Map processing methods, devices, media and electronic equipment

Abstract

This application discloses a map processing method, apparatus, medium, and electronic device. The map processing method includes: acquiring deletion information of obstacles in a target map; generating an obstacle deletion map based on the obstacle deletion information, thereby recording the deletion information of obstacles on the obstacle deletion map; and finally merging the obstacle deletion map with the target map to generate a new target map. This application can isolate read and write operations on the target map. In complex actual working situations, it can also record the deletion information of obstacles in real time on the obstacle deletion map, and then merge the obstacle deletion map with the target map to realize real-time modification of obstacles on the target map. This can improve the read and write efficiency of map information processing and enhance the working stability of self-moving devices.

Description

Technical Field

[0001] This application belongs to the field of smart terminal technology, specifically relating to map processing methods, devices, media, and electronic equipment. Background Technology

[0002] With the continuous advancement of computer and artificial intelligence technologies, automated mobile devices are gradually entering people's lives. Currently, path planning for automated mobile devices requires the generation of paths that avoid obstacles based on relevant map information.

[0003] In related technologies, map information can be directly modified on a map that records obstacles. However, in actual work, the situation is complex. The computational load related to map information is high and the read / write efficiency is very low, making it difficult to perform operations such as real-time map changes. It is also easy to accidentally delete obstacle information, causing self-moving devices to be unable to effectively avoid obstacles.

[0004] It should be noted that the information disclosed in the background section above is only used to enhance the understanding of the background of this application, and therefore may include information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a map processing method, apparatus, medium, and electronic device thereof, which aims to solve the problem of the inability to process maps in real time in related technologies.

[0006] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0007] According to one aspect of an embodiment of this application, this application provides a map processing method, including:

[0008] Obtain information on the removal of obstacles in the target map;

[0009] An obstacle removal map is generated based on the obstacle removal information. The obstacle removal map has the same size as the target map; the obstacle removal map contains the obstacles to be removed.

[0010] The obstacle removal map is merged with the target map to obtain a new target map.

[0011] In another embodiment provided in this application, obtaining deletion information for obstacles in a target map includes: obtaining marking information for marking obstacles in the target map; determining the corresponding deletion area based on the marking information; and generating deletion information based on the deletion area.

[0012] In another embodiment provided in this application, the obstacle removal map includes a plurality of first grids, and the target map includes a plurality of second grids; merging the obstacle removal map and the target map to obtain a new target map includes: obtaining the cost value of the first grid corresponding to the deletion information in the obstacle removal map, and the cost value of the second grid corresponding to the deletion information in the target map; comparing the cost value of the first grid and the cost value of the second grid, retaining the smaller cost value, and generating a new target map.

[0013] In another embodiment provided in this application, generating an obstacle removal map based on obstacle removal information includes: constructing an initial obstacle removal map, the initial obstacle removal map including a plurality of first grids; determining a target area corresponding to the removal information in the initial obstacle removal map based on the removal information; updating the value of the first grids contained in the target area to generate the obstacle removal map.

[0014] In another embodiment provided in this application, the marking information includes trajectory information. Updating the value of the first grid cell contained in the target area includes: calculating the distance between the first grid cell and the target trajectory, where the target trajectory is the trajectory contained in the trajectory information; when the distance is greater than a preset threshold, setting the value of the first grid cell in the target area as the first generation value; when the distance is less than the preset threshold, generating a second generation value based on the difference between the distance and the preset threshold, and setting the value of the first grid cell in the target area as the second generation value; wherein the second generation value is positively correlated with the difference.

[0015] In another embodiment provided in this application, before merging the obstacle removal map with the target map, the map processing method provided in this application further includes: obtaining an update instruction for the removal information; updating the removal information according to the update instruction; and updating the obstacle removal map according to the updated removal information.

[0016] In another embodiment provided in this application, the deletion information includes multiple deletion contents, and the deletion information is updated according to the update instruction, including: when the update instruction is to go back, deleting the most recent deletion content in the deletion information; when the update instruction is to delete, deleting the deletion information.

[0017] According to one aspect of the embodiments of this application, this application provides a map processing apparatus, including:

[0018] The deletion information acquisition module is used to acquire deletion information for obstacles in the target map;

[0019] The obstacle deletion map generation module is used to generate an obstacle deletion map based on the obstacle deletion information. The obstacle deletion map has the same size as the target map and contains the obstacles to be deleted.

[0020] The map fusion module is used to merge the obstacle removal map with the target map to obtain a new target map.

[0021] According to one aspect of the embodiments of this application, this application provides a computer medium having a computer program stored thereon, which, when executed by a processor, implements any of the map processing methods provided in this application.

[0022] According to one aspect of the embodiments of this application, this application provides a self-moving device, including: a vehicle body, including a body and wheels; and a control module for executing any of the map processing methods provided in this application.

[0023] In this application's technical solution, obstacle deletion information is obtained from a target map; an obstacle deletion map is generated based on this information, and the deletion information is recorded on the obstacle deletion map; finally, the obstacle deletion map is merged with the target map to generate a new target map. This application can isolate read and write operations on the target map. Even in complex working situations, it can record obstacle deletion information in real time on the obstacle deletion map, and then merge the obstacle deletion map with the target map to achieve real-time modification of obstacles on the target map. This improves the efficiency of map information processing and enhances the stability of self-moving devices.

[0024] It should be understood in this application that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this application. Attached Figure Description

[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0026] Figure 1 A flowchart illustrating a map processing method provided in one embodiment of this application is shown schematically.

[0027] Figure 2 A schematic diagram of a target map provided in one embodiment of this application is shown.

[0028] Figure 3 A schematic diagram of a deletion region provided in one embodiment of this application is shown.

[0029] Figure 4A schematic diagram of an obstacle removal map provided in one embodiment of this application is shown.

[0030] Figure 5 A schematic diagram of an initial obstacle removal map provided in one embodiment of this application is shown.

[0031] Figure 6 This illustration schematically shows a target area on an initial obstacle removal map provided in one embodiment of this application.

[0032] Figure 7 A schematic diagram of an obstacle removal map provided in one embodiment of this application is shown.

[0033] Figure 8 A schematic diagram of a target trajectory provided in one embodiment of this application is shown.

[0034] Figure 9 The diagram schematically illustrates a preset width function curve of a target trajectory provided in one embodiment of this application.

[0035] Figure 10 A schematic diagram of the structure of a map processing apparatus provided in one embodiment of this application is shown.

[0036] Figure 11 A schematic block diagram of a computer system architecture for implementing embodiments of the present application is shown.

[0037] Figure 12 A schematic diagram of a self-moving device provided in one embodiment of this application is shown. Detailed Implementation

[0038] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided to make this application more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art.

[0039] Currently, self-moving devices perform path planning during the mapping phase, and in actual operation, they need to generate paths to avoid obstacles based on relevant map information. However, the actual situation is complex. If map information is directly modified on the map that records obstacles, the computational load related to map information is high and the read / write efficiency is very low, making it difficult to make real-time changes to the map and easy to accidentally delete obstacle information, thus causing self-moving devices to be unable to effectively avoid obstacles.

[0040] The map processing method provided in this application can be applied to self-moving devices, which can be devices that include self-movement assistance functions. These self-moving devices can be devices with self-movement assistance functions, or they can be semi-autonomous or fully autonomous mobile devices. The self-movement assistance function can be implemented through an in-vehicle terminal, and the corresponding self-moving device can be a vehicle equipped with that in-vehicle terminal. Self-moving devices can also be semi-autonomous or fully autonomous mobile devices, such as lawnmowers, robot vacuums, and robots with navigation functions.

[0041] Furthermore, in some embodiments, the map processing method provided in this application can also be applied to other devices communicating with the self-mobile device. The system architecture may include the self-mobile device, terminal devices, a network, and a server. The server can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device may include smartphones, laptops, tablets, and smart voice interaction devices, etc., and can display map information and route planning information of the self-mobile device's working area. The network can be a communication medium of various connection types capable of providing communication links between the self-mobile device, terminal devices, and servers, such as a wired communication link or a wireless communication link.

[0042] Depending on the implementation requirements, the system architecture in this application embodiment can have any number of self-moving devices, networks, and servers. For example, the server can be a server group composed of multiple server devices. Furthermore, the technical solutions provided in this application embodiment can be applied to self-moving devices, servers, or can be implemented jointly by terminal devices and servers; this application does not impose any special limitations in this regard.

[0043] In one embodiment of this application, the map processing method provided in this application is implemented by a processor in a self-moving device. The processor acquires obstacle removal information for a target map; generates an obstacle removal map based on the obstacle removal information, the obstacle removal map having the same size as the target map; the obstacle removal map contains the obstacles to be removed; and merges the obstacle removal map with the target map to obtain a new target map.

[0044] Figure 1 A flowchart illustrating a map processing method provided in one embodiment of this application is shown schematically.

[0045] like Figure 1 As shown, this application provides a map processing method, which includes steps S210 to S230, as follows:

[0046] S210, Obtain information on the removal of obstacles in the target map.

[0047] Figure 2 A schematic diagram of a target map provided in one embodiment of this application is shown.

[0048] Specifically, such as Figure 2 As shown, the target map refers to the map that needs to have obstacles removed, that is, the map generated by the mobile device during the mapping phase. Obstacle removal refers to removing obstacles from the target map.

[0049] Deletion information refers to the information generated when an obstacle is removed from the target map. The deletion information of an obstacle includes the location of the deleted obstacle, the marker information of the obstacle, and the deletion area corresponding to the marker information.

[0050] This application obtains obstacle deletion information from a target map, meaning the obstacle deletion information corresponds to the target map. This application does not directly obtain obstacle deletion information from the target map; that is, when this application obtains obstacle deletion information from the target map, the obstacles in the target map have not yet been deleted. When this application performs real-time processing on the target map, it can isolate the target map. For example, multiple layers of maps can be set up to isolate each layer. For instance, a map can be constructed to record obstacle deletion information; processing on this map will not affect the obstacles on the target map.

[0051] In one embodiment, an application (APP) is installed on the terminal device. The APP displays a target map, and the user can process obstacles on the target map in real time through the APP, thereby generating corresponding deletion information. The processor in the self-moving device can obtain the deletion information of obstacles on the target map from the APP.

[0052] Figure 3 A schematic diagram of a deletion region provided in one embodiment of this application is shown.

[0053] In another embodiment provided in this application, obtaining deletion information for obstacles in a target map includes: obtaining marking information for marking obstacles in the target map; determining the corresponding deletion area based on the marking information; and generating deletion information based on the deletion area.

[0054] like Figure 3 As shown, for example, when a user draws a strikethrough line on the target map of an app using their finger, the position information of these lines is used to mark the obstacles on the target map. If the width of the strikethrough line is preset, the processor will form a deletion area for the obstacle after obtaining the marking information, and then determine the position information of the deletion area to obtain the deletion information.

[0055] In one embodiment, the user can also circle the corresponding location of the obstacle to be deleted on the target map of the APP with their finger to form a closed area. The circled trajectory is the marking information, and the closed area enclosed by the trajectory is the deletion area for deleting the obstacle.

[0056] S220. Generate an obstacle removal map based on the obstacle removal information. The obstacle removal map has the same size as the target map. The obstacle removal map contains the obstacles to be removed.

[0057] In this embodiment, the processor of the self-moving device adds a new map identical to the target map. This identical map has the same dimensions as the target map and includes all obstacle information contained in the target map. It can be understood that the newly added map acts as a new layer, and the processor can load the acquired obstacle removal information onto this new layer to generate an obstacle removal map.

[0058] Figure 4 A schematic diagram of an obstacle removal map provided in one embodiment of this application is shown.

[0059] Specifically, such as Figure 4 As shown, the obstacle removal map in this application includes obstacles to be removed and obstacles to be removed. The edges of the obstacles to be removed are represented by dashed lines. The obstacles to be removed refer to the obstacles that have already been removed and are recorded on the obstacle removal map. Figure 4 The image depicts obstacles to be deleted, but in reality, these obstacles do not exist in the visualized obstacle deletion map. The edges of obstacles to be deleted are represented by solid lines. Obstacles to be deleted refer to those recorded on the obstacle deletion map that have not been deleted; they are distinct from the deleted obstacles. Generating an obstacle deletion map based on obstacle deletion information means removing the obstacles to be deleted from the obstacle deletion map (which has the same size as the target map) and updating the obstacle deletion map based on the deletion information. In another embodiment, different markers can be set for the deleted obstacles and the obstacles to be deleted to distinguish them.

[0060] S230. Merge the obstacle removal map with the target map to obtain a new target map.

[0061] Specifically, merging the obstacle removal map with the target map means updating the target map to obtain a new target map, on which the obstacles recorded are the same as those recorded on the obstacle removal map.

[0062] In this application's technical solution, obstacle deletion information is obtained from a target map; an obstacle deletion map is generated based on this information, and the deletion information is recorded on the obstacle deletion map; finally, the obstacle deletion map is merged with the target map to generate a new target map. This application can isolate read and write operations on the target map. Even in complex working situations, it can record obstacle deletion information in real time on the obstacle deletion map, and then merge the obstacle deletion map with the target map to achieve real-time modification of obstacles on the target map. This improves the efficiency of map information processing and enhances the stability of self-moving devices.

[0063] In another embodiment provided in this application, step S220, generating an obstacle removal map based on obstacle removal information, includes: constructing an initial obstacle removal map, the initial obstacle removal map including a plurality of first grids; determining the target area corresponding to the deletion information in the initial obstacle removal map based on the deletion information; updating the value of the first grids contained in the target area to generate an obstacle removal map.

[0064] Figure 5 A schematic diagram of an initial obstacle removal map provided in one embodiment of this application is shown.

[0065] Specifically, such as Figure 5 As shown, obstacles on the initial obstacle removal map can be "copied" from the target map onto the initial obstacle removal map. The resulting initial obstacle removal map contains the same obstacles as the target map. It should be noted that the initial obstacle removal map refers to the obstacle removal map before the step of removing obstacles based on deletion information; that is, the layer added by the processor based on the target map, as described in the above embodiments, and will not be repeated here. In this application, the initial obstacle removal map, obstacle removal map, and target map can be cost maps. A cost map assigns a cost value to each grid cell in the map. A grid cell is a subgrid in the cost map, composed of rows and columns of pixels. It is understood that the cost value of a grid cell in an obstacle-containing area is different from the cost value of a grid cell in an obstacle-free area. For example, the cost value of a grid cell in an obstacle-free area is 0, while the cost value of a grid cell in an area containing obstacles is 254. This is merely an illustrative example, and this application does not impose any limitations.

[0066] Figure 6 This illustration schematically shows a target area on an initial obstacle removal map provided in one embodiment of this application.

[0067] like Figure 6As shown, the target area refers to the area on the initial obstacle removal map that corresponds to the deleted obstacle in the deletion information.

[0068] Figure 7 A schematic diagram of an obstacle removal map provided in one embodiment of this application is shown.

[0069] Since the initial obstacle removal map and the target map are also maps of the same size, the target area of ​​the obstacle to be removed in the removal information on the initial obstacle removal map is determined, and the value of the first grid cell of the target area is updated, resulting in the following: Figure 7 The obstacle removal map shown can record the deletion operations performed on obstacles on the target map, but will not record the deletion operations on the target map. This isolates the target map from the obstacle removal operations and prevents accidental operations on the target map.

[0070] Figure 8 A schematic diagram of a target trajectory provided in one embodiment of this application is shown.

[0071] like Figure 8 As shown, in another embodiment provided in this application, the marking information includes trajectory information. Updating the value of the first grid cell contained in the target area includes: calculating the distance between the first grid cell and the target trajectory, where the target trajectory is the trajectory contained in the trajectory information; when the distance is greater than a preset threshold, setting the value of the first grid cell in the target area as the first generation value; when the distance is less than the preset threshold, generating a second generation value based on the difference between the distance and the preset threshold, and setting the value of the first grid cell in the target area as the second generation value; wherein, the second generation value is positively correlated with the difference.

[0072] Figure 9 The diagram schematically illustrates a preset width function curve of a target trajectory provided in one embodiment of this application.

[0073] After acquiring the target trajectory, the processor will expand the target trajectory according to the trajectory line width set by the user in the APP.

[0074] Specifically, after expanding the target trajectory to a preset width, it can cover the initial obstacles and delete the obstacles to be deleted on the map, according to, for example... Figure 9The preset width function curve shown obtains the expansion coefficient corresponding to expanding the target trajectory to the preset width (in mm), thereby expanding the target trajectory to the preset width. The area covered by the expanded target trajectory is the target area. When marking obstacles, different preset widths can be used. For example, when it is necessary to quickly determine the approximate range of deletion, the preset width can be set to a larger width. When it is necessary to perform more precise deletion of obstacles, the preset width can be set to a smaller width.

[0075] When updating the cost value of the first grid cells contained in the target area, the cost value of the first grid cells can be set as either a first-generation value or a second-generation value based on the distance between each first grid cell in the target area and the target trajectory. A perpendicular line is drawn from the first grid cell to the target trajectory; the distance between the first grid cell and the foot of the perpendicular is the distance between the first grid cell and the target trajectory. For example, let the distance between the first grid cell and the target trajectory be x, the updated cost value of the first grid cell in the target area be f(x), and the preset threshold be p. This preset threshold can be a user-set preset width value. The original cost value of the first grid cell in the target area on the initial obstacle removal map is cost. When the distance x in the target area is greater than the preset threshold p, the cost value of the first grid cell in the target area is set as the first-generation value, and the formula for calculating the first cost value is f(x) = cost. When the distance is less than the preset threshold, a second-generation value is generated based on the difference between the distance and the preset threshold, and the formula for calculating the second cost value is... The difference between the distance and the preset threshold is (-p). According to the formula for calculating the second cost value, the second-generation value is positively correlated with the difference. The larger the difference (-p) between the distance and the preset threshold, the larger the second-generation value; the smaller the difference (-p) between the distance and the preset threshold, the smaller the second-generation value.

[0076] In another embodiment provided in this application, the obstacle removal map includes a plurality of first grids, and the target map includes a plurality of second grids; merging the obstacle removal map and the target map to obtain a new target map includes: obtaining the cost value of the first grid corresponding to the deletion information in the obstacle removal map, and the cost value of the second grid corresponding to the deletion information in the target map; comparing the cost value of the first grid and the cost value of the second grid, retaining the smaller cost value, and generating a new target map.

[0077] Specifically, when the target map is a map of fixed obstacles stored by the mobile device during mapping, the target map is updated based on the obstacle information acquired by the mobile device during operation. In the technical solution provided in this embodiment, the method of merging the obstacle map and the target map is as follows: the cost value of the first grid cell of the obstacle removal map is compared with the cost value of the second grid cell of the target map. The smaller cost value is retained, and the cost value of the second grid cell of the target map is updated to this smaller cost value, thereby generating a new target map. It can be understood that since the cost value of obstacle-free areas is smaller, the cost value retained after erasing obstacles must be the smaller of the two, thus enabling the generation of a new target map.

[0078] In this embodiment, after a new target map is generated, the self-moving device will store the target map so that it can be used when performing the next task.

[0079] In another embodiment provided in this application, before merging the obstacle removal map with the target map, the technical solution of this application further includes: obtaining an update instruction for the removal information; updating the removal information according to the update instruction; and updating the obstacle removal map according to the updated removal information.

[0080] Specifically, the update command refers to the command to update the deletion information in the obstacle deletion map. Before merging the obstacle deletion map with the target map, the obstacle deletion map can be updated according to the update command. After updating the deletion information, the obstacle deletion map is updated accordingly. In this way, the obstacle deletion map can be updated to prevent accidental operation on the target map.

[0081] In another embodiment provided in this application, the deletion information includes multiple deletion contents, and the deletion information is updated according to the update instruction, including: when the update instruction is to go back, deleting the most recent deletion content in the deletion information; when the update instruction is to delete, deleting the deletion information.

[0082] Specifically, the update command can be either back or delete. When the update command is back, the most recently deleted content in the deletion information will be deleted, so the deletion information will be the deletion information before the most recently deleted obstacle. When the update command is delete, the deletion information will be deleted, that is, the deletion made to the initial obstacle deletion map will be deleted. After deleting the deletion information, the obstacle deletion map will be updated to obtain the same obstacle deletion map as the initial obstacle deletion map.

[0083] In one embodiment, the aforementioned back or delete operation can be performed in the APP of the terminal device. After the user performs the corresponding operation, the terminal device will send a corresponding instruction to the self-moving device, so that the processor can perform corresponding operations on the initial obstacle map according to the instruction.

[0084] Figure 10 A schematic diagram of the structure of a map processing apparatus provided in one embodiment of this application is shown.

[0085] like Figure 10 As shown, this application provides a map processing apparatus, including:

[0086] The deletion information acquisition module 1110 is used to acquire deletion information for obstacles in the target map;

[0087] The map generation module 1120 is used to generate an obstacle deletion map based on the obstacle deletion information. The obstacle deletion map has the same size as the target map and contains the obstacles to be deleted.

[0088] The map fusion module 1130 is used to merge the obstacle removal map with the target map to obtain a new target map.

[0089] In another embodiment provided in this application, the deletion information acquisition module 1110 is used to acquire the marking information for marking obstacles in the target map; determine the corresponding deletion area based on the marking information, and generate deletion information based on the deletion area.

[0090] In another embodiment provided in this application, the obstacle removal map includes a plurality of first grids, and the target map includes a plurality of second grids; the map fusion module 1130 is used to obtain the cost value of the first grid corresponding to the deletion information in the obstacle removal map, and the cost value of the second grid corresponding to the deletion information in the target map; compare the cost value of the first grid and the cost value of the second grid, retain the smaller cost value, and generate a new target map.

[0091] In another embodiment provided in this application, the map generation module 1120 includes:

[0092] A map building unit is used to build an initial obstacle removal map, which includes multiple first grid cells.

[0093] The target area determination unit is used to determine the target area corresponding to the deletion information in the initial obstacle deletion map based on the deletion information.

[0094] The value update unit is used to update the value of the first grid cell contained in the target area to generate an obstacle removal map.

[0095] In another embodiment provided in this application, the marking information includes trajectory information, and the cost value update unit is used to calculate the distance between the first grid and the target trajectory, the target trajectory being the trajectory contained in the trajectory information; when the distance is greater than a preset threshold, the cost value of the first grid in the target area is set as the first generation value; when the distance is less than the preset threshold, a second generation value is generated based on the difference between the distance and the preset threshold, and the cost value of the first grid in the target area is set as the second generation value; wherein, the second generation value is positively correlated with the difference.

[0096] In another embodiment provided in this application, the map processing apparatus further includes an obstacle deletion map update module, which is used to obtain an update instruction for deletion information; update the deletion information according to the update instruction; and update the obstacle deletion map according to the updated deletion information.

[0097] In another embodiment provided in this application, the deletion information includes multiple deletion contents. The obstacle deletion map update module is used to delete the most recent deletion contents in the deletion information when the update instruction is to go back; and to delete the deletion information when the update instruction is to delete.

[0098] The specific details of the map processing apparatus provided in this application have been described in detail in the corresponding method embodiments, and will not be repeated here.

[0099] Figure 11 A schematic block diagram of a computer system architecture for implementing embodiments of the present application is shown.

[0100] It should be noted that, Figure 11 The computer system 1200 for the self-moving device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0101] like Figure 11 As shown, the computer system 1200 includes a central processing unit (CPU) 1201, which can perform various appropriate actions and processes based on programs stored in read-only memory (ROM) 1202 or programs loaded from storage section 1208 into random access memory (RAM). The RAM 1203 also stores various programs and data required for system operation. The CPU 1201, ROM 1202, and RAM 1203 are interconnected via a bus 1204. An input / output interface 1205 (I / O interface) is also connected to the bus 1204.

[0102] The following components are connected to the input / output interface 1205: an input section 1206 including a keyboard, mouse, etc.; an output section 1207 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 1208 including a hard disk, etc.; and a communication section 1209 including a network interface card such as a local area network card, modem, etc. The communication section 1209 performs communication processing via a network such as the Internet. A drive 1210 is also connected to the input / output interface 1205 as needed. A removable medium 1211, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 1210 as needed so that computer programs read from it can be installed into the storage section 1208 as needed.

[0103] Specifically, according to embodiments of this application, the processes described in the various method flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1209, and / or installed from removable medium 1211. When the computer program is executed by central processing unit 1201, it performs various functions defined in the system of this application.

[0104] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such transmitted data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0105] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0106] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to the embodiments of this application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0107] Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, touch terminal, or network device, etc.) to execute the map processing method provided according to the embodiments of this application.

[0108] Figure 12 A schematic diagram of a self-moving device provided in one embodiment of this application is shown.

[0109] like Figure 12 As shown, this application provides a self-moving device 1300, including: a vehicle body 1310, including a body 1301 and wheels 1302; and a control module 1303, used to execute any of the map processing methods provided in this application. Specifically, the body 1301 is used to protect the control module 1303 inside the body 1310, and the control module 1303 controls the wheels 1302 of the self-moving device, so that the self-moving device performs operations according to the target map of this application.

[0110] The specific details of the self-moving device provided in this application have been described in detail in the corresponding method embodiments, and will not be repeated here.

[0111] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein.

[0112] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A map processing method, characterized in that, include: Obtain information on the removal of obstacles in the target map; Construct an initial obstacle removal map, which includes a plurality of first grid cells; Based on the deletion information, the target area corresponding to the deletion information is determined in the initial obstacle deletion map; The value of the first grid cell contained in the target area is updated to generate an obstacle removal map, which has the same size as the target map; The obstacle deletion map contains obstacles to be deleted; the cost value update process includes: calculating the distance between the first grid and the target trajectory, where the target trajectory is the trajectory contained in trajectory information, and the trajectory information belongs to the marking information used to mark obstacles in the target map; when the distance is greater than a preset threshold, setting the cost value of the first grid in the target area as the first generation value; when the distance is less than the preset threshold, generating a second generation value based on the difference between the distance and the preset threshold, and setting the cost value of the first grid in the target area as the second generation value; wherein the second generation value is positively correlated with the difference; The obstacle removal map is merged with the target map to obtain a new target map.

2. The map processing method according to claim 1, characterized in that, The process of obtaining deletion information for obstacles in the target map includes: Obtain marking information for marking obstacles in the target map; The corresponding deletion area is determined based on the marking information, and deletion information is generated based on the deletion area.

3. The map processing method according to claim 1, characterized in that, The obstacle removal map includes multiple first grids, and the target map includes multiple second grids; the merging of the obstacle removal map and the target map to obtain a new target map includes: Obtain the cost of the first grid cell corresponding to the deletion information in the obstacle deletion map, and the cost of the second grid cell corresponding to the deletion information in the target map; Compare the cost value of the first grid cell with the cost value of the second grid cell, retain the smaller cost value, and generate a new target map.

4. The map processing method according to claim 1, characterized in that, Before merging the obstacle removal map with the target map, the method further includes: Obtain the update instruction for the deleted information; The deletion information is updated according to the update instruction, and the obstacle deletion map is updated according to the updated deletion information.

5. The map processing method according to claim 4, characterized in that, The deletion information includes multiple deletions, and updating the deletion information according to the update instruction includes: When the update instruction is to go back, delete the most recently deleted content in the deletion information; When the update instruction is to delete, the deletion information is deleted.

6. A map processing device, characterized in that, include: The deletion information acquisition module is used to acquire deletion information for obstacles in the target map; A deletion map generation module is used to construct an initial obstacle deletion map, which includes multiple first grids; based on the deletion information, a target area corresponding to the deletion information is determined in the initial obstacle deletion map; the value of the first grids contained in the target area is updated to generate an obstacle deletion map, which has the same size as the target map; The obstacle deletion map contains obstacles to be deleted; the cost value update process includes: calculating the distance between the first grid and the target trajectory, where the target trajectory is the trajectory contained in trajectory information, and the trajectory information belongs to the marking information used to mark obstacles in the target map; when the distance is greater than a preset threshold, setting the cost value of the first grid in the target area as the first generation value; when the distance is less than the preset threshold, generating a second generation value based on the difference between the distance and the preset threshold, and setting the cost value of the first grid in the target area as the second generation value; wherein the second generation value is positively correlated with the difference; The map fusion module is used to merge the obstacle removal map with the target map to obtain a new target map.

7. A computer medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the map processing method according to any one of claims 1 to 5.

8. A self-moving device, characterized in that, include: The vehicle body, including the frame and wheels; as well as A control module is used to execute the map processing method according to any one of claims 1 to 5.

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