Map processing method and system, autonomous travelling device and client device

Abstract

Embodiments of the present application provide a map processing method and system, an autonomous traveling device and a client device. The technical solution provided by the present application can improve the accuracy of map editing and the accuracy of autonomous traveling device operation. Based on the behavior data of the autonomous traveling device recorded in real time, the map elements adapted to the behavior of the autonomous traveling device are reflected on the map, which can be used to generate function marks in the map, such as irregular boundary no-entry zones, irregular walls, terrain-compliant inspection routes, etc. A larger operation area is reserved for the autonomous traveling device and / or a more terrain-compliant traveling route is planned, etc. so that the autonomous traveling device can make corresponding behaviors according to the function marks on the map which are more in line with the actual site conditions when working in the site based on the map in the subsequent, such as avoiding irregular boundary no-entry zones, planning a task execution path as a boundary with irregular walls, and inspecting along a curved route, etc.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of autonomous travel equipment, and in particular to a map processing method and system, autonomous travel equipment and a client device. BACKGROUND

[0002] The autonomous travel equipment can be a cleaning robot, a patrol robot, a guide robot, etc. The existing autonomous travel equipment can identify the environment indoors (such as a home, a shopping mall, a bank, a hotel, etc.), and can establish a corresponding map. Subsequently, a work path can be planned in the established map, so as to perform a corresponding task (such as a cleaning task, a patrol task, etc.).

[0003] At present, some autonomous travel equipment can use a straight line or a regular figure to draw a virtual wall on a map, but cannot be applied to various complex environments, such as irregular atriums and wavy facade edges. The current straight line and regular figure cannot be compatible with this type of irregular area. SUMMARY

[0004] In view of the above problems, the present application provides a map processing method and system, autonomous travel equipment and a client device which solve the above problems or at least partially solve the above problems.

[0005] In an embodiment of the present application, a map processing method is provided. The method comprises:

[0006] displaying a map of a place where autonomous travel equipment is located;

[0007] recording behavior of the autonomous travel equipment in response to a recording instruction;

[0008] reflecting a graph element of the behavior of the autonomous travel equipment on the map based on recorded behavior data of the autonomous travel equipment;

[0009] The graph element is used to generate a function identifier in the map, and the function identifier is used to provide a basis for the behavior of the autonomous travel equipment when the autonomous travel equipment works in the place based on the map.

[0010] In another embodiment of the present application, a map processing method is also provided. The method is applicable to a client, and the method comprises:

[0011] displaying a map of a place where autonomous travel equipment is located on a client interface;

[0012] controlling the autonomous travel equipment to work in a recording mode in response to a recording instruction;

[0013] obtaining behavior data recorded by the autonomous travel equipment;

[0014] reflecting, on the map, a graph element of the behavior of the autonomous travel device according to the recorded behavior data;

[0015] generating, at the end of the recording, a corresponding function mark in the map based on the graph element;

[0016] sending, to the autonomous travel device, map update information according to the generated function mark, so that the autonomous travel device updates the local map;

[0017] wherein the function mark is used to provide a behavior basis for the autonomous travel device when the autonomous travel device works in the site based on the map.

[0018] In yet another embodiment of the present application, a map processing system is also provided. The map processing system comprises:

[0019] a client, configured to display a map of a site where an autonomous travel device is located on a client interface; control the autonomous travel device to work in a recording mode in response to a recording instruction; acquire behavior data recorded by the autonomous travel device; reflect, on the map, a graph element of the behavior of the autonomous travel device according to the recorded behavior data; generate a corresponding function mark in the map based on the graph element at the end of the recording; and send, to the autonomous travel device, map update information according to the generated function mark;

[0020] an autonomous travel device, configured to work in the recording mode under the control of the client and send recorded behavior data to the client; and further configured to receive the map update information sent by the client and update a local map according to the map update information;

[0021] wherein the function mark is used to provide a behavior basis for the autonomous travel device when the autonomous travel device works in the site based on the map.

[0022] In yet another embodiment of the present application, a map processing system is also provided. The map processing system comprises:

[0023] a travel device, configured to provide travel power for the autonomous travel device;

[0024] a memory, configured to store one or more computer instructions;

[0025] a processor, coupled to the memory, configured to execute the one or more computer instructions to implement the steps in the above map processing method.

[0026] In yet another embodiment of the present application, a map processing system is also provided. The map processing system comprises:

[0027] A traveling device for providing traveling power for a cleaning robot;

[0028] a memory storing one or more computer instructions;

[0029] a processor coupled to the memory, configured to execute the one or more computer instructions, so as to implement the steps in the above map processing method.

[0030] The application further provides a client device. The client device comprises a memory and a processor; wherein,

[0031] the memory stores one or more computer instructions;

[0032] the processor is coupled to the memory and is configured to execute the one or more computer instructions, so as to implement the steps in the above map processing method.

[0033] The technical solutions provided by the embodiments of the application can improve the accuracy of map editing and the accuracy of autonomous traveling device operation by using recording. Based on the behavior data of the autonomous traveling device recorded, a map element that is adapted to the behavior of the autonomous traveling device is reflected on the map in real time, and the map element can be used to generate a functional mark in the map, such as an irregular boundary forbidden area, an irregular wall, a terrain-compliant inspection route, and the like. A larger operation area is reserved for the autonomous traveling device and / or a more terrain-compliant traveling route is planned, so that the autonomous traveling device can make corresponding behaviors according to the functional mark on the map that is more suitable for the actual site when working in the site based on the map in the future, such as avoiding the irregular boundary forbidden area, planning a task execution path by taking the irregular wall as a boundary, and performing inspection along the curved inspection route. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, 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 some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0035] Figure 1 a flowchart of a map processing method provided by an embodiment of the application;

[0036] Figure 2 a schematic diagram of an interface provided by an embodiment of the application;

[0037] Figure 3 a schematic diagram of a first display content of an interface provided by an embodiment of the application;

[0038] Figure 4 A schematic diagram of a second display content of an interface provided by an embodiment of the present application;

[0039] Figure 5 A schematic diagram of a third display content of an interface provided by an embodiment of the present application;

[0040] Figure 6 A schematic diagram of a fourth display content of an interface provided by an embodiment of the present application;

[0041] Figure 7 A schematic diagram of a fifth display content of an interface provided by an embodiment of the present application;

[0042] Figure 8 A schematic diagram of a sixth display content of an interface provided by an embodiment of the present application;

[0043] Figure 9 A schematic diagram of a seventh display content of an interface provided by an embodiment of the present application;

[0044] Figure 10 A schematic diagram of an eighth display content of an interface provided by an embodiment of the present application;

[0045] Figure 11 A schematic diagram of a ninth display content of an interface provided by an embodiment of the present application;

[0046] Figure 12 A flowchart of a map processing method provided by another embodiment of the present application;

[0047] Figure 13 A structural schematic diagram of a map processing system provided by an embodiment of the present application;

[0048] Figure 14 A structural schematic diagram of a map processing device provided by an embodiment of the present application;

[0049] Figure 15 A structural schematic diagram of a map processing device provided by another embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to enable persons skilled in the art to better understand the scheme of the present application, the technical scheme in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0051] In some of the flowcharts described in the specification, claims, and drawings described above, multiple operations occur at successive stages. Such operations can be performed in the order described herein or in another order. Stages of operations are designated by the numbers 101, 102, etc. These stage numbers merely represent different stages of a sequence of operations, and do not necessarily represent execution sequence. Also, the flowcharts can include more or fewer operations, and the operations can be performed in parallel or in an order different than those described herein. It is noted that “first,” “second,” and the like described herein can be used to designate different modes, devices, modules, etc., and do not necessarily mean a first or a second in time. Also, the embodiments described below are merely some of the embodiments of the present application, and do not represent all of the embodiments of the present application. Based on the embodiments described herein, those skilled in the art can obtain all other embodiments falling within the scope of the present application without creative effort.

[0052] The autonomous traveling device mentioned in the embodiments of the present application can be a smart device with cleaning function, such as a cleaning robot (a household or commercial cleaning robot), and can also be a smart inspection device, a guide robot, etc., which are not limited by the present application. For example, the autonomous traveling device can include one or more sensors. The one or more sensors are used to collect data of the autonomous traveling device itself and data related to the surrounding environment during traveling. For example, a camera is installed on the autonomous traveling device, through which environmental features during traveling can be collected, and an indoor map can be constructed based on the environmental features. In some other application scenarios, a laser radar is also installed on the autonomous traveling device, through which point clouds of the indoor environment can be collected, and an indoor map can be constructed based on the collected point clouds.

[0053] The autonomous traveling device can construct a map of a target area by using, but not limited to, a SLAM (Simultaneous Localization and Mapping) technology. After the map is constructed, the autonomous traveling device also provides a function of editing the map for a user, such as adding a virtual wall according to user demand to divide a space into multiple areas, or manually drawing a forbidden area (such as a carpet area, a children's playground, etc.) on the map, or manually drawing an inspection route on the map so that the autonomous traveling device can inspect according to the inspection route. However, the map drawing tool provided in the prior art only has straight line segments and regular shapes (such as rectangles, polygons, etc.), and the user can only draw a straight line path, a straight line virtual wall, or a forbidden area with a regular shape boundary, etc., and cannot draw according to the actual situation of the place. In addition, the user can not understand the map, or can understand the map but cannot accurately find the position of the forbidden area on the map, and finally the autonomous traveling device can enter the forbidden area when working according to the map.

[0054] Furthermore, in certain scenarios, particularly in commercial settings, such as the waiting areas for customers with tables and chairs of varying sizes and shapes on both sides of a shopping mall's food court; irregularly shaped landscaped areas in the center of a hotel lobby; and irregularly shaped decorative walls and atriums in office buildings, the working area boundaries of autonomous mobile equipment are often irregularly shaped, or the inspection routes are curved. Using existing technology, users cannot manually draw virtual walls, paths, and restricted areas that accurately reflect the actual conditions of the location, leading to problems such as misalignment of the autonomous mobile equipment's working area boundaries, excessive errors, and incomplete operations.

[0055] Therefore, this application provides the following embodiments to solve or improve the problems mentioned above.

[0056] Figure 1 A schematic flowchart of a map processing method provided in an embodiment of this application is shown. Figure 1 As shown, the execution subject of the method provided in this embodiment can be an autonomous walking device or a client device. The client device can be a mobile phone, computer, tablet computer, smart wearable device, etc., capable of communicating with the autonomous walking device; this embodiment does not limit this. The method includes:

[0057] 101. Display a map showing the location of the autonomous mobility device.

[0058] 102. In response to the recording command, record the behavior of the autonomous moving device.

[0059] 103. Based on the recorded behavioral data of the autonomous vehicle, graphical elements reflecting the behavior of the autonomous vehicle on the map;

[0060] The map elements are used to generate functional identifiers in the map; when the autonomous vehicle operates in the location based on the map, the functional identifiers are used to provide behavioral basis for the autonomous vehicle.

[0061] For example, functional markers on a map may include, but are not limited to: virtual walls, semantically marked areas (such as restricted areas, children's activity areas, etc.), wall lines, glass doors, glass walls, elevators, turnstiles, paths, etc. For instance, if the map has virtual wall functional markers, the autonomous vehicle will turn or turn around when it reaches the corresponding location. Similarly, if the map has path functional markers, the autonomous vehicle, in inspection mode, can travel along the route provided by these markers to perform inspections. Furthermore, if the map has children's activity area functional markers, the autonomous vehicle will turn or turn around when it reaches the boundary of that area. If the map has wall line functional markers, the autonomous vehicle will plan its task execution path according to the wall lines to preserve as much of the work area as possible; and so on.

[0062] Referring to Figure 2 In the example shown, the interface includes at least three parts, the first part 1 is a display and operation area of the map; the second part 2 is a function control display and selection area; and the third part 3 is a control for exiting the map editing interface. The user can trigger the autonomous travel device to display the interface through autonomous travel on the virtual control or physical button on the device; or the user triggers the autonomous travel device to display the interface through voice or the like. Alternatively, the user's client device is installed with a corresponding APP application, and the user triggers the interface shown in Figure 2 In the example shown, the interface includes at least three parts, the first part 1 is a display and operation area of the map; the second part 2 is a function control display and selection area; and the third part 3 is a control for exiting the map editing interface. The user can trigger the autonomous travel device to display the interface through autonomous travel on the virtual control or physical button on the device; or the user triggers the autonomous travel device to display the interface through voice or the like. Alternatively, the user's client device is installed with a corresponding APP application, and the user triggers the interface shown in Figure 2 In the example shown, the interface includes at least three parts, the first part 1 is a display and operation area of the map; the second part 2 is a function control display and selection area; and the third part 3 is a control for exiting the map editing interface. The user can trigger the autonomous travel device to display the interface through autonomous travel on the virtual control or physical button on the device; or the user triggers the autonomous travel device to display the interface through voice or the like. Alternatively, the user's client device is installed with a corresponding APP application, and the user triggers the interface shown in

[0063] In the example shown, the interface includes at least three parts, the first part 1 is a display and operation area of the map; the second part 2 is a function control display and selection area; and the third part 3 is a control for exiting the map editing interface. The user can trigger the autonomous travel device to display the interface through autonomous travel on the virtual control or physical button on the device; or the user triggers the autonomous travel device to display the interface through voice or the like. Alternatively, the user's client device is installed with a corresponding APP application, and the user triggers the interface shown in

[0064] In a specific embodiment, the above-mentioned "recording the behavior of the autonomous travel device" can specifically include:

[0065] 1021, acquiring information collected by at least one sensor on the autonomous travel device;

[0066] The information can include but is not limited to: environmental image, positioning information, travel speed, center of gravity height, etc. The positioning information can include but is not limited to: position, attitude, etc.

[0067] 1022, generating behavior data of the autonomous travel device based on the collected information.

[0068] In actual application, during the recording process, each sensor on the autonomous travel device continuously collects information according to its own collection frequency; therefore, the behavior data of the autonomous travel device is also continuously generated. The behavior data is more like streaming data with stronger real-time performance. If the execution subject of the technical solution provided in this embodiment is a client device, the autonomous travel device will send the generated behavior data to the client device in real time, so that the client device dynamically draws the graph element reflecting the behavior of the autonomous travel device on the map according to the behavior data.

[0069] In addition, in specific implementation, the generated behavior data can also be stored in the storage area of the autonomous travel device or the client device, so as to facilitate the user to call out the autonomous travel device to re-execute according to the stored behavior data, facilitate error checking, etc., or when the user wants to restore the graph element after deleting the graph element drawn on the map based on the behavior data, the behavior data can be called out to restore the graph element, etc.

[0070] Further, the method provided in the embodiment of the present application can further include the following steps:

[0071] 104. In response to the recording instruction, the autonomous travel device is controlled to work in one of the following recording modes:

[0072] In the first recording mode, the autonomous travel device starts the autonomous following mode to follow the target object to travel, and collects and stores the behavior data of the autonomous travel device during the travel; or

[0073] In the second recording mode, the autonomous travel device starts the passive traction or pushing mode to travel under the action of the traction force or the pushing force, and collects and stores the behavior data of the autonomous travel device during the travel; or

[0074] In the third recording mode, the autonomous travel device starts the remote control mode to travel according to the remote control instruction, and collects and stores the behavior data of the autonomous travel device during the travel.

[0075] In the autonomous following mode, the autonomous travel device can collect the environmental image through the sensor (such as a visual sensor), and identify the following object (such as a person) in the environmental image based on the image recognition technology, and travel along the travel route of the following object. In the passive traction or pushing mode, the travel mechanism of the autonomous travel device does not output the travel power, and the autonomous travel device can be pulled or pushed by a person to travel, or can be pulled or pushed by a robot to travel. In the passive traction or pushing mode, the sensor of the autonomous travel device is always working to collect information and generate behavior data. In the remote control mode, the user can send the remote control instruction to the robot through the remote controller equipped with the autonomous travel device or the remote control function on the APP, so that the autonomous travel device travels according to the remote control instruction; and the autonomous travel device always collects information and generates behavior data during the travel.

[0076] In an implementable technical solution, the behavior data of the autonomous travel device can include position information. The position information can be a position mapped to a position in a coordinate system of a map based on a positioning function of the autonomous travel device. The step 103 of "reflecting a graph element of the behavior of the autonomous travel device on the map based on the recorded behavior data of the autonomous travel device" can include:

[0077] 1031. obtaining position information generated by the autonomous travel device in the recording;

[0078] 1032. dynamically drawing a travel trajectory line of the autonomous travel device on the map according to the position information generated by the autonomous travel device in the recording.

[0079] Referring to Figure 6 In the example shown, a travel trajectory line 5 of the autonomous travel device is dynamically drawn on the map.

[0080] Further, the behavior data of the autonomous travel device can also include attitude information. That is, the step 103 of "reflecting a graph element of the behavior of the autonomous travel device on the map based on the recorded behavior data of the autonomous travel device" can also include:

[0081] 1033. obtaining attitude information generated by the autonomous travel device in the recording;

[0082] 1034. dynamically displaying an image of the autonomous travel device corresponding to the attitude of the attitude information on the map according to the attitude information generated by the autonomous travel device in the recording.

[0083] For example, Figure 6 In the example shown, an image 6 of the autonomous travel device with changing attitude along the running trajectory is dynamically displayed on the map. It should be noted that the image 6 of the autonomous travel device can be simply understood as an icon, a logo, or the like representing the autonomous travel device on the map, facilitating user viewing.

[0084] Further, the method provided by the embodiment of the application can further include the following steps:

[0085] 105. determining the completed travel trajectory line as a function mark to be generated when the recording is completed;

[0086] 106. in response to a confirmation instruction of the user for the travel trajectory line, generating a function mark with a function attribute based on the pre-selected function attribute;

[0087] 107. updating the map based on the function mark.

[0088] In the above 105, the user can click, for example,Figure 6 The "end recording" control shown in the middle triggers the end of recording; the end of recording can also be triggered by voice and the like.

[0089] In the above 106, the pre-selected function attribute can be determined when the user selects the corresponding function control before starting recording. For example Figure 2 As shown, multiple function controls are displayed on the interface, such as a highlight area, a carpet area, a virtual wall, a supply waiting area, a semantic label area, and a special exemption area. Assuming that the user selects the function control corresponding to the "virtual wall", the function attribute of the behavior trajectory drawn according to the behavior data of the subsequent autonomous traveling device is pre-selected as "virtual wall".

[0090] For example, Figure 7 The example shown after completing the recording is a function mark generated on the map, that is, "virtual wall".

[0091] That is, the method provided by the embodiment of the present application can further include the following steps:

[0092] 108. On the interface displaying the map, multiple function controls are displayed.

[0093] 109. In response to a selection operation triggered by the user in the multiple function controls, the function attribute corresponding to the function control selected by the user is determined, and a recording option control is displayed.

[0094] 110. In response to the operation of the user on the recording option control, a start recording control is displayed.

[0095] 111. After detecting the touch operation on the start recording control, the recording instruction is generated.

[0096] The function attribute selected by the user is the pre-selected function attribute.

[0097] Further, referring to Figure 4 The method provided by the embodiment of the present application can further include the following steps:

[0098] 112. In response to the operation of the user on the recording option control, a recording direction option is displayed on the interface displaying the map.

[0099] Referring to Figure 4In the example shown, an autonomous travel device image (or icon, logo, etc.) representing the autonomous travel device is also displayed on the interface. While the recording direction option is displayed on the interface, corresponding horizontal lines are also displayed on the left and right sides of the autonomous travel device image. The left and right horizontal lines of the image can be displayed in a synchronous flashing manner or an asynchronous flashing manner. Synchronous flashing means that the left and right horizontal lines of the image are bright at the same time and dark at the same time. Asynchronous flashing means that the left horizontal line is bright and the right horizontal line is dark, or the left horizontal line is dark and the right horizontal line is bright. Of course, in addition to flashing display, the left and right horizontal lines can also be distinguished by color, and the like. The present embodiment is not limited in this regard.

[0100] 113. After detecting that the user selects the recording direction, recording is started according to the selected recording direction.

[0101] Still further, as shown in Figure 5 , after the user selects the recording direction, a recording guide prompt information is displayed on the interface. As shown in the example of Figure 5 , the recording guide prompt information is "please move the machine to the position to be recorded and click the start button". At the same time, after the user selects the recording direction, the horizontal line on the selected direction side is displayed on the interface, and the horizontal line on the other direction side that is not selected disappears. As shown in the example of Figure 5 , the user selects the recording direction to be recording on the left side of the machine, and the left horizontal line of the autonomous travel device image displayed on the interface is displayed, and the right horizontal line disappears.

[0102] It should be noted that the left and right sides of the machine are distinguished based on the forward direction of the machine (i.e., the head of the machine). In order to facilitate the user to view, as shown in Figures 2-7 , a logo representing the forward direction of the device is marked on the autonomous travel device image 6, such as the white arrow in the figure.

[0103] In addition, the method provided by the present application embodiment also provides an error correction function. Referring to Figure 3 , if the user selects the control corresponding to the closed figure If the behavior data recorded by the autonomous travel device does not draw a closed behavior trajectory line, the user needs to be prompted to continue recording. That is, the method provided by the present application embodiment can also include the following steps:

[0104] 114. A preselected graph element type is obtained; wherein the graph element type is a closed figure or a line;

[0105] 115. In response to the end recording instruction, it is detected whether the drawn graph element conforms to the graph element type;

[0106] 116. If not, a prompt information that the graph element does not conform to the graph element type is displayed to prompt to continue recording and drawing.

[0107] The recording manner can improve the accuracy of map editing and the accuracy of the operation of the autonomous travel device. The existing manual drawing rule graph manner is not fully applicable to various complex environments, such as irregular atriums and wavy facade edges. The current rectangular or polygon drawing tool cannot take into account this type of irregular area and may include some areas that can perform tasks in the unreachable area.

[0108] By using the scheme provided in the embodiments of the present application, the autonomous travel device can be ensured to draw along the boundary of the irregular area completely by recording, a larger operation area is reserved for the autonomous travel device, and high-quality behavior activities of users outside the boundary, such as some parent-child activity areas, can also be ensured. When planning an operation area for the autonomous travel device, a part of the buffer area around the area can be reserved based on some observations and consumer habits, and the edge of the buffer area can be demarcated by recording. Therefore, the present application can ensure that the autonomous travel device reserves a larger operation area while not affecting the behavior activities of users in the related area.

[0109] In the recording mode, the autonomous travel device can record the travel route in real time by following the target object, being towed or pushed, or being remotely controlled, to accurately generate the functional mark corresponding to the travel route on the map, such as an irregular wall line, an irregular boundary virtual wall, a special area (such as a child entertainment area and a parent accompanying buffer area), a free curve-shaped inspection path, and the like.

[0110] Further, the method provided in the embodiments of the present application can also provide a completion function. For example, after recording is completed, if it is detected that the graph element reflecting the travel trajectory of the autonomous travel device drawn on the map is a non-closed graph, prompt information about whether to establish a closed graph is displayed. If the user determines to establish a closed graph, the starting point and the ending point of the graph element can be automatically connected to form a closed graph. If the user gives up establishing a closed graph, the graph element is saved to generate the corresponding functional mark based on the graph element. That is, the method provided in the embodiments of the present application can also include the following steps:

[0111] 117. In response to an end recording instruction, detecting whether the drawn graph element is a closed graph;

[0112] 118. If the graph element is a non-closed graph, outputting suggestion information about whether to establish a closed graph;

[0113] 119. In response to a confirmation operation triggered by the user for the suggestion information, connecting the two end points of the graph element to form a closed graph.

[0114] Further, if the user triggers a give-up operation for the suggestion information, the graph element is saved to generate the corresponding functional mark in the map based on the graph element.

[0115] Referring to Figure 8 and Figure 9 As shown in the state shown in Figure 8 , if the user touches the "end recording" control, the map element reflecting the autonomous travel device travel trajectory line drawn on the map is a non-closed figure at this time. Then a pop-up window is displayed on the interface as shown in Figure 9 , which displays the suggestion information "whether to establish a closed figure", and also displays the optional control "yes, generate area", the optional control "no, generate line segment", and the "cancel" control. The user selects and touches the "yes, generate area" optional control, that is, confirms to establish a closed figure, at which time the subject of the embodiment connects the two endpoints of the map element to form a closed figure. As shown in Figure 10 , the subject of the embodiment method will also perform the following steps:

[0116] Based on the closed figure, a functional mark on the map is generated.

[0117] As shown in Figure 10 , after the user selects and touches the "yes, generate area" optional control, the closed figure is displayed on the map, such as highlighted display, displayed in a specific color (such as red, yellow, etc.), and the like. The subject of the embodiment method will generate a functional mark on the map based on the closed figure and save it; the interface also displays the prompt information "save success".

[0118] If the user selects and touches the "no, generate line segment" optional control, that is, gives up to establish a closed figure, the pop-up window disappears, the map element based on the non-closed figure is saved, and the generated functional mark is displayed as shown in Figure 11 "save success" prompt information. After saving successfully, the functional mark corresponding to the map element will be displayed in the style corresponding to the functional mark. Assuming that, as shown in Figure 10 , the style of the virtual wall is a dashed line, then after saving successfully, the style corresponding to the functional mark is a dashed line segment.

[0119] If the user selects and touches the "cancel" control, the pop-up window disappears, waiting for the user's further operation.

[0120] Further, as shown in Figure 8 , the method provided by the embodiment further comprises:

[0121] 120. Based on the position information generated by the autonomous travel device during recording, in the process of dynamically drawing the autonomous travel device travel trajectory line on the map, if the travel trajectory line is a non-closed figure, an auxiliary line connecting the start and end points of the travel trajectory line is dynamically displayed on the map.

[0122] As shown in Figure 8As shown, while the traveling trajectory line is dynamically drawn, an auxiliary line that is different from the traveling trajectory line is also displayed, which dynamically changes with the change of the latest point of the traveling trajectory line. That is, the auxiliary line is a straight line from the starting point of the traveling trajectory line (the point is a fixed point) to the latest drawing point of the traveling trajectory line (the point changes with the recording process). Of course, it can also be a curve, etc., which is not specifically limited in the embodiment.

[0123] Figure 12 A flowchart of a map processing method provided by another embodiment of the application is shown. The execution subject of the method provided by the embodiment can be a client device. Specifically, the method can include:

[0124] 201. Display a map of a place where an autonomous traveling device is located on a client interface.

[0125] 202. In response to a recording instruction, control the autonomous traveling device to work in a recording mode.

[0126] 203. Obtain behavior data recorded by the autonomous traveling device.

[0127] 204. Reflect a graph element of the behavior of the autonomous traveling device on the map according to the recorded behavior data.

[0128] 205. When the recording ends, generate a corresponding function mark in the map based on the graph element.

[0129] 206. According to the generated function mark, send map update information to the autonomous traveling device, so that the autonomous traveling device updates the local map.

[0130] Wherein, when the autonomous traveling device works in the place based on the map, the function mark is used to provide a behavior basis for the autonomous traveling device.

[0131] In 202 above, in response to a recording instruction, the autonomous traveling device is controlled to work in one of the following recording modes:

[0132] In the first recording mode, the autonomous traveling device starts an autonomous following mode to follow a target object to travel, and collects and stores its own behavior data during the traveling process;

[0133] In the second recording mode, the autonomous traveling device starts a passive towing or pushing mode to travel under the action of a towing force or a pushing force, and collects and stores its own behavior data during the traveling process;

[0134] In the third recording mode, the autonomous traveling device starts a remote control mode to travel according to a remote control instruction, and collects and stores its own behavior data during the traveling process.

[0135] The specific implementation of each step is described above, and will not be repeated here. The method provided in this embodiment includes the above steps, and can also include all or part of the steps in steps 106-120 described above. The specific content of each step can be found in the foregoing description, which will not be repeated here.

[0136] The following describes the process of processing the map by the user through the APP on the mobile phone, taking the virtual wall as an example.

[0137] The user opens the APP, and can click the map control on the APP to enter the interface as shown in Figure 2 The interface displays three parts. The first part 1 is the display and operation area of the map. The second part 2 is a plurality of function control selection areas (such as the rubber from top to bottom, the annotation control, the line control, the area control, etc.). The third part 3 is the control for exiting the interface (such as the "<" control).

[0138] Figure 2 The expansion box displayed after the user selects the line control is shown. The expansion box displays function attribute controls such as "virtual wall, path, wall line, glass door, elevator door, and gate". After the user selects a function attribute control, the corresponding function attribute is determined for the subsequent drawing or editing of the map element on the map.

[0139] Figure 3 The expansion box displayed after the user selects the area control is shown. The expansion box displays function attribute controls such as "map partition, highlight area, carpet area, virtual wall, supply waiting area, semantic label area, and special exemption area". Similarly, after the user selects a function attribute control, the corresponding function attribute is determined for the subsequent drawing or editing of the map element on the map.

[0140] The interface layout method is not limited to the display method shown in the figure. In addition, the types of recordable lines or areas are not limited to the types shown in Figures 1-2 , and can be increased or decreased.

[0141] Referring to the example shown in Figure 3 , the user clicks the area control and selects "virtual wall" in the expansion box, and the interface as shown in Figure 4The user clicks the "record" control. Because the autonomous mobile device itself has a certain width, the direction of the recording needs to be selected according to the guide (the direction of the recording is displayed on the left / right side of the autonomous mobile device on the surface). That is, "Please select the recording direction along the edge of the machine, left recording, right recording" is displayed on the display and operation area of the map. After the user selects "left recording", the user enters Figure 5 .

[0142] Figure 5 In the display and operation area of the map, a prompt information "Please move the machine to the position where recording is needed and click the start button" is displayed, so that the user pushes or uses the APP to control the autonomous mobile device to move to the position where recording is needed. Then the "start recording" control is clicked.

[0143] After the user clicks "start recording", the user's client device receives the behavior data sent by the autonomous mobile device in real time, and draws a graph element reflecting the behavior of the autonomous mobile device on the map according to the behavior data of the autonomous mobile device, as shown in Figure 6 After the user clicks "end recording", a function mark is generated, as shown in Figure 7 , which is a virtual wall with a similar crescent-shaped outer contour.

[0144] There is a crescent-shaped open courtyard separated by glass on the right side of the map, and a virtual wall needs to be created to separate the courtyard from the glass curtain wall to prevent the autonomous mobile device from colliding with the glass curtain wall. The common way to draw a virtual wall area on the market is a polygon or rectangle composed of multiple line segments, which is not suitable for this special shape. Therefore, the recording method in the present scheme is adopted, which can make the autonomous mobile device record along the edge of the glass curtain wall of the courtyard, and accurately create a crescent shape on the map without including too much available area. When the autonomous mobile device walks to the edge of the area, it can work more closely along the boundary line and leave no dead angle.

[0145] For example, as shown in Figure 6 , parents often watch and wait outside the children's activity area on the left side, so when a virtual wall is established for this area, a certain buffer area is reserved for places with large flow of people such as parent accompanying or activity area exit, that is, a certain space is expanded outside the boundary of the children's activity area as a buffer area, and the virtual wall is not completely fitted to the shape and size of the area, but is a virtual wall set along the boundary of the buffer area formed by recording according to the actual situation.

[0146] This example is only taken as an example of creating a virtual wall, and the specific situation is analyzed in actual situation. Different functions are given to the recorded areas or line segments, such as recording a circular carpet area, the autonomous mobile device adjusts the working mode, closes the current water spraying mode, and restores the water spraying mode after passing through the carpet area.

[0147] The technical solution provided in the present application is applicable to the creation of special shapes in any scene where the autonomous traveling device can pass, and specific types are assigned to the recorded path or area, and the autonomous traveling device adjusts its behavior accordingly when it travels near the area.

[0148] Therefore, the user can quickly realize the following functional features according to the recording function provided on the APP or the recording function on the autonomous traveling device:

[0149] 1. Compared with manual drawing, recording can more accurately edit the map according to the terrain environment, isolate dangerous areas, or plan the autonomous traveling device operating area / autonomous traveling device route.

[0150] 2. The overall operation and process of recording can optimize the user experience of using the autonomous traveling device, avoid mistakes and complex operations during manual drawing, increase the effective operating area of the autonomous traveling device, and improve the overall performance ratio and product efficacy of the autonomous traveling device for customers who purchase or lease the autonomous traveling device.

[0151] Here, a brief explanation of the virtual wall mentioned in this text is needed. The virtual wall is a hypothetical wall set for the self-moving device, which cannot be seen or touched, but can be recognized by the autonomous traveling device. For the autonomous traveling device, the virtual wall is an obstacle that cannot be passed through, and once the virtual wall is recognized, the autonomous traveling device needs to avoid it to avoid entering the area corresponding to the virtual wall. In the map, the virtual wall can be represented by a line or an area boundary line.

[0152] Next, combined with a specific application scenario, after the cleaning robot completes the map construction of the first floor area in the mall, the user needs to determine the boundary of the children's area in the map. The user can open the map setting page in the APP on the phone or through the interactive interface on the cleaning robot to open the map setting page, click the corresponding editing control such as the "record" control. Click the "record" control, choose left recording or right recording. After selection, manually pull or display the remote control control on the APP, the user pulls the cleaning robot around the children's area and the crowd outside the children's area, or the user controls the cleaning robot to surround the children's area and the crowd outside the children's area through the remote control control or remote control. The cleaning robot walks and locates through the sensor on it to automatically draw a boundary line on the map. After the user clicks the "end recording" control, or the cleaning robot receives a stop instruction, or the cleaning robot locates that it has returned to the starting position, the cleaning robot stops running. The cleaning robot can output a prompt sound or information for the user to confirm through voice or pop-up window. After the user confirms, the boundary line can be represented by a series of pixel point coordinate values in the map, and these pixel point coordinate values can be used as object data and stored in association with the map of the target area.

[0153] As Figure 13 shown, the application also provides a map processing system. The system comprises:

[0154] a client 301, configured to display a map of a place where an autonomous traveling device is located on a client interface; in response to a recording instruction, control the autonomous traveling device to work in a recording mode; acquire behavior data recorded by the autonomous traveling device; reflect a graph element of behavior of the autonomous traveling device on the map according to the recorded behavior data; when the recording ends, generate a corresponding function mark in the map based on the graph element; and send map update information to the autonomous traveling device according to the generated function mark;

[0155] an autonomous traveling device 302, configured to work in the recording mode under the control of the client and send the recorded behavior data to the client; and further configured to receive the map update information sent by the client and update a local map according to the map update information;

[0156] wherein, when the autonomous traveling device works in the place based on the map, the function mark is used to provide a behavior basis for the autonomous traveling device.

[0157] The specific implementation of the corresponding functions in the above client and autonomous traveling device can be referred to the content in the above, in addition, the client and the autonomous traveling device have the functions corresponding to other steps in the above embodiments in addition to the functions in the above, which can also be referred to the content in the above, and will not be described here.

[0158] The above autonomous traveling device can be an autonomous mobile robot with various functions used in commercial scenarios or home scenarios, such as a cleaning robot, an inspection robot, a public service robot, etc. In addition, the area type of the area where the autonomous traveling device is to work can be a shopping mall area, an office area, a restaurant area, a home area, etc.

[0159] Figure 14 A structural schematic diagram of a map processing apparatus provided by an embodiment of the application is shown. As Figure 14 shown, the map processing apparatus comprises a display module 11, a recording module 12 and a reflecting module 13. The display module 11 is configured to display a map of a place where an autonomous traveling device is located. The recording module 12 is configured to record behavior of the autonomous traveling device in response to a recording instruction. The reflecting module 13 is configured to reflect a graph element of behavior of the autonomous traveling device on the map based on the recorded behavior data of the autonomous traveling device. The graph element is used to generate a function mark in the map; when the autonomous traveling device works in the place based on the map, the function mark is used to provide a behavior basis for the autonomous traveling device.

[0160] Further, the reflecting module 13, when reflecting the graph element of the behavior of the autonomous travel device on the map based on the recorded behavior data of the autonomous travel device, is specifically configured to:

[0161] acquire position information generated by the autonomous travel device in the recording; and dynamically draw a travel trajectory line of the autonomous travel device on the map according to the position information generated by the autonomous travel device in the recording.

[0162] Further, the reflecting module 13, when reflecting the graph element of the behavior of the autonomous travel device on the map based on the recorded behavior data of the autonomous travel device, is specifically configured to:

[0163] acquire posture information generated by the autonomous travel device in the recording; and dynamically display an image of the autonomous travel device in a posture corresponding to the posture information on the map according to the posture information generated by the autonomous travel device in the recording.

[0164] Further, the apparatus further includes a determining module, a generating module and an updating module. The determining module is configured to determine the travel trajectory line that is completed to be generated as a functional mark when the recording is completed. The generating module is configured to, in response to a confirmation instruction of the user for the travel trajectory line, generate the travel trajectory line as the functional mark with a pre-selected functional attribute. The updating module is configured to update the map based on the functional mark.

[0165] Further, the display module 11 is further configured to display a plurality of functional controls on the interface on which the map is displayed; determine a functional attribute corresponding to a functional control selected by the user in response to a selection operation triggered by the user in the plurality of functional controls, and display a recording option control; display a start recording control in response to an operation of the recording option control by the user; and generate the recording instruction after monitoring a touch operation on the start recording control. The functional attribute selected by the user is the pre-selected functional attribute.

[0166] Further, the display module 11 is further configured to display a recording direction option on the interface on which the map is displayed in response to an operation of the recording option control by the user. The recording module is further configured to start recording according to the selected recording direction after monitoring that the user selects the recording direction.

[0167] Further, the map processing apparatus can further include an acquisition module and a detection module. The acquisition module is configured to acquire a preselected graph element type, wherein the graph element type is a closed graph or a line. The detection module is configured to, in response to an end recording instruction, detect whether a drawn graph element meets the graph element type. The display module is configured to, when the graph element does not meet the graph element type, display prompt information that the graph element does not meet the graph element type, to prompt to continue recording and drawing.

[0168] Further, the detection module is further configured to, in response to the end recording instruction, detect whether the drawn graph element is a closed graph. The display module is further configured to, if the graph element is not a closed graph, output suggestion information whether to establish a closed graph, and in response to a confirmation operation triggered by a user on the suggestion information, connect two end points of the graph element to form a closed graph. When a functional mark on a map is generated, the corresponding functional mark is generated based on the closed graph.

[0169] Further, the map processing apparatus further includes a control module. The control module is configured to, in response to a recording instruction, control the autonomous traveling device to work in one of the following recording modes:

[0170] In the first recording mode, the autonomous traveling device starts an autonomous following mode to follow a target object to travel, and collects and stores behavior data of itself during the traveling; or

[0171] In the second recording mode, the autonomous traveling device starts a passive towing or pushing mode to travel under the action of a towing force or a pushing force, and collects and stores behavior data of itself during the traveling; or

[0172] In the third recording mode, the autonomous traveling device starts a remote control mode to travel according to a remote control instruction, and collects and stores behavior data of itself during the traveling.

[0173] It should be noted that the map processing apparatus provided in this embodiment can implement the technical solutions described in the above map processing method embodiments, and the principles of the implementation of the above modules or units can be referred to the corresponding content in the above map processing method embodiments, which will not be described here.

[0174] Figure 15 FIG. 1 shows a structure schematic diagram of a map processing apparatus provided in another embodiment of the present application. As shown in FIG. 1, the map processing apparatus includes an acquisition module 101, a detection module 102, a display module 103, a control module 104, and a storage module 105. Figure 15As shown, the map processing apparatus comprises a display module, a control module, an acquisition module, a reflection module, a generation module and a sending module. The display module is configured to display a map of a place where the autonomous traveling device is located on a client interface. The control module is configured to control the autonomous traveling device to work in a recording mode in response to a recording instruction. The acquisition module is configured to acquire behavior data recorded by the autonomous traveling device. The reflection module is configured to reflect a graph element of the behavior of the autonomous traveling device on the map according to the recorded behavior data. The generation module is configured to generate a corresponding function mark in the map based on the graph element when the recording ends. The sending module is configured to send map update information to the autonomous traveling device according to the generated function mark, so that the autonomous traveling device updates a local map. When the autonomous traveling device works in the place based on the map, the function mark is used to provide a behavior basis for the autonomous traveling device.

[0175] Further, the control module is further configured to control the autonomous traveling device to work in one of the following recording modes in response to a recording instruction.

[0176] In the first recording mode, the autonomous traveling device starts an autonomous following mode to follow a target object to travel, and collects and stores behavior data of itself during the traveling process.

[0177] In the second recording mode, the autonomous traveling device starts a passive traction or pushing mode to travel under the action of a traction force or a pushing force, and collects and stores behavior data of itself during the traveling process.

[0178] In the third recording mode, the autonomous traveling device starts a remote control mode to travel according to a remote control instruction, and collects and stores behavior data of itself during the traveling process.

[0179] The map processing apparatus provided in this embodiment can implement the technical solutions described in the above map processing method embodiments, and the principles of the implementation of the above modules or units can be referred to the corresponding content in the above map processing method embodiments, which will not be described here.

[0180] In addition, the present application also provides an autonomous traveling device. The autonomous traveling device comprises a memory and a processor, wherein,

[0181] The memory stores one or more computer instructions.

[0182] The processor is coupled with the memory and is configured to execute the one or more computer instructions to implement the steps in the above method embodiments.

[0183] The aforementioned memory can be configured to store various other data to support operation on the autonomous mobile device. Examples of this data include instructions for any application or method used to operate on the autonomous mobile device. The memory can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0184] The aforementioned autonomous moving equipment can be a cleaning robot (either a household cleaning robot or a commercial robot), a cargo robot, a guide service robot, etc., and this embodiment does not specifically limit it.

[0185] This application also provides a client device in one embodiment. The client device may include a memory and a processor; wherein,

[0186] The memory stores one or more computer instructions;

[0187] The processor, coupled to the memory, is used to execute one or more computer instructions to implement the above. Figure 12 The steps in the method embodiment shown.

[0188] The client device can be a computer, smartphone, tablet, or smart wearable device (such as a smartwatch or glasses).

[0189] Another embodiment of this application provides a computer program product (not shown in the accompanying drawings). This computer program product includes a computer program or instructions that, when executed by a processor, enable the processor to perform the steps described in the above method embodiments.

[0190] Accordingly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a computer, can implement the method steps or functions provided in the above embodiments.

[0191] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0192] Those skilled in the art can clearly understand the implementation of the embodiments by means of software and necessary general hardware platforms through the description of the above embodiments, and of course, the embodiments can also be implemented by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, and the computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in each embodiment or some parts of the embodiments.

[0193] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A map processing method, characterized in that, include: Displays a map showing the location of the autonomous mobility device; Display recording direction options so that users can select the recording direction; In response to a recording command, the behavior of the autonomously moving device is recorded according to the recording direction selected by the user. Based on the recorded behavioral data of the autonomous vehicle, graphical elements reflecting the behavior of the autonomous vehicle on the map; The map elements are used to generate functional identifiers in the map; when the autonomous vehicle operates in the location based on the map, the functional identifiers are used to provide behavioral basis for the autonomous vehicle.

2. The method according to claim 1, characterized in that, Based on the recorded behavioral data of the autonomous vehicle, the map elements reflecting the behavior of the autonomous vehicle on the map include: Acquire the location information generated by the autonomous mobility device during recording; Based on the location information generated by the autonomous vehicle during recording, the trajectory line of the autonomous vehicle is dynamically drawn on the map.

3. The method according to claim 2, characterized in that, Based on the recorded behavioral data of the autonomous vehicle, the map elements reflecting the behavior of the autonomous vehicle on the map also include: Acquire the attitude information generated by the autonomous mobility device during recording; Based on the attitude information generated by the autonomous vehicle during recording, the image of the autonomous vehicle corresponding to the attitude information is dynamically displayed on the map.

4. The method according to claim 2, characterized in that, Also includes: When the recording ends, the completed trajectory line will be designated as the function identifier to be generated; In response to the user's confirmation command for the travel trajectory line, a function identifier with the pre-selected function attribute is generated for the travel trajectory line; Update the map based on the function identifier.

5. The method according to claim 4, characterized in that, Also includes: On the interface displaying the map, multiple functional controls are shown; In response to a user's selection operation among the multiple functional controls, determine the functional attribute corresponding to the selected functional control and display the recording option control; In response to the user's operation on the recording option control, the start recording control is displayed; Upon detecting a touch operation on the start recording control, the recording command is generated; The user-selected functional attribute is the pre-selected functional attribute.

6. The method according to claim 5, characterized in that, Also includes: In response to the user's operation of the recording option control, the recording direction option is displayed on the interface showing the map.

7. The method according to any one of claims 1 to 6, characterized in that, Also includes: Retrieves the pre-selected graphic element type; where the graphic element type is either a closed shape or a line. In response to the end recording command, check whether the drawn graphic elements conform to the graphic element type; If not, a prompt message will be displayed indicating that the graphic element does not conform to the graphic element type, prompting the user to continue recording and drawing.

8. The method according to any one of claims 1 to 6, characterized in that, Also includes: In response to the end recording command, check whether the drawn graphic element is a closed shape; If the graph element is a non-closed graph, output a suggestion on whether to create a closed graph; In response to the user's confirmation action triggered by the suggested information, the two endpoints of the graphic element are connected to form a closed graphic; Specifically, when generating function identifiers on the map, corresponding function identifiers are generated based on the closed shape.

9. The method according to any one of claims 1 to 6, characterized in that, Also includes: In response to a recording command, the autonomous walking device is controlled to operate in one of the following recording modes: In the first recording mode, the autonomous walking device starts the autonomous following mode to follow the target object and collect and store its own behavior data during the process. or In the second recording mode, the autonomous walking device activates a passive traction or push mode, moves under the action of traction or push, and collects and stores its own behavioral data during the movement. or In the third recording mode, the autonomous walking device starts the remote control mode, moves according to the remote control command, and collects and stores its own behavior data during the movement.

10. A map processing method, characterized in that, For the client, the method includes: The client interface displays a map showing the location of the autonomous vehicle. Display recording direction options so that users can select the recording direction; In response to a recording command, the autonomous walking device is controlled to operate in recording mode according to the recording direction selected by the user, so as to record the behavior of the autonomous walking device; Acquire the behavioral data recorded by the autonomous mobility device; Based on the recorded behavioral data, graphical elements on the map reflect the behavior of the autonomous mobility device; When recording ends, corresponding function identifiers are generated in the map based on the graph elements; Based on the generated function identifier, map update information is sent to the autonomous vehicle so that the autonomous vehicle can update its local map; When the autonomous vehicle operates within the location based on the map, the functional identifier is used to provide behavioral basis for the autonomous vehicle.

11. The method according to claim 10, characterized in that, In response to a recording command, the autonomous walking device is controlled to operate in one of the following recording modes: In the first recording mode, the autonomous walking device starts the autonomous following mode to follow the target object and collect and store its own behavior data during the process. In the second recording mode, the autonomous walking device activates a passive traction or push mode, moves under the action of traction or push, and collects and stores its own behavioral data during the movement. In the third recording mode, the autonomous walking device starts the remote control mode, moves according to the remote control command, and collects and stores its own behavior data during the movement.

12. A map processing system, characterized in that, include: The client is used to display a map of the location of the autonomous vehicle on the client interface; Display recording direction options so that users can select the recording direction; In response to a recording command, the autonomous walking device is controlled to operate in recording mode according to the recording direction selected by the user; Acquire the behavioral data recorded by the autonomous mobility device; Based on the recorded behavioral data, map elements reflecting the behavior of the autonomous vehicle are generated on the map; at the end of the recording, corresponding function identifiers are generated on the map based on the map elements. Based on the generated function identifier, map update information is sent to the autonomous travel device; An autonomous movement device, under the control of the client, operates in the recording mode and sends the recorded behavioral data to the client; It is also used to receive map update information sent by the client, and update the local map according to the map update information; When the autonomous vehicle operates within the location based on the map, the functional identifier is used to provide behavioral basis for the autonomous vehicle.

13. An autonomous mobility device, characterized in that, include: A propulsion device, used to provide propulsion power for autonomous vehicles; Memory, which stores one or more computer instructions; A processor, coupled to the memory, is configured to execute one or more computer instructions to implement the steps of the method according to any one of claims 1 to 9.

14. A cleaning robot, characterized in that, include: A propulsion device, used to provide propulsion for the cleaning robot; Memory, which stores one or more computer instructions; A processor, coupled to the memory, is configured to execute one or more computer instructions to implement the steps of the method according to any one of claims 1 to 9.

15. A client device, characterized in that, Includes memory and processor; among which, The memory stores one or more computer instructions; The processor, coupled to the memory, is configured to execute one or more computer instructions to implement the steps of the method of claim 10 or 11.

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