Intelligent mobile device navigation method, device, equipment and storage medium

Abstract

An embodiment of the present invention provides a method, apparatus, device, and storage medium for navigating an intelligent mobile device. The method includes: when it is detected that the starting point and end point of the movement of the intelligent mobile device are located in a first map and a second map, respectively, determining a third map based on the first map and the second map, wherein the first map and the second map are maps of different types, and the geographical location area corresponding to the third map is the sum of the geographical location areas corresponding to the first map and the second map; in the third map, determining the overlapping area between the first map and the second map; in the overlapping area, determining a map switching point corresponding to the process of the intelligent mobile device moving from the starting point to the end point; when it is detected that the intelligent mobile device moves to the map switching point, controlling the intelligent mobile device to switch from the first map to the second map to navigate based on the second map. This allows the intelligent mobile device to successfully continue navigation operations across different types of maps.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent devices, and in particular to a navigation method, apparatus, device and storage medium for an intelligent movable device. Background Art

[0002] In related technologies, intelligent mobile devices, such as robots, can be categorized into several types based on the tasks they perform or the locations where they are performed. For example, there are robots that perform reception tasks in business halls, robots that transport items, robots that perform indoor cleaning tasks, and robots that perform outdoor cleaning tasks.

[0003] In theory, a robot with a specific function, after being configured, should also be able to perform tasks that robots with other functions can perform. For example, a robot designed for indoor cleaning can be configured to also clean outdoors.

[0004] However, current robots are still only focused on achieving a single function. This is because when the robot is required to achieve different functions, it may need to use different types of maps for navigation to assist in the execution of the task. Specifically, in the process of the robot performing a task, it is inevitable to use a map for navigation. When the types of maps required to perform the task are different, it is difficult for the robot to successfully complete the navigation operation based on different types of maps, and thus cannot successfully perform the task. For example, there are two different types of maps corresponding to indoors and outdoors. The robot uses one type of map when cleaning indoors. When the robot completes the indoor cleaning work and needs to go outside to continue cleaning, it uses another type of map. There is no solution in the related art that allows the robot to perform tasks while navigating across maps. Summary of the Invention

[0005] Embodiments of the present invention provide a navigation method, apparatus, device and storage medium for an intelligent mobile device, which are used to enable the intelligent mobile device to successfully continue navigation operations across different types of maps, thereby ensuring the smooth execution of cross-regional tasks.

[0006] In a first aspect, an embodiment of the present invention provides a navigation method for an intelligent mobile device, the method comprising:

[0007] When it is detected that the starting point and the end point of the movement of the intelligent movable device are located in a first map and a second map, respectively, determining a third map based on the first map and the second map, wherein the first map and the second map are maps of different types, and the geographical location area corresponding to the third map is the sum of the geographical location areas corresponding to the first map and the second map;

[0008] In the third map, determining an overlapping area between the first map and the second map;

[0009] In the overlapping area, determining a map switching point corresponding to a process in which the intelligent movable device moves from the starting point to the end point;

[0010] When it is detected that the intelligent movable device moves to the map switching point, the intelligent movable device is controlled to switch from the first map to the second map to perform navigation based on the second map.

[0011] Optionally, the first map is a two-dimensional map or a three-dimensional map, and the second map is another type of map.

[0012] Optionally, determining a third map based on the first map and the second map includes:

[0013] Determining a two-dimensional conversion map corresponding to a target map, wherein the target map is a three-dimensional map among the first map and the second map;

[0014] A third map is determined based on the conversion map and a two-dimensional map of the first map and the second map.

[0015] Optionally, determining a third map based on the conversion map and a two-dimensional map in the first map and the second map includes:

[0016] Obtaining a first reference identifier marked by a user in the conversion map;

[0017] Obtaining a second reference identifier marked by the user in a two-dimensional map of the first map and the second map, where the second reference identifier corresponds to the same geographical location area as the first reference identifier;

[0018] The first map and the second map are merged into a third map with reference to the first reference identifier and the second reference identifier.

[0019] Optionally, determining, in the overlapping area, a map switching point corresponding to a process in which the intelligent movable device moves from the starting point to the end point includes:

[0020] In the third map, determining a line between the starting point and the end point;

[0021] Determine a first intersection point and a second intersection point of the connecting line with a boundary of the overlapping area when the connecting line passes through the overlapping area;

[0022] determining a midpoint of a line segment between the first intersection point and the second intersection point;

[0023] Based on the midpoint, a map switching point corresponding to a process in which the intelligent movable device moves from the starting point to the end point is determined.

[0024] Optionally, determining, based on the midpoint, a map switching point corresponding to a process in which the intelligent movable device moves from the starting point to the end point includes:

[0025] determining a perpendicular line passing through the midpoint and perpendicular to a line segment between the first intersection point and the second intersection point;

[0026] An intersection point between the vertical line and the route of movement of the intelligent movable device is determined as a map switching point corresponding to the process of the intelligent movable device moving from the starting point to the end point.

[0027] Optionally, when it is detected that the intelligent movable device moves to the map switching point, the method further includes:

[0028] The intelligent movable device is controlled to switch from executing a task corresponding to the first map to executing a task corresponding to the second map.

[0029] In a second aspect, an embodiment of the present invention provides a navigation device for an intelligent mobile device, comprising:

[0030] a merging module, configured to determine a third map based on the first map and the second map when it is detected that the starting point and the end point of the movement of the intelligent movable device are located in the first map and the second map, respectively, wherein the first map and the second map are maps of different types, and the geographical location area corresponding to the third map is the sum of the geographical location areas corresponding to the first map and the second map;

[0031] A determination module is configured to determine, in the third map, an overlapping area between the first map and the second map; and, in the overlapping area, determine a map switching point corresponding to a process in which the intelligent movable device moves from the starting point to the end point;

[0032] The switching module is used to control the intelligent movable device to switch from the first map to the second map when it is detected that the intelligent movable device moves to the map switching point, so as to perform navigation based on the second map.

[0033] Optionally, the first map is a two-dimensional map or a three-dimensional map, and the second map is another type of map.

[0034] Optionally, the merging module is used to:

[0035] Determining a two-dimensional conversion map corresponding to a target map, wherein the target map is a three-dimensional map among the first map and the second map;

[0036] A third map is determined based on the conversion map and a two-dimensional map of the first map and the second map.

[0037] Optionally, the merging module is used to:

[0038] Obtaining a first reference identifier marked by a user in the conversion map;

[0039] Obtaining a second reference identifier marked by the user in a two-dimensional map of the first map and the second map, where the second reference identifier corresponds to the same geographical location area as the first reference identifier;

[0040] The first map and the second map are merged into a third map with reference to the first reference identifier and the second reference identifier.

[0041] Optionally, the determining module is configured to:

[0042] In the third map, determining a line between the starting point and the end point;

[0043] Determine a first intersection point and a second intersection point of the connecting line with a boundary of the overlapping area when the connecting line passes through the overlapping area;

[0044] determining a midpoint of a line segment between the first intersection point and the second intersection point;

[0045] Based on the midpoint, a map switching point corresponding to a process in which the intelligent movable device moves from the starting point to the end point is determined.

[0046] Optionally, the determining module is configured to:

[0047] determining a perpendicular line passing through the midpoint and perpendicular to a line segment between the first intersection point and the second intersection point;

[0048] An intersection point between the vertical line and the route of movement of the intelligent movable device is determined as a map switching point corresponding to the process of the intelligent movable device moving from the starting point to the end point.

[0049] Optionally, the switching module is further configured to:

[0050] The intelligent movable device is controlled to switch from executing a task corresponding to the first map to executing a task corresponding to the second map.

[0051] In a third aspect, an embodiment of the present invention provides an electronic device comprising a processor and a memory, wherein the memory stores executable code, and when the executable code is executed by the processor, the processor can at least implement the smart mobile device navigation method in the first aspect.

[0052] In a fourth aspect, an embodiment of the present invention provides a non-transitory machine-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of an electronic device, the processor can at least implement the smart mobile device navigation method in the first aspect.

[0053] By using the present invention, a first map and a second map of different types can be merged to obtain a third map. The overlapping area between the first map and the second map can then be determined based on the third map, and a map switching point can be determined in the overlapping area. When it is detected that the smart mobile device has moved to the map switching point, the smart mobile device can be controlled to switch from the first map to the second map to navigate based on the second map. In this way, the smart mobile device can be enabled to successfully continue navigation operations across different types of maps, thereby ensuring the smooth execution of cross-regional tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0055] Figure 1 A flowchart of a navigation method for an intelligent mobile device provided by an embodiment of the present invention;

[0056] Figure 2 A schematic diagram of merging a first map and a second map provided in an embodiment of the present invention;

[0057] Figure 3 A schematic diagram of determining a map switching point provided by an embodiment of the present invention;

[0058] Figure 4 A schematic structural diagram of a navigation device for an intelligent mobile device provided by an embodiment of the present invention;

[0059] Figure 5 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0060] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0061] The terms used in the embodiments of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The singular forms "a," "an," "the," and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, and unless the context clearly indicates otherwise, "a plurality" generally includes at least two.

[0062] As used herein, the words "if" and "if" may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to the determination" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0063] In addition, the step sequence in the following method embodiments is only an example and not a strict limitation.

[0064] An embodiment of the present invention provides a navigation method for an intelligent mobile device, which can be applied to an electronic device. The electronic device may include an intelligent mobile device and a server. When the method is executed on a server, the intelligent mobile device can upload sensor data collected by its sensors to the server. The server processes the sensor data and outputs corresponding control instructions. The server then issues the control instructions to the intelligent mobile device, causing it to execute tasks according to the control instructions.

[0065] Figure 1 A flowchart of a navigation method for an intelligent mobile device provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the method includes the following steps:

[0066] 101. When it is detected that the starting point and the end point of the movement of the intelligent movable device are located in the first map and the second map respectively, a third map is determined based on the first map and the second map, wherein the first map and the second map are maps of different types, and the geographical location area corresponding to the third map is the sum of the geographical location areas corresponding to the first map and the second map.

[0067] 102. In the third map, determine an overlapping area between the first map and the second map.

[0068] 103. In the overlapping area, determine a map switching point corresponding to a process in which the intelligent movable device moves from the starting point to the end point.

[0069] 104. When it is detected that the intelligent movable device moves to a map switching point, control the intelligent movable device to switch from the first map to the second map to perform navigation based on the second map.

[0070] First, it's important to note that mapping the environment can be performed based on sensor data collected by intelligent mobile devices to obtain a map corresponding to that environment. The same intelligent mobile device can employ different mapping methods, resulting in different types of maps. Because different types of maps have different characteristics, and maps with different characteristics are suited for use in different environments, the actual mapping process may require selecting the appropriate type of map based on the specific characteristics of the environment.

[0071] For example, for an indoor environment, a two-dimensional map is more suitable, so the indoor environment can be mapped as a two-dimensional map. For an outdoor environment, a three-dimensional map is more suitable, so the outdoor environment can be mapped as a three-dimensional map.

[0072] In practical applications, the functions of original smart mobile devices with different functions can be combined into the same smart mobile device, so that the same smart mobile device can perform different types of tasks that the original smart mobile devices with different functions can perform.

[0073] For example, the original smart mobile device 1 can perform indoor cleaning tasks, and the original smart mobile device 2 can perform outdoor cleaning tasks. By combining the functions of the two into smart mobile device 3, smart mobile device 3 can perform not only indoor cleaning tasks but also outdoor cleaning tasks, thus achieving cross-regional cleaning tasks.

[0074] For example, the original smart mobile device 1 can deliver water to users indoors, while the original smart mobile device 2 can carry heavy objects outdoors. By combining the functions of the two into smart mobile device 3, smart mobile device 3 can not only deliver water to users indoors, but also carry heavy objects outdoors, thus achieving cross-regional task execution.

[0075] It's important to note that smart mobile devices can perform the same task across different regions, or they can perform different tasks across different regions. For example, a smart mobile device could deliver a glass of water from one room to another. This scenario would be performing the same task across different regions. Another example would be a smart mobile device delivering a glass of water to a user indoors and then performing a cleaning task outdoors. This scenario would be performing different tasks across different regions.

[0076] It's understandable that no matter what environment or task a smart mobile device performs, it inevitably requires navigation using a map to find the path it needs to follow. In some application scenarios, smart mobile devices need to perform tasks across multiple regions, requiring different maps for different environments.

[0077] When the intelligent mobile device performs a task across regions, the starting point and the end point of the movement of the intelligent mobile device will be located in the first map and the second map of different types, respectively. In this way, the intelligent mobile device needs to pass through two maps to perform the task.

[0078] It should be noted that there is an overlapping area between the first map and the second map. Generally speaking, we do not pay attention to the situation where there is no overlapping area between the first map and the second map, because if there is no overlapping area between the first map and the second map, and the geographical location areas corresponding to the two maps are separated by a distance, then the area between the geographical location areas corresponding to the two maps should be constructed with other maps, and the other maps have overlapping areas with the first map and the second map respectively. Based on this, the issue currently under discussion becomes navigation across the first map, other maps, and the second map. In addition, based on the characteristics of the map construction planning method, it is unlikely that the boundary between the first map and the second map will just fit together.

[0079] When the smart mobile device navigates between two maps to perform a task, the map used will be switched at a certain moment. That is, before this moment, the smart mobile device navigates using the first map, and after this moment, the smart mobile device navigates using the second map. The moment of map switching can be when the smart mobile device moves to a map switching point. The map switching point is a point in the overlapping area between the first map and the second map.

[0080] Before determining the map switching point, a third map may be determined based on the first map and the second map. The geographical location area corresponding to the third map is the sum of the geographical location areas corresponding to the first map and the second map. Figure 2As shown, it is assumed that the first map is map A and the second map is map B. Map A and map B can be merged together to obtain a third map, namely map C. After determining the third map, the overlapping area between the first map and the second map can be determined in the third map, such as Figure 2 Region D in the example shown.

[0081] The following describes a method for determining the third map based on the first map and the second map.

[0082] As mentioned earlier, the first map and the second map are two different types of maps. Before merging them, they can first be converted into maps of the same type, which facilitates subsequent merging.

[0083] In certain optional application scenarios, the first map may be a two-dimensional map or a three-dimensional map, and the second map may be the other of the two. For example, if the first map is a two-dimensional map, the second map may be a three-dimensional map. Alternatively, the first map may be a three-dimensional map, and the second map may be a two-dimensional map.

[0084] The three-dimensional maps in the first and second maps can be converted into two-dimensional maps and then merged. Based on this, optionally, the process of determining the third map based on the first and second maps can be implemented as follows: determining a two-dimensional converted map corresponding to a target map, where the target map is the three-dimensional map in the first and second maps; and determining the third map based on the converted map and the two-dimensional maps in the first and second maps.

[0085] In practical applications, a 3D map is composed of multiple map elements, such as the X-axis, Y-axis, and Z-axis coordinates corresponding to an object in the 3D map. When converting a 3D map to a 2D map, the map elements required for constructing the 2D map can be extracted from the various map elements included in the 3D map. For example, the X-axis and Y-axis coordinates corresponding to an object in the 3D map can be extracted. This allows the object's location to be marked on the 2D map using these X-axis and Y-axis coordinates, thereby completing the 2D map construction process.

[0086] Optionally, the process of determining the third map based on the conversion map and the two-dimensional maps in the first map and the second map can be implemented as follows: obtaining a first reference identifier marked by the user in the conversion map; obtaining a second reference identifier marked by the user in the two-dimensional maps in the first map and the second map, the second reference identifier corresponding to the same geographical location area as the first reference identifier; and merging the first map and the second map into a third map with reference to the first reference identifier and the second reference identifier.

[0087] In practical applications, the first map and the second map may be displayed to the user, allowing the user to select a reference marker in the first map and the second map, respectively. The first reference marker in the first map and the second reference marker in the second map should correspond to the same geographical location.

[0088] For example, suppose the first map corresponds to an indoor environment and the second map corresponds to an outdoor environment. In the overlapping area between the two environments, there is a gate connecting the two environments. In this case, the gate can be selected as a reference marker. Based on this, the user can find the pixel area corresponding to the gate in the first map and the pixel area corresponding to the gate in the second map. Then, they can label the two pixel areas to obtain two reference markers.

[0089] It is worth noting that the first and second maps are used for navigation on smart mobile devices. While their map images may be relatively abstract and less visually pleasing, users can still select reference markers from them. For example, the map images are composed of dots and lines representing obstacles in the environment, and there is no concrete image that represents the obstacles in the environment. However, users can still select appropriate reference markers from them based on their understanding of the environment.

[0090] It should be noted that if the map is composed of points and lines, users can select a line as a reference marker. This is because lines have both position and orientation attributes in an image, while points only have position attributes. These two attributes of lines can be used to align and merge the first and second maps.

[0091] Specifically, after the user selects a reference marker, the device can automatically align the reference markers in the first map and the second map so that the two reference markers overlap. During the alignment of the two reference markers, the two maps can be pulled together, ultimately achieving the effect of merging the two maps.

[0092] It's also worth noting that in some application scenarios, users can create a new line on the map screen as a reference marker instead of selecting an existing line on the map screen. For example, a user draws a line a at a certain location on the first map and a line b at a certain location on the second map. Lines a and b may not correspond to actual objects in the environment, but they should correspond to the same geographical area in the environment.

[0093] After merging the first map and the second map into a third map, the overlapping area between the first map and the second map can be determined in the third map. Then, the map switching point corresponding to the process of the intelligent movable device moving from the starting point to the end point can be determined in the overlapping area. Optionally, the process of determining the map switching point corresponding to the process of the intelligent movable device moving from the starting point to the end point in the overlapping area can be implemented as follows: in the third map, determine the connecting line between the starting point and the end point; determine the first intersection point and the second intersection point of the connecting line with the boundary of the overlapping area when the connecting line passes through the overlapping area; determine the midpoint of the line segment between the first intersection point and the second intersection point; based on the midpoint, determine the map switching point corresponding to the process of the intelligent movable device moving from the starting point to the end point.

[0094] It should be noted that the first and second intersection points where the line connecting the starting point and the end point intersects the boundary of the overlapping area can be determined first, and then the midpoint of the line segment between the first and second intersection points can be found. Then, a point near the midpoint that is located on the route of the intelligent mobile device can be used as the map switching point. The map switching point found in this way can be kept in the middle of the overlapping area as much as possible, thereby ensuring that the intelligent mobile device can find the location corresponding to the map switching point in the actual environment, thereby successfully completing the map switching operation.

[0095] Optionally, based on the midpoint, the process of determining the map switching point corresponding to the process of the smart movable device moving from the starting point to the end point can be implemented as follows: determining a perpendicular line passing through the midpoint and perpendicular to the line segment between the first intersection point and the second intersection point; determining the intersection between the perpendicular line and the route of the movement of the smart movable device as the map switching point corresponding to the process of the smart movable device moving from the starting point to the end point.

[0096] by Figure 3 The example shown here explains the process of determining the map switching point. Figure 3 In the figure, the first map is map A, the second map is map B, and the third map is obtained by merging the first map and the second map, namely map C. The overlapping area between map A and map B is area D. The starting point of the movement of the intelligent movable device is P1, the end point is P2, and the line between them is L1. The line L1 intersects with area D at the first intersection D1 and the second intersection D2 respectively, and the line segment between D1 and D2 is L1'. Then, the midpoint of L1' can be determined to be D3, and a perpendicular line L2 perpendicular to L1' can be made with D3 as the foot of the perpendicular. The perpendicular line L2 intersects with the route S of the movement of the intelligent movable device at point P3, and P3 can be used as a map switching point.

[0097] In actual applications, when it is detected that the intelligent movable device moves to a map switching point, the intelligent movable device may be controlled to switch from the first map to the second map to perform navigation based on the second map.

[0098] It's worth noting that in this embodiment of the present invention, the third map is only used to help determine map switching points. During actual navigation, the original first and second maps are still used, rather than the third map directly. This is because the third map may contain errors compared to the first and second maps to a certain extent. Furthermore, the partial map in the third map is the result of a conversion of the original map, and it only contains a portion of the map elements in the original map. Generally, navigation requires the use of all map elements in the original map.

[0099] For example, when navigating outdoors, not only the X-axis and Y-axis coordinates corresponding to the object are needed, but also the Z-axis coordinates. Therefore, after the smart mobile device reaches the map switching point, it is necessary to switch to the three-dimensional map corresponding to the outdoor environment to navigate in the outdoor environment based on the three-dimensional map.

[0100] It is understandable that the above article has introduced that the smart mobile device can perform the same task across regions, or it can perform different tasks across regions. When the smart mobile device performs the same task across regions, after switching the map, it can continue to perform the same task as before switching the map. When the smart mobile device performs different tasks across regions, optionally, after switching the map, the smart mobile device can be controlled to switch from the task corresponding to the first map to the task corresponding to the second map. For example, the task corresponding to the first map is T1, and the task corresponding to the second map is T2. When switching to the second map, it switches from executing T1 to executing T2 accordingly.

[0101] By using the present invention, a first map and a second map of different types can be merged to obtain a third map. The overlapping area between the first map and the second map can then be determined based on the third map, and a map switching point can be determined in the overlapping area. When it is detected that the smart mobile device has moved to the map switching point, the smart mobile device can be controlled to switch from the first map to the second map to navigate based on the second map. In this way, the smart mobile device can be enabled to successfully continue navigation operations across different types of maps, thereby ensuring the smooth execution of cross-regional tasks.

[0102] The following describes in detail one or more embodiments of the intelligent mobile device navigation device of the present invention. Those skilled in the art will appreciate that these intelligent mobile device navigation devices can be configured using commercially available hardware components and the steps taught in this solution.

[0103] Figure 4 A schematic diagram of a navigation device for an intelligent mobile device according to an embodiment of the present invention is shown in FIG. Figure 4As shown, the device includes:

[0104] a merging module 41 configured to determine a third map based on the first map and the second map when it is detected that the starting point and the end point of the movement of the intelligent movable device are located in the first map and the second map, respectively, wherein the first map and the second map are maps of different types, and the geographical location area corresponding to the third map is the sum of the geographical location areas corresponding to the first map and the second map;

[0105] A determination module 42 is configured to determine, in the third map, an overlapping area between the first map and the second map; and, in the overlapping area, determine a map switching point corresponding to a process in which the intelligent movable device moves from the starting point to the end point;

[0106] The switching module 43 is configured to control the intelligent mobile device to switch from the first map to the second map when it is detected that the intelligent mobile device moves to the map switching point, so as to perform navigation based on the second map.

[0107] Optionally, the first map is a two-dimensional map or a three-dimensional map, and the second map is another type of map.

[0108] Optionally, the merging module 41 is configured to:

[0109] Determining a two-dimensional conversion map corresponding to a target map, wherein the target map is a three-dimensional map among the first map and the second map;

[0110] A third map is determined based on the conversion map and a two-dimensional map of the first map and the second map.

[0111] Optionally, the merging module 41 is configured to:

[0112] Obtaining a first reference identifier marked by a user in the conversion map;

[0113] Obtaining a second reference identifier marked by the user in a two-dimensional map of the first map and the second map, where the second reference identifier corresponds to the same geographical location area as the first reference identifier;

[0114] The first map and the second map are merged into a third map with reference to the first reference identifier and the second reference identifier.

[0115] Optionally, the determining module 42 is configured to:

[0116] In the third map, determining a line between the starting point and the end point;

[0117] Determine a first intersection point and a second intersection point of the connecting line with a boundary of the overlapping area when the connecting line passes through the overlapping area;

[0118] determining a midpoint of a line segment between the first intersection point and the second intersection point;

[0119] Based on the midpoint, a map switching point corresponding to a process in which the intelligent movable device moves from the starting point to the end point is determined.

[0120] Optionally, the determining module 42 is configured to:

[0121] determining a perpendicular line passing through the midpoint and perpendicular to a line segment between the first intersection point and the second intersection point;

[0122] An intersection point between the vertical line and the route of movement of the intelligent movable device is determined as a map switching point corresponding to the process of the intelligent movable device moving from the starting point to the end point.

[0123] Optionally, the switching module 43 is further configured to:

[0124] The intelligent movable device is controlled to switch from executing a task corresponding to the first map to executing a task corresponding to the second map.

[0125] Figure 4 The device shown can perform the aforementioned Figures 1 to 3 The detailed execution process and technical effects of the intelligent mobile device navigation method provided in the illustrated embodiment can be found in the description of the aforementioned embodiment and will not be repeated here.

[0126] In one possible design, the above Figure 4 The structure of the intelligent mobile device navigation device shown can be realized as an electronic device, such as Figure 5 As shown, the electronic device may include: a processor 91 and a memory 92. The memory 92 stores executable code, and when the executable code is executed by the processor 91, the processor 91 can at least implement the above-mentioned Figures 1 to 3 The embodiment shown provides a navigation method for an intelligent mobile device.

[0127] Optionally, the electronic device may further include a communication interface 93 for communicating with other devices.

[0128] In addition, an embodiment of the present invention provides a non-transitory machine-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of an electronic device, the processor can at least implement the aforementioned Figures 1 to 3 The embodiment shown provides a navigation method for an intelligent mobile device.

[0129] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Those skilled in the art can understand and implement the present invention without inventive effort.

[0130] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by adding a necessary general hardware platform, and of course can also be implemented by a combination of hardware and software. Based on this understanding, the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a computer product. The present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0131] The intelligent mobile device navigation method provided in the embodiment of the present invention can be executed by a certain program / software, which can be provided by the network side. The electronic device mentioned in the above embodiment can download the program / software to a local non-volatile storage medium, and when it needs to execute the above intelligent mobile device navigation method, the program / software is read into the memory by the CPU, and then the CPU executes the program / software to implement the intelligent mobile device navigation method provided in the above embodiment. The execution process can be referred to in the above embodiment. Figures 1 to 3 Instructions in .

[0132] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A navigation method for an intelligent mobile device, characterized in that: include: When it is detected that the starting point and the end point of the movement of the intelligent movable device are located in a first map and a second map, respectively, determining a third map based on the first map and the second map, wherein the first map and the second map are maps of different types, and the geographical location area corresponding to the third map is the sum of the geographical location areas corresponding to the first map and the second map; In the third map, determining an overlapping area between the first map and the second map; In the overlapping area, determining a map switching point corresponding to a process in which the intelligent movable device moves from the starting point to the end point; When detecting that the intelligent mobile device moves to the map switching point, controlling the intelligent mobile device to switch from the first map to the second map to perform navigation based on the second map; Determining, in the overlapping area, a map switching point corresponding to the process of the intelligent movable device moving from the starting point to the end point includes: determining, in the third map, a line between the starting point and the end point; determining a first intersection point and a second intersection point of the line with a boundary of the overlapping area when the line passes through the overlapping area; determining a midpoint of a line segment between the first intersection point and the second intersection point; and determining, based on the midpoint, a map switching point corresponding to the process of the intelligent movable device moving from the starting point to the end point.

2. The method according to claim 1, characterized in that The first map is a two-dimensional map or a three-dimensional map, and the second map is another type of map.

3. The method according to claim 2, characterized in that The determining a third map based on the first map and the second map includes: Determining a two-dimensional conversion map corresponding to a target map, wherein the target map is a three-dimensional map among the first map and the second map; A third map is determined based on the conversion map and a two-dimensional map of the first map and the second map.

4. The method according to claim 3, characterized in that The determining of a third map based on the conversion map and a two-dimensional map in the first map and the second map includes: Obtaining a first reference identifier marked by a user in the conversion map; Obtaining a second reference identifier marked by the user in a two-dimensional map of the first map and the second map, where the second reference identifier corresponds to the same geographical location area as the first reference identifier; The first map and the second map are merged into a third map with reference to the first reference identifier and the second reference identifier.

5. The method according to claim 1, wherein The determining, based on the midpoint, a map switching point corresponding to a process in which the intelligent movable device moves from the starting point to the end point includes: determining a perpendicular line passing through the midpoint and perpendicular to a line segment between the first intersection point and the second intersection point; An intersection point between the vertical line and the route of movement of the intelligent movable device is determined as a map switching point corresponding to the process of the intelligent movable device moving from the starting point to the end point.

6. The method according to claim 1, characterized in that When it is detected that the intelligent movable device moves to the map switching point, the method further includes: The intelligent movable device is controlled to switch from executing a task corresponding to the first map to executing a task corresponding to the second map.

7. A navigation device for an intelligent mobile device, characterized in that: include: a merging module, configured to determine a third map based on the first map and the second map when it is detected that the starting point and the end point of the movement of the intelligent movable device are located in the first map and the second map, respectively, wherein the first map and the second map are maps of different types, and the geographical location area corresponding to the third map is the sum of the geographical location areas corresponding to the first map and the second map; A determination module is configured to determine, in the third map, an overlapping area between the first map and the second map; and, in the overlapping area, determine a map switching point corresponding to a process in which the intelligent movable device moves from the starting point to the end point; a switching module, configured to control the intelligent mobile device to switch from the first map to the second map when detecting that the intelligent mobile device has moved to the map switching point, so as to perform navigation based on the second map; The determination module is specifically used to: determine the connecting line between the starting point and the end point in the third map; determine the first intersection point and the second intersection point of the connecting line with the boundary of the overlapping area when the connecting line passes through the overlapping area; determine the midpoint of the line segment between the first intersection point and the second intersection point; and based on the midpoint, determine the map switching point corresponding to the process of the intelligent movable device moving from the starting point to the end point.

8. An electronic device, characterized in that: include: A memory and a processor; wherein the memory stores executable code, and when the executable code is executed by the processor, the processor executes the navigation method for an intelligent mobile device as described in any one of claims 1 to 6.

9. A non-transitory machine-readable storage medium, characterized in that The non-transitory machine-readable storage medium stores executable code, and when the executable code is executed by a processor of an electronic device, the processor is caused to execute the smart mobile device navigation method according to any one of claims 1 to 6.

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