Map data processing method and system based on map navigation and self-moving robot

Abstract

The application discloses a kind of based on map navigation map data processing method, system and self-moving robot.Based on the method, self-moving robot such as sweeper will not only save the initial multiplex map generated when first completing work task, but also simultaneously save the updated multiplex map newly generated when subsequent work task is executed again, and the multiplex map edited by user in response to user instruction etc.Multiple different multiplex maps;Specific implementation, self-moving robot can obtain and select the target multiplex map matched from the multiple multiplex maps saved according to the environmental information of current position;According to the target multiplex map, self-moving robot is controlled to move in target area again.Thereby, by saving and using multiple different multiplex maps, self-moving robot can be accurately controlled to move in target area, to better complete work task under current scene, improve the use experience of user.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robots, and particularly relates to a map data processing method and system based on map navigation and a self-moving robot. BACKGROUND

[0002] Based on the prior art, most of the sweeping robots only save and use the generated reusable map when the first cleaning task is completed. However, the reusable map may have errors or does not match the current actual environment, and it is difficult to meet the diversified needs of users based on only this reusable map, resulting in navigation errors, poor user experience and other defects when the subsequent sweeping robot moves and performs cleaning tasks based on the reusable map.

[0003] Therefore, it is necessary to improve the prior art to overcome the defects in the prior art. SUMMARY

[0004] Therefore, the technical problem to be solved by the present application is that the saved reusable map based on the prior art may have errors or does not match the current environment, which cannot meet the diversified needs of users, resulting in navigation errors and poor user experience when moving and performing tasks based on the reusable map.

[0005] To solve the above technical problems, the present application provides a map data processing method based on map navigation, applied to a self-moving robot, wherein the self-moving robot saves a plurality of reusable maps; the method comprises: acquiring environment information of a current position; selecting a target reusable map matching from the plurality of reusable maps according to the environment information; and controlling the self-moving robot to move in a target area according to the target reusable map.

[0006] In one embodiment, the plurality of reusable maps includes an initial reusable map, and at least one of the following maps: a user-edited reusable map, an updated reusable map.

[0007] In one embodiment, the initial reusable map carries a first priority label, the updated reusable map carries a second priority label, and the user-edited reusable map carries a third priority label.

[0008] In one embodiment, selecting a target reusable map matching from the plurality of reusable maps according to the environment information comprises: detecting whether the position of the self-moving robot and the position of the charging seat have changed according to the environment information; and in the case that it is detected that the position of the self-moving robot has not changed and the position of the charging seat has not changed, selecting a reusable map carrying a first priority label from the plurality of reusable maps as a target reusable map.

[0009] In one embodiment, the method further comprises: in case that a change in the position of the self-moving robot or a change in the position of the charging base is detected, selecting a multiplexed map carrying the second priority label or the third priority label from the plurality of multiplexed maps as the target multiplexed map.

[0010] In one embodiment, the method further comprises: detecting whether the currently used multiplexed map is biased; in case that it is determined that the currently used multiplexed map is biased, selecting a matching target multiplexed map from the plurality of multiplexed maps.

[0011] In one embodiment, the method further comprises: detecting whether a multiplexed map replacement instruction is currently received; in case that it is determined that the multiplexed map replacement instruction is currently received, selecting a matching target multiplexed map from the plurality of multiplexed maps.

[0012] In one embodiment, the method further comprises: controlling the target device to move in the target area according to the initial multiplexed map; and generating an updated multiplexed map; and saving the updated multiplexed map.

[0013] In one embodiment, the method further comprises: receiving an editing instruction of a map sent by a user through a terminal device; modifying the initial multiplexed map or the updated multiplexed map according to the editing instruction to obtain a user-edited multiplexed map; and saving the user-edited multiplexed map.

[0014] The application further provides a map data processing system based on map navigation, applied to a self-moving robot, wherein the self-moving robot stores a plurality of multiplexed maps; the system comprises: an acquisition module configured to acquire environmental information of a current position; a selection module configured to select a matching target multiplexed map from the plurality of multiplexed maps according to the environmental information; and a control module configured to control the self-moving robot to move in a target area according to the target multiplexed map.

[0015] The application further provides a self-moving robot, comprising: a robot main body; and a controller arranged on the robot main body; wherein the self-moving robot stores a plurality of multiplexed maps; and the controller is configured to: acquire environmental information of a current position; select a matching target multiplexed map from the plurality of multiplexed maps according to the environmental information; and control the self-moving robot to move in a target area according to the target multiplexed map.

[0016] The application further provides a computer readable storage medium, which stores computer instructions, and the instructions are executed to implement the following steps: obtaining environment information of a current position; selecting a target multiplex map matched from a plurality of multiplex maps according to the environment information; and controlling the self-moving robot to move in a target area according to the target multiplex map.

[0017] The self-moving robot based on the map navigation map data processing method and system and the self-moving robot such as the sweeping robot provided by the application not only save the initial multiplex map generated when the first task is completed, but also save the updated multiplex map generated when the subsequent task is performed again and the multiplex map edited by the user in response to the user instruction. Furthermore, in the specific implementation, the self-moving robot can obtain the environment information of the current position and intelligently select the target multiplex map matched with the actual environment from the plurality of saved multiplex maps. Then, the self-moving robot is controlled to move in the target area according to the target multiplex map. Thus, the self-moving robot can be accurately controlled to move in the target area for navigation by saving and using the plurality of different multiplex maps, so as to better complete the task in the current scene and improve the user experience. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Figure 1 The flowchart of the map data processing method based on map navigation provided by the embodiment of the application;

[0020] Figure 2 The structural composition schematic diagram of the map data processing system based on map navigation provided by the embodiment of the application;

[0021] Figure 3 The structural composition schematic diagram of the self-moving robot provided by the embodiment of the application. DETAILED DESCRIPTION

[0022] The technical solutions of the application will be described in detail below with reference to the drawings. Obviously, the described embodiments are some embodiments of the application, not all embodiments. The application will be described in detail below with reference to the drawings and embodiments. It should be noted that the embodiments and features in the embodiments can be combined with each other without conflict.

[0023] It should be noted that the terms "first", "second", and the like in the description and claims of the present application and the above drawings are used only to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence.

[0024] In the present application, the orientation words such as "upper", "lower", "top", "bottom" used without the opposite description are generally directed to the direction shown in the drawings, or to the vertical, perpendicular or gravity direction of the components themselves; similarly, for the convenience of understanding and description, "inner" and "outer" refer to the inner and outer relative to the contour of the components themselves, but the above orientation words are not used to limit the present application.

[0025] The embodiment of the present application provides a map data processing method based on map navigation. Referring to FIG. 1, Figure 1 The method can be applied to a self-moving robot. The self-moving robot stores a plurality of multiplex maps. The method can include the following contents.

[0026] S101: Obtain environment information of a current position.

[0027] S102: Select a target multiplex map matched from the plurality of multiplex maps according to the environment information.

[0028] S103: Control the self-moving robot to move in a target area according to the target multiplex map.

[0029] In an embodiment, the map data processing method based on map navigation can be applied to one side of a self-moving robot. The self-moving robot can be understood as a device capable of moving by itself and completing a corresponding work task.

[0030] Specifically, the self-moving robot can include at least one of a sweeping robot, a mopping robot, a monitoring robot, and the like. It should be noted that the above-mentioned target devices are only illustrative. According to specific application scenarios and processing requirements, the target devices can also include inspection robots, nanny robots, and the like. The present application is not limited in this regard. Corresponding to different self-moving robots, the work tasks to be performed by the self-moving robot in the target area can also be different. For example, when the self-moving robot is a sweeping robot, the work task to be performed in the target area can be a cleaning task, or a first type of movement task through the target area. For example, when the self-moving robot is a monitoring robot, the work task to be performed in the target area can be an inspection task, or a second type of movement task around the boundary of the target area.

[0031] In one embodiment, the self-moving robot can further be provided with a cache module. The self-moving robot can save multiple reuse maps locally through the cache module.

[0032] In one embodiment, the multiple reuse maps can include at least an initial reuse map, and at least one of the following maps: a user-edited reuse map, an updated reuse map.

[0033] The initial reuse map can be understood as a reuse map generated and saved by the self-moving robot when it completes a first job task in a target area.

[0034] The updated reuse map can be understood as a new reuse map generated by the self-moving robot according to the current environmental conditions of the target area when it performs a job task (e.g., a second job task, a third job task, or an Nth job task) in the target area again after completing a first job task in the target area.

[0035] The user-edited reuse map can be understood as a reuse map obtained after performing corresponding editing operations according to user-initiated editing instructions. The editing operations can include at least one of the following: partitioning operation, merging operation, setting forbidden area operation, modifying the name of the reuse map operation, etc. It should be noted that the above-mentioned editing operations are only illustrative. In specific implementations, other types of operations can be included in the editing operations to meet more diverse user needs, such as label setting operation, map modification operation, boundary adjustment operation, etc. The present specification does not limit this.

[0036] The target area can be understood as an area that the self-moving robot currently needs to navigate through. Specifically, the target area can be a work area where a job task is currently performed, or an area that does not need to perform a job task but needs to move through.

[0037] It should be noted that the self-moving device usually only saves and uses the initial reuse map generated when performing a first job task. However, the initial reuse map itself can have errors. Moreover, as time goes by, when performing a second job task or an Nth job task, the actual environmental conditions of the target area have changed compared to the environmental conditions when performing the first job task. At this time, navigation based on the initial reuse map is relatively prone to navigation errors. In addition, for users, there are often diverse customization needs for job task execution. Obviously, the initial reuse map cannot meet the diverse needs of users, thereby affecting the user experience.

[0038] In an embodiment, the initial multiplex map saved by the self-moving robot can specifically carry a first priority label, the saved updated multiplex map can specifically carry a second priority label, and the saved user-edited multiplex map can specifically carry a third priority label.

[0039] The priority level of the first priority label can be higher than the second priority label and the third priority label. The priority level of the second priority label can be higher than or equal to the priority level of the third priority label.

[0040] In an embodiment, generally, the self-moving robot can initially select the initial multiplex map carrying the first priority label with the highest priority level as the target multiplex map currently used by default.

[0041] In an embodiment, the above-mentioned environmental information can specifically include at least one of the following: position information of the charging base, position information of the self-moving robot, position information of obstacles in the target area, and the like.

[0042] In an embodiment, in specific implementation, the self-moving robot can collect environmental information reflecting the current actual environment of the target area through a corresponding sensor.

[0043] In an embodiment, in specific implementation, the above-mentioned selecting a matching target multiplex map from the plurality of multiplex maps according to the environmental information can include the following:

[0044] S1: According to the environmental information, detecting whether the position of the self-moving robot changes and whether the position of the charging base changes.

[0045] S2: In the case where it is detected that the position of the self-moving robot does not change and the position of the charging base does not change, selecting a multiplex map carrying the first priority label from the plurality of multiplex maps as the target multiplex map.

[0046] Through the above-mentioned embodiments, the self-moving robot can intelligently find a multiplex map most matching the current environment of the target area from the plurality of saved multiplex maps as the target multiplex currently actually used, so as to accurately navigate and move in the target area based on the target multiplex subsequently.

[0047] In an embodiment, the self-moving robot can compare the position information of the charging base in the current environmental information with the reference position information of the charging base; and determine whether the position of the charging base changes according to the comparison result. The reference position information of the charging base can be the position information of the charging base collected and saved by the self-moving robot when generating the initial multiplex map.

[0048] In one embodiment, the self-moving robot can further compare the position information of the obstacles in the current environment information with the reference position information of the obstacles; and determine whether the obstacles in the target region have changed according to the comparison result. The reference information of the obstacles can be the position information of the obstacles collected and saved by the self-moving robot when generating the initial multiplex map.

[0049] In one embodiment, the self-moving robot can further compare the position information of the self-moving robot in the current environment information with the reference position information of the self-moving robot determined based on the initial multiplex map; and determine whether the position of the self-moving robot has changed according to the comparison result.

[0050] In one embodiment, according to the above method, according to the environment information, when it is detected that the position of the self-moving robot has not changed, the position of the charging base has not changed, and the obstacles in the target region have not changed, according to the preset decision model, it can be determined that the current environment is the same or similar to the environment when the initial multiplex map is generated, and the initial multiplex map is still accurate and reliable. Therefore, the multiplex map carrying the first priority label can be selected from the plurality of multiplex maps as the target multiplex map for current use.

[0051] On the contrary, when it is detected that the position of the self-moving robot has changed, or the position of the charging base has changed, or the position of the obstacles in the target region has changed, according to the preset decision model, it can be determined that the current environment is quite different from the environment when the initial multiplex map is generated, and the initial multiplex map is inaccurate and unreliable. Therefore, the multiplex map carrying the second priority label or the third priority label can be selected from the plurality of multiplex maps as the target multiplex map for current use to replace the initial multiplex map used by default.

[0052] In one embodiment, specifically, when it is detected that the position of the self-moving robot has changed, or the position of the charging base has changed, or the position of the obstacles in the target region has changed, the generation time (which can be denoted as the second generation time) of the multiplex map carrying the second priority label and the generation time (which can be denoted as the third generation time) of the multiplex map carrying the third priority label can be further obtained; and the multiplex map carrying the second priority label or the third priority label with the smallest difference between the generation time and the current time can be selected as the target multiplex map for current use through time value comparison.

[0053] In this way, when the environment changes, the target multiplex map that is relatively accurate and reliable can be efficiently screened out.

[0054] In an embodiment, the self-moving robot can further process the environment information by invoking a preset processing model to automatically select a map with the highest matching degree from the plurality of composite maps as the target composite map. The preset processing model can be a neural network model trained by historical usage records of the labeled composite map.

[0055] In an embodiment, the self-moving robot can navigate in the target area according to the target composite map and generate a corresponding target movement path. Further, the self-moving robot can control the self-moving robot to pass through the target area and / or perform a corresponding work task in the target area according to the target movement path by controlling the movement component of the self-moving robot.

[0056] In an embodiment, the method can further include the following: controlling the target device to move in the target area according to the initial composite map; generating an updated composite map; and saving the updated composite map.

[0057] Through the above embodiment, the self-moving robot can generate and save an updated composite map when performing a second or Nth work task in the target area.

[0058] In an embodiment, the method can further include the following: receiving an editing instruction for a map sent by a user through a terminal device; modifying the initial composite map or the updated composite map according to the editing instruction to obtain a user-edited composite map; and saving the user-edited composite map.

[0059] Through the above embodiment, the self-moving robot can generate and save a user-edited composite map according to the editing instruction of the user to meet the diversified needs of the user.

[0060] In an embodiment, the self-moving robot can further collect and record the map generation time when generating the initial composite map, the updated composite map, and the user-edited composite map. Further, the map generation time can be marked on the saved composite map in the form of a time stamp.

[0061] In an embodiment, the self-moving robot can further save only the latest generated updated composite map according to the time stamp on the composite map when saving the updated composite map. Similarly, the self-moving robot can save only the latest generated user-edited composite map according to the time stamp on the composite map when saving the user-edited composite map.

[0062] In an embodiment, the self-moving robot can also send the saved initial composite map, the updated composite map and the user-edited composite map to a cloud server for backup.

[0063] In an embodiment, during the movement of the self-moving robot in the target area, the method, when implemented, can further include the following: detecting whether the currently used composite map has deviation; and in the case where it is determined that the currently used composite map has deviation, selecting a matching target composite map from the plurality of composite maps.

[0064] Through the above embodiment, when the self-moving robot finds that the original composite map has deviation during the navigation movement in the target area, it can automatically replace it with an accurate target composite map, thereby effectively reducing navigation errors and accurately navigating and moving in the target area.

[0065] In an embodiment, during the movement of the self-moving robot in the target area, the method, when implemented, can further include the following: detecting whether the currently used composite map has deviation; and in the case where it is determined that the currently used composite map has deviation, selecting a matching target composite map from the plurality of composite maps.

[0066] Specifically, for example, the current environmental conditions are the same as those when the initial composite map is generated, and under normal circumstances, the self-moving robot uses the initial composite map as the target composite map for navigation and performs the work task in the target area. However, the user currently wants the self-moving robot not to go to the forbidden area (for example, the user's bedroom) to perform the work task. At this time, the user can send a composite map replacement instruction to the self-moving robot through a terminal device (for example, a mobile phone or an app installed on the mobile phone, etc.). Accordingly, the self-moving robot, in the case where it is determined that the map replacement instruction is received, can temporarily filter out a matching user-edited composite map from the saved plurality of composite maps as a target composite map to replace the currently used initial composite map. The above user-edited composite map can be a composite map that has been subjected to a forbidden area setting operation in response to the user's editing instruction.

[0067] In this way, the self-moving robot can more intelligently select a suitable composite map for navigation according to the user's instruction to meet the user's diverse needs and improve the user's experience.

[0068] Based on the map navigation based map data processing method provided in the embodiments of the present specification, the self-moving robot such as a sweeping robot will not only save the initial multiplex map generated when the first task is completed, but also save the updated multiplex map generated when the subsequent task is executed again, and the user-edited multiplex map generated in response to the user instruction, and the like. In specific implementation, the self-moving robot can obtain and select the target multiplex map matching the current position from the saved multiple multiplex maps according to the environment information of the current position. Then, the self-moving robot is controlled to move in the target area according to the target multiplex map. Thus, by saving and utilizing multiple different multiplex maps, the self-moving robot can be accurately controlled to move in the target area, so as to better complete the task in the current scene, meet the diversified needs of users, and improve the user experience.

[0069] The embodiments of the present specification also provide a map data processing system based on map navigation, applied to a self-moving robot, wherein the self-moving robot saves multiple multiplex maps, and can refer to Figure 2 As shown in the figure, the system can at least include: an acquisition module 201, a selection module 202, and a control module 203.

[0070] The acquisition module 201 can be specifically used for acquiring the environment information of the current position.

[0071] The selection module 202 can be specifically used for selecting the target multiplex map matching the current position from the multiple multiplex maps according to the environment information.

[0072] The control module 203 can be specifically used for controlling the self-moving robot to move in the target area according to the target multiplex map.

[0073] In one embodiment, the multiple multiplex maps can specifically include an initial multiplex map, and at least one of the following maps: a user-edited multiplex map, and an updated multiplex map.

[0074] In one embodiment, the initial multiplex map can specifically carry a first priority label, the updated multiplex map can specifically carry a second priority label, and the user-edited multiplex map can specifically carry a third priority label.

[0075] In an embodiment, the selection module 202 can specifically select a target multiplex map from the plurality of multiplex maps according to the environment information in the following manner: according to the environment information, it is detected whether the position of the self-moving robot changes and whether the position of the charging base changes; in the case where it is detected that the position of the self-moving robot does not change and the position of the charging base does not change, a multiplex map carrying a first priority label is selected from the plurality of multiplex maps as the target multiplex map.

[0076] In an embodiment, the selection module 202 can be further used to select a multiplex map carrying a second priority label or a third priority label from the plurality of multiplex maps as the target multiplex map in the case where it is detected that the position of the self-moving robot changes or the position of the charging base changes.

[0077] In an embodiment, the system can be further used to detect whether the currently used multiplex map is deviated; and select a target multiplex map from the plurality of multiplex maps in the case where it is determined that the currently used multiplex map is deviated.

[0078] In an embodiment, the system can be further used to detect whether a multiplex map replacement instruction is currently received; and select a target multiplex map from the plurality of multiplex maps in the case where it is determined that the multiplex map replacement instruction is currently received.

[0079] In an embodiment, the control module 203 can be used to control the target device to move in the target area according to the initial multiplex map; generate an updated multiplex map; and save the updated multiplex map.

[0080] In an embodiment, the system can be further used to receive an editing instruction of a map sent by a terminal device of a user; modify the initial multiplex map or the updated multiplex map according to the editing instruction to obtain a user-edited multiplex map; and save the user-edited multiplex map.

[0081] It should be noted that the units, devices or modules and the like illustrated in the above embodiments can be specifically implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above devices are described as various modules with functions. Of course, in the implementation of the present specification, the functions of each module can be implemented in the same or more software and / or hardware, or the modules implementing the same function can be implemented by a combination of multiple sub-modules or sub-units. The above described device embodiments are only illustrative, for example, the division of the units is only a logical function division, and actual implementation can have another division method, for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the coupling or direct coupling or communication connection between the units or devices shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0082] Based on the map data processing system for navigation based on a map provided in the embodiments of the present specification, by saving and utilizing multiple different reusable maps, the self-moving robot can be accurately controlled to move in a target area, so as to better complete the task in the current scene, meet the diversified needs of users, and improve the use experience of users.

[0083] The embodiments of the present specification also provide a self-moving robot, as shown in Figure 3 The self-moving robot includes a robot body 301 and a controller 302, and the controller 302 is arranged on the robot body 301. The self-moving robot saves multiple reusable maps. The controller 302 can be specifically used for: acquiring environment information of a current position; selecting a target reusable map matched from the multiple reusable maps according to the environment information; and controlling the self-moving robot to move in a target area according to the target reusable map.

[0084] In one embodiment, the self-moving robot can further include a cache module for caching the multiple reusable maps. The multiple reusable maps include an initial reusable map, and at least one of the following maps: a reusable map edited by a user, and an updated reusable map.

[0085] Based on the self-moving robot provided in the embodiments of the present specification, by saving and utilizing multiple different reusable maps, the self-moving robot can be accurately controlled to move in a target area, so as to better complete the task in the current scene, improve the use experience of users

[0086] The embodiment of the present specification also provides a computer storage medium based on the above-mentioned map data processing method based on map navigation, and the computer storage medium stores computer program instructions. When the computer program instructions are executed, the following steps are implemented: obtaining environment information of a current position; selecting a target multiplex map matched from a plurality of multiplex maps according to the environment information; and controlling a self-moving robot to move in a target area according to the target multiplex map; wherein the self-moving robot stores a plurality of multiplex maps.

[0087] In the embodiment, the storage medium includes but is not limited to a random access memory (RAM), a read-only memory (ROM), a cache, a hard disk drive (HDD), or a memory card. The storage medium can be used to store computer program instructions. The network communication unit can be an interface set according to a standard of a communication protocol, and is used for network connection communication.

[0088] In the embodiment, the functions and effects of the program instructions stored in the computer storage medium can be explained in comparison with other embodiments, and will not be described here.

[0089] Obviously, the above-described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, those skilled in the art can make other different forms of changes or modifications without creative labor, and all the changes or modifications should belong to the protection scope of the present application.

[0090] The embodiments in the present specification are described in a progressive manner, and the same or similar parts of each embodiment can be referred to each other. Each embodiment mainly describes the differences from other embodiments. The present specification can be used in many general or special computer system environments or configurations. For example, personal computers, server computers, handheld devices or portable devices, tablet devices, multi-processor systems, microprocessor-based systems, set-top boxes, programmable electronic devices, network PCs, small computers, large computers, distributed computing environments including any of the above systems or devices, and the like.

[0091] Although the present specification is described through the embodiments, those skilled in the art know that the present specification has many modifications and changes without departing from the spirit of the present specification, and it is expected that the appended claims include the modifications and changes without departing from the spirit of the present specification.

Claims

1. A map data processing method for map navigation based on a map, characterized by, The method is applied to a self-moving robot, and the self-moving robot stores a plurality of reuse maps; the method comprises: obtaining environment information of a current position, wherein the environment information comprises position information of a charging seat, position information of the self-moving robot, and position information of an obstacle in a target area; selecting a target reuse map matched from the plurality of reuse maps according to the environment information; controlling the self-moving robot to move in the target area according to the target reuse map; the plurality of reuse maps comprise an initial reuse map and at least one of a reuse map edited by a user and an updated reuse map; the initial reuse map carries a first priority label, the updated reuse map carries a second priority label, and the reuse map edited by the user carries a third priority label; the step of selecting the target reuse map matched from the plurality of reuse maps according to the environment information comprises: detecting whether the position of the self-moving robot changes and whether the position of the charging seat changes according to the environment information; in a case where it is detected that the position of the self-moving robot changes or the position of the charging seat changes, selecting a reuse map carrying the second priority label or the third priority label from the plurality of reuse maps as the target reuse map; in a case where it is detected that the position of the self-moving robot changes, the position of the charging seat changes, or the position of the obstacle in the target area changes, further obtaining a generation time of the reuse map carrying the second priority label and a generation time of the reuse map carrying the third priority label; and selecting, by comparing time values, a reuse map with a smallest difference between the generation time and a current time from the reuse map carrying the second priority label or the third priority label as a target reuse map currently used.

2. The map data processing method based on map navigation according to claim 1, in a case where it is detected that the position of the self-moving robot does not change and the position of the charging seat does not change, selecting a reuse map carrying the first priority label from the plurality of reuse maps as the target reuse map.

3. The map data processing method for map navigation based on a map according to Claim 1, characterized by, The method further comprises: detecting whether the currently used reuse map has deviation; in a case where it is determined that the currently used reuse map has deviation, selecting a target reuse map matched from the plurality of reuse maps.

4. The map data processing method for map navigation based on a map according to Claim 1, characterized by, The method further comprises: detecting whether a reuse map replacement instruction is currently received; in a case where it is determined that the reuse map replacement instruction is currently received, selecting a target reuse map matched from the plurality of reuse maps.

5. The map data processing method for map navigation based on a map according to Claim 1, characterized by, The method further comprises: controlling a target device to move in a target area according to the initial reuse map, and generating an updated reuse map; storing the updated reuse map.

6. The map data processing method for map navigation based on a map according to Claim 5, characterized by, The method further comprises: receiving an editing instruction of a map sent by a user through a terminal device; modifying the initial reuse map or the updated reuse map according to the editing instruction to obtain a reuse map edited by the user; storing the reuse map edited by the user.

7. A map data processing system for map-based navigation, characterized by The method is applied to a self-moving robot, and the self-moving robot stores a plurality of reuse maps; the system comprises: The acquisition module is configured to acquire environment information of a current position, the environment information comprising: position information of a charging base, position information of the self-moving robot, and position information of an obstacle in a target area; The selection module is configured to select a target multiplex map that matches from a plurality of multiplex maps according to the environment information; The control module is configured to control the self-moving robot to move in the target area according to the target multiplex map; The plurality of multiplex maps comprise an initial multiplex map and at least one of the following maps: a multiplex map edited by a user, and an updated multiplex map; The initial multiplex map carries a first priority label, the updated multiplex map carries a second priority label, and the multiplex map edited by the user carries a third priority label; The selection of the target multiplex map that matches from the plurality of multiplex maps according to the environment information comprises: detecting, according to the environment information, whether the position of the self-moving robot changes and whether the position of the charging base changes; In a case where it is detected that the position of the self-moving robot changes or the position of the charging base changes, a multiplex map carrying the second priority label or the third priority label is selected from the plurality of multiplex maps as the target multiplex map; In a case where it is detected that the position of the self-moving robot changes, the position of the charging base changes, or the position of the obstacle in the target area changes, a generation time of the multiplex map carrying the second priority label and a generation time of the multiplex map carrying the third priority label are further acquired; and a multiplex map carrying the second priority label or the third priority label, whose difference between the generation time and a current time is smallest, is selected as a target multiplex map for current use through time value comparison.

8. A self-moving robot, characterized by, The robot body; The controller is arranged on the robot body; The self-moving robot stores a plurality of multiplex maps; The controller is configured to acquire environment information of a current position, the environment information comprising: position information of a charging base, position information of the self-moving robot, and position information of an obstacle in a target area; select a target multiplex map that matches from a plurality of multiplex maps according to the environment information; control the self-moving robot to move in the target area according to the target multiplex map; The plurality of multiplex maps comprise an initial multiplex map and at least one of the following maps: a multiplex map edited by a user, and an updated multiplex map; The initial multiplex map carries a first priority label, the updated multiplex map carries a second priority label, and the multiplex map edited by the user carries a third priority label; The selection of the target multiplex map that matches from the plurality of multiplex maps according to the environment information comprises: detecting, according to the environment information, whether the position of the self-moving robot changes and whether the position of the charging base changes; ​ In the case that the position of the self-moving robot or the position of the charging base is detected to change, a multiplex map carrying the second priority label or the third priority label is selected from the plurality of multiplex maps as a target multiplex map; In the case that the position of the self-moving robot or the position of the charging base or the position of the obstacle in the target area is detected to change, the generation time of the multiplex map carrying the second priority label and the generation time of the multiplex map carrying the third priority label are further acquired; by comparing the time values, the multiplex map carrying the second priority label or the third priority label with the smallest difference between the generation time and the current time is selected as the target multiplex map currently used.

9. A computer-readable storage medium, characterized in that, A computer program product having stored thereon computer instructions, which when executed implement the steps of the method of any one of claims 1 to 6.

Images