Fusion result coverage method and device, storage medium and electronic device

Abstract

The present invention discloses a method and apparatus for overwriting fusion results, a storage medium, and an electronic device, comprising: receiving a first map fusion request for fusing a first map and a second map, and executing the first map fusion request; upon obtaining a partial fusion result of the first map and the second map, and receiving a first map partitioning request for the first map and the second map, stopping execution of the first map fusion request and executing the first map partitioning request, wherein the partial fusion result is a partial execution result of the first map fusion request; obtaining a partitioning result of the first map and the second map, and storing the partitioning result in a target device in a manner that overwrites the partial fusion result, wherein the partitioning result is an execution result of the first map partitioning request. The above technical solution solves the problem in the prior art of simultaneously processing a map fusion request and a map partitioning request, thereby causing the map fusion result to overwrite the partitioning result.

Description

Technical field

[0001] The present invention relates to the field of communications, and in particular to a method and device for covering fusion results, a storage medium, and an electronic device. [Background Technology]

[0002] With the development of technology, more and more people are using cleaning robots, such as sweepers and moppers, in their daily lives. While these robots bring numerous conveniences to our lives, they can also present numerous issues and lack intelligence. For example, a cleaning robot might receive a map fusion request before completing a map partitioning request. In this case, the robot will process both the map fusion and partitioning requests simultaneously, causing the map fusion result to overwrite the partitioning result.

[0003] In the existing technology, the cleaning robot processes map fusion requests and map partitioning requests at the same time, which causes the map fusion results to cover the partitioning results. No effective solution has been proposed yet. [Summary of the invention]

[0004] The embodiments of the present invention provide a method and device for covering fusion results, a storage medium and an electronic device, so as to at least solve the problem in the prior art that a cleaning robot processes map fusion requests and map partitioning requests simultaneously, thereby causing the map fusion results to cover the partitioning results.

[0005] According to one aspect of an embodiment of the present invention, a method for overwriting fusion results is provided, comprising: receiving a first map fusion request for fusing a first map and a second map, and executing the first map fusion request; upon obtaining a partial fusion result of the first map and the second map and receiving a first map partitioning request for the first map and the second map, stopping executing the first map fusion request and executing the first map partitioning request, wherein the partial fusion result is a partial execution result of the first map fusion request; obtaining a partitioning result of the first map and the second map, and storing the partitioning result in a target device in a manner that overwrites the partial fusion result, wherein the partitioning result is an execution result of the first map partitioning request.

[0006] In an exemplary embodiment, after receiving a first map fusion request for fusing a first map and a second map and executing the first map fusion request, the method further includes: in a case where a first map partitioning request for the first map and the second map is not received, continuing to execute the first map fusion request to obtain all fusion results of the first map and the second map, wherein the all fusion results are all execution results of the first map fusion request; and saving the all fusion results on the target device in a manner that overwrites all fusion results of a second map fusion request, wherein the second map fusion request is the previous map fusion request of the first map fusion request.

[0007] In an exemplary embodiment, after saving the entire fusion result in the target device in a manner that covers the entire fusion result of the second map fusion request, the method further includes: receiving a second map partitioning request for partitioning the first map and the second map; when partial partitioning results of the first map and the second map are obtained and a third map fusion request for the first map and the second map is received from the first target object, prohibiting execution of the third map fusion request, continuing to execute the second map partition request, and sending the entire fusion result of the first map fusion request to the first map display device of the first target object, wherein the partial partitioning results of the first map and the second map are partial execution results of the second map partition request.

[0008] In an exemplary embodiment, after saving all the fusion results in the target device in a manner that covers all the fusion results of the second map fusion request, the method also includes: receiving a fourth map partitioning request from the second target object for partitioning the first map and the second map; upon obtaining a partial partitioning result of the fourth map partitioning request and receiving a fourth map fusion request from the first target object for the first map and the second map, continuing to execute the fourth map partitioning request, prohibiting execution of the fourth map fusion request, and sending all the fusion results of the first map fusion request to the first map display device of the first target object.

[0009] In an exemplary embodiment, after receiving a first map fusion request for fusing a first map and a second map, the method further includes: upon simultaneously receiving the first map partition request for a first target object and a third map partition request for a second target object, determining an order of executing the first map partition request and the third map partition request based on the priorities of the first target object and the second object; wherein the third map partition request is used to partition a third map and a fourth map.

[0010] In an exemplary embodiment, after obtaining a partial fusion result of the first map and the second map and receiving a first map partitioning request for the first map and the second map, stopping execution of the first map fusion request, and executing the first map partitioning request, the method further includes: after determining that the sending object of the first map fusion request is the first target object and the sending object of the first map partitioning request is the second target object, obtaining the partitioning result of the first map partitioning request, and sending the partitioning result of the first map partitioning request to the first map display device of the first target object and the second map display device of the second target object.

[0011] In an exemplary embodiment, after receiving a first map fusion request from a first target object for fusing a first map and a second map and executing the first map fusion request, the method further includes: upon obtaining a partial fusion result of the first map and the second map and receiving a fifth map partitioning request, stopping execution of the first map fusion request and executing the fifth map partitioning request, wherein the fifth map partitioning request is used to partition the first map and the third map; and upon completion of execution of the fifth map partitioning request, continuing execution of the first map fusion request.

[0012] According to another aspect of an embodiment of the present invention, a device for covering fusion results is also provided, the device including: a first control module for receiving a first map fusion request for fusing a first map and a second map, and executing the first map fusion request; an execution module for stopping executing the first map fusion request and executing the first map partition request when a partial fusion result of the first map and the second map is obtained and a first map partition request for the first map and the second map is received, wherein the partial fusion result is a partial execution result of the first map fusion request; a second control module for obtaining a partition result of the first map and the second map, and storing the partition result in a target device in a manner of covering the partial fusion result, wherein the partition result is an execution result of the first map partition request.

[0013] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is configured to execute the above-mentioned method for overwriting the fusion result when running.

[0014] According to another aspect of an embodiment of the present invention, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the method for overlaying the fusion result through the computer program.

[0015] In an embodiment of the present application, a first map fusion request for fusing a first map with a second map is received. If a map partitioning request is received while the map fusion request is not yet complete, the map partitioning request is prioritized over the map fusion request, and the result of the partitioning request overwrites the result of the previously obtained map fusion request. This technical solution solves the problem in the prior art of processing both a map fusion request and a map partitioning request simultaneously, which results in the map fusion result overwriting the partitioning result.

Brief Description of the Drawings

[0016] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 This is a hardware structure block diagram of a cleaning robot with an optional fusion result coverage method according to an embodiment of the present invention;

[0018] Figure 2 is a flowchart of an optional method for overlaying fusion results according to an embodiment of the present invention;

[0019] Figure 3 This is a product application diagram of an optional method for sending fusion results according to an embodiment of the present invention;

[0020] Figure 4 is a schematic diagram of an optional method for overlaying fusion results according to an embodiment of the present invention;

[0021] Figure 5 This is a structural block diagram of an optional fusion result coverage device in an embodiment of the present invention. [Specific implementation method]

[0022] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] The method embodiments provided in the embodiments of the present application can be executed in a cleaning robot or a similar computing device. Taking running on a cleaning robot as an example, Figure 1 FIG. 1 is a hardware structure diagram of a cleaning robot according to an embodiment of the present invention. Figure 1 As shown, the cleaning robot may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a microprocessor (Microprocessor Unit, referred to as MPU) or a programmable logic device (Programmable logic device, referred to as PLD)) and a memory 104 for storing data. In an exemplary embodiment, the cleaning robot may also include a transmission device 106 for communication functions and an input and output device 108. It will be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the cleaning robot. Figure 1 More or fewer components than shown, or with Figure 1 Equivalent functions or comparisons shown Figure 1 Shown are different configurations with more functionality.

[0025] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the overlay method of the fusion result in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, implementing the above-mentioned method. The memory 104 may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely located relative to the processor 102, and these remote memories may be connected to the cleaning robot via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0026] The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned network may include a wireless network provided by the cleaning robot's communications provider. In one embodiment, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one embodiment, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0027] In this embodiment, a method for covering fusion results is provided, which is applied to the above-mentioned cleaning robot. Figure 2 FIG. 4 is a flowchart of a method for overlaying fusion results according to an embodiment of the present invention, and the flowchart includes the following steps:

[0028] Step S202: receiving a first map fusion request for fusing a first map and a second map, and executing the first map fusion request;

[0029] Step S204: upon obtaining a partial fusion result of the first map and the second map and receiving a first map partitioning request for the first map and the second map, stopping execution of the first map fusion request and executing the first map partitioning request, wherein the partial fusion result is a partial execution result of the first map fusion request;

[0030] Step S206: Obtain the partitioning results of the first map and the second map, and store the partitioning results in the target device in a manner of covering the partial fusion result, wherein the partitioning results are the execution results of the first map partitioning request.

[0031] Through the above steps, a first map fusion request for fusing a first map with a second map is received. If a map partitioning request is received before the map fusion request is completed, the map partitioning request is prioritized over the map fusion request, and the result of the partitioning request overwrites the result of the previously obtained map fusion request. This technical solution solves the problem in the prior art of processing map fusion requests and map partitioning requests simultaneously, which causes the map fusion result to overwrite the partitioning result.

[0032] It should be noted that in step S204, "when a partial fusion result of the first map and the second map is obtained, and a first map partition request for the first map and the second map is received" can be understood as receiving a map partition request when the first map and the second map have not yet been completely fused.

[0033] It should be noted that in step S206, "storing the partitioning result in the target device in a manner that covers the partial fusion result" can be understood as the partitioning result replacing the partial fusion result, and the partial fusion result no longer exists in the target device, and the partitioning result is stored in the target device.

[0034] Optionally, in an exemplary embodiment, in steps S202 and S204, a map fusion request is received first, followed by a map partitioning request. However, if both a map fusion request for the first map and the second map and a map partitioning request for the first map and the second map are received simultaneously, only the map partitioning request is executed, and the map fusion request is not executed. Furthermore, in this embodiment of the present invention, by prioritizing the map partitioning request, the simultaneous processing of the map fusion request and the map partitioning request is avoided. Furthermore, in this embodiment of the present invention, the result of the map partitioning request overwrites the result of the map fusion, ensuring that the result of the map partitioning request is not overwritten by the result of the map fusion.

[0035] In an exemplary embodiment, after receiving a first map fusion request for fusing a first map and a second map and executing the first map fusion request, if no first map partitioning request for the first map and the second map is received, the first map fusion request is continued to be executed to obtain the entire fusion result of the first map and the second map, wherein the entire fusion result is the entire execution result of the first map fusion request; the entire fusion result is saved in the target device in a manner that overwrites the entire fusion result of the second map fusion request, wherein the second map fusion request is the previous map fusion request of the first map fusion request.

[0036] Through the above embodiment, the latest map fusion result overwrites the old map fusion result, thereby ensuring that the target device stores the latest map fusion result. Optionally, in this embodiment, all fusion results of the first map fusion request are cached in the target device in a manner that overwrites all fusion results of the second map fusion request.

[0037] In an exemplary embodiment, after saving the entire fusion result in the target device in a manner covering the entire fusion result of the second map fusion request, a second map partitioning request for partitioning the first map and the second map is received; when partial partitioning results of the first map and the second map are obtained and a third map fusion request for the first map and the second map is received from the first target object, execution of the third map fusion request is prohibited, execution of the second map partitioning request is continued, and the entire fusion result of the first map fusion request is sent to the first map display device of the first target object, wherein the partial partitioning results of the first map and the second map are partial execution results of the second map partitioning request.

[0038] Through the above embodiment, when a partial partitioning result of a map partitioning request is obtained and a map fusion request is received, the map fusion request is continued to be executed instead of the map partitioning request, thereby ensuring that the map fusion request and the map partitioning request are not executed at the same time and ensuring that the map partitioning request is executed first.

[0039] It should be noted that the above-mentioned first map display device can be a mobile terminal such as a mobile phone or computer of the target object, or a smart screen that can be bound to the target device, etc. This application does not impose any restrictions on this.

[0040] To help understand the above embodiments, Figure 3 To explain, Figure 3 This is a product application diagram of an optional method for sending fusion results according to an embodiment of the present invention. Figure 3 In the process, the map fusion result is sent to the user's mobile phone APP bound to the cleaning robot, and the user is reminded that the map has been fused.

[0041] In an exemplary embodiment, a fourth map partitioning request for partitioning the first map and the second map is received from a second target object; upon obtaining a partial partitioning result of the fourth map partitioning request and receiving a fourth map fusion request for the first map and the second map from the first target object, the fourth map partitioning request is continued to be executed, the execution of the fourth map fusion request is prohibited, and the entire fusion result of the first map fusion request is sent to the first map display device of the first target object.

[0042] According to the above embodiment, when there are multiple users on the target device and the partition request and the fusion request are sent by different users, the partition request is still executed first, thereby avoiding the situation where the result of the map partition request is overwritten by the result of the map fusion request.

[0043] In an exemplary embodiment, after receiving a first map fusion request for fusing a first map and a second map, when the first map partition request for a first target object and a third map partition request for a second target object are simultaneously received, the order of executing the first map partition request and the third map partition request is determined according to the priorities of the first target object and the second object; wherein the third map partition request is used to partition a third map and a fourth map.

[0044] The above embodiment solves the problem of being unable to determine which map partition request to execute when multiple users send map partition requests simultaneously.

[0045] Optionally, in this embodiment, the method for determining the priority of the first target object and the second target object includes but is not limited to: determining the distance between the first target object and the target device and the distance between the second target object and the target device through the laser ranging sensor of the target object, where the closer the distance to the target device is, the higher the priority; presetting the priority sorting and storing the correspondence between facial features and priorities, identifying the facial features of the first target object and the second target object through an image recognition device in the home area, and determining the priority of the first target object and the second target object based on the facial features. For example, the facial features of the user and the correspondence between the facial features and the priority are stored in the sweeping robot, the facial features of user A and user B are identified through a camera in the home area, and sent to the sweeping robot, and the sweeping robot determines based on the facial features of user A and user B that user A has a higher priority than user B, and thus executes user A's map partition request first.

[0046] In an exemplary embodiment, when a partial fusion result of the first map and the second map is obtained and a first map partitioning request for the first map and the second map is received, the execution of the first map fusion request is stopped, and after executing the first map partitioning request, when it is determined that the sending object of the first map fusion request is the first target object and the sending object of the first map partitioning request is the second target object, the partitioning result of the first map partitioning request is obtained, and the partitioning result of the first map partitioning request is sent to the first map display device of the first target object and the second map display device of the second target object.

[0047] Through the above embodiment, when the target device is executing a user map fusion request and receives a map partitioning request from another user, the map fusion request is stopped and only the map partitioning request is executed, and the partitioning results are synchronously displayed on the map display devices of different users, thereby ensuring that even if different objects exist, the priority of the partitioning is still higher than the priority of the fusion.

[0048] In an exemplary embodiment, after receiving a first map fusion request from a first target object for fusing a first map and a second map and executing the first map fusion request, upon obtaining a partial fusion result of the first map and the second map and receiving a fifth map partitioning request, the execution of the first map fusion request is stopped and the fifth map partitioning request is executed, wherein the fifth map partitioning request is used to partition the first map and the third map; upon completion of the execution of the fifth map partitioning request, the execution of the first map fusion request is continued.

[0049] Through the above embodiment, when the target device is executing a map fusion request and receives a map, and the map of the partition request and the map of the fusion request are inconsistent but there is an intersection area, the map partition request is executed first and then the fusion request is executed, thereby ensuring that the result of the map partition request will not be affected by the map fusion request.

[0050] Optionally, in an exemplary embodiment, after receiving a first map fusion request for a first target object to fuse the first map and the second map, the method further includes: when a partial fusion result of the first map and the second map is obtained and a sixth map partitioning request is received, stopping execution of the first map fusion request and executing a fifth map partitioning request, wherein the sixth partitioning request is used to partition the second map and the fourth map; and when execution of the sixth map partitioning request is completed, continuing execution of the first map fusion request.

[0051] Optionally, in an exemplary embodiment, after receiving a first map fusion request for the first target object to fuse the first map and the second map, the method further includes: upon obtaining a partial fusion result of the first map and the second map and receiving a seventh map partitioning request, continuing to execute the first map fusion request and executing the seventh map fusion request, wherein the seventh partitioning request partitions the third map and the fourth map.

[0052] In order to better understand the coverage process of the above fusion results, the sending process of the above instruction group is described below in combination with an optional embodiment, but it is not used to limit the technical solution of the embodiment of the present invention.

[0053] In this embodiment, a method for covering a fusion result is provided, which is a schematic diagram of an optional method for covering a fusion result according to an embodiment of the present invention. Figure 4 As shown, the specific steps are as follows:

[0054] Step S402: receiving a first map fusion request for fusing a first map with a second map;

[0055] At this time, if the first map partition request is received, then step S404 and step S406 are executed; if the first map partition request is not received, then step S408 and step S410 are executed;

[0056] Step S404: when a partial fusion result of the first map and the second map is obtained and a first map partition request for the first map and the second map is received, stopping the first map fusion request and executing the first map partition request;

[0057] Step S406: obtaining the partitioning result of the first map partitioning request, and storing the partitioning result in the sweeping robot in a manner of overwriting part of the fusion result;

[0058] Step S408: Continue to execute the first map fusion request to obtain all fusion results of the first map fusion request;

[0059] Step S410: All fusion results are saved in the sweeping robot in a manner of covering all fusion results of the second map fusion request.

[0060] Through the above steps, the problem in the prior art of processing a map fusion request and a map partitioning request simultaneously, which causes the map fusion result to overwrite the partitioning result, is solved.

[0061] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it 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, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods of various embodiments of the present invention.

[0062] This embodiment also provides a device for overlaying fusion results, which is used to implement the above-mentioned embodiments and preferred embodiments. Details that have already been described will not be repeated. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0063] Figure 5 is a structural block diagram of a device for overlaying fusion results according to an embodiment of the present invention, the device including:

[0064] A first control module 52 is configured to receive a first map fusion request for fusing a first map with a second map, and execute the first map fusion request;

[0065] an execution module 54 configured to, upon obtaining a partial fusion result of the first map and the second map and receiving a first map partitioning request for the first map and the second map, stop executing the first map fusion request and execute the first map partitioning request, wherein the partial fusion result is a partial execution result of the first map fusion request;

[0066] The second control module 56 is configured to obtain partition results of the first map and the second map, and store the partition results in a target device in a manner of overwriting the partial fusion result, wherein the partition results are the execution results of the first map partition request.

[0067] The apparatus receives a first map fusion request for fusing a first map with a second map. If a map partitioning request is received before the map fusion request is completed, the map partitioning request is prioritized over the map fusion request, and the result of the partitioning request overwrites the result of the previously executed map fusion request. This apparatus solves the problem in the prior art of processing both a map fusion request and a map partitioning request simultaneously, resulting in the map fusion result overwriting the partitioning result.

[0068] It should be noted that the above "after obtaining the partial fusion result of the first map and the second map, and receiving the first map partition request for the first map and the second map" can be understood as receiving the map partition request when the first map and the second map have not yet been completely fused.

[0069] It should be noted that the above “storing the partitioning result in the target device in a manner that covers the partial fusion result” can be understood as the partitioning result replacing the partial fusion result, and the partial fusion result no longer exists in the target device, and the partitioning result is stored in the target device.

[0070] Alternatively, in an exemplary embodiment, the first control module 52 and the execution module 54 receive a map fusion request first and then a map partitioning request. However, if the first control module 52 and the execution module 54 simultaneously receive both a map fusion request for the first and second maps and a map partitioning request for the first and second maps, only the map partitioning request is executed, and the map fusion request is not executed. Furthermore, in this embodiment of the present invention, by prioritizing the map partitioning request, the simultaneous processing of the map fusion request and the map partitioning request is avoided. Furthermore, in this embodiment of the present invention, the result of the map partitioning request overwrites the result of the map fusion, ensuring that the result of the map partitioning request is not overwritten by the result of the map fusion.

[0071] In an exemplary embodiment, the execution module 54 is further used to receive a first map fusion request for fusing a first map and a second map, and after executing the first map fusion request, if no first map partitioning request for the first map and the second map is received, continue to execute the first map fusion request to obtain the entire fusion result of the first map and the second map, wherein the entire fusion result is the entire execution result of the first map fusion request; and save the entire fusion result on the target device in a manner that overwrites the entire fusion result of the second map fusion request, wherein the second map fusion request is the previous map fusion request of the first map fusion request.

[0072] Through the above embodiment, the latest map fusion result overwrites the old map fusion result, thereby ensuring that the target device stores the latest map fusion result. Optionally, in this embodiment, all fusion results of the first map fusion request are cached on the target device in a manner that overwrites all fusion results of the second map fusion request.

[0073] In an exemplary embodiment, the execution module 54 is further used to receive a second map partitioning request for partitioning the first map and the second map after saving the entire fusion result in the target device in a manner covering the entire fusion result of the second map fusion request; when partial partitioning results of the first map and the second map are obtained and a third map fusion request for the first map and the second map is received from the first target object, the execution of the third map fusion request is prohibited, the execution of the second map partition request is continued, and the entire fusion result of the first map fusion request is sent to the first map display device of the first target object, wherein the partial partitioning results of the first map and the second map are partial execution results of the second map partition request.

[0074] Through the above embodiment, when a partial partitioning result of a map partitioning request is obtained and a map fusion request is received, the map fusion request is continued to be executed instead of the map partitioning request, thereby ensuring that the map fusion request and the map partitioning request are not executed at the same time and ensuring that the map partitioning request is executed first.

[0075] It should be noted that the above-mentioned first map display device can be a mobile terminal such as a mobile phone or computer of the target object, or a smart screen that can be bound to the target device, etc. This application does not impose any restrictions on this.

[0076] To help understand the above embodiments, Figure 3 To explain, Figure 3 This is a product application diagram of an optional method for sending fusion results according to an embodiment of the present invention. Figure 3 In the process, the map fusion result is sent to the user's mobile phone APP bound to the cleaning robot, and the user is reminded that the map has been fused.

[0077] In an exemplary embodiment, the second control module 56 is further used to receive a fourth map partitioning request from the second target object for partitioning the first map and the second map after saving the entire fusion result in the target device in a manner covering the entire fusion result of the second map fusion request; upon obtaining a partial partitioning result of the fourth map partitioning request and receiving the fourth map fusion request from the first target object for the first map and the second map, continue to execute the fourth map partitioning request, prohibit execution of the fourth map fusion request, and send the entire fusion result of the first map fusion request to the first map display device of the first target object.

[0078] According to the above embodiment, when there are multiple users on the target device and the partition request and the fusion request are sent by different users, the partition request is still executed first, thereby avoiding the situation where the result of the map partition request is overwritten by the result of the map fusion request.

[0079] In an exemplary embodiment, the second control module 56 is further used to, after receiving a first map fusion request for fusing the first map and the second map, determine the order of executing the first map partition request and the third map partition request according to the priorities of the first target object and the second object when the first map partition request for the first target object and the third map partition request for the second target object are simultaneously received; wherein the third map partition request is used to partition the third map and the fourth map.

[0080] The above embodiment solves the problem of being unable to determine which map partition request to execute when multiple users send map partition requests simultaneously.

[0081] Optionally, the second control module 56 is further configured to determine the priority of the first target object and the second target object by: determining the distance between the first target object and the target device and the distance between the second target object and the target device using a laser ranging sensor of the target object, with the closer the distance to the target device, the higher the priority; presetting a priority ranking, and storing the correspondence between facial features and priorities; identifying the facial features of the first target object and the second target object using an image recognition device within the home area; and determining the priority of the first target object and the second target object based on the facial features. For example, the facial features of the user and the correspondence between the facial features and priorities are stored in the sweeping robot; the facial features of user A and user B are identified by a camera within the home area and sent to the sweeping robot; the sweeping robot determines based on the facial features of user A and user B that user A has a higher priority than user B, and thus executes user A's map partition request first.

[0082] In an exemplary embodiment, the second control module 56 is further used to, upon obtaining a partial fusion result of the first map and the second map and receiving a first map partitioning request for the first map and the second map, stop executing the first map fusion request, and after executing the first map partitioning request, upon determining that the sending object of the first map fusion request is the first target object and the sending object of the first map partitioning request is the second target object, obtain the partitioning result of the first map partitioning request, and send the partitioning result of the first map partitioning request to the first map display device of the first target object and the second map display device of the second target object.

[0083] Through the above embodiment, there are multiple users on the target device, and when a user's map fusion request is being executed, a map partitioning request from another user is received, the map fusion request is stopped, and only the map partitioning request is executed, and the partitioning results are synchronously displayed on the map display devices of different users, thereby ensuring that even if different objects exist, the priority of the partitioning is still higher than the priority of the fusion.

[0084] In an exemplary embodiment, the second control module 56 is further used to receive a first map fusion request from a first target object for fusing a first map and a second map, and after executing the first map fusion request, upon obtaining a partial fusion result of the first map and the second map and receiving a fifth map partitioning request, stop executing the first map fusion request and execute the fifth map partitioning request, wherein the fifth map partitioning request is used to partition the first map and the third map; after the fifth map partitioning request is executed, continue executing the first map fusion request.

[0085] Through the above embodiment, when the target device is executing a map fusion request and receives a map, and the map of the partition request and the map of the fusion request are inconsistent but there is an intersection area, the map partition request is executed first and then the fusion request is executed, thereby ensuring that the result of the map partition request will not be affected by the map fusion request.

[0086] Optionally, in an exemplary embodiment, the second control module 56 is further used to, after receiving a first map fusion request from the first target object for fusing the first map and the second map, stop executing the first map fusion request and execute a fifth map partition request when a partial fusion result of the first map and the second map is obtained and a sixth map partition request is received, wherein the sixth partition request is used to partition the second map and the fourth map; and continue executing the first map fusion request when the sixth map partition request is completed.

[0087] Optionally, in an exemplary embodiment, the second control module 56 is further used to receive a first map fusion request from the first target object for fusing the first map and the second map, and after obtaining a partial fusion result of the first map and the second map and receiving a seventh map partitioning request, continue to execute the first map fusion request and execute the seventh map fusion request, wherein the seventh partitioning request partitions the third map and the fourth map.

[0088] An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored. The computer program is configured to execute the steps of any one of the above method embodiments when running.

[0089] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0090] S1, receiving a first map fusion request for fusing a first map and a second map, and executing the first map fusion request;

[0091] S2: upon obtaining a partial fusion result of the first map and the second map and receiving a first map partitioning request for the first map and the second map, stopping execution of the first map fusion request and executing the first map partitioning request, wherein the partial fusion result is a partial execution result of the first map fusion request;

[0092] S3: Obtain partition results of the first map and the second map, and store the partition results in the target device in a manner of covering the partial fusion result, wherein the partition results are the execution results of the first map partition request.

[0093] In an exemplary embodiment, the computer-readable storage medium may include, but is not limited to, various media that can store computer programs, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk, or an optical disk.

[0094] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail here.

[0095] An embodiment of the present invention further provides an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0096] Optionally, in this embodiment, the processor may be configured to execute the following steps through a computer program:

[0097] S1, receiving a first map fusion request for fusing a first map and a second map, and executing the first map fusion request;

[0098] S2: upon obtaining a partial fusion result of the first map and the second map and receiving a first map partitioning request for the first map and the second map, stopping execution of the first map fusion request and executing the first map partitioning request, wherein the partial fusion result is a partial execution result of the first map fusion request;

[0099] S3: Obtain partition results of the first map and the second map, and store the partition results in the target device in a manner of covering the partial fusion result, wherein the partition results are the execution results of the first map partition request.

[0100] In an 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.

[0101] For specific examples in this embodiment, reference may be made to the examples described in the above embodiments and exemplary implementation modes, and this embodiment will not be described in detail here.

[0102] Obviously, those skilled in the art will appreciate that the various modules or steps of the present invention described above can be implemented using a general-purpose computing device, can be centralized on a single computing device, or can be distributed across a network of multiple computing devices. They can be implemented using program code executable by the computing device, and thus, can be stored in a storage device and executed by the computing device. In some cases, the steps shown or described herein can be performed in a different order than that shown, or 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.

[0103] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A method for covering fusion results, characterized in that: include: receiving a first map fusion request for fusing a first map and a second map, and executing the first map fusion request; upon obtaining a partial fusion result of the first map and the second map and receiving a first map partitioning request for the first map and the second map, stopping execution of the first map fusion request and executing the first map partitioning request, wherein the partial fusion result is a partial execution result of the first map fusion request; Obtaining partitioning results of the first map and the second map, and storing the partitioning results in a target device in a manner that covers the partial fusion result, wherein the partitioning result is the execution result of the first map partitioning request, and storing the partitioning result in the target device in a manner that covers the partial fusion result includes that the partitioning result replaces the partial fusion result, and the partial fusion result no longer exists in the target device, and storing the partitioning result in the target device.

2. The method according to claim 1, characterized in that After receiving a first map fusion request for fusing the first map and the second map and executing the first map fusion request, the method further includes: If no first map partition request for the first map and the second map is received, continue to execute the first map fusion request to obtain a complete fusion result of the first map and the second map, wherein the complete fusion result is a complete execution result of the first map fusion request; All fusion results are saved in the target device in a manner of covering all fusion results of a second map fusion request, wherein the second map fusion request is a previous map fusion request of the first map fusion request.

3. The method according to claim 2, characterized in that After storing all the fusion results in the target device in a manner of covering all the fusion results of the second map fusion request, the method further includes: receiving a second map partitioning request for partitioning the first map and the second map; When partial partitioning results of the first map and the second map are obtained and a third map fusion request for the first map and the second map is received from the first target object, execution of the third map fusion request is prohibited, execution of the second map partitioning request continues, and all fusion results of the first map fusion request are sent to the first map display device of the first target object, wherein the partial partitioning results of the first map and the second map are partial execution results of the second map partitioning request.

4. The method according to claim 2, characterized in that After storing all the fusion results in the target device in a manner of covering all the fusion results of the second map fusion request, the method further includes: receiving a fourth map partitioning request from a second target object for partitioning the first map and the second map; When a partial partitioning result of the fourth map partitioning request is obtained and a fourth map fusion request for the first map and the second map is received from the first target object, the fourth map partitioning request is continued to be executed, the execution of the fourth map fusion request is prohibited, and the entire fusion result of the first map fusion request is sent to the first map display device of the first target object.

5. The method according to claim 1, wherein After receiving the first map fusion request for fusing the first map and the second map, the method further includes: When the first map partition request for the first target object and the third map partition request for the second target object are received at the same time, the order of executing the first map partition request and the third map partition request is determined according to the priorities of the first target object and the second object; wherein the third map partition request is used to partition the third map and the fourth map.

6. The method according to claim 1, characterized in that After obtaining a partial fusion result of the first map and the second map and receiving a first map partitioning request for the first map and the second map, stopping executing the first map fusion request and executing the first map partitioning request, the method further includes: When it is determined that the sending object of the first map fusion request is the first target object and the sending object of the first map partition request is the second target object, the partition result of the first map partition request is obtained, and the partition result of the first map partition request is sent to the first map display device of the first target object and the second map display device of the second target object.

7. The method according to claim 1, characterized in that After receiving a first map fusion request from a first target object for fusing a first map with a second map and executing the first map fusion request, the method further includes: When a partial fusion result of the first map and the second map is obtained and a fifth map partitioning request is received, stopping execution of the first map fusion request and executing the fifth map partitioning request, wherein the fifth map partitioning request is used to partition the first map and the third map; When the fifth map partitioning request is completed, the first map fusion request continues to be executed.

8. A device for covering fusion results, characterized in that: include: a first control module, configured to receive a first map fusion request for fusing a first map and a second map, and execute the first map fusion request; an execution module, configured to, upon obtaining a partial fusion result of the first map and the second map and receiving a first map partitioning request for the first map and the second map, stop executing the first map fusion request and execute the first map partitioning request, wherein the partial fusion result is a partial execution result of the first map fusion request; The second control module is used to obtain the partitioning results of the first map and the second map, and store the partitioning results in the target device in a manner that covers the partial fusion result, wherein the partitioning result is the execution result of the first map partitioning request, and storing the partitioning result in the target device in a manner that covers the partial fusion result includes that the partitioning result replaces the partial fusion result, and the partial fusion result no longer exists in the target device, and the partitioning result is stored in the target device.

9. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the method according to any one of claims 1 to 7 when executed.

10. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to perform the method according to any one of claims 1 to 7.

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