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CN-122018495-A - Working map generation method and self-moving system

CN122018495ACN 122018495 ACN122018495 ACN 122018495ACN-122018495-A

Abstract

The application provides a working map generation method and a self-moving system, the method comprises the steps of obtaining an initial boundary map of a working area, controlling a self-moving device to move in the working area, detecting whether an island area exists in the working area, controlling the self-moving device to move to the island area, obtaining an island map starting point, controlling the self-moving device to move around the island area from the island map starting point, obtaining island profile information of the island area, fitting the island profile information into the initial boundary map, and generating a working map of the working area, wherein the island map starting point comprises the steps of obtaining the positioning accuracy of the self-moving device in the island area, judging whether the positioning accuracy meets a preset threshold value, obtaining the island map starting point if the positioning accuracy meets the preset threshold value, and obtaining the island map starting point after repositioning if the positioning accuracy does not meet the preset threshold value. According to the island contour information processing method, the obtained island contour information is fitted in the initial boundary map of the working area, so that the self-moving device avoids the island area, and the working efficiency is improved.

Inventors

  • WANG XINLU

Assignees

  • 苏州宝时得电动工具有限公司

Dates

Publication Date
20260512
Application Date
20241112

Claims (10)

  1. 1. A method of generating a working map, the method comprising: Acquiring an initial boundary map of a working area; controlling a self-moving device to move in the working area, and detecting whether an island area exists in the working area; Controlling the self-moving device to move to the island region, and acquiring an island map starting point; Controlling the self-moving device to run around the island region from the island map building starting point to acquire island contour information of the island region; fitting the island contour information into the initial boundary map to generate a working map of the working area; The obtaining the island map starting point comprises the following steps: Acquiring the positioning precision of the self-moving device in the island area; Judging whether the positioning precision meets a preset threshold value, if so, acquiring the island map starting point, and if not, acquiring the island map starting point after repositioning.
  2. 2. The working map generating method according to any one of the preceding claims, wherein the repositioning comprises: and controlling the self-moving device to move from the island region to the vicinity of the outline boundary in the initial boundary map, moving along the outline boundary, searching a repositioning point in the vicinity of the outline boundary, and controlling the self-moving device to reposition at the repositioning point.
  3. 3. A working map generating method according to any one of the preceding claims, further comprising: and after the repositioning point finishes the repositioning, controlling the self-moving device to move from the repositioning point to the island region again, and judging whether the positioning precision of the self-moving device in the island region meets a preset threshold again.
  4. 4. The working map generating method according to any one of the preceding claims, wherein the repositioning points are points in the initial boundary map at which a positioning loop can be formed.
  5. 5. The working map generating method according to any one of the preceding claims, wherein the positioning accuracy is a relative positioning accuracy between the island map starting point and a contour boundary of the initial boundary map.
  6. 6. A working map generating method according to any of the preceding claims, wherein the preset threshold is set as a time threshold and/or a distance threshold.
  7. 7. The working map generating method according to any one of the preceding claims, wherein controlling the self-moving device to run around an island region from the island map creation start point, obtaining island profile information of the island region, includes: And controlling the self-moving device to run around the island region along the direction in which the boundary outline of the initial boundary map is established, and acquiring island outline information of the island region.
  8. 8. A self-moving system comprising a self-moving device and a terminal apparatus, characterized in that the self-moving device comprises: The mobile module is configured to drive the self-moving device to move; The task execution module is configured to execute a work task; The control module is configured to be respectively connected with the moving module and the task execution module in a signal manner so as to control the moving module to move and control the task execution module to execute a work task; The terminal equipment is configured to display the working condition of the self-moving device, and can send a control instruction to the control module to control the self-moving device to operate based on the control instruction; the control module is further configured to: Controlling the self-moving device to move in the working area, and establishing an initial boundary map of the working area; Receiving and responding to the control instruction, and controlling the self-moving device to detect whether an island area exists in the working area; Controlling the self-moving device to move to the island region, and acquiring an island map starting point; controlling the self-moving device to run around an island region from the island map building starting point, and acquiring island contour information of the island region; fitting the island contour information into the initial boundary map to generate a working map of the working area; The obtaining the island map starting point comprises the following steps: Acquiring the positioning precision of the self-moving device in the island area; Judging whether the positioning precision meets a preset threshold value, if so, acquiring the island map starting point, and if not, acquiring the island map starting point after repositioning.
  9. 9. A self-moving system according to any one of the preceding claims, wherein said self-moving device further comprises a visual positioning module; The visual positioning module is configured to detect whether the island region different from the initial boundary map exists in the working region, acquire positioning information of the self-moving device in the island region after the self-moving device moves to the island region, acquire positioning precision of the self-moving device in the island region based on the positioning information, and judge whether the positioning precision meets a preset threshold; If yes, the control module selects a position point as the island map building starting point and controls the self-moving device to run around an island region from the island map building starting point; And if the information is not satisfied, the control module receives and responds to a repositioning instruction from the terminal equipment, controls the self-moving device to move from the island area to the vicinity of the outline boundary in the initial boundary map, and performs repositioning of the self-moving device.
  10. 10. The self-moving system according to any one of the preceding claims, wherein the visual positioning module is further configured to: acquiring image data of the self-moving device in the moving process; visual information and position information of each frame of image are saved.

Description

Working map generation method and self-moving system Technical Field The present application relates to the field of self-mobile devices, and in particular, to a method for generating a working map and a self-mobile system. Background With the rapid development of robotics, some robots may autonomously move within an active area to perform a task. Accordingly, such robots may be referred to as self-moving devices. Currently, the more common self-moving devices include sweeping robots, automatic mowers, automatic snowploughs, and the like. Before the self-mobile device works, a working map of the working area needs to be established to limit the moving range of the self-mobile device. Taking an automatic mower as an example, for some special scenes (such as swimming pools, slides and the like), an existing map needs to be updated to generate a new working map, and the accuracy of the map generation in the related technology needs to be improved. Disclosure of Invention Therefore, the present application is directed to a working map generating method and a self-moving system, which are helpful for improving the accuracy of map generation and the working efficiency. In order to achieve one of the above objects, the present application provides a working map generating method, including: Acquiring an initial boundary map of a working area; controlling the self-moving device to move in a working area, and detecting whether an island area exists in the working area; controlling the self-moving device to move to an island area, and acquiring the positioning precision of the self-moving device in the island area; judging whether the positioning precision meets a preset threshold value or not, if so, acquiring an island map starting point, and if not, repositioning; controlling the self-moving device to run around the island region from the island map building starting point to acquire island contour information of the island region; fitting island contour information into an initial boundary map to generate a working map of a working area; The method for obtaining the island map starting point comprises the following steps: Obtaining the positioning precision of the mobile device in the island area; Judging whether the positioning precision meets a preset threshold value, if so, acquiring an island map starting point, and if not, acquiring the island map starting point after repositioning. As a further improvement of the embodiment of the present application, the repositioning includes: And controlling the self-moving device to move from the island region to the vicinity of the outline boundary in the initial boundary map, moving along the outline boundary, searching for a repositioning point in the vicinity of the outline boundary, and controlling the self-moving device to reposition at the repositioning point. As a further improvement of the embodiment of the present application, the method further comprises: after the repositioning point completes repositioning, controlling the self-moving device to move from the repositioning point to the island region again, and judging whether the positioning precision of the self-moving device in the island region meets a preset threshold value again. As a further improvement of the embodiment of the present application, the relocation point is a point in the initial boundary map at which a location loop can be formed. As a further improvement of the embodiment of the present application, the positioning accuracy is the relative positioning accuracy between the island map starting point and the outline boundary of the initial boundary map. As a further improvement of the embodiment of the application, the preset threshold value is set as a time threshold value and/or a distance threshold value. As a further improvement of the embodiment of the present application, controlling the self-moving device to run around the island region from the island map creation start point, and obtaining island profile information of the island region includes: And controlling the self-moving device to run around the island region along the same direction of establishing the boundary outline of the initial boundary map, and acquiring island outline information of the island region. In order to achieve one of the above objects, the present application also provides a self-moving system including a self-moving device and a terminal apparatus, the self-moving device including: the mobile module is configured to drive the self-moving device to move; The task execution module is configured to execute a work task; The control module is configured to be respectively connected with the mobile module and the task execution module in a signal manner so as to control the mobile module to move and control the task execution module to execute a work task; The terminal equipment is configured to display the working condition of the self-moving device and can send a control instruction to the control module t