: And determining the first map as the target map when the degree of difference of the contour lines of the partition boundaries contained in the first map and the second map does not exceed a first preset threshold value and the degree of difference of the contour lines of the internal obstacles contained in the first map and the second map does not exceed a second preset threshold value.
3. The map processing method according to claim 2, wherein the updating the first map according to the corresponding updating rule and the second map to generate the target map includes: When the difference degree of the contour lines of the partition boundaries contained in the first map and the second map does not exceed a first preset threshold value and the difference degree of the contour lines of the internal barriers contained in the first map and the second map exceeds a second preset threshold value, determining a target subarea with the changed contour lines of the internal barriers according to the first map and the second map; And updating the map information of the target subarea in the first map according to the map information corresponding to the target subarea in the second map, so as to generate the target map.
4. The map processing method according to claim 2, wherein the updating the first map according to the corresponding updating rule and the second map to generate the target map includes: and when the difference degree of the contour lines of the partition boundaries contained in the first map and the second map exceeds a first preset threshold value and the difference degree of the contour lines of the internal barriers contained in the first map and the second map does not exceed a second preset threshold value, updating the contour lines of the partition boundaries contained in the first map according to the contour lines of the partition boundaries contained in the second map, and generating the target map.
5. The map processing method according to claim 2, wherein the updating the first map according to the corresponding updating rule and the second map to generate the target map includes: When the difference degree of the contour lines of the partition boundaries contained in the first map and the second map exceeds a first preset threshold value and the difference degree of the contour lines of the internal obstacles contained in the first map and the second map exceeds a second preset threshold value, determining a target subarea with the changed contour lines of the internal obstacles according to the first map and the second map; and updating the contour line of the partition boundary contained in the first map according to the contour line of the partition boundary contained in the second map to generate the target map.
6. The map processing method according to any one of claims 1 to 5, characterized in that after generating a target map from the comparison result, the second map, and the first map, the method further comprises: and navigating about the target area by using the target map.
7. A map processing system, comprising: The system comprises an acquisition module, a storage module and a display module, wherein the acquisition module is used for acquiring a first map and a second map of a target area, and the second map is generated after the first map; The system comprises a first generation module, a second generation module and a third generation module, wherein the first generation module is used for generating a comparison result of a first map and a second map according to contour lines respectively contained in the first map and the second map, and the contour lines comprise contour lines of partition boundaries contained in the corresponding map and contour lines of internal barriers contained in the corresponding map; the second generation module is configured to generate a target map according to the comparison result, the second map, and the first map, and includes: Determining the difference degree of the first map and the second map according to the comparison result, wherein the difference degree of the first map and the second map comprises the difference degree of the contour lines of the partition boundaries contained in the first map and the second map and the difference degree of the contour lines of the internal barriers contained in the first map and the second map; When the difference degree does not meet a preset condition, determining a corresponding updating rule according to the comparison result, and updating the first map according to the corresponding updating rule and the second map to generate the target map; and when the difference degree meets the preset condition, determining the first map as the target map.
8. A self-moving device, comprising: the device comprises a device main body, wherein the device main body is also provided with a controller; Wherein the controller is configured to: Acquiring a first map and a second map of a target area, wherein the second map is generated after the first map; generating a comparison result of the first map and the second map according to contour lines respectively contained in the first map and the second map, wherein the contour lines comprise contour lines of partition boundaries contained in the corresponding map and contour lines of internal barriers contained in the corresponding map; generating a target map according to the comparison result, the second map and the first map, including: Determining the difference degree of the first map and the second map according to the comparison result, wherein the difference degree of the first map and the second map comprises the difference degree of the contour lines of the partition boundaries contained in the first map and the second map and the difference degree of the contour lines of the internal barriers contained in the first map and the second map; When the difference degree does not meet a preset condition, determining a corresponding updating rule according to the comparison result, and updating the first map according to the corresponding updating rule and the second map to generate the target map; and when the difference degree meets the preset condition, determining the first map as the target map.

Description

Map processing method, system and self-mobile device Technical Field The invention belongs to the technical field of robots, and particularly relates to a map processing method, a map processing system and self-moving equipment. Background The self-mobile device such as a sweeper usually generates a new map for the same working area every time the self-mobile device works in the working area, and the self-mobile device also utilizes the new map to process and update the old map to obtain an updated map for subsequent use. In the prior art, a map overlaying update mode is mostly adopted for map processing and updating. Specifically, the new map and the old map are directly overlaid for processing and updating. However, when the map is processed and updated based on the method, the problems of map boundary blurring, large errors and the like are easy to occur, and the accuracy of the updated map is affected. Accordingly, there is a need for improvements in the art to overcome the shortcomings of the prior art methods. Disclosure of Invention Therefore, the technical problem to be solved by the invention is to provide a map processing method, a system and self-mobile equipment which can avoid the problems of map boundary blurring, large error and the like when a map is processed and updated by adopting a map overlaying updating mode. In order to solve the above technical problems, an embodiment of the present disclosure provides a map processing method, including: Acquiring a first map and a second map of a target area, wherein the second map is generated after the first map; Generating a comparison result of the first map and the second map according to contour lines respectively contained in the first map and the second map, wherein the contour lines comprise contour lines of partition boundaries contained in the corresponding map and/or contour lines of internal barriers contained in the corresponding map; and generating a target map according to the comparison result, the second map and the first map. In one embodiment, the generating a target map according to the comparison result, the second map and the first map includes: Determining a corresponding updating rule according to the comparison result; and updating the first map according to the corresponding updating rule and the second map to generate the target map. In one embodiment, the map processing method further includes: Determining the difference degree of the first map and the second map according to the comparison result; the determining a corresponding update rule according to the comparison result comprises: when the difference degree does not meet a preset condition, determining a corresponding updating rule according to the comparison result; and when the difference degree meets the preset condition, determining the first map as the target map. In one embodiment, the contour lines include contour lines of partition boundaries contained in the corresponding map and contour lines of internal obstacles contained in the corresponding map, And when the difference degree meets the preset condition, determining that the first map is the target map comprises the following steps: And determining the first map as the target map when the degree of difference of the contour lines of the partition boundaries contained in the first map and the second map does not exceed a first preset threshold value and the degree of difference of the contour lines of the internal obstacles contained in the first map and the second map does not exceed a second preset threshold value. In one embodiment, the updating the first map according to the corresponding updating rule and the second map to generate the target map includes: When the difference degree of the contour lines of the partition boundaries contained in the first map and the second map does not exceed a first preset threshold value and the difference degree of the contour lines of the internal barriers contained in the first map and the second map exceeds a second preset threshold value, determining a target subarea with the changed contour lines of the internal barriers according to the first map and the second map; And updating the map information of the target subarea in the first map according to the map information corresponding to the target subarea in the second map, so as to generate the target map. In one embodiment, the updating the first map according to the corresponding updating rule and the second map to generate the target map includes: and when the difference degree of the contour lines of the partition boundaries contained in the first map and the second map exceeds a first preset threshold value and the difference degree of the contour lines of the internal barriers contained in the first map and the second map does not exceed a second preset threshold value, updating the contour lines of the partition boundaries contained in the first map according to the contour lines of the partition bou