Method and apparatus for displaying cleaning map, storage medium, and electronic device

Abstract

The application discloses a kind of display method and device of cleaning map, storage medium and electronic device, communication field, the above-mentioned method includes: in response to trigger map display instruction, display first cleaning map on map display device, wherein, first cleaning map is the map of the area to be cleaned of cleaning robot;Based on the map adjustment instruction of target object to first cleaning map, determine the adjustment angle corresponding to map adjustment instruction;First cleaning map is adjusted according to adjustment angle, obtain second cleaning map;Display second cleaning map on map display device, it is solved in the prior art, when the cleaning map of cleaning robot is displayed on terminal, the direction of the displayed cleaning map cannot be adjusted according to the instruction of user.

Description

Technical Field

[0001] This invention relates to the field of communications, and more specifically, to a method and apparatus for displaying a cleaned map, a storage medium, and an electronic device. Background Technology

[0002] With the development of technology, more and more people are using cleaning robots in their daily lives. On the one hand, cleaning robots bring many conveniences to our lives; on the other hand, they also present many problems and lack intelligence during use. For example, when the cleaning map of the cleaning robot is displayed on the terminal, if a user wants to view the cleaning area of ​​the bedroom, the direction of the displayed cleaning map may not be accurate enough to determine the cleaning area of ​​the bedroom. The user would need to turn the map to find the cleaning area. However, in current technology, the direction of the displayed cleaning map is fixed and cannot be adjusted according to user commands, making it difficult for users to quickly identify the cleaning area of ​​the bedroom.

[0003] There is currently no effective solution to the problem that when displaying the cleaning map of a cleaning robot on a terminal, the direction of the displayed cleaning map cannot be adjusted according to the user's instructions. Summary of the Invention

[0004] This invention provides a method and apparatus for displaying a cleaning map, a storage medium, and an electronic device to at least solve the problem that the direction of the displayed cleaning map cannot be adjusted according to the user's instructions when displaying the cleaning map of a cleaning robot on a terminal.

[0005] According to one aspect of the present invention, a method for displaying a cleaning map is provided, comprising: displaying a first cleaning map on a map display device in response to a triggered map display command, wherein the first cleaning map is a map of an area to be cleaned by a cleaning robot; determining an adjustment angle corresponding to a map adjustment command on the first cleaning map based on a target object; adjusting the first cleaning map according to the adjustment angle to obtain a second cleaning map; and displaying the second cleaning map on the map display device.

[0006] In an exemplary embodiment, determining the adjustment angle corresponding to the map adjustment instruction based on the map adjustment instruction of the target object on the first cleaning map includes: determining the rotation operation of the target object received on the map display device, wherein the rotation operation is used to indicate the rotation angle of the target part of the target object, and the rotation angle and the adjustment angle have a target proportional relationship; determining the map adjustment instruction according to the rotation operation, so as to determine the adjustment angle corresponding to the map adjustment instruction.

[0007] In an exemplary embodiment, determining the adjustment angle corresponding to the map adjustment instruction based on the map adjustment instruction of the target object on the first cleaning map includes: determining the adjustment parameters input by the target object on the map adjustment client, wherein the adjustment parameters include the adjustment angle; generating the map adjustment instruction according to the adjustment parameters to determine the adjustment angle corresponding to the map adjustment instruction.

[0008] In an exemplary embodiment, adjusting the first cleaning map according to the adjustment angle to obtain a second cleaning map includes: determining the origin coordinates in the three-dimensional coordinate system corresponding to the first cleaning map and the coordinate values ​​of each pixel in the first cleaning map; rotating the coordinate values ​​of each pixel by the adjustment angle with the origin coordinates as the rotation center to obtain the second cleaning map.

[0009] In an exemplary embodiment, after adjusting the first cleaning map according to the adjustment angle to obtain the second cleaning map, the method includes: acquiring a plurality of second cleaning maps determined within a preset time period, wherein the preset time period is a time period prior to the current time; determining a third cleaning map that meets preset conditions from the plurality of second cleaning maps; and displaying the third cleaning map on the map display device when the map display device receives a map display request for the next time.

[0010] In one exemplary embodiment, determining a third cleaning map that meets preset conditions from a plurality of second cleaning maps includes at least one of the following: selecting the cleaning map that appears most frequently among the plurality of second cleaning maps as the third cleaning map; or selecting the cleaning map that is closest to the current time among the plurality of second cleaning maps as the third cleaning map.

[0011] In an exemplary embodiment, after adjusting the first cleaning map according to the adjustment angle to obtain the second cleaning map, the method further includes: sending the second cleaning map to another display device of the target object, or sending the second cleaning map to a map display device of another target object, wherein the other display device has the ability to display the second cleaning map.

[0012] According to another aspect of the present invention, a cleaning map display device is also provided, comprising: a control module, configured to display a first cleaning map on a map display device in response to a triggered map display command, wherein the first cleaning map is a map of an area to be cleaned by a cleaning robot; a determination module, configured to determine an adjustment angle corresponding to the map adjustment command based on a map adjustment command of a target object on the first cleaning map; an adjustment module, configured to adjust the first cleaning map according to the adjustment angle to obtain a second cleaning map; and a display module, configured to display the second cleaning map on the map display device.

[0013] According to another aspect of the present invention, a computer-readable storage medium is also provided, wherein a computer program is stored in the computer program, wherein the computer program is configured to execute the above-described method for displaying a cleaning map when it is run.

[0014] According to another aspect of the present invention, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the above-described method for displaying a cleaning map through the computer program.

[0015] In this embodiment of the invention, in response to a triggered map display command, a first cleaning map of the area to be cleaned by the cleaning robot is displayed on a map display device. Based on the target object's map adjustment command for the first cleaning map, an adjustment angle corresponding to the adjustment command is determined, and the first cleaning map is adjusted according to this adjustment angle to obtain a second cleaning map. This second cleaning map is then displayed on the map display device. By employing the above technical solution, the problem in the prior art where the direction of the displayed cleaning map cannot be adjusted according to user commands when displaying the cleaning robot's cleaning map on the terminal is solved. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings:

[0017] Figure 1 This is a hardware structure block diagram of a map display device for an optional map display method according to an embodiment of the present invention;

[0018] Figure 2 This is a flowchart of an optional method for displaying a cleaning map according to an embodiment of the present invention;

[0019] Figure 3 This is a product application diagram of an optional first cleaning area display method according to an embodiment of the present invention;

[0020] Figure 4 This is a product application diagram of an optional parameter input method according to an embodiment of the present invention;

[0021] Figure 5 This is a schematic diagram of an optional method for displaying a cleaning map according to an embodiment of the present invention;

[0022] Figure 6 This is a structural block diagram of an optional cleaning map display device according to an embodiment of the present invention. Detailed Implementation

[0023] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings and examples.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0025] The method embodiments provided in this invention can be executed on a map display device, a mobile terminal, or a similar computing device. Taking the operation on a map display device as an example, Figure 1 This is a hardware structure block diagram of a map display device according to an embodiment of the present invention, which describes a method for displaying a cleaned map. For example... Figure 1 As shown, a map display device may include one or more ( Figure 1 Only one is shown in the image. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. In one exemplary embodiment, the map display device may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the map display device described above. For example, the map display device may also include... Figure 1 The more or fewer components shown, or having the same Figure 1 Equivalent functions or ratios shown Figure 1 The functions shown have more different configurations.

[0026] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the map display method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the map display device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0027] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the map display device. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0028] This embodiment provides a method for displaying a cleanup map. Figure 2 This is a flowchart of a method for displaying a cleaning map according to an embodiment of the present invention, the process including the following steps:

[0029] Step S202: In response to the triggered map display command, a first cleaning map is displayed on the map display device, wherein the first cleaning map is a map of the area to be cleaned by the cleaning robot;

[0030] Step S204: Based on the map adjustment command of the target object on the first cleaning map, determine the adjustment angle corresponding to the map adjustment command;

[0031] It should be noted that the aforementioned map adjustment commands can be the target object's voice, the target object's operation on the target device, the target object's actions, facial expressions, or haptic interactions with the target device, etc., and this embodiment of the invention does not limit these. Furthermore, the aforementioned map adjustment commands can be commands during the interaction between the user and the display device, or commands during the interaction between the target object and other home appliances in the target object's area, etc., and this embodiment of the invention does not limit these.

[0032] Step S206: Adjust the first cleaning map according to the adjustment angle to obtain the second cleaning map;

[0033] Step S208: Display the second cleaning map on the map display device.

[0034] In this embodiment of the invention, in response to a triggered map display command, a first cleaning map of the area to be cleaned by the cleaning robot is displayed on a map display device. Based on the target object's map adjustment command for the first cleaning map, an adjustment angle corresponding to the map adjustment command is determined, and then the first cleaning map is adjusted according to this adjustment angle to obtain a second cleaning map, which is then displayed on the map display device. This technical solution solves the problem in the prior art where, when displaying the cleaning map of a cleaning robot on a terminal, the direction of the displayed cleaning map cannot be adjusted according to the user's command.

[0035] Specifically, when the map adjustment command is an instruction generated during interaction between the target object and other home appliances within the target object's area, the other device can recognize the target object's map adjustment command to determine the corresponding adjustment angle, and then send this adjustment angle to the map display device. For example, if the target object's map adjustment command is a voice command used in voice interaction with a smart speaker, such as "Rotate the cleaning map by 30 degrees," the smart speaker can recognize this command and identify the user's intent, determining that the user's intent is to rotate the first cleaning map by 30 degrees. As another example, if the target object's map adjustment command is a motion command used in motion recognition interaction with a motion recognition device, such as "Rotate the user's head by 50 degrees," the motion recognition device can recognize this command and determine that the corresponding adjustment angle for the first cleaning map is 50 degrees.

[0036] It should be noted that the aforementioned map display device can be a mobile terminal, such as a mobile phone, that is linked to the cleaning robot. Figure 3 For example, Figure 3 This is a product application diagram of a method for displaying a first cleaning area according to an embodiment of the present invention. Figure 3 The image displayed shows the first cleaning map shown on the app on the phone that is linked to the cleaning robot. The dotted box indicates the area to be cleaned, and the target user can further edit the first cleaning map.

[0037] Optionally, in step S204 above, determining the adjustment angle corresponding to the map adjustment instruction based on the target object's map adjustment instruction to the first cleaning map includes: when the target object's map adjustment instruction to the first cleaning map is: to view a partial map of a first local cleaning area on the first cleaning map, determining the adjustment angle based on the position of the first local cleaning area on the first cleaning map, so that the target object can view the partial map of the first cleaning area. Further, the adjustment angle can be calculated based on the cross-correlation between a straight line on the partial map of the first cleaning area and a straight line on the first cleaning map in Hough space.

[0038] In one exemplary embodiment, a rotation operation of the target object received on the map display device is determined, wherein the rotation operation is used to indicate the rotation angle of a target part of the target object, and the rotation angle and the adjustment angle have a target proportional relationship; a map adjustment instruction is determined based on the rotation operation, so as to determine the adjustment angle corresponding to the map adjustment instruction.

[0039] Through the above embodiments, the adjustment angle of the first cleaning map is determined according to the user's rotation operation on the map display device, so that the user only needs to rotate the display device and the first cleaning map will rotate accordingly.

[0040] It should be noted that many map display devices currently have the function of rotating the screen display accordingly based on the rotation of the target object, such as the automatic screen rotation function of a mobile phone. In this embodiment, the map rotation is based on the automatic screen rotation, and is not limited to the switching between landscape and portrait display on the mobile phone. The map rotation can be: the rotation of each coordinate point on the first sweep map around the coordinate origin.

[0041] It should be noted that the target part of the target object can be the target object's hand. For example, when the target object holds the map display device, rotating its wrist 90 degrees causes the map display device to rotate 90 degrees along with the wrist. Furthermore, in the above embodiments, the rotation operation is not limited to a contact operation between the target object and the map display device; it can also be a remote operation by the target object, operating the map display device through motion sensing. For example, a mobile phone monitors the rotation of the target object's head, determines the angle of head rotation, and determines the first adjustment angle for cleaning the map based on this angle.

[0042] In an exemplary embodiment, the adjustment parameters input by the target object on the map adjustment client are determined, wherein the adjustment parameters include: the adjustment angle; and the map adjustment instruction is generated based on the adjustment parameters to determine the adjustment angle corresponding to the map adjustment instruction.

[0043] Through the above embodiments, users can directly determine the adjustment angle by inputting adjustment parameters, thereby accurately controlling the first cleaning map to rotate according to the adjustment angle.

[0044] To help understand the above embodiments, in conjunction with Figure 4 To explain, Figure 4 This is a product application diagram of an optional parameter input adjustment method according to an embodiment of the present invention. Figure 4 In the process, the target object can input adjustment parameters on the mobile phone touch screen. The adjustment parameters can be, for example, the adjustment angle of the map.

[0045] In an exemplary embodiment, the origin coordinates in the three-dimensional coordinate system corresponding to the first cleaning map and the coordinate values ​​of each pixel in the first cleaning map are determined; the coordinates of each pixel are rotated by the adjustment angle with the origin coordinates as the rotation center to obtain the second cleaning map.

[0046] Optionally, in this embodiment, each coordinate point (ox, oy, oAngle) on the first cleaning map is rotated around the origin of the three-dimensional coordinate system. After rotation, the coordinate point on the second cleaning map is (nx, ny, nAngle). The rotation calculation formula is as follows:

[0047] sa = Math.sin(-angle / 180*Math.PI); where Math.sin() is used to calculate the sine of the number in parentheses, Math.PI is a built-in function in the Math database that represents the ratio of the circumference to the diameter of a circle, i.e., pi, angle / 180*Math.PI can calculate the radians corresponding to the angle, and sa represents an intermediate parameter.

[0048] ca = Math.cos(-angle / 180*Math.PI); where Math.cos() is used to calculate the cosine of the number in parentheses, and ca represents an intermediate parameter;

[0049] nx = Math.round(ox*ca+oy*sa); where Math.cos() function returns the nearest integer after rounding the number in parentheses;

[0050] ny=Math.round(-ox*sa+oy*ca);

[0051] nangle = oAngle + angle.

[0052] In an exemplary embodiment, after adjusting the first cleaning map according to the adjustment angle to obtain the second cleaning map, multiple second cleaning maps determined within a preset time period are obtained, wherein the preset time period is the time period before the current time; a third cleaning map that meets the preset conditions is determined from the multiple second cleaning maps; and when the map display device receives a map display request again, the third cleaning map is displayed on the map display device.

[0053] The above embodiments ensure that, upon receiving a map display request, a third cleaning map that meets the preset conditions can be quickly determined based on multiple second cleaning maps within a preset time period prior to the current time, making the cleaning map display more intelligent.

[0054] In one exemplary embodiment, determining a third cleaning map that meets preset conditions from a plurality of second cleaning maps includes at least one of the following: selecting the cleaning map that appears most frequently among the plurality of second cleaning maps as the third cleaning map; or selecting the cleaning map that is closest to the current time among the plurality of second cleaning maps as the third cleaning map.

[0055] Through the above embodiments, the second cleaning map, which is used most frequently by the user and whose time is most recent to the current time, is used as the third cleaning map, thereby making the displayed cleaning map more in line with the user's needs.

[0056] Optionally, in this embodiment, the method for determining a third cleaning map that meets preset conditions from multiple second cleaning maps further includes: acquiring usage data of multiple second cleaning maps within a preset time period, determining the usage time of multiple cleaning maps, determining the correspondence between the usage time and the second cleaning maps, and determining the target user's preference for using the second cleaning maps at different times of the day based on this correspondence. When the map display device receives a map display request again, the current time period is determined, and the third cleaning map is determined from multiple second cleaning maps based on the target user's preference for using the second cleaning maps at different times of the day. For example, based on the target user's usage data from the week prior to the current time, it is determined that the user tends to use second cleaning map A from multiple second cleaning maps during the time period from 8:00 AM to 9:00 AM. If a map display request from the target user is received at 8:30 AM, then second cleaning map A is displayed as the third cleaning map on the mobile phone bound to the cleaning robot.

[0057] In one exemplary embodiment, after adjusting the first cleaning map according to the adjustment angle to obtain the second cleaning map, the second cleaning map is sent to another display device of the target object, or to a map display device of another target object, wherein the other display device has the ability to display the second cleaning map.

[0058] Through the above embodiments, collaboration between multiple display devices is achieved, allowing users to view the second cleaning map through any of the multiple display devices, and personnel associated with the user can also view the second cleaning map, thus improving the convenience of viewing the cleaning map.

[0059] To better understand the process of determining the cleaning area, the sending process of the above instruction group will be described below in conjunction with optional embodiments, but this is not intended to limit the technical solution of the embodiments of the present invention.

[0060] This embodiment provides a method for displaying a cleanup map. Figure 5 This is a schematic diagram of an optional method for displaying a cleaning map according to an embodiment of the present invention, such as... Figure 5 As shown, the specific steps are as follows:

[0061] Step S502: Respond to the map display command triggered by the user (equivalent to the target object) and display the first cleaning map of the area to be cleaned on the user's mobile phone (equivalent to the map display device);

[0062] Step S504: Receive the user's map adjustment instruction for the first cleaning map;

[0063] Step S506: Determine the adjustment angle corresponding to the map adjustment command;

[0064] Step S508: Determine the coordinates of the origin in the three-dimensional coordinate system corresponding to the first cleaning map and the coordinate values ​​of each pixel in the first cleaning map;

[0065] Step S510: Using the origin coordinates as the rotation center, rotate the coordinate values ​​of each pixel by this adjustment angle to obtain the second cleaning map;

[0066] Step S512: Display the second cleaning map on the user's mobile phone;

[0067] The above steps resolve the issue in existing technologies where the cleaning map displayed on the terminal cannot be adjusted according to user commands. This solution provides multiple methods for determining the adjustment angle based on user commands: the user directly inputs adjustment parameters through the map display device, and the adjustment angle is determined through the user's rotation operation. Employing multiple methods improves the flexibility of adjusting the map display device's orientation. Furthermore, this solution provides methods for determining the optimal rotated map from various rotations, such as determining the optimal rotated map based on user usage frequency and user usage time.

[0068] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0069] This embodiment also provides a map display device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0070] Figure 6 This is a structural block diagram of a cleaning map display device according to an embodiment of the present invention, such as... Figure 6 As shown, the device includes:

[0071] Control module 62 is used to display a first cleaning map on a map display device in response to a triggered map display command, wherein the first cleaning map is a map of the area to be cleaned by the cleaning robot;

[0072] The determining module 64 is used to determine the adjustment angle corresponding to the map adjustment instruction based on the target object's map adjustment instruction on the first cleaning map;

[0073] It should be noted that the aforementioned map adjustment commands can be the target object's voice, the target object's operation on the target device, the target object's actions, facial expressions, or haptic interactions with the target device, etc., and this embodiment of the invention does not limit these. Furthermore, the aforementioned map adjustment commands can be commands during the interaction between the user and the display device, or commands during the interaction between the target object and other home appliances in the target object's area, etc., and this embodiment of the invention does not limit these.

[0074] The adjustment module 66 is used to adjust the first cleaning map according to the adjustment angle to obtain the second cleaning map;

[0075] Display module 68 is used to display the second cleaning map on the map display device.

[0076] The aforementioned device responds to a triggered map display command and displays a first cleaning map of the area to be cleaned by the cleaning robot on a map display device. Based on the target object's map adjustment command for the first cleaning map, the adjustment angle corresponding to the map adjustment command is determined, and then the first cleaning map is adjusted according to this adjustment angle to obtain a second cleaning map, which is then displayed on the map display device. By using the aforementioned device, the problem in the prior art that when displaying the cleaning map of the cleaning robot on the terminal, the direction of the displayed cleaning map cannot be adjusted according to the user's command is solved.

[0077] It should be noted that the aforementioned map display device can be a mobile terminal, such as a mobile phone, that is linked to the cleaning robot. Figure 3 For example, Figure 3 This is a product application diagram of a method for displaying a first cleaning area according to an embodiment of the present invention. Figure 3 The image displayed shows the first cleaning map shown on the app on the phone that is linked to the cleaning robot. The dotted box indicates the area to be cleaned, and the target user can further edit the first cleaning map.

[0078] Specifically, when the map adjustment command is an instruction generated during interaction between the target object and other home appliances within the target object's area, the other device can recognize the target object's map adjustment command to determine the corresponding adjustment angle, and then send this adjustment angle to the map display device. For example, if the target object's map adjustment command is a voice command used in voice interaction with a smart speaker, such as "Rotate the cleaning map by 30 degrees," the smart speaker can recognize this command and identify the user's intent, determining that the user's intent is to rotate the first cleaning map by 30 degrees. As another example, if the target object's map adjustment command is a motion command used in motion recognition interaction with a motion recognition device, such as "Rotate the user's head by 50 degrees," the motion recognition device can recognize this command and determine that the corresponding adjustment angle for the first cleaning map is 50 degrees.

[0079] Optionally, the determining module 64 is further configured to determine the adjustment angle corresponding to the map adjustment instruction based on the target object's map adjustment instruction to the first cleaning map in the following manner: when the target object's map adjustment instruction to the first cleaning map is: to view the partial map of the first local cleaning area on the first cleaning map, the adjustment angle is determined according to the position of the first local cleaning area on the first cleaning map, so that the target object can view the partial map of the first cleaning area. Further, the adjustment angle is calculated based on the cross-correlation between a straight line on the partial map of the first cleaning area and a straight line on the first cleaning map in Hough space.

[0080] In an exemplary embodiment, the determining module 64 is further configured to determine the rotation operation of the target object received on the map display device, wherein the rotation operation is used to indicate the rotation angle of the target part of the target object, and the rotation angle and the adjustment angle have a target proportional relationship; and to determine the map adjustment instruction based on the rotation operation, so as to determine the adjustment angle corresponding to the map adjustment instruction.

[0081] Through the above embodiments, the adjustment angle of the first cleaning map is determined according to the user's rotation operation on the map display device, so that the user only needs to rotate the display device and the first cleaning map will rotate accordingly.

[0082] It should be noted that many map display devices currently have the function of rotating the screen display accordingly based on the rotation of the target object, such as the automatic screen rotation function of a mobile phone. In this embodiment, the map angle adjustment is based on the automatic screen rotation and the rotation of the first sweep map itself, and is not limited to the switching between landscape and portrait display on the mobile phone. For example, the rotation of each coordinate point on the first sweep map around the coordinate origin.

[0083] It should be noted that the target part of the aforementioned target object can be the target object's hand. For example, when the target object holds the map display device, rotating its wrist 90 degrees causes the map display device to rotate 90 degrees in tandem with the wrist rotation; this rotation angle is 90 degrees. Furthermore, in the above embodiments, the rotation operation is not limited to a contact operation between the target object and the map display device; it can also be a remote operation by the target object, operating the map display device through motion sensing interaction. For example, a mobile phone monitors the rotation of the target object's head, determines the angle of head rotation, and determines the first adjustment angle for cleaning the map based on this angle.

[0084] In an exemplary embodiment, the determining module 64 is further configured to determine the adjustment parameters input by the target object on the map adjustment client, wherein the adjustment parameters include: the adjustment angle; and generate the map adjustment instruction based on the adjustment parameters to determine the adjustment angle corresponding to the map adjustment instruction.

[0085] Through the above embodiments, users can directly determine the adjustment angle by inputting adjustment parameters, thereby accurately controlling the first cleaning map to rotate according to the adjustment angle.

[0086] To help understand the above embodiments, in conjunction with Figure 4 To explain, Figure 4 This is a product application diagram of an optional parameter input adjustment method according to an embodiment of the present invention. Figure 4 In the process, the target object can input adjustment parameters on the mobile phone touch screen. The adjustment parameters can be, for example, the adjustment angle of the map.

[0087] In an exemplary embodiment, the adjustment module 66 is further configured to determine the origin coordinates in the three-dimensional coordinate system corresponding to the first cleaning map and the coordinate values ​​of each pixel in the first cleaning map; and rotate the coordinate values ​​of each pixel by the adjustment angle with the origin coordinates as the rotation center to obtain the second cleaning map.

[0088] Optionally, in this embodiment, the above-mentioned device further includes: a rotation module, which is used to: rotate each coordinate point (ox, oy, oAngle) on the first cleaning map about the origin of the three-dimensional coordinate system, so that the coordinate point on the second cleaning map after rotation is (nx, ny, nAngle), and the rotation calculation formula is:

[0089] sa = Math.sin(-angle / 180*Math.PI); where Math.sin() is used to calculate the sine of the number in parentheses, Math.PI is a built-in function in the Math database that represents the ratio of the circumference to the diameter of a circle, i.e., pi, angle / 180*Math.PI can calculate the radians corresponding to the angle, and sa represents an intermediate parameter.

[0090] ca = Math.cos(-angle / 180*Math.PI); where Math.cos() is used to calculate the cosine of the number in parentheses, and ca represents an intermediate parameter;

[0091] nx = Math.round(ox*ca+oy*sa); where Math.cos() function returns the nearest integer after rounding the number in parentheses;

[0092] ny=Math.round(-ox*sa+oy*ca);

[0093] nangle = oAngle + angle.

[0094] In an exemplary embodiment, the adjustment module 66 is further configured to adjust the first cleaning map according to the adjustment angle to obtain a second cleaning map, and then acquire a plurality of second cleaning maps determined within a preset time period, wherein the preset time period is the time period before the current time; determine a third cleaning map that meets preset conditions from the plurality of second cleaning maps; and display the third cleaning map on the map display device when the map display device receives a map display request for the next time.

[0095] The above embodiments ensure that, upon receiving a map display request, a third cleaning map that meets the preset conditions can be quickly determined based on multiple second cleaning maps within a preset time period prior to the current time, making the cleaning map display more intelligent.

[0096] In one exemplary embodiment, the adjustment module 66 is further configured to determine a third cleaning map that meets preset conditions from a plurality of second cleaning maps by one of the following methods: selecting the cleaning map that appears most frequently among the plurality of second cleaning maps as the third cleaning map; or selecting the cleaning map that is closest to the current time among the plurality of second cleaning maps as the third cleaning map.

[0097] Through the above embodiments, the second cleaning map, which is used most frequently by the user and whose time is most recent to the current time, is used as the third cleaning map, thereby making the displayed cleaning map more in line with the user's needs.

[0098] Optionally, in this embodiment, the device further includes a determining module, which determines a third cleaning map that meets preset conditions from a plurality of second cleaning maps by: acquiring usage data of a plurality of second cleaning maps within a preset time period, determining the usage time of the plurality of cleaning maps, determining the correspondence between the usage time and the second cleaning maps, and determining the target object's preference for using the second cleaning maps at different time periods within a day based on this correspondence. When the map display device receives a map display request again, it determines the time period in which the current time is located, and determines the third cleaning map from the plurality of second cleaning maps based on the target object's preference for using the second cleaning maps at different time periods within a day. For example: based on the target object's usage data from the week prior to the current time, it is determined that the user tends to use the second cleaning map A from the plurality of second cleaning maps during the time period from 8:00 AM to 9:00 AM. If a map display request from the target object is received at 8:30 AM, then the second cleaning map A is displayed as the third cleaning map on the mobile phone bound to the cleaning robot.

[0099] In an exemplary embodiment, the adjustment module 66 is used to adjust the first cleaning map according to the adjustment angle to obtain the second cleaning map, and then send the second cleaning map to another display device of the target object, or send the second cleaning map to a map display device of another target object, wherein the other display device has the ability to display the second cleaning map.

[0100] Through the above embodiments, collaboration between multiple display devices is achieved, allowing users to view the second cleaning map through any of the multiple display devices, and personnel associated with the user can also view the second cleaning map, thus improving the convenience of viewing the cleaning map.

[0101] Embodiments of the present invention also provide a storage medium storing a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.

[0102] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0103] S1, in response to the triggered map display command, a first cleaning map is displayed on the map display device, wherein the first cleaning map is a map of the area to be cleaned by the cleaning robot;

[0104] S2, based on the map adjustment command of the target object on the first cleaning map, determine the adjustment angle corresponding to the map adjustment command;

[0105] S3, adjust the first cleaning map according to the adjustment angle to obtain the second cleaning map;

[0106] S4, the second cleaning map is displayed on the map display device.

[0107] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0108] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0109] Embodiments of the present invention also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0110] In one exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0111] In one exemplary embodiment, the processor described above may be configured to perform the following steps via a computer program:

[0112] S1, in response to the triggered map display command, a first cleaning map is displayed on the map display device, wherein the first cleaning map is a map of the area to be cleaned by the cleaning robot;

[0113] S2, based on the map adjustment command of the target object on the first cleaning map, determine the adjustment angle corresponding to the map adjustment command;

[0114] S3, adjust the first cleaning map according to the adjustment angle to obtain the second cleaning map;

[0115] S4, the second cleaning map is displayed on the map display device.

[0116] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0117] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for displaying a cleaned map, characterized in that, include: In response to a triggered map display command, a first cleaning map is displayed on a map display device, wherein the first cleaning map is a map of the area to be cleaned by the cleaning robot; Based on the map adjustment command of the target object on the first cleaning map, determine the adjustment angle corresponding to the map adjustment command; The first cleaning map is adjusted according to the adjustment angle to obtain the second cleaning map; The second cleaning map is displayed on the map display device; Obtain multiple second cleaning maps determined within a preset time period, wherein the preset time period is the time period before the current moment; A third cleaning map that meets preset conditions is determined from multiple second cleaning maps; The preset conditions include at least one of the following: The cleaning map that appears most frequently among the multiple second cleaning maps is used as the third cleaning map; The cleaning map that is closest to the current moment among the multiple second cleaning maps is used as the third cleaning map; Upon receiving a map display request again, the third cleaning map will be displayed on the map display device.

2. The method according to claim 1, characterized in that, Based on the map adjustment command of the target object on the first cleaning map, determine the adjustment angle corresponding to the map adjustment command, including: Determine the rotation operation of the target object received on the map display device, wherein the rotation operation is used to indicate the rotation angle of the target part of the target object, and the rotation angle and the adjustment angle have a target proportional relationship; The map adjustment command is determined based on the rotation operation, so as to determine the adjustment angle corresponding to the map adjustment command.

3. The method according to claim 1, characterized in that, Based on the map adjustment command of the target object on the first cleaning map, determine the adjustment angle corresponding to the map adjustment command, including: Determine the adjustment parameters input by the target object on the map adjustment client, wherein the adjustment parameters include: the adjustment angle; The map adjustment command is generated based on the adjustment parameters to determine the adjustment angle corresponding to the map adjustment command.

4. The method according to claim 1, characterized in that, The first cleaning map is adjusted according to the aforementioned adjustment angle to obtain a second cleaning map, including: Determine the origin coordinates in the three-dimensional coordinate system corresponding to the first cleaning map and the coordinate values ​​of each pixel in the first cleaning map; Using the origin coordinates as the rotation center, the coordinate values ​​of each pixel are rotated by the adjustment angle to obtain the second cleaning map.

5. The method according to claim 1, characterized in that, After adjusting the first cleaning map according to the aforementioned adjustment angle to obtain the second cleaning map, the method further includes: The second cleaning map is sent to another display device of the target object, or to a map display device of another target object, wherein the other display device has the ability to display the second cleaning map.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program, when executed, performs the method described in any one of claims 1 to 5.

7. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute the method described in any one of claims 1 to 5 through the computer program.

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