Map marking method and device, electronic equipment and storage medium

Abstract

The application discloses a map marking method, a map marking device, an electronic device and a computer readable storage medium. The map marking method comprises the following steps: obtaining each target grid in a first grid map; the first grid map is a grid floor map to be marked; the target grid is a passing grid in an area of an elevator among all the passing grids in the first grid map; determining an elevator channel of the elevator based on each target grid; the elevator channel is a channel for a self-moving device to enter or exit the elevator; determining a moving direction of the self-moving device entering or exiting the elevator through the elevator channel and the target grid; determining a pickup point of the self-moving device taking the elevator according to the elevator channel, the moving direction and the size of the self-moving device; marking the pickup point in the first grid map, or marking the moving direction and the pickup point. The method can efficiently and accurately mark the pickup point of the elevator, or the moving direction and the pickup point in the first grid map.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of image processing, and particularly relates to a map marking method, a map marking device, an electronic device, and a computer readable storage medium. BACKGROUND

[0002] In the related art, a self-moving device, particularly a service robot, generally rides an elevator to realize cross-floor operation based on elevator information in a related map, such as a motion direction for entering / leaving the elevator and / or a pickup point inside the elevator during pickup.

[0003] In order to facilitate the self-moving device to ride the elevator, all related elevator information is generally marked in the constructed map by manual marking. In the process of marking the elevator information by pure manual marking, the marking accuracy of the elevator information marked on the map is low due to the marking method of identifying and manually marking by human eyes, which depends on manual experience. In addition, the pure manual marking method has low marking efficiency, and is particularly time-consuming and laborious for a map of multiple floors or a map of a same floor including multiple elevators. SUMMARY

[0004] The present application provides a map marking method, a map marking device, an electronic device, and a computer readable storage medium, which can solve the problems of low marking accuracy and low marking efficiency of pure manual marking of elevator information in a map, and can efficiently and accurately mark elevator information.

[0005] In a first aspect, the present application provides a map marking method, comprising:

[0006] obtaining each target grid in a first grid map; the first grid map is a grid floor map to be marked, and the target grid is a passing grid in a region of an elevator among all passing grids in the first grid map;

[0007] determining an elevator passage of the elevator based on each target grid; the elevator passage is a passage for the self-moving device to enter or exit the elevator;

[0008] determining a motion direction of the self-moving device to enter or exit the elevator through the elevator passage and the target grid;

[0009] determining a pickup point of the self-moving device to ride the elevator according to the elevator passage, the motion direction, and a size of the self-moving device;

[0010] marking the pickup point in the first grid map, or marking the motion direction and the pickup point.

[0011] In a second aspect, the present application provides a map marking device, comprising:

[0012] The acquisition module is configured to acquire each target grid in a first grid map, the first grid map being a grid floor map to be marked, and the target grid being a passable grid in a region of the elevator in all passable grids in the first grid map;

[0013] The first determination module is configured to determine an elevator passage of the elevator based on each target grid, the elevator passage being a passage for the mobile device to enter or exit the elevator;

[0014] The second determination module is configured to determine a moving direction of the mobile device to enter or exit the elevator through the elevator passage and the target grid;

[0015] The third determination module is configured to determine a boarding point of the mobile device to board the elevator according to the elevator passage, the moving direction, and a size of the mobile device.

[0016] The marking module is configured to mark the boarding point in the first grid map, or mark the moving direction and the boarding point.

[0017] In a third aspect, the present application provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method of the first aspect when executing the computer program.

[0018] In a fourth aspect, the present application provides a computer readable storage medium, which stores a computer program, and the computer program implements the steps of the method of the first aspect when executed by a processor.

[0019] In a fifth aspect, the present application provides a computer program product, which comprises a computer program, and the computer program implements the steps of the method of the first aspect when executed by one or more processors.

[0020] Compared with the prior art, the application has the beneficial effects that: for the grid floor map to be marked, i.e., the first grid map, the passable area corresponding to the grid, i.e., the passable grid, is included. The first grid map is acquired when the elevator is in an open state, and thus the passable area in the first grid map includes the area of the elevator. In order to accurately and efficiently mark the elevator information in the first grid map, the passable grid, i.e., the target grid, in the area of the elevator can be acquired. That is, the marking of the elevator information will be based on the target grid. It can be understood that the marking of the elevator information based on the target grid can avoid errors in the marking result, such as marking to a non-elevator area. Since the characteristics of the elevator passage in the area of the elevator are particularly prominent, the elevator passage can be accurately determined through the target grids. According to the position characteristics of the elevator passage in the area of the elevator, the elevator passage can be used as a reference object to distinguish between the inside and outside of the elevator. Thus, the movement direction of the mobile device entering or leaving the elevator can be determined based on the elevator passage and the target grid. In order to ensure the accuracy of the boarding point of the mobile device on the elevator, i.e., to ensure that the boarding point is inside the elevator, in addition to determining the boarding point based on the elevator passage and the movement direction, the size of the mobile device can also be used to determine the boarding point, so that the mobile device is less likely to collide with other obstacles when it is at the boarding point. After the boarding point is determined, the boarding point or the movement direction and the boarding point can be marked in the first grid map according to the requirements. In this way, the problem of low marking accuracy and efficiency when manually marking the elevator information in the map can be solved, and the movement direction and the boarding point of the elevator in the first grid map can be efficiently and accurately marked.

[0021] It can be understood that the beneficial effects of the second aspect to the fifth aspect described above can be referred to the related description in the first aspect described above, and will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0023] Figure 1 is a flow diagram of the map marking method provided by the embodiments of the present application;

[0024] Figure 2 is an effect diagram of the first grid map provided by the embodiments of the present application;

[0025] Figure 3is an effect schematic diagram of a second grid map provided by an embodiment of the present application;

[0026] Figure 4 is an effect schematic diagram of drawing an elevator inscribed circle based on a second polar axis provided by an embodiment of the present application;

[0027] Figure 5 is a structure schematic diagram of a marking device of a map provided by an embodiment of the present application;

[0028] Figure 6 is a structure schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0029] In the following description, for the purpose of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0030] In the related art, when manually marking the elevator information in the map, the accuracy and efficiency of the marking are low.

[0031] To solve this problem, the present application provides a marking method of a map, which can efficiently and accurately mark the elevator information in a first grid map. The control method proposed by the present application will be described below through specific embodiments.

[0032] The marking method of a map provided by an embodiment of the present application can be applied to electronic devices such as mobile phones, tablet computers, vehicle-mounted devices, augmented reality (AR) / virtual reality (VR) devices, notebook computers, ultra-mobile personal computers (UMPCs), netbooks, personal digital assistants (PDAs), mobile robots, etc. The specific type of the electronic device is not limited by the embodiments of the present application.

[0033] To illustrate the technical solutions proposed by the present application, the electronic device will be taken as the execution subject to describe each embodiment.

[0034] Figure 1 The schematic flowchart of the marking method of a map provided by the present application is shown, which includes:

[0035] In step 110, the electronic device acquires each target grid in the first grid map.

[0036] The grid floor map to be marked, i.e., the first grid map, is generally a two-dimensional map, such as a grid map in PNG format. For example, for a self-moving device, the areas corresponding to the grids in the first grid map can be divided into three categories, namely, an obstacle area, an unreachable area, and a passable area. Generally, the obstacle area refers to an area occupied by a wall or a public device (such as a garbage can) in a floor; the unreachable area refers to an area that does not need to be reached by the self-moving device, such as a private space in a floor, such as a guest room in a hotel; and the passable area refers to an area that needs to be passed through by the self-moving device during operation, such as an area of a corridor and an elevator.

[0037] Optionally, to facilitate the distinction between the three areas, the grids of different areas can be identified by different gray scales. For example, refer to FIG. 1B, which shows a schematic diagram of a first grid map identified by gray scales. In this example, the gray scales of the grids corresponding to the obstacle area, the unreachable area, and the passable area are 0, 125, and 255, respectively. Of course, other ways can also be used to identify different areas, such as setting different fill patterns for the grids of different areas. The identification of the three areas only needs to distinguish the three areas, and the specific identification is not limited in this application. Figure 2 Figure 2 FIG. 1B shows a schematic diagram of a first grid map identified by gray scales. In this example, the gray scales of the grids corresponding to the obstacle area, the unreachable area, and the passable area are 0, 125, and 255, respectively. Of course, other ways can also be used to identify different areas, such as setting different fill patterns for the grids of different areas. The identification of the three areas only needs to distinguish the three areas, and the specific identification is not limited in this application.

[0038] Optionally, the electronic device can mark the first grid map by using a grid marking algorithm. For example, the electronic device can use a grid marking algorithm to mark the first grid map, so as to obtain a second grid map. Figure 1 Generally, the first grid map is constructed by a simultaneous localization and mapping (SLAM) system. After construction, a two-dimensional grid map including only three gray scales can be generated, i.e., an initial first grid map is obtained. During the process of map construction, it is inevitable that isolated noise points exist in the initial first grid map due to noise. To reduce the influence of these isolated noise points on subsequent map marking, the electronic device can remove these isolated noise points. Specifically, the electronic device can perform a preset neighborhood traversal, such as an eight-neighborhood traversal, on the grid of each obstacle point to determine whether each obstacle point is an isolated noise point. If the gray scale of each grid in the neighborhood of the grid of a certain obstacle point is 255, it can be determined that the obstacle is an isolated noise point, which is removed. The removal method can include modifying the gray scale of the grid of the obstacle determined to be an isolated noise point to 255, or marking the grid of the obstacle determined to be an isolated noise point.

[0039] ​In order to facilitate the self-moving device to take the elevator to realize cross-floor operation, the electronic device can identify the elevator information in the first grid map. Specifically, in the embodiments of the present application, the elevator information is a boarding point inside the elevator when the self-moving device takes the elevator, or the boarding point and the moving direction of the self-moving device entering / leaving the elevator.

[0040] Obviously, whether it is a boarding point or a moving direction, it is directly related to the area of the elevator. In order to ensure that the marking result is correct, for example, to avoid marking the elevator information on the obstacle, or marking it in the area outside the elevator, the subsequent marking can be based on the grid corresponding to the area of the elevator. Since the area of the elevator is in the passable area, therefore, the electronic device can determine the grid corresponding to the area of the elevator from the grid corresponding to the passable area. For ease of description, the grid corresponding to the blank area in the passable grid can be recorded as the target grid, and the grid corresponding to the area of the elevator can be recorded as the target grid. Figure 2

[0041] Alternatively, since it is not difficult to directly select the target grid from the first grid image by manual, the target grid can be selected by manual, for example, the user marks the elevator area in the first grid image through the electronic device, and the grid in the area is the target grid. But in order to more accurately and efficiently determine the target grid, it is preferred to determine the target grid by automatic calculation of the electronic device. It can be understood that according to different acquisition methods of the target grid, the marking method of the map can include a semi-automatic marking method and an automatic marking method, that is, if the target grid is determined by manual, the marking method of the map is a semi-automatic marking method; if the target grid is automatically determined by the electronic device, the marking method of the map is an automatic marking method.

[0042] Step 120, the electronic device determines the elevator passage of the elevator based on each target grid.

[0043] In order to facilitate the determination of the boarding point and / or the moving direction, the electronic device can find a distinctive reference from the target grid. The elevator passage of the elevator is distinctive in the area of the elevator. For example, generally the elevator passage belongs to the narrowest part, therefore, the electronic device can determine the elevator passage from the target grid according to the characteristics of the elevator passage.

[0044] Step 130, the electronic device determines the moving direction of the self-moving device entering or leaving the elevator through the elevator passage and the target grid.

[0045] In order to ensure that the boarding point is marked in the elevator car, in addition to determining the elevator passage, the moving direction of the self-moving device entering the elevator can also be determined. In addition to the manually set manner, the moving direction can also be automatically determined by the electronic device. ​

[0046] Specifically, after determining the elevator passage, the electronic device can take the elevator passage as a reference object for distinguishing the inside and outside of the elevator according to the distribution characteristics of the elevator passage in the target grid. Through analysis, the area of the elevator is mostly wide inside and narrow outside, that is, the car is wide inside and narrow at the elevator passage. Therefore, the electronic device can determine the movement direction through the elevator passage and the target grid.

[0047] Step 140, the electronic device determines a boarding point of the self-moving device according to the elevator passage, the movement direction, and the size of the self-moving device.

[0048] In principle, the electronic device can determine the boarding point according to the elevator point and the movement direction, but considering that the self-moving device itself occupies a certain space, only according to the elevator point and the movement direction may lead to a poor determination of the elevator point. For example, the self-moving device may collide with the elevator car during the movement to the elevator point, or when the self-moving device stays at the elevator point, the self-moving device is easy to collide with the elevator door during the process of closing the elevator door. Therefore, when determining the boarding point, the electronic device can determine the boarding point based on the elevator point and the movement direction, combined with the size of the electronic device, to improve the accuracy of the determination of the elevator point.

[0049] Step 150, the electronic device marks the boarding point in the first grid map, or marks the movement direction and the boarding point.

[0050] After determining the boarding point, in order to facilitate the self-moving device to autonomously board the elevator to realize cross-floor operation, the electronic device can mark the boarding point in the first grid map. However, only marking the elevator point in the first grid map may lead to a collision between the self-moving device and the elevator passage during the movement of the self-moving device to the boarding point. In order to avoid this situation, the electronic device can mark the movement direction in addition to marking the boarding point in the first grid map, so as to facilitate the self-moving device to plan a collision-free path, thereby improving the stability and reliability of boarding the elevator.

[0051] The electronic device can process the first grid map based on the geometric characteristics of the elevator, such as the width of the car and the narrowness of the elevator passage, identify the elevator in the order of the grid corresponding to the area of the elevator -> the elevator passage -> the movement direction -> the elevator point, and semi-automatically or automatically mark the first grid map according to the identification result. This not only improves the marking efficiency of the map, but also improves the accuracy of the marking result. The accurate marking result also helps to improve the stability of the self-moving device when it gets on the elevator. This reduces the inaccuracy of manual marking of the robot's boarding point in the elevator in the map and the tediousness of the person following the robot to get on the elevator at each floor. The technical solution of the present application has high accuracy and precision, and reduces the time for manual repositioning of the elevator marking position.

[0052] In some embodiments, if the robot's operating environment has multiple floors, the robot can first scan and obtain the map of each floor, and then traverse each floor map in turn according to the method of the foregoing embodiments to obtain the boarding point and movement direction of each floor and mark them.

[0053] In some embodiments, to automatically and accurately determine the target grid, the foregoing step 110 specifically includes:

[0054] Step 111, the electronic device establishes a polar coordinate system with each passable grid as a pole.

[0055] The target grid is the grid corresponding to the area of the elevator. Therefore, the electronic device can determine the target grid from the passable grid by virtue of the characteristic that the area of the elevator is wide inside and narrow outside. That is, the electronic device can determine whether each passable grid meets the grid condition corresponding to the characteristic, thereby determining the target grid from the passable grid.

[0056] Specifically, the electronic device can establish a polar coordinate system based on each passable grid to facilitate subsequent determination of whether the distribution of passable grids around each passable grid meets the characteristic of being wide inside and narrow outside, so as to accurately screen out the target grid. When establishing the polar coordinate system, in order to improve the accuracy of the determination of the target grid, the center of each passable grid can be taken as a pole to establish the polar coordinate system; and in order to efficiently screen the target grid under the same standard, the orientations of the polar axes of the polar coordinate systems can be unified, that is, the orientations of the polar coordinate systems should be consistent.

[0057] Step 112, for each rotation angle on each polar coordinate system, the electronic device traverses each target grid at the first rotation angle based on polar radii of different lengths until it stops traversing when it reaches a non-passable grid.

[0058] To determine whether the distribution of the passing grids around each passing grid meets the characteristic of being wider in the inside and narrower in the outside, for each passing grid, the electronic device can set a rotation angle and a length of a polar radius of a corresponding polar coordinate system to traverse the surrounding passing grids to determine a distribution characteristic presented by the surrounding passing grids. The electronic device compares the distribution characteristic with the characteristic of being wider in the inside and narrower in the outside, and thus can accurately determine whether the passing grid is the target grid.

[0059] Specifically, for each polar coordinate, the rotation angle can be selected from [0°, 360°), and the electronic device can set a difference between two adjacent rotation angles according to the requirements of accuracy and calculation efficiency. For example only, the difference between two adjacent rotation angles can be 1°, and accordingly, the rotation angles can be 0°, 1°, 2°, …, 358°, and 359°.

[0060] It can be understood that the smaller the difference is, the higher the accuracy is, but the lower the calculation efficiency is. When setting the difference between two adjacent rotation angles, the accuracy and the calculation efficiency can be balanced to determine the optimal difference. How to set the difference is not limited in the embodiment.

[0061] For each rotation angle, the electronic device can traverse the passing grids on the rotation angle by polar radii with different lengths until a non-passing grid on the rotation angle is reached. The non-passing grid is reached by extending the polar radius towards the continuous passing grids on the rotation angle until the last passing grid in the continuous passing grids, and accordingly, the next grid of the last passing grid on the rotation angle is the non-passing grid.

[0062] Since the area of the elevator has a certain size, for each polar radius, the electronic device can perform the traversal within a certain length range to improve the efficiency of determining the target grid. That is, the electronic device can set a length range in advance, and the length range is determined based on the size of the elevator. For each polar radius, the electronic device can set different lengths of the polar radius by the length range to complete the traversal on the corresponding angle.

[0063] Alternatively, the unit length of the length of the polar radius is 1 grid (for brevity of description, the unit of length is not shown in the following), and the length range can be [0, 120]. For each rotation angle, the electronic device can set a difference between two adjacent lengths according to the requirements of accuracy and calculation efficiency during the traversal. For example only, the difference between two adjacent lengths can be 1, and accordingly, the lengths of the polar radius can be 0, 1, 2, …, 119, and 120. The shortest length of the polar radius is 0, and the longest length of the polar radius is 120. Based on this, the stopping condition can include that the length range of the polar radius exceeds 120 or the non-passing grid is reached. The length range can be determined according to the possible size of the elevator and the grid resolution.

[0064] For example, for the polar coordinate system corresponding to the passable grid a, the traversal operation is performed on the rotation angle 1°, and the length of the polar radius corresponding to 1° is sequentially set to 0, 1, 2, …, 119, and 120. If the non-passable grid on the rotation angle 1° is traversed when the length is 35, the electronic device can stop the traversal on the rotation angle 1°. If the non-passable grid on the rotation angle 1° is still not traversed when the length is 120, the traversal on the rotation angle 1° can also be stopped because the corresponding length range has been exceeded.

[0065] It can be considered that the electronic device completes the traversal on each rotation angle after completing the traversal on the passable grid, that is, the traversal on the passable grid around one passable grid is completed. Accordingly, there are as many polar coordinate systems as there are passable grids, and the electronic device completes the traversal operation of the present step after completing the traversal on each polar coordinate as described above, and can perform the subsequent step.

[0066] In step 113, the electronic device records the longest polar radius on each rotation angle of each polar coordinate system.

[0067] In the foregoing traversal process, when the condition for stopping the traversal is met on each rotation angle, the electronic device can stop the traversal, and the length of the polar radius obtained at this time is the longest length on the rotation angle. That is, when the length of the polar radius of each rotation angle meets the condition for stopping the traversal, it can be considered that the polar radius is the longest polar radius on the rotation angle. In other words, after completing the traversal, the electronic device can record a longest polar radius for each rotation angle.

[0068] For example, the traversal operation is performed on the rotation angle 35°, and the length of the polar radius corresponding to the rotation angle 35° is sequentially set to 0, 1, 2, …, 119, and 120. If the non-passable grid on the rotation angle 35° is traversed when the length is 78, the electronic device can stop the traversal on the rotation angle 35° and record the longest polar radius corresponding to the rotation angle 35°, and the length of the longest polar radius is 78. If the non-passable grid on the rotation angle 35° is still not traversed when the length is 120, the traversal on the rotation angle 35° can also be stopped because the corresponding length range has been exceeded, and the longest polar radius corresponding to the rotation angle 35° is recorded, and the length of the longest polar radius is 120.

[0069] For each polar coordinate system, a certain number of rotation angles are set, and after completing the traversal, the electronic device can record a certain number of longest polar radii, each longest polar radius corresponding to each rotation angle.

[0070] For example, assuming that 180 rotation angles are set, 180 longest polar radii can be recorded, and the 180 rotation angles correspond to the 180 longest polar radii one by one.

[0071] Step 114, the electronic device determines the passing grid corresponding to the target polar coordinate system as the target grid.

[0072] The distribution characteristics of the longest polar radii corresponding to each polar coordinate system can represent the distribution characteristics of the passing grids around the passing grid corresponding to the polar coordinate system. In order to determine the target grid from the passing grids, the electronic device can determine the screening condition through the geometric characteristics of the elevator, and screen the target polar coordinate system from the polar coordinate systems according to the screening condition. The distribution characteristics of the passing grids around the passing grid corresponding to the target polar coordinate system are the same as the characteristics of the elevator being wide inside and narrow outside, so the passing grid corresponding to the target polar coordinate system can be determined as the target grid.

[0073] The screening condition is determined through the geometric characteristics of the elevator, that is, the screening condition is set through the distribution characteristics of the passing grids corresponding to the area of the elevator. Specifically, the electronic device can set the screening condition based on the size of the elevator and the resolution of the first grid map, so as to ensure that the distribution of the longest polar radii corresponding to the screened target polar coordinate system can meet the characteristics of the elevator being wide inside and narrow outside.

[0074] Among them, the electronic device can set the screening condition from two aspects, which are the rotation angle and the length of the longest polar radius. The rotation angle can be set according to the orientation of each polar coordinate system in the first grid map; the length of the longest polar radius can be set according to the size of the current elevator.

[0075] For example, assuming that the length of the longest polar radius is represented by r i , the corresponding rotation angle is represented by t i , the screening condition can include: r i <120, and 270°<t i <360°; and r i =120, 0°<t i <90°; and r i =120, t i =a, and t i =a+180°, r i <60, where a can be any value of the rotation angle.

[0076] For each longest polar radius of each polar coordinate system, if there is a longest polar radius that meets the screening condition, the electronic device can determine the polar coordinate system as the target polar coordinate system; accordingly, the passing grid corresponding to the target polar coordinate system can be determined as the target grid.

[0077] In the embodiments of the present application, by establishing a polar coordinate system for each passable grid, the electronic device can determine the distribution characteristics of the passable grids around each passable grid, and by constructing a screening condition based on the geometric characteristics of the narrow inside and wide outside of the elevator, the passable grid whose distribution characteristics around it match the geometric characteristics of the narrow inside and wide outside of the elevator can be determined from the passable grids. Such a passable grid is the target grid. Obviously, compared with manual determination, the accuracy and efficiency of the determination method of the target grid are higher, and the accuracy of subsequent map marking can be improved.

[0078] In some embodiments, since the self-moving device occupies a certain space, if the target grids are directly determined from the first grid map, the accuracy of the marking result cannot be guaranteed. That is, when the self-moving device is at the pickup point, it is easy to collide with obstacles. Therefore, in order to guarantee the accuracy of the marking result, i.e., the self-moving device is not easy to collide with obstacles when it is at the pickup point, the target grid can also be determined by the following steps:

[0079] Step A1, the electronic device inflates the obstacles in the first grid map based on the size of the self-moving device to obtain a second grid map.

[0080] The reason why directly determining the target grids from the first grid map cannot guarantee the accuracy of the marking result is mainly because the self-moving device is regarded as a point in the first grid map, and the size of the self-moving device is not considered. Based on this, to improve the accuracy of the marking result, the electronic device can inflate the obstacle map in the first grid map in combination with the size of the self-moving device to obtain a second grid map.

[0081] For example only, it is assumed that the chassis radius of the service robot is R meters, and the resolution of each grid in the first grid map is X meters. Thus, the electronic device can determine N = R / X grids, which can be rounded up. For example, R is 0.3 meters and X is 0.03 meters, so N is 10 grids. When inflating, the electronic device takes the center of each grid corresponding to the obstacle in the first grid map as the center of a circle with a radius of N, and marks each grid within the circle as an obstacle grid. For example, the gray value of each grid within the circle is set to 0. For example, the inflated map, i.e., the second grid map, can be obtained as shown in Figure 3

[0082] In the second grid map, the grids occupied by each obstacle include the grids occupied by the self-moving device. In this way, when the self-moving device moves, it is not easy to collide with each obstacle. That is, the second grid map can ensure that when the self-moving device moves to any passable area in the second grid map, it is not easy to collide with the surrounding obstacles.

[0083] ​Step A2, the electronic device determines a first candidate grid corresponding to the elevator in the first grid map.

[0084] The first candidate grid, i.e. the target grid determined in the foregoing steps 111-114. Since it is considered that in the target grid in the foregoing steps, there may be a situation that the mobile device is at some target grid and collides with the obstacle, therefore in this embodiment, the target grid does not refer to the target grid obtained in the foregoing steps 111-114.

[0085] That is, the passable grid screened out by the electronic device after executing the foregoing steps 111-114 will be recorded as the first candidate grid. The specific execution process can be referred to the description of the foregoing steps 111-114, which will not be repeated here.

[0086] Step A3, determining a second candidate grid corresponding to the elevator in the second grid map.

[0087] For the second grid map, the electronic device also screens the passable grid satisfying the condition by executing the foregoing steps 111-114. The specific execution process can be referred to the description of the foregoing steps 111-114, which will not be repeated here.

[0088] However, it should be noted that since the passable grid corresponding to the area of the elevator in the second grid map is less than that in the first grid map, therefore the length range and the screening condition of the foregoing steps can be adjusted by the mobile device.

[0089] For example, the length range can be adjusted to [0, 60], and the screening condition can be adjusted to: r i <60, and 300°<t i <360°; and r i =60, 0°<t i <60°; and r i =60, t i =b, and t i =b+180°, r i <30, where b can be any value of rotation angle.

[0090] Step A4, the electronic device determines a target grid from the first candidate grid based on the second candidate grid.

[0091] After determining the two candidate grids, the electronic device filters the first candidate grid through the second candidate grid, because the second candidate grid is a passing grid corresponding to the region of the elevator in the expanded grid map, so that the first candidate grid that is prone to cause the self-moving device to collide with the obstacle is filtered out, and a target grid is obtained. The subsequent map marking step is performed based on the target grid, which can ensure the accuracy of the marking result, i.e., ensure that the self-moving device is not prone to collision with the obstacle when being at the pickup point.

[0092] Alternatively, for each first candidate grid, the electronic device can determine the minimum value of the distance between the first candidate grid and each second candidate grid. That is, for each first candidate grid, as many second candidate grids as there are, as many distances can be determined, and the minimum value of the distance can be determined from the distances. Therefore, as many first candidate grids as there are, the electronic device can obtain the minimum value of as many distances. The electronic device can compare the minimum value with a preset distance threshold value, so as to screen out the target grid. Specifically, the first candidate grid with the minimum value less than the distance threshold value can be determined as the target grid. The distance can be a two-norm distance, and the distance threshold value can be set according to the corresponding requirements. For example, the distance can be set to an integer value in 3-8.

[0093] In this embodiment, when determining the target grid, the size of the self-moving device is fully considered, the electronic device inflates the first grid map through the size of the self-moving device to obtain a second grid map, and then performs the foregoing steps 111-114 on the two grid maps to obtain two candidate grids. The target grid with higher accuracy can be determined through matching of the two candidate grids. The electronic device performs the subsequent map marking step based on the target grid, which can ensure the accuracy of the marking result, i.e., ensure that the self-moving device is not prone to collision with the obstacle when being at the pickup point, and is helpful to improve the robustness of the robot.

[0094] In some embodiments, as known from the foregoing, the elevator passage has a distinct feature in the target grid, which is usually the narrowest part. Therefore, the elevator passage can be determined from the target grid based on this feature. Specifically, the above step 120 includes:

[0095] Step 121, the electronic device determines a first polar axis that satisfies a preset polar axis condition, with each target grid as a pole.

[0096] Based on the geometric feature of the elevator passage in the target grid, i.e., the width and the narrowest feature, if a plurality of straight lines passing through the elevator passage are drawn in the target grid, the ends of the straight lines can present a fan shape. Based on this feature, the electronic device can average the straight lines to determine a straight line at the center line of the elevator passage, which is helpful to determine the elevator passage.

[0097] Based on this, in order to accurately determine the elevator aisle, the electronic device can take each target grid as a pole point, establish a new polar coordinate system, and in order to distinguish from the aforementioned polar coordinate system, the aforementioned polar coordinate system is recorded as a first polar coordinate system, and the polar coordinate system here is recorded as a second polar coordinate system. The electronic device can determine the polar axis (equivalent to the aforementioned straight line) that can pass through the elevator aisle through the polar axis condition, that is, the first polar axis. Wherein, the polar axis condition can be determined according to the spatial characteristics of the elevator and the target grid.

[0098] For example, the polar axis condition can include: t i = 0°, r i > 120; and t i = 180°, r i < 60.

[0099] That is, for each target grid, if a second coordinate system that satisfies the polar axis condition can be drawn for the polar axis, then the corresponding polar axis is the first polar axis.

[0100] Step 122, the electronic device determines the second polar axis from each first polar axis.

[0101] The elevator aisle has a certain width, so there are multiple first polar axes that pass through the elevator aisle. After determining each first polar axis that passes through the elevator aisle, the polar axis at the center line of the elevator aisle can be determined by averaging. In order to facilitate distinction, the polar axis can be recorded as a second polar axis.

[0102] Step 123, the electronic device determines the inscribed circle of the elevator with each first target point on the second polar axis as the center.

[0103] Because a segment of the second polar axis is in the elevator car and a segment is in the elevator aisle, and for the entire elevator, the elevator aisle is the narrowest part, therefore, the electronic device can establish multiple target points on the second polar axis to draw the inscribed circle of the elevator area according to this feature, so as to determine the elevator aisle according to the radius of each inscribed circle. In order to facilitate the distinction of the target point later, the target point is recorded as a first target point.

[0104] Step 124, the electronic device determines the elevator aisle according to each inscribed circle with the smallest radius.

[0105] As Figure 4 shown, if it is the inscribed circle at the elevator aisle, then its radius should be the smallest. Therefore, the electronic device can determine the elevator aisle according to each inscribed circle with the smallest radius.

[0106] In the embodiments of the present application, in view of the fact that the elevator passage has a certain width, the electronic device can determine a plurality of first polar axes that can pass through the elevator passage; based on the fact that the elevator passage has regular geometric features, the second polar axis can be determined from the plurality of first polar axes by averaging, wherein the second polar axis is at the center line of the elevator passage; on this basis, the electronic device can draw the inscribed circle of the elevator based on the first target point preset on the second polar axis according to the feature that the inside of the elevator is wide and the outside is narrow, and then accurately determine the elevator passage from the inscribed circles with the smallest radius. Based on the features of the elevator, the elevator passage can be efficiently and automatically determined, so as to further determine the movement direction of the self-moving device entering or leaving the elevator, and improve the marking efficiency.

[0107] In some embodiments, specifically, the foregoing step 130 comprises:

[0108] Step 131, establishing a third polar coordinate system with the target center of the target inscribed circle as the polar point.

[0109] The elevator passage has a certain length, and for one end close to the elevator car, it can be recorded as the elevator port. Obviously, the elevator port is much narrower than the car of the elevator. Therefore, the elevator car can be determined by means of the inscribed circle corresponding to the elevator port, which helps the electronic device to accurately determine the movement direction of the self-moving device entering or leaving the elevator. For ease of description, the inscribed circle corresponding to the elevator port can be recorded as the target inscribed circle.

[0110] Among them, the target inscribed circle can be determined according to each inscribed circle on the second polar axis. The radius difference between the inscribed circle in the car and the target inscribed circle is large, so the electronic device can determine the target inscribed circle according to this feature.

[0111] For the target inscribed circle, the electronic device can establish a third coordinate system with its target center as the polar point, so as to determine the elevator car, specifically, the elevator bottom edge of the elevator car.

[0112] Step 132, for each second rotation angle on the third polar coordinate system, setting the length of the polar radius based on the preset second length range to traverse to the last target grid in the continuous target grid at the second rotation angle, to obtain a plurality of second target points on the elevator bottom edge of the elevator.

[0113] The distance from the elevator entrance to the elevator bottom edge can be converted according to the actual size of the elevator and the grid resolution. Thus, for the third polar coordinate system, a second length range can be set according to the converted distance, so as to traverse each target grid through a polar radius of different lengths at each rotation angle of the third polar coordinate system, until the last target grid in the continuous target grids at the corresponding rotation angle is traversed, the traversal is stopped, and a target point at the rotation angle is recorded. In order to distinguish the rotation angles in different coordinate systems, the aforementioned rotation angle is recorded as a first rotation angle, and the rotation angle here is recorded as a second rotation angle. Similarly, in order to distinguish the aforementioned target point, the target point here is recorded as a second target point. For each second rotation angle, a second target point can be determined, and thus a plurality of second target points can be obtained. Each second target point is a point falling on the elevator bottom edge.

[0114] For example, the second length range is [0, 60]. For other detailed steps of the traversal, refer to the description in the foregoing embodiments, which will not be repeated here.

[0115] Step 133, determining a bottom edge straight line corresponding to the elevator bottom edge based on the plurality of second target points.

[0116] Since the plurality of second target points all fall on the elevator bottom edge, the electronic device can determine a bottom edge straight line corresponding to the elevator bottom edge according to the second target points.

[0117] Step 134, determining a movement direction based on the bottom edge straight line and the target center.

[0118] The elevator bottom edge and the target center have a special positional relationship, that is, the target center is on the perpendicular line of the elevator bottom edge, and thus the electronic device can determine the movement direction according to the bottom edge straight line and the target center.

[0119] Alternatively, the movement direction can be determined by the following steps:

[0120] Step 1341, determining a perpendicular line of the bottom edge straight line based on the target center.

[0121] Step 1342, recording the direction from the perpendicular line to the target center as the movement direction of the mobile device leaving the elevator.

[0122] Based on the geometric characteristics of the elevator rules, it is known that the target center is on the perpendicular line of the elevator bottom edge, and thus the electronic device can make a straight line perpendicular to the bottom edge straight line based on the target center, which is also the perpendicular line of the bottom edge straight line. Obviously, in the case where the perpendicular line and the target center are known, the movement direction can be determined. Specifically, the direction from the perpendicular line to the target center can be recorded as the movement direction of the mobile device leaving the elevator; accordingly, the opposite direction of the direction is the movement direction of the mobile device entering the elevator.

[0123] In the embodiment of the present application, the electronic device first establishes polar coordinates for the center of the inscribed circle of the elevator door, i.e., the center of the target inscribed circle, and then determines each second target point falling on the bottom edge of the elevator by setting a corresponding stop-traversing condition, and further determines the bottom edge straight line corresponding to the bottom edge of the elevator. According to the positional relationship between the bottom edge straight line and the center of the target circle, the moving direction can be efficiently and accurately determined, thereby improving the safety of the robot when entering and exiting the elevator.

[0124] In some embodiments, in order to determine the optimal bottom edge straight line, the foregoing step 133 specifically includes:

[0125] Step 1331, the electronic device draws a straight line for each two second target points in the plurality of second target points to obtain a corresponding candidate bottom edge straight line.

[0126] For any two points in the second target points, a straight line can be drawn. Since some second target points may not actually fall on the bottom edge of the elevator, the straight line drawn based on such points may deviate from the bottom edge of the elevator. In order to avoid determining such a straight line as a bottom edge straight line, for the straight line drawn for each two points, the straight line can be first recorded as a candidate bottom edge straight line, so that the electronic device determines the optimal bottom edge straight line based on subsequent steps.

[0127] Step 1332, for each candidate bottom edge straight line, the electronic device calculates the sum of distances from the remaining second target points to the candidate bottom edge straight line.

[0128] The optimal bottom edge straight line is the candidate bottom edge straight line that passes through the most second target points. This means that the distances from the remaining second target points to this candidate bottom edge straight line are the shortest. Therefore, to determine such a bottom edge straight line, the electronic device can calculate the distance from each of the remaining second target points to the candidate bottom edge straight line, and sum the distances. As many candidate bottom edge straight lines, as many sums can be calculated.

[0129] Step 1333, the electronic device determines the bottom edge straight line based on the candidate bottom edge straight line with the smallest sum of distances.

[0130] As can be known from the foregoing description, the distances from the remaining second target points to the optimal bottom edge straight line are the shortest. Therefore, it can be considered that the sum of distances from the remaining second target points to this bottom edge straight line is the smallest. Based on this, the electronic device can determine the candidate bottom edge straight line with the smallest sum of distances as the optimal bottom edge straight line.

[0131] In the embodiments of the present application, in each second target point, the electronic device can determine a candidate bottom side straight line according to each two second target points, and then determine the sum of distances between each candidate bottom side straight line and the rest of the second target points according to the feature of the optimal bottom side straight line, i.e., the optimal bottom side straight line can pass through the most second target points, in other words, the distances from the rest of the second target points to the optimal bottom side straight line are the shortest, and determine the candidate bottom side straight line with the smallest sum of distances as the bottom side straight line, so as to determine the optimal bottom side straight line, thereby improving the determination accuracy of the moving direction of the self-moving device entering or leaving the elevator.

[0132] It should be understood that the size of the serial number of each step in the above embodiments does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0133] The marking method of the map corresponding to the above embodiments, Figure 5 The structure block diagram of the map marking device 5 provided by the embodiments of the present application is shown, and only the parts related to the embodiments of the present application are shown for ease of description.

[0134] Referring to Figure 5 The map marking device 5 comprises:

[0135] The acquisition module 51 is configured to acquire each target grid in a first grid map; the first grid map is a grid floor map to be marked, and the target grid is a passing grid in the area of the elevator among all the passing grids in the first grid map;

[0136] The first determination module 52 is configured to determine an elevator passage of the elevator based on each target grid; the elevator passage is a passage for the self-moving device to enter or leave the elevator;

[0137] The second determination module 53 is configured to determine the moving direction of the self-moving device entering or leaving the elevator through the elevator passage and the target grid;

[0138] The third determination module 54 is configured to determine a boarding point of the self-moving device boarding the elevator according to the elevator passage, the moving direction, and the size of the self-moving device;

[0139] The marking module 55 is configured to mark the boarding point in the first grid map, or mark the moving direction and the boarding point.

[0140] Optionally, the first determination module 52 can comprise:

[0141] The first establishing unit is configured to establish a first polar coordinate system with each passing grid as a pole point, and the polar axes of each first polar coordinate system are in the same direction;

[0142] The first traversing unit is configured to traverse each target grid in the first rotation angle based on different lengths of the polar radius until the non-passable grid is reached, for each first rotation angle in each first polar coordinate system; and the length of the polar radius is set based on a preset first length range.

[0143] The recording unit is configured to record the longest polar radius in each first rotation angle of each first polar coordinate system.

[0144] The first determining unit is configured to determine the passable grid corresponding to the target polar coordinate system as the target grid; the target polar coordinate system is the first polar coordinate system in which the longest polar radius satisfying a preset first screening condition exists in the corresponding longest polar radii, and the first screening condition is determined based on the size of the elevator and the resolution of the first grid map.

[0145] Optionally, the first determining module 52 can further include:

[0146] The expanding unit is configured to expand the obstacle in the first grid map based on the size of the mobile device to obtain a second grid map.

[0147] The second determining unit is configured to determine the first candidate grid corresponding to the elevator in the first grid map.

[0148] The third determining unit is configured to determine the second candidate grid corresponding to the elevator in the second grid map.

[0149] The fourth determining unit is configured to determine the target grid from the first candidate grid based on the second candidate grid.

[0150] Optionally, the second determining module 53 can include:

[0151] The fifth determining unit is configured to determine the first polar axis satisfying a preset polar axis condition with the center of each target grid as the polar point; the polar axis condition is determined based on the spatial feature of the elevator and the target grid.

[0152] The sixth determining unit is configured to determine the second polar axis from the first polar axes, the second polar axis being in a central position in the first polar axes.

[0153] The seventh determining unit is configured to determine the inscribed circle of the elevator with each first target point on the second polar axis as the center, the first target point being determined based on a preset interval.

[0154] The eighth determining unit is configured to determine the elevator passage according to the inscribed circles with the smallest radius.

[0155] Optionally, one end of the elevator passage is the elevator door, and the second determining module 53 can include:

[0156] The second establishing unit is configured to establish a third polar coordinate system with the target center of the target inscribed circle as a pole point, the target inscribed circle being an inscribed circle corresponding to the elevator door among inscribed circles with the smallest radius;

[0157] The second traversing unit is configured to, for each second rotation angle on the third polar coordinate system, set a length of a polar radius based on a preset second length range, to traverse to a last target grid in a continuous target grid at the second rotation angle, to obtain a plurality of second target points on the bottom side of the elevator;

[0158] The ninth determining unit is configured to determine the bottom side straight line corresponding to the bottom side of the elevator based on the plurality of second target points.

[0159] The tenth determining unit is configured to determine the movement direction based on the bottom side straight line and the target center.

[0160] Optionally, the ninth determining unit can include:

[0161] The drawing sub-unit is configured to draw a straight line for each two second target points in the plurality of second target points, to obtain a corresponding candidate bottom side straight line.

[0162] The calculation sub-unit is configured to, for each candidate bottom side straight line, calculate a sum of distances from the remaining second target points to the candidate bottom side straight line.

[0163] The first determining sub-unit is configured to determine the bottom side straight line based on the candidate bottom side straight line with the smallest sum of distances.

[0164] Optionally, the tenth determining unit includes:

[0165] The second determining sub-unit is configured to determine a perpendicular bisector of the bottom side straight line based on the target center.

[0166] The recording sub-unit is configured to record a direction from the bottom side straight line to the target center as the movement direction of the mobile device away from the elevator.

[0167] It should be noted that the information interaction and execution process between the above apparatuses / units, since based on the same concept as the method embodiments, the specific functions and the technical effects brought by the same can be referred to the method embodiments part, and will not be repeated here.

[0168] Figure 6 The physical layer structure of the electronic device is provided for an embodiment of the present application. As shown in the figure, Figure 6 The electronic device 6 of this embodiment includes at least one processor 60 Figure 6The processor 60, the memory 61 and the computer program 62 stored in the memory 61 and executable on the at least one processor 60 are only shown once. The processor 60, while executing the computer program 62, carries out the steps of any of the above described embodiments of the method of marking a map, for example Figure 1 The steps 110-150 are shown.

[0169] The processor 60 can be a Central Processing Unit (CPU), a general-purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like. The general-purpose processor can be a microprocessor or the like.

[0170] The memory 61 can be an internal storage unit of the electronic device 6, for example a hard disk or a memory of the electronic device 6, in some embodiments. The memory 61 can also be an external storage device of the electronic device 6, for example a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, or the like, in other embodiments.

[0171] Further, the memory 61 can include both an internal storage unit and an external storage device of the electronic device 6. The memory 61 is used to store operating systems, application programs, Boot Loaders, data, and other programs, for example program codes of computer programs, and the like. The memory 61 can also be used to temporarily store data that has been output or will be output.

[0172] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the above-mentioned device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be realized in the form of hardware or software functional unit. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the present application. The specific working process of the unit and module in the above-mentioned system can refer to the corresponding process in the foregoing method embodiment, which will not be described here.

[0173] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program. The computer program is executed by a processor to realize the steps in each of the above method embodiments.

[0174] The embodiment of the present application provides a computer program product. When the computer program product runs on an electronic device, the electronic device executes the steps in each of the above method embodiments.

[0175] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on this understanding, the present application realizes all or part of the processes in the above-mentioned embodiment methods, which can be completed by a computer program instructing related hardware. The above-mentioned computer program can be stored in a computer readable storage medium. The computer program is executed by a processor to realize the steps in each of the above method embodiments. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The above-mentioned computer readable medium at least includes any entity or device capable of carrying the computer program code to the photographing device / electronic device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium. For example, U disk, mobile hard disk, magnetic disk or optical disk, etc.

[0176] In the above-mentioned embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0177] Those skilled in the art can understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0178] In the embodiments provided by the present application, it should be understood that the disclosed apparatus / network device and method can be implemented in other ways. For example, the apparatus / network device embodiments described above are merely schematic. The division of the above modules or units is merely a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between the units can be indirect couplings or communication connections through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0179] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e. can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiments.

[0180] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method of marking a map, characterized by, The method comprises: obtaining each target grid in a first grid map; the first grid map is a grid floor map to be marked, and the target grid is a passing grid in an area of an elevator in all passing grids in the first grid map; determining an elevator passage of the elevator based on each target grid; the elevator passage is a passage for a self-moving device to enter or exit the elevator; determining a moving direction of the self-moving device to enter or exit the elevator through the elevator passage and the target grid; determining a boarding point of the self-moving device to board the elevator according to the elevator passage, the moving direction and a size of the self-moving device; marking the boarding point in the first grid map, or marking the moving direction and the boarding point.

2. The map marking method of claim 1, wherein The method of obtaining each target grid in the first grid map comprises: establishing a first polar coordinate system with each passing grid as a pole; the polar axes of each first polar coordinate system are in the same direction; for each first rotation angle on each first polar coordinate system, traversing each target grid on the first rotation angle based on different lengths of polar radii until stopping traversing when a non-passing grid is found; the length of the polar radius is set based on a preset first length range; recording the longest polar radius on each first rotation angle of each first polar coordinate system; determining a passing grid corresponding to a target polar coordinate system as the target grid; the target polar coordinate system is a first polar coordinate system corresponding to a longest polar radius that meets a preset first screening condition; the first screening condition is determined based on the size of the elevator and the resolution of the first grid map.

3. The method of marking a map according to claim 1, wherein The method of obtaining each target grid in the first grid map comprises: inflating an obstacle in the first grid map based on the size of the self-moving device to obtain a second grid map; determining a first candidate grid corresponding to the elevator in the first grid map; determining a second candidate grid corresponding to the elevator in the second grid map; determining the target grid from the first candidate grid based on the second candidate grid.

4. The map marking method according to any one of claims 1 to 3, wherein The method of determining the elevator passage of the elevator based on each target grid comprises: determining a first polar axis that meets a preset polar axis condition with each target grid as a pole; the polar axis condition is determined based on the spatial feature of the elevator and the target grid; determining a second polar axis from each first polar axis; the second polar axis is in a central position in each first polar axis; determining an inscribed circle of the elevator with each first target point on the second polar axis as a center; the first target point is determined based on a preset interval; determining the elevator passage according to each inscribed circle with the smallest radius.

5. The method of marking a map according to claim 4, wherein One end of the elevator passage is an elevator port, and the method of determining the moving direction of the self-moving device to enter or exit the elevator through the elevator passage and the target grid comprises: establishing a third polar coordinate system with a target center of a target inscribed circle as a pole; the target inscribed circle is an inscribed circle corresponding to the elevator port in each inscribed circle with the smallest radius. For each second rotation angle on the third polar coordinate system, a length of a polar radius is set based on a preset second length range, so as to traverse to a last target grid in the target grids continuous to the second rotation angle, to obtain a plurality of second target points on an elevator bottom side of the elevator; a bottom side straight line corresponding to the elevator bottom side is determined based on the plurality of second target points; the movement direction is determined based on the bottom side straight line and the target center.

6. The map marking method of claim 5, wherein The determination of the bottom side straight line corresponding to the elevator bottom side based on the plurality of second target points comprises: a straight line is drawn for each two of the plurality of second target points, to obtain a corresponding candidate bottom side straight line; for each candidate bottom side straight line, a sum of distances of the remaining second target points to the candidate bottom side straight line is calculated; the bottom side straight line is determined based on the candidate bottom side straight line with the minimum sum of distances.

7. The map marking method of claim 5, wherein The determination of the movement direction based on the bottom side straight line and the target center comprises: a perpendicular bisector of the bottom side straight line is determined based on the target center; a direction of the perpendicular bisector from the bottom side straight line to the target center is recorded as the movement direction of the self-moving device away from the elevator.

8. A marking device for a map, characterized in that It comprises: an acquisition module configured to acquire target grids in a first grid map; the first grid map is a grid floor map to be marked, and the target grids are all passable grids in the first grid map that are in an area of an elevator; a first determination module configured to determine an elevator passage of the elevator based on the target grids; the elevator passage is a passage of a self-moving device to and from the elevator; a second determination module configured to determine a movement direction of the self-moving device to and from the elevator through the elevator passage and the target grids; a third determination module configured to determine a boarding point of the self-moving device to the elevator according to the elevator passage, the movement direction, and a size of the self-moving device; a marking module configured to mark the boarding point in the first grid map, or mark the movement direction and the boarding point.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the method for marking a map according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1-9. The computer program is executed by the processor to implement the method for marking a map according to any one of claims 1 to 7.

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