US 12,140,960 B2
Method for processing map of closed space, apparatus, and mobile device
Huizhong An, Beijing (CN); Chenhao Wu, Beijing (CN); Yiming Zhang, Beijing (CN); and Zhen Chen, Beijing (CN)
Assigned to QFEELTECH (BEIJING) CO., LTD., Beijing (CN)
Filed by Qfeeltech (Beijing) Co., Ltd., Beijing (CN)
Filed on Jun. 11, 2022, as Appl. No. 17/838,210.
Application 17/838,210 is a continuation of application No. PCT/CN2020/136017, filed on Dec. 14, 2020.
Claims priority of application No. 201911406187.4 (CN), filed on Dec. 31, 2019.
Prior Publication US 2022/0334587 A1, Oct. 20, 2022
Int. Cl. G05D 1/00 (2024.01)
CPC G05D 1/0238 (2013.01) [G05D 1/0214 (2013.01); G05D 1/0219 (2013.01); G05D 1/0274 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for processing a map of a closed space, comprising:
obtaining, by a processor of a mobile device, a plurality of self-locations of the mobile device;
obtaining, by the processor of the mobile device, a plurality of obstacle locations;
obtaining, by the processor of the mobile device, a boundary profile based on the obstacle locations, the boundary profile being a closed line formed by sequentially connecting multiple adjacent obstacle locations;
obtaining, by the processor of the mobile device, a self-circle based on the self-locations of the mobile device, the self-circle being a closed line formed by sequentially connecting multiple adjacent self-locations of the mobile device;
determining, by the processor of the mobile device, the boundary profile as an outer profile when the boundary profile encircles the self-circle at an outer side of the self-circle;
processing, by the processor of the mobile device, the map of the closed space based on the outer profile; and
when an outer profile confidence level of an outer profile location point on the outer profile falls within a first predetermined threshold range, determining or updating, by the processor of the mobile device, a map frame based on the outer profile location point that includes the outer profile confidence level falling within the first predetermined threshold range.