CN110033497A - Region calibration method and device, electronic equipment and computer readable storage medium - Google Patents

Abstract

The embodiment of the disclosure discloses a region calibration method and device, electronic equipment and a computer readable storage medium. The method comprises the following steps: acquiring map data including a preset position; receiving first calibration information of the user on the map data; and acquiring a first area calibrated by a user according to the map data and the first calibration information. According to the method and the device, the boundary setting can be rapidly and efficiently carried out on the required working area, and the boundary calibration is not required to be carried out by cables or other hardware equipment; the existing map information can be directly utilized, the working area can be accurately defined on the basis of the map information, the cost can be saved, the operation is convenient, and the accuracy is higher.

Description

Area calibration method, apparatus, electronic device, and computer-readable storage medium

technical field

The present disclosure relates to the technical field of artificial intelligence, and in particular, to a region calibration method, apparatus, electronic device, and computer-readable storage medium.

Background technique

Mobile smart devices such as lawn mowers usually need to plan the work area first, and then control the mobile smart device to move and work in the work area. In the prior art, for example, intelligent lawn mowers, by setting up boundary signal lines such as laying cables, or by setting up multiple wireless transmitters, the rays emitted by multiple wireless reflectors are used as boundary lines to enclose an electronic network in a closed area. Way to form the working area of the lawn mower. For another example, the cleaning robot can also determine the indoor boundary and demarcate the working area by walking around the room.

SUMMARY OF THE INVENTION

Embodiments of the present disclosure provide an area calibration method, apparatus, electronic device, and computer-readable storage medium.

In a first aspect, an embodiment of the present disclosure provides a region calibration method, including:

Obtain map data including preset locations;

receiving the first calibration information of the user on the map data;

The first area marked by the user is acquired according to the map data and the first marking information.

Optionally, the preset position includes a current positioning position or a position received from outside.

Optionally, acquiring map data including preset positions, including:

Import GPS map data including preset locations via web interface.

Optionally, acquiring map data including preset positions, including:

Obtain the local map data of the area established by the sensor.

Optionally, the sensor includes at least one of the following: UWB device, radar, image sensor, ZigBee device, WIFI device, and Bluetooth device.

Optionally, the receiving the first calibration information of the user on the map data includes:

receiving the clicked position of the user on the display interface of the map data;

The latitude and longitude data of the selected position is determined according to the relative position of the selected position on the map data.

Optionally, the receiving the first calibration information of the user on the map data includes:

receiving the clicked position of the user on the display interface of the map data;

Determine the coordinate data of the clicked position on the map data according to the relative position of the clicked position on the map data; wherein, the coordinate data is in a coordinate system established in advance on the map data coordinate data.

Optionally, the receiving the first calibration information of the user on the map data includes:

The latitude and longitude data or coordinate data input by the user is received, wherein the coordinate data is the coordinate data in the coordinate system established on the map data in advance.

Optionally, the selected location includes multiple; obtaining the first area calibrated by the user according to the map data and the first calibration information, including:

An area delineated in the map data by a connection line formed by a plurality of coordinate data or latitude and longitude data corresponding to the selected positions is determined.

Optionally, determining an area delineated in the map data by a connection line formed by the coordinate data or latitude and longitude data corresponding to a plurality of the selected positions, including:

Connecting the coordinate data or latitude and longitude data corresponding to a plurality of the selected positions according to a predetermined direction from end to end to form a closed curve;

adjusting the closed curve to a curve of a preset shape;

It is determined that the area enclosed by the closed curve of the preset shape is the first area designated by the user.

Optionally, determining an area delineated in the map data by connecting lines formed by a plurality of the selected positions, including:

Connecting the coordinate data or latitude and longitude data corresponding to a plurality of the selected positions according to a predetermined direction from end to end to form a closed curve;

providing the closed curve to the user;

adjusting the closed curve according to the user's input;

It is determined that the area delineated by the adjusted closed curve is the first area marked by the user.

Optionally, before receiving the first calibration information of the user on the map data, the method includes:

Provides a drawing interface for the user.

Optionally, the receiving the first calibration information of the user on the map data includes:

receiving graphics drawn by the user on the map data through the drawing interface;

The latitude and longitude data of the graphic is determined according to the relative position of the graphic on the map data.

Optionally, the receiving the first calibration information of the user on the map data includes:

receiving graphics drawn by the user on the map data through the drawing interface;

The coordinate data of the graphic on the map data is determined according to the relative position of the graphic on the map data; wherein, the coordinate data is coordinate data in a coordinate system established on the map data in advance.

Optionally, the method further includes:

Obtain the current GPS location information of the mobile smart device;

By comparing the current GPS position information and the boundary information of the first area marked by the user, the mobile smart device is driven to move within the first area marked by the user.

Optionally, the method further includes:

Obtain the current local location information sensed by the location sensor set on the mobile smart device;

By comparing the current local position information and the boundary information of the first area marked by the user, the mobile smart device is driven to move within the first area marked by the user.

Optionally, the mobile smart device is a lawn mower; and the first area marked by the user is a working area of the lawn mower.

Optionally, the method further includes:

receiving second calibration information of the user in the first area;

A second area within the first area is determined according to the second calibration information.

Optionally, the method further includes:

Obtain the current GPS location information of the mobile smart device;

By comparing the current GPS position information and the boundary information of the first area and the second area designated by the user, the mobile smart device is driven to move between the first area and the second area designated by the user.

Optionally, the method further includes:

Obtain the current local location information sensed by the location sensor set on the mobile smart device;

By comparing the current local position information and the boundary information of the first area and the second area designated by the user, the mobile smart device is driven to move between the first area and the second area designated by the user.

Optionally, the mobile smart device is a lawn mower; the third area between the first area and the second area marked by the user is a working area of the lawn mower.

In a second aspect, an embodiment of the present disclosure provides an area calibration device, including:

a first acquisition module, configured to acquire map data including a preset position;

a first receiving module, configured to receive the first calibration information of the user on the map data;

The second obtaining module is configured to obtain the first area calibrated by the user according to the map data and the first calibration information.

Optionally, the preset position includes a current positioning position or a position received from outside.

Optionally, the first acquisition module includes:

The import sub-module is configured to import GPS map data including preset positions through the network interface.

Optionally, the first acquisition module includes:

The first acquisition sub-module is configured to acquire the regional local map data established by the sensor.

Optionally, the sensor includes at least one of the following: UWB device, radar, image sensor, ZigBee device, WIFI device, and Bluetooth device.

Optionally, the first receiving module includes:

a first receiving sub-module, configured to receive the clicked position of the user on the display interface of the map data;

The first determination submodule is configured to determine longitude and latitude data of the clicked position according to the relative position of the clicked position on the map data.

Optionally, the first receiving module includes:

a second receiving sub-module, configured to receive the clicked position of the user on the display interface of the map data;

The second determination submodule is configured to determine the coordinate data of the clicked position on the map data according to the relative position of the clicked position on the map data; The coordinate data in the coordinate system established on the map data.

Optionally, the first receiving module includes:

The third receiving sub-module is configured to receive latitude and longitude data or coordinate data input by the user, wherein the coordinate data is coordinate data in a coordinate system established on the map data in advance.

Optionally, the clicked positions include multiple; the second acquisition module includes:

The third determination sub-module is configured to determine a region delineated in the map data by a connection line formed by a plurality of coordinate data or latitude and longitude data corresponding to the selected positions.

Optionally, the third determination submodule includes:

The first forming sub-module is configured to connect a plurality of coordinate data or latitude and longitude data corresponding to the selected positions according to a predetermined direction from end to end to form a closed curve;

a first adjustment submodule, configured to adjust the closed curve to a curve of a preset shape;

The fourth determination sub-module is configured to determine the area enclosed by the closed curve of the preset shape as the first area designated by the user.

Optionally, the third determination submodule includes:

The second forming sub-module is configured to connect a plurality of coordinate data or latitude and longitude data corresponding to the selected positions according to a predetermined direction from end to end to form a closed curve;

providing a submodule configured to provide the closed curve to a user;

a second adjustment module, configured to adjust the closed curve according to the user's input;

The fifth determination sub-module is configured to determine the area delineated by the adjusted closed curve as the first area demarcated by the user.

Optionally, before the first receiving module, including:

Provides a module configured to provide a drawing interface to the user.

Optionally, the first receiving module includes:

a fourth receiving sub-module, configured to receive a graph drawn by a user on the map data through the drawing interface;

The sixth determination submodule is configured to determine the latitude and longitude data of the graphic according to the relative position of the graphic on the map data.

Optionally, the first receiving module includes:

a fifth receiving sub-module, configured to receive a graph drawn by a user on the map data through the drawing interface;

A seventh determination sub-module, configured to determine the coordinate data of the graphic on the map data according to the relative position of the graphic on the map data; wherein, the coordinate data is pre-determined on the map data Coordinate data in the established coordinate system.

Optionally, the device further includes:

The third acquisition module is configured to acquire the current GPS location information of the mobile smart device;

The first driving module is configured to drive the mobile smart device to move in the first area marked by the user by comparing the current GPS position information and the boundary information of the first area marked by the user.

Optionally, the device further includes:

a fourth acquisition module, configured to acquire current local location information sensed by a location sensor provided on the mobile smart device;

The second driving module is configured to drive the mobile smart device to move within the first area marked by the user by comparing the current local position information and the boundary information of the first area marked by the user.

Optionally, the mobile smart device is a lawn mower; and the first area marked by the user is a working area of the lawn mower.

Optionally, the device further includes:

a second receiving module, configured to receive the second calibration information of the user in the first area;

A determination module configured to determine a second area within the first area according to the second calibration information.

Optionally, the device further includes:

a fifth acquisition module, configured to acquire the current GPS position information of the mobile smart device;

The second driving module is configured to drive the mobile smart device in the first area marked by the user by comparing the current GPS position information and the boundary information of the first area and the second area marked by the user and move between the second area.

Optionally, the device further includes:

The sixth acquisition module is configured to acquire the current local position information sensed by the position sensor provided on the mobile smart device;

The third driving module is configured to drive the mobile smart device to drive the mobile smart device in the first area and the second area marked by the user by comparing the current local position information and the boundary information of the first area and the second area marked by the user. Move between the two regions.

Optionally, the mobile smart device is a lawn mower; the third area between the first area and the second area marked by the user is a working area of the lawn mower.

The functions can be implemented by hardware, or can be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

In a possible design, the structure of the area calibration device includes a memory and a processor, the memory is used to store one or more computer instructions that support the area calibration device to perform the area calibration method in the first aspect, and the processor is configured to execute computer instructions stored in the memory. The area calibration apparatus may further include a communication interface for the area calibration apparatus to communicate with other devices or a communication network.

In a third aspect, embodiments of the present disclosure provide a mobile smart device, including a location detection module, a memory, and a processor; wherein the location detection module is used to detect current location information of the mobile smart device; the memory is used for detecting current location information of the mobile smart device; is stored in one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method steps of the first aspect.

Optionally, the location detection module includes at least one of the following: GPS positioning module, UWB, radar, image sensor, ZigBee device, Bluetooth device, WIFI device.

Optionally, the mobile smart device is a smart lawn mower.

In a fourth aspect, embodiments of the present disclosure provide an electronic device, including a memory and a processor; wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are processed by the The device executes to implement the method steps described in the first aspect.

In a fifth aspect, embodiments of the present disclosure provide a computer-readable storage medium for storing computer instructions used by an area calibration apparatus, including computer instructions for executing the area calibration method in the first aspect.

The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

In this embodiment of the present disclosure, the map data of the location of the working area of the mobile smart device is obtained first, and a certain area is marked on the map data through user input. The map finds out the area to be demarcated and demarcates it manually on the map. The embodiment of the present disclosure can quickly and efficiently set the boundary of the required work area without the need for cables or other hardware devices to perform boundary calibration; the existing map information can be directly used to accurately delineate on the basis of the map information. Out of the working area, it can save costs, facilitate operation, and have high accuracy.

It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

Description of drawings

Other features, objects and advantages of the present disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the attached image:

FIG. 1 shows a flowchart of a region calibration method according to an embodiment of the present disclosure;

Fig. 2 shows a flowchart of step S102 according to the embodiment shown in Fig. 1;

Fig. 3 shows another flowchart of step S102 according to the embodiment shown in Fig. 1;

Fig. 4 shows another flowchart of step S102 according to the embodiment shown in Fig. 1;

Fig. 5 shows another flowchart of step S102 according to the embodiment shown in Fig. 1;

FIG. 6 shows a flowchart of a part of driving a mobile smart device by using the first area in the area calibration method according to an embodiment of the present disclosure;

FIG. 7 shows yet another flowchart of driving the mobile smart device part by using the first area in the area calibration method according to an embodiment of the present disclosure;

FIG. 8 shows a flow chart of performing the second area calibration in the area calibration method according to an embodiment of the present disclosure;

FIG. 9 shows a flowchart of driving a mobile smart device by using the first area and the second area in the area calibration method according to an embodiment of the present disclosure;

FIG. 10 shows another flowchart of driving a mobile smart device by using the first area and the second area in the area calibration method according to an embodiment of the present disclosure;

FIG. 11 shows a structural block diagram of a region calibration apparatus according to an embodiment of the present disclosure;

12 shows a structural block diagram of a mobile smart device according to an embodiment of the present disclosure;

13 is a schematic structural diagram of an electronic device suitable for implementing the area calibration method according to an embodiment of the present disclosure.

Detailed ways

Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Also, for the sake of clarity, parts unrelated to describing the exemplary embodiments are omitted from the drawings.

In the present disclosure, it should be understood that terms such as "comprising" or "having" are intended to indicate the presence of features, numbers, steps, acts, components, parts, or combinations thereof disclosed in this specification, and are not intended to exclude a or multiple other features, numbers, steps, acts, components, parts, or combinations thereof may exist or be added.

In addition, it should be noted that the embodiments of the present disclosure and the features of the embodiments may be combined with each other under the condition of no conflict. The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

FIG. 1 shows a flowchart of a region calibration method according to an embodiment of the present disclosure. As shown in FIG. 1, the area calibration method includes the following steps S101-S103:

In step S101, obtain map data including a preset position;

In step S102, receiving the first calibration information of the user on the map data;

In step S103, the first area calibrated by the user is acquired according to the map data and the first calibration information.

In this embodiment, the area calibration method may be executed on a mobile smart device such as a lawn mower, or may be executed on a remote server such as a cloud server. The user may demarcate the first area through a human-computer interaction interface set on the mobile smart device, or demarcate the first area through an app on the user terminal. The marked first area can be imported into the mobile smart device to define the working area of the mobile smart device. For example, for a lawn mower, the user can calibrate the mowing area through the human-computer interaction interface set on the lawn mower or through the app on the mobile phone, and provide the calibrated mowing area to the lawn mower, so that the lawn mower is working active in the first area designated by the user.

The preset position can be any position in or near the first area to be calibrated by the user, and the preset position includes the current positioning position or the position received from the outside, for example, by locating the current position of the mobile smart device, or positioning Obtained from the user's location; either directly entered by the user, or obtained from a remote server. The map data can be a GPS map or a specific map, such as a map created by a UWB/zigbee base station, a lidar point cloud map, an aerial map, etc.

After the map data is obtained, the map data can be provided to the user, for example, displayed on the display of the mobile smart device, or output to the display interface on the user terminal app through the communication network. It can be understood that when displaying a map to the user, the region where the preset location is located is displayed to the user, and the user can zoom in or zoom out the displayed map based on his own needs, find the region to be calibrated, and input calibration information. For example, the user may input calibration information by specifying multiple points on the boundary of the area to be calibrated on the map, or may draw the boundary of the area to be calibrated by drawing a line.

After receiving the calibration information input by the user, the first area to be calibrated by the user may be determined from the map data according to the location of the calibration information. The first area may be a closed whole area, or may be a plurality of discontinuous areas. It can also be the remaining area after removing one or more small areas inside a whole area. For example, for the working area of a lawn mower, when calibrating their own lawn, the user can obtain the map data of the user's home location, select the area where the lawn is located from the map, and select multiple location points on the lawn boundary to input to define the boundary of the lawn. ; Of course, after selecting the lawn boundary, you can also calibrate the area with obstacles such as trees in the lawn to exclude the obstacle area from the work area. In the embodiment of the present disclosure, through this user calibration method, the calibration process of the working area of the mobile smart device can be made simple and easy to operate, and the accuracy rate is higher, compared with setting an electronic fence and the mobile smart device self-walking for a lap record The method of boundary location is simpler and easier to operate, and can greatly save costs and improve user experience.

In an optional implementation manner of this embodiment, the step S101, that is, the step of acquiring map data including a preset position, further includes:

Import GPS map data including preset locations via web interface.

In this optional implementation manner, map data where the preset position is located may be imported from a GPS map provider through a communication network. For example, import map data from interfaces provided by Google Maps, Baidu Maps, etc. For example, in the application scenario of the lawn mower, after the user places the lawn mower on his own lawn, he can obtain the current GPS positioning position through the GPS positioning module set on the lawn mower, and then obtain the GPS position from the GPS map supplier through the network interface. Locate the map data where the location is located, and display the obtained map data on the display interface of the lawn mower or on the corresponding app on the user terminal. Users can demarcate lawn boundaries and obstacle areas based on the displayed map.

In an optional implementation manner of this embodiment, the step S101, that is, the step of acquiring map data including a preset position, further includes:

Obtain the local map data of the area established by the sensor.

In this optional implementation manner, the regional local map data may be a local map specially created for a small area, for example, a local map created for a community, park, shopping mall, home, indoor and so on. The location information in the regional local map data may be the longitude and latitude data of global positioning, or may not be the longitude and latitude data, but the coordinate data in the spatial coordinate system established by itself when the map is established. In the embodiment of the present disclosure, the local map data established by a third party may be obtained through a corresponding channel, which may be the map data established by the method application system itself. Local map data can be built up by some sensors. For example, for indoor maps, indoor point cloud maps can be obtained through lidar, and for an outdoor area, aerial photography maps can be obtained through aerial photography. Of course, local maps can also be established by other sensors, such as UWB devices, Bluetooth devices, WIFI devices, and image sensing devices. When using these sensors to create a map, you can first select a reference object, and use the location of the selected reference object as the origin to establish a reference space coordinate system, and then use the sensors to sense and refer to the area where the map is to be built. The distance between objects is then established, and then the coordinate data in the established reference space coordinate system is established for each position in the area to obtain the local map data of the area.

Sensors used in establishing local map data include but are not limited to UWB devices, radars, image sensors, ZigBee devices, WIFI devices and Bluetooth devices. When creating local map data, one of the above sensors can be used, or a variety of sensors can be used to cooperatively create a regional local map. The specific selection can be made according to the actual situation, which will not be repeated here.

In an optional implementation manner of this embodiment, as shown in FIG. 2, the step S102, that is, the step of receiving the first calibration information of the user on the map data, further includes the following steps S201- S202:

In step S201, receiving the clicked position of the user on the display interface of the map data;

In step S202, the latitude and longitude data of the selected position is determined according to the relative position of the selected position on the map data.

In this optional implementation manner, for GPS map data, the user selects an area to be calibrated on the GPS map data, and selects multiple location points for input on the area boundary. For example, if the area to be marked is a regular quadrilateral, you can directly touch the positions of the four corners of the boundary of the area on the map by touching the display screen, or select the positions of the four corners through a pointing device such as a mouse; of course, it is understandable that , for irregular shapes, you can input calibration information by selecting multiple points or directly by dashing. Since the GPS map data has latitude and longitude information, the latitude and longitude data of the location selected by the user can be determined through the relative position of the location selected by the user and the GPS map.

In an optional implementation manner of this embodiment, as shown in FIG. 3 , the step S102, that is, the step of receiving the first calibration information of the user on the map data, further includes the following steps S301- S302:

In step S301, receiving the clicked position of the user on the display interface of the map data;

In step S302, coordinate data of the clicked position on the map data is determined according to the relative position of the clicked position on the map data; wherein, the coordinate data is pre-recorded on the map data Coordinate data in the established coordinate system.

In this optional implementation, a spatial coordinate system may be established in advance for the established local area map data by selecting an appropriate origin and xy-axis direction, so that each point on the local area map is in the spatial coordinate system The coordinates of the local area map are known; and after the user selects one or more clicked positions on the local area map, the user can determine the spatial coordinate system according to the relative position of the one or more clicked positions and the local area map data. the coordinate position in . This optional implementation is applicable to local area map data that does not use GPS latitude and longitude position information. Of course, it can be understood that it is also applicable to GPS map data, but the location information is not GPS latitude and longitude information, but a spatial coordinate system established by itself. coordinate data in . It should be noted that the space coordinate system may be a reference space coordinate system when establishing a local map of an area, or may be another space coordinate system determined by a positional relationship with the reference space coordinate system.

In an optional implementation manner of this embodiment, the step S102, that is, the step of receiving the first calibration information of the user on the map data, further includes the following steps:

The latitude and longitude data or coordinate data input by the user is received, wherein the coordinate data is the coordinate data in the coordinate system established on the map data in advance.

In this optional implementation, for GPS map data, when the user determines the latitude and longitude information of the area to be calibrated, the user can directly input the latitude and longitude data of the boundary of the area to be calibrated, while for non-GPS map data, such as regional local map data, When determining the coordinate data of the area to be calibrated in the reference space coordinate system on which the local map data of the area is based, the coordinate data may also be directly input. In this way, the area to be calibrated by the user can be calibrated more accurately.

In an optional implementation manner of this embodiment, the clicked positions include multiple ones; the step S102 is the step of acquiring the first area calibrated by the user according to the map data and the first calibration information, It further includes the following steps:

An area delineated in the map data by a connection line formed by a plurality of coordinate data or latitude and longitude data corresponding to the selected positions is determined.

In this optional implementation manner, if the user only selects and inputs multiple points of the boundary of the calibrated area when calibrating, the multiple points can be sequentially connected into lines in a preset direction according to a preset rule, such as adjacent The two points can be connected to form a straight line, or can be connected to form a curve through a preset method, which can be set according to the actual situation, which is not limited here. After that, the position coordinates of each point on the connected line are determined, and then the position information of the user calibration area is determined. A feasible implementation method is that if the user wants to mark an area with a regular shape, such as a quadrilateral, the user can input the positions of the four vertices by clicking or other methods, and the system can set the four vertices according to the preset. Connect to form a quad. Of course, for the sake of accuracy, for the irregular area, the user can select multiple points or input several positions, and can even input the position of the region boundary in the form of a line.

In an optional implementation manner of this embodiment, the step of determining an area delineated in the map data by a connection line formed by a plurality of coordinate data or latitude and longitude data corresponding to the selected positions further includes the following steps:

Connecting the coordinate data or latitude and longitude data corresponding to a plurality of the selected positions according to a predetermined direction from end to end to form a closed curve;

adjusting the closed curve to a curve of a preset shape;

It is determined that the area enclosed by the closed curve of the preset shape is the first area designated by the user.

In this optional implementation manner, after obtaining the positions of multiple points on the boundary of the demarcated area from the user, a closed curve can be formed by connecting the multiple points end-to-end into a line, for example, two adjacent points can be connected into a straight line, or Connect according to preset rules into a curve with a certain radian, etc. Afterwards, the closed curve can also be adjusted into a regular closed curve according to the preset settings. The area enclosed by the closed curve after adjustment may include the area enclosed by the closed curve before adjustment. For example, by detecting which regular shape the shape of the closed curve is close to, the closed curve can be adjusted to a similar regular shape, for example, the shape of the closed curve formed by connecting multiple points input by the user into a line is close to a circle shape, you can adjust the closed curve to a circular curve. Of course, it can be understood that it may not be adjusted, or the closed curve may be fine-tuned by the user.

In an optional implementation manner of this embodiment, the step of determining an area delineated in the map data by a connection line formed by a plurality of coordinate data or latitude and longitude data corresponding to the selected positions further includes the following steps:

Connecting the coordinate data or latitude and longitude data corresponding to a plurality of the selected positions according to a predetermined direction from end to end to form a closed curve;

providing the closed curve to the user;

adjusting the closed curve according to the user's input;

It is determined that the area delineated by the adjusted closed curve is the first area marked by the user.

In this optional implementation manner, after multiple points input by the user are connected to form a closed curve, the closed curve can also be provided to the user, that is, the closed curve is displayed on a map and provided to the user. And an adjustment interface is provided, so that the user can adjust the closed curve to an optimal position by dragging the closed curve, so that the adjusted curve just covers the boundary of the area marked by the user. In this way, the calibrated area is more accurate and simpler to implement.

In an optional implementation manner of this embodiment, before the receiving the first calibration information of the user on the map data, the method includes:

Provides a drawing interface for the user.

In this optional implementation manner, for the convenience of the user to mark the first area on the map data, a drawing interface may be provided. The user can demarcate the first area on the map using menu options in the drawing interface. The drawing interface can be, for example, a drawing tool similar to that in visio, and the user can select arrows, curves, graphs, etc. in the drawing tool to mark the corresponding area on the map.

In an optional implementation manner of this embodiment, as shown in FIG. 4 , the step S102, that is, the step of receiving the first calibration information of the user on the map data, further includes the following steps S401- S402:

In step S401, a graph drawn by a user on the map data through the drawing interface is received;

In step S402, the latitude and longitude data of the graphic is determined according to the relative position of the graphic on the map data.

In this optional implementation, for GPS map data, the user draws a graph on the map that is consistent with the area to be calibrated through the drawing interface, and the system determines the graph drawn by the user according to the relative position of the graph drawn by the user on the GPS map data. The latitude and longitude data of the area covered by the graphic are used to determine the first area designated by the user.

In an optional implementation manner of this embodiment, as shown in FIG. 5 , the step S102, that is, the step of receiving the first calibration information of the user on the map data, further includes the following steps S501- S502:

In step S501, receiving a graph drawn by a user on the map data through the drawing interface;

In step S502, coordinate data of the graphic on the map data is determined according to the relative position of the graphic on the map data; wherein the coordinate data is a coordinate system established on the map data in advance coordinate data in .

In this optional implementation, for non-GPS map data, such as regional local map data, the user draws graphics consistent with the region to be calibrated on the regional local map through the drawing interface, and the system draws the regional local map according to the graphics drawn by the user. to determine the coordinate data of the area covered by the graphics drawn by the user, and then determine the first area marked by the user.

In an optional implementation manner of this embodiment, as shown in FIG. 6 , the method further includes the following steps S601-S602:

In step S601, obtain the current GPS location information of the mobile smart device;

In step S602, the mobile smart device is driven to move within the first area marked by the user by comparing the current GPS position information and the boundary information of the first area marked by the user.

In this optional implementation, when the obtained map data is GPS map data and the first area demarcated by the user is demarcated on the GPS map data, the current GPS position information of the mobile smart device is obtained, and the current GPS location information of the mobile smart device is obtained by comparing the current The GPS position information and the GPS position information of the boundary of the first area drive the mobile smart device to move in the first area. For example, when the lawnmower is cutting grass, it controls the mobile smart device to cut grass in the first area according to a preset route by comparing the current position with the boundary position of the first area. The method of the working area boundary of the mobile smart device obtained by the embodiment of the present disclosure is simple and practical, does not need to form an electronic fence around the working area, etc., can save costs, and has high accuracy.

In an optional implementation manner of this embodiment, as shown in FIG. 7 , the method further includes the following steps S701-S702:

In step S701, obtain the current local location information sensed by a location sensor provided on the mobile smart device;

In step S702, the mobile smart device is driven to move in the first area marked by the user by comparing the current local position information and the boundary information of the first area marked by the user.

In this optional implementation manner, for the regional local map data established by the sensor, that is, the non-GPS map data, the location sensor set on the mobile smart device can detect the reference space of the regional local map data established by the smart sensor in the established regional map data. The position data in the coordinate system, and then by comparing the current local position information and the position information of the boundary of the first area, the mobile smart device is driven to move in the first area. For example, a UWB base station can be set around the working area of the mobile smart device, a UWB device can be set on the mobile smart device, the UWB device can obtain the distance information from the UWB base station in real time, and then according to the reference space of the UWB base station in the regional local map data The coordinate data in the coordinate system determines the current local location information of the mobile smart device.

In one embodiment, the mobile smart device may be a lawn mower, and the first area may be a working area of the lawn mower, such as a lawn.

In an optional implementation manner of this embodiment, as shown in FIG. 8 , the method further includes the following steps S801-S802:

In step S801, receiving the second calibration information of the user in the first area;

In step S802, a second area within the first area is determined according to the second calibration information.

In this optional implementation manner, after the user has calibrated the first area, the user may further calibrate in the second area to determine a second area. For example, for a lawnmower, if there are obstacles in the lawn, such as an area with trees or other plants, or other items placed, in order to prevent the lawnmower from hitting these obstacles during the mowing process, the user After the lawn is marked, the obstacle area, that is, the second area, can be further marked in the lawn. Of course, it can be understood that the second area is not limited to the obstacle area, and can also be other areas where the user does not want the grass to be mowed. . For example, the user wants to retain the grass in a certain area of the lawn, so that the grass in this area forms a contrast with the grass in other areas, so that the grass in the reserved area forms a specific shape area, which can beautify the environment. Effect.

In an optional implementation manner of this embodiment, as shown in FIG. 9 , the method further includes the following steps S901-S902:

In step S901, obtain the current GPS location information of the mobile smart device;

In step S902, by comparing the current GPS position information and the boundary information of the first area and the second area designated by the user, the mobile smart device is driven to locate the first area and the second area designated by the user. Move between regions.

In this optional implementation, when the user calibrates the first area and also calibrates the second area in the first area, GPS map data is obtained and the user calibrates on the GPS map In the case of the mobile smart device, the mobile smart device can be controlled to move in the area between the boundary of the first area and the boundary of the second area by comparing the current GPS location information of the mobile smart device with the boundary information of the first area and the second area.

In an optional implementation manner of this embodiment, as shown in FIG. 10 , the method further includes the following steps S1001-S1002:

In step S1001, obtain the current local position information sensed by a position sensor provided on the mobile smart device;

In step S1002, by comparing the current local location information and the boundary information of the first area and the second area marked by the user, the mobile smart device is driven between the first area and the second area marked by the user move between.

In this optional implementation manner, when the user calibrates the first area and also calibrates the second area in the first area, the obtained non-GPS map data, that is, the local map data of the area, and the user is In the case of calibrating on the regional local map, you can control the area of the mobile device between the first area boundary and the second area boundary by comparing the obtained current local location information of the mobile smart device with the first area boundary and the second area boundary move.

In one embodiment, location sensors include, but are not limited to, UWB devices, radars, image sensors, ZigBee devices, WIFI devices, and Bluetooth devices.

In the above embodiments shown in FIGS. 9 and 10 , the mobile smart device may be a lawn mower, and the third area between the first area and the second area is the working area of the lawn mower, that is, the lawn. The second area can be an obstacle area in the lawn or another area where the user does not want to mow the grass.

The following are the apparatus embodiments of the present disclosure, which can be used to execute the method embodiments of the present disclosure.

FIG. 11 shows a structural block diagram of an apparatus for region calibration according to an embodiment of the present disclosure. The apparatus can be implemented as part or all of an electronic device through software, hardware, or a combination of the two. As shown in FIG. 11 , the area calibration device includes a first acquisition module 1101, a first receiving module 1102 and a second acquisition module 1103:

The first acquisition module 1101 is configured to acquire map data including a preset position;

a first receiving module 1102, configured to receive the first calibration information of the user on the map data;

The second obtaining module 1103 is configured to obtain the first area calibrated by the user according to the map data and the first calibration information.

In an optional implementation manner of this embodiment, the preset position includes a current positioning position or a position received from outside.

In an optional implementation manner of this embodiment, the first obtaining module includes:

The import sub-module is configured to import GPS map data including preset positions through the network interface.

In an optional implementation manner of this embodiment, the first obtaining module includes:

The first acquisition sub-module is configured to acquire the regional local map data established by the sensor.

In an optional implementation manner of this embodiment, the sensor includes at least one of the following: a UWB device, a radar, an image sensor, a ZigBee device, a WIFI device, and a Bluetooth device.

In an optional implementation manner of this embodiment, the first receiving module includes:

a first receiving sub-module, configured to receive the clicked position of the user on the display interface of the map data;

The first determination submodule is configured to determine longitude and latitude data of the clicked position according to the relative position of the clicked position on the map data.

In an optional implementation manner of this embodiment, the first receiving module includes:

a second receiving sub-module, configured to receive the clicked position of the user on the display interface of the map data;

The second determination submodule is configured to determine the coordinate data of the clicked position on the map data according to the relative position of the clicked position on the map data; The coordinate data in the coordinate system established on the map data.

In an optional implementation manner of this embodiment, the first receiving module includes:

The third receiving sub-module is configured to receive latitude and longitude data or coordinate data input by the user, wherein the coordinate data is coordinate data in a coordinate system established on the map data in advance.

In an optional implementation manner of this embodiment, the clicked positions include multiple; the second acquisition module includes:

The third determination sub-module is configured to determine a region delineated in the map data by a connection line formed by a plurality of coordinate data or latitude and longitude data corresponding to the selected positions.

In an optional implementation manner of this embodiment, the third determination submodule includes:

The first forming sub-module is configured to connect a plurality of coordinate data or latitude and longitude data corresponding to the selected positions according to a predetermined direction from end to end to form a closed curve;

a first adjustment submodule, configured to adjust the closed curve to a curve of a preset shape;

The fourth determination sub-module is configured to determine the area enclosed by the closed curve of the preset shape as the first area designated by the user.

In an optional implementation manner of this embodiment, the third determination submodule includes:

The second forming sub-module is configured to connect a plurality of coordinate data or latitude and longitude data corresponding to the selected positions according to a predetermined direction from end to end to form a closed curve;

providing a submodule configured to provide the closed curve to a user;

a second adjustment module, configured to adjust the closed curve according to the user's input;

The fifth determination sub-module is configured to determine the area delineated by the adjusted closed curve as the first area demarcated by the user.

In an optional implementation of the present embodiment, before the first receiving module, including:

Provides a module configured to provide a drawing interface to the user.

In an optional implementation manner of this embodiment, the first receiving module includes:

a fourth receiving sub-module, configured to receive a graph drawn by a user on the map data through the drawing interface;

The sixth determination submodule is configured to determine the latitude and longitude data of the graphic according to the relative position of the graphic on the map data.

In an optional implementation manner of this embodiment, the first receiving module includes:

a fifth receiving sub-module, configured to receive a graph drawn by a user on the map data through the drawing interface;

A seventh determination sub-module, configured to determine the coordinate data of the graphic on the map data according to the relative position of the graphic on the map data; wherein, the coordinate data is pre-determined on the map data Coordinate data in the established coordinate system.

In an optional implementation manner of this embodiment, the device further includes:

The third acquisition module is configured to acquire the current GPS location information of the mobile smart device;

The first driving module is configured to drive the mobile smart device to move in the first area marked by the user by comparing the current GPS position information and the boundary information of the first area marked by the user.

In an optional implementation manner of this embodiment, the device further includes:

a fourth acquisition module, configured to acquire current local location information sensed by a location sensor provided on the mobile smart device;

The second driving module is configured to drive the mobile smart device to move within the first area marked by the user by comparing the current local position information and the boundary information of the first area marked by the user.

In an optional implementation manner of this embodiment, the mobile smart device is a lawn mower; the first area marked by the user is a working area of the lawn mower.

In an optional implementation manner of this embodiment, the device further includes:

a second receiving module, configured to receive the second calibration information of the user in the first area;

A determination module configured to determine a second area within the first area according to the second calibration information.

In an optional implementation manner of this embodiment, the device further includes:

a fifth acquisition module, configured to acquire the current GPS position information of the mobile smart device;

The second driving module is configured to drive the mobile smart device in the first area marked by the user by comparing the current GPS position information and the boundary information of the first area and the second area marked by the user and move between the second area.

In an optional implementation manner of this embodiment, the device further includes:

The sixth acquisition module is configured to acquire the current local position information sensed by the position sensor provided on the mobile smart device;

The third driving module is configured to drive the mobile smart device to drive the mobile smart device in the first area and the second area marked by the user by comparing the current local position information and the boundary information of the first area and the second area marked by the user. Move between the two areas.

In an optional implementation manner of this embodiment, the mobile smart device is a lawn mower; the third area between the first area and the second area marked by the user is the working area of the lawn mower .

The foregoing region calibration device corresponds to the region calibration method in the embodiment shown in FIGS. 1-10 . For details, please refer to the above description of the region calibration method, which will not be repeated here.

FIG. 12 shows a schematic structural diagram of a mobile smart device to which a region calibration method is applied according to an embodiment of the present disclosure.

As shown in FIG. 12, the mobile smart device 1200 includes: a location detection module 1201, a memory 1202 and a processor 1203; wherein, the location detection module 1201 is used to detect the current location information of the mobile smart device; the memory 1202 is used for One or more computer instructions are stored, wherein the one or more computer instructions are executed by the processor 1201 to implement the steps of the above area calibration method.

For the specific details of the above area calibration method, reference may be made to the description of the area calibration method in the embodiment shown in FIGS. 1-10 , which will not be repeated here.

In an optional implementation of this embodiment, the location detection module includes at least one of the following: a GPS positioning module, a UWB device, a radar, an image sensor, a ZigBee device, a Bluetooth device, and a WIFI device.

In an optional implementation manner of this embodiment, the mobile smart device is a smart lawn mower.

FIG. 13 is a schematic structural diagram of an electronic device suitable for implementing the area calibration method according to an embodiment of the present disclosure.

As shown in FIG. 13 , the electronic device 1300 includes a central processing unit (CPU) 1301 that can be loaded into a random access memory (RAM) 1303 according to a program stored in a read only memory (ROM) 1302 or a program from a storage section 1308 Instead, various processes in the above-described embodiment shown in FIG. 1 are executed. In the RAM 1303, various programs and data necessary for the operation of the electronic device 1300 are also stored. The CPU 1301 , the ROM 1302 , and the RAM 1303 are connected to each other through a bus 1304 . An input/output (I/O) interface 1305 is also connected to bus 1304 .

The following components are connected to the I/O interface 1305: an input section 1306 including a keyboard, a mouse, etc.; an output section 1307 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1308 including a hard disk, etc. ; and a communication section 1309 including a network interface card such as a LAN card, a modem, and the like. The communication section 1309 performs communication processing via a network such as the Internet. Drivers 1310 are also connected to I/O interface 1305 as needed. A removable medium 1311, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is mounted on the drive 1310 as needed so that a computer program read therefrom is installed into the storage section 1308 as needed.

In particular, according to an embodiment of the present disclosure, the method described above with reference to FIG. 1 may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program tangibly embodied on a readable medium thereof, the computer program containing program code for performing the method of FIG. 1 . In such an embodiment, the computer program may be downloaded and installed from the network via the communication portion 1309, and/or installed from the removable medium 1311.

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the diagram or block diagram may represent a module, segment, or portion of code that contains one or more functions for implementing the specified logical function. executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or operations , or can be implemented in a combination of dedicated hardware and computer instructions.

The units or modules involved in the embodiments of the present disclosure can be implemented in software or hardware. The described units or modules may also be provided in the processor, and the names of these units or modules do not constitute a limitation on the units or modules themselves in certain circumstances.

As another aspect, the present disclosure also provides a computer-readable storage medium, and the computer-readable storage medium may be a computer-readable storage medium included in the apparatus described in the foregoing embodiments; A computer-readable storage medium that fits into a device. The computer-readable storage medium stores one or more programs used by one or more processors to perform the methods described in the present disclosure.

The above description is merely a preferred embodiment of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above-mentioned technical features, and should also cover the above-mentioned technical features without departing from the inventive concept. Other technical solutions formed by any combination of its equivalent features. For example, a technical solution is formed by replacing the above features with the technical features disclosed in the present disclosure (but not limited to) with similar functions.

Claims (10)

1. a regional calibration method, is characterized in that, comprises: Obtain map data including preset locations; receiving the first calibration information of the user on the map data; The first area marked by the user is acquired according to the map data and the first marking information. 2 . The area calibration method according to claim 1 , wherein the preset position comprises a current positioning position or a position received from outside. 3 . 3. The area calibration method according to claim 1, wherein obtaining map data including a preset position, comprising: Import GPS map data including preset locations via web interface. 4. The area calibration method according to claim 1, wherein acquiring the map data including the preset position, comprising: Obtain the local map data of the area established by the sensor. 5 . The area calibration method according to claim 4 , wherein the sensor comprises at least one of the following: UWB device, radar, image sensor, ZigBee device, WIFI device, and Bluetooth device. 6 . 6. The area calibration method according to claim 1, wherein the receiving the first calibration information of the user on the map data comprises: receiving the clicked position of the user on the display interface of the map data; The latitude and longitude data of the selected position is determined according to the relative position of the selected position on the map data. 7. A regional calibration device, characterized in that, comprising: a first acquisition module, configured to acquire map data including a preset position; a first receiving module, configured to receive the first calibration information of the user on the map data; The second obtaining module is configured to obtain the first area calibrated by the user according to the map data and the first calibration information. 8. A mobile smart device, comprising a position detection module, a memory and a processor; wherein the position detection module is used to detect the current position information of the mobile smart device; the memory is used to store a piece of or A plurality of computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method steps of any of claims 1-6. 9. An electronic device, comprising a memory and a processor; wherein, The memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method steps of any of claims 1-6. 10. A computer-readable storage medium on which computer instructions are stored, characterized in that, when the computer instructions are executed by a processor, the method steps of any one of claims 1-6 are implemented.