Map drawing method and device, computer equipment and computer readable storage medium

Abstract

The invention discloses a map drawing method and device, computer equipment and a computer readable storage medium. The method comprises the following steps: receiving a house type framework of a to-be-moved area determined by a user; wherein the to-be-moved area is a moving area of the self-moving robot; adding environment information in the house type framework; generating a map of the to-be-moved area based on the house type map added with the environment information; wherein the map is used for path planning of the self-moving robot. The low efficiency caused by self-mapping according to the environment through a self-moving robot in the traditional technology can be avoided, and the map drawing efficiency is effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent devices, and in particular to a map drawing method, device, computer equipment and computer-readable storage medium. Background Art

[0002] With the development of robot technology, self-propelled robots such as sweeping robots and mopping robots have been widely used. Such mobile robots generally need to detect the regional environment during work, and obtain an environmental layout map of the working environment through synchronous positioning and map construction, so as to automatically complete tasks such as cleaning the regional environment based on the map.

[0003] In traditional technology, a self-propelled robot automatically constructs a map of the moving area, which takes a long time and has low efficiency. Summary of the invention

[0004] Therefore, the technical problem to be solved by the present application is how to improve the efficiency of map drawing. To solve the above technical problem, the present application provides a map drawing method, comprising: receiving a housing frame of a to-be-moved area determined by a user; wherein the to-be-moved area is a moving area of ​​a self-moving robot; adding environmental information to the housing frame; generating a map of the to-be-moved area based on the housing map after adding the environmental information; wherein the map is used for path planning of the self-moving robot.

[0005] The present application also provides a mapping method, which includes: receiving a housing frame of an area to be cleaned determined by a user; wherein the area to be cleaned is a cleaning area of ​​a cleaning robot; adding information of ground objects in the housing frame; generating a map of the area to be cleaned based on the housing map after adding the information of ground objects; wherein the map is used for path planning of the cleaning robot.

[0006] The present application also provides a mapping device, including: a receiving module, used to receive a housing frame of an area to be moved determined by a user; wherein the area to be moved is a moving area of ​​a self-moving robot; an adding module, used to add environmental information to the housing frame; a generating module, used to generate a map of the area to be moved based on the housing map after adding the environmental information; wherein the map is used for path planning of the self-moving robot.

[0007] The present application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the map drawing method provided by the above aspects when executing the computer program.

[0008] The present application also provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps in the map drawing method provided by the above aspects are implemented.

[0009] The technical solution provided by this application has the following advantages:

[0010] Through the interface provided by the drawing device, users can flexibly select a suitable apartment framework according to the needs of different apartment types, customize the apartment map corresponding to the moving area or cleaning area of ​​the self-moving robot, and then personalize various environmental information in the selected apartment framework. Finally, based on the apartment map with added environmental information, a map corresponding to the area to be moved or the cleaning area for path planning of the self-moving robot is generated. This can avoid the inefficiency brought about by the self-moving robot building a map according to the environment in traditional technology, and effectively improve the efficiency of map drawing. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0012] Figure 1 This is a flowchart of a map drawing method in one embodiment of the present application;

[0013] Figure 2 This is a flowchart of a map drawing method in another embodiment of the present application;

[0014] Figure 3 This is a structural block diagram of a map drawing device in one embodiment of the present application;

[0015] Figure 4 This is a diagram of the internal structure of a computer device in one embodiment of the present application. DETAILED DESCRIPTION

[0016] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0017] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0018] In some embodiments, Figure 1 As shown, a map drawing method is provided, which is described by taking the method applied to a self-propelled robot as an example, and includes the following steps:

[0019] Step 102, receiving a housing frame of a to-be-moved area determined by a user; wherein the to-be-moved area is a moving area of ​​the self-moving robot.

[0020] The housing frame may include the number of rooms and the relative position information of each room, as well as the characteristic information such as the area and shape of each room, and may also include the attribute information corresponding to each room, such as the type of living room, master bedroom and kitchen; the housing frame of the area to be moved is the housing frame corresponding to the area to be moved of the self-moving robot determined by the computer device in response to the user's operation, and the room shape, area and other layout features of the housing frame are close to the area to be moved. Self-moving robots include but are not limited to food delivery robots, sweeping robots, mopping robots and sweeping and mopping robots. The housing frame refers to the outline of the housing in the area to be moved.

[0021] The computer device may pre-store a number of apartment frames, and the computer device may receive the apartment frame of the area to be moved determined by the user according to the user's selection operation. The computer device may be the self-moving robot itself, or may be a terminal device. When the computer device is the self-moving robot itself, the self-moving robot may be configured with a display, and the user may select the apartment frame displayed on the display. When the computer device is a terminal device, the terminal device is connected to the self-moving robot in communication, and the user may select the apartment frame on the terminal device.

[0022] In some embodiments, the method for determining the apartment frame of the area to be moved can be that the user clicks on the target apartment frame to be configured among multiple apartment frames and uses the target apartment frame as the apartment frame of the area to be moved. It can also be that the user determines it by searching by entering the name of a certain apartment frame in the search box in the interactive interface of the computer device.

[0023] Step 104, adding environmental information to the apartment frame.

[0024] The environmental information is the internal layout information of the area to be moved corresponding to the apartment frame, which may include the size and location information of the furniture, carpets, and floor materials inside the room, among which the furniture may include various floor-standing furniture, such as tables and chairs, wardrobes, potted plants, etc.

[0025] The computer device can receive the environment setting instruction corresponding to the environment addition information, and set the environment information of corresponding size and type at the corresponding position in the house frame.

[0026] Step 106, based on the house type map after adding the environmental information, generate a map of the area to be moved; wherein the map is used for path planning of the self-moving robot.

[0027] The computer device obtains the apartment map after adding the environmental information according to the above steps, generates a map corresponding to the area to be moved and stores it.

[0028] The above-mentioned map drawing method, by receiving the apartment frame of the area to be moved determined by the user, realizes the flexible selection of the appropriate apartment frame according to the needs of different apartment types, and customizes the rapid drawing of the apartment map corresponding to the moving area of ​​the self-moving robot, and then sets various environmental information in the selected apartment frame. Finally, based on the apartment map with the environmental information added, a map corresponding to the area to be moved or the cleaning area for the path planning of the self-moving robot is generated. Therefore, it can avoid the inefficiency brought about by the self-moving robot building a map according to the environment in the traditional technology, and effectively improve the efficiency of map drawing.

[0029] In some embodiments, receiving the housing frame of the area to be moved determined by the user includes: acquiring each candidate housing frame; and determining the housing frame of the area to be moved from each candidate housing frame in response to a selection operation by the user.

[0030] It can be understood that the computer device database pre-stores multiple apartment frames, which correspond to different apartment designs or the same apartment design but with different sizes. The computer device can obtain each candidate apartment frame from the local database or server, and then obtain a selection instruction corresponding to the user's selection operation, and determine the apartment frame matching the area to be moved from each candidate apartment according to the selection instruction.

[0031] In other embodiments, after the computer device obtains each candidate apartment frame, the floor plan corresponding to each apartment frame is displayed on the screen of the computer device for display to the user. The user can click or drag the icons of each apartment frame displayed in the display interface to complete the selection operation of a certain apartment frame, thereby realizing the apartment frame of the area to be moved in each candidate apartment frame.

[0032] In the above embodiment, by obtaining the pre-stored candidate apartment frames, and displaying each apartment frame, the user triggers a selection operation, and in response to the user's selection operation, the apartment frame corresponding to the area to be moved is determined in each candidate apartment frame, thereby achieving effective and rapid determination of the apartment frame and improving the efficiency of generating the apartment frame.

[0033] In some embodiments, in response to a user's selection operation, after determining the apartment frame of the area to be moved from each candidate apartment frame, it also includes: receiving an apartment size modification instruction issued by the user; and modifying the size of the apartment frame of the area to be moved according to the apartment size modification instruction.

[0034] The size modification instruction is used to instruct the computer device to modify the size of the apartment frame corresponding to the area to be moved determined in the above steps. The modification can be a proportional enlargement or a proportional reduction.

[0035] In other embodiments, the triggering method of the apartment size modification instruction issued by the user may be to select the apartment type to be modified with the user's fingertips and adjust the size by sliding the fingertips, and the direction of the size adjustment corresponds to the preset direction of the fingertip sliding. In addition, the triggering method may also be to trigger the generation of the apartment size modification instruction by the user entering data in the setting box corresponding to the apartment type frame or modifying the corresponding size parameters.

[0036] In the above embodiment, by receiving the apartment size modification instruction issued by the user, the size of the apartment frame of the area to be moved is modified according to the apartment size modification instruction, so that the selected apartment frame is more in line with the layout characteristics of the area to be moved, further improving the accuracy of the apartment frame.

[0037] In some embodiments, receiving the apartment frame of the area to be moved determined by the user includes: receiving an apartment drawing instruction issued by the user; and generating the apartment frame of the area to be moved based on the apartment drawing instruction.

[0038] Among them, the apartment drawing instruction can be triggered by the user clicking a virtual button on the screen of the computer device, or by the user clicking the screen with the fingertips and sliding the fingertips on the corresponding drawing area on the screen to generate the basic outline of the apartment frame, and then generating the corresponding apartment drawing instruction based on the basic outline. It can also be generated by entering the corresponding apartment parameters (such as the number, area and shape of each room) in the corresponding apartment setting box to generate the apartment frame corresponding to the area to be moved.

[0039] In the above embodiment, by receiving the apartment drawing instructions issued by the user, the corresponding apartment framework can be flexibly generated, thereby effectively solving the problem of how to quickly generate an apartment framework that meets the characteristics of the area to be moved when the various preset apartment frameworks do not contain a preset apartment framework similar to the actual apartment characteristics of the area to be moved, thereby effectively improving the flexibility of generating the apartment framework and the convenience of operation.

[0040] In some embodiments, after generating the housing frame of the area to be moved based on the housing drawing instruction, the method includes: receiving a housing size modification instruction issued by a user; and modifying the size of the housing frame of the area to be moved according to the housing size modification instruction.

[0041] The size modification instruction is used to instruct the computer device to modify the size of the apartment frame drawn by the user in the aforementioned step. The modification can be at least one of proportional enlargement, proportional reduction, mirror inversion, and rotation around the center point.

[0042] In other embodiments, the triggering method of the apartment size modification instruction issued by the user may be to select the apartment type to be modified with the user's fingertips and adjust the size by sliding the fingertips, and the direction of the size adjustment corresponds to the preset direction of the fingertip sliding. In addition, the triggering method may also be to trigger the generation of the apartment size modification instruction by the user entering data in the setting box corresponding to the apartment type frame or modifying the corresponding size parameters.

[0043] In the above embodiment, by receiving the apartment size modification instruction issued by the user, the size of the apartment frame of the area to be moved is modified according to the apartment size modification instruction, so that the selected apartment frame is more in line with the layout characteristics of the area to be moved, further improving the accuracy of the apartment frame.

[0044] In some embodiments, the environmental information includes at least one of a position of the landed object on the moving surface of the to-be-moved area and a size of the landed object.

[0045] In some embodiments, adding environmental information to the apartment frame includes: acquiring various candidate interior frames; determining a target interior frame from various candidate interior frames in response to a user's selection operation; and adding corresponding floor objects to the apartment frame based on the target interior frame.

[0046] The interior frame may include the position information of each corresponding floor object in the corresponding apartment frame, as well as the number, size, and type of each floor object, which can be used to characterize the layout of the floor objects in the apartment frame. Different interior frames correspond to different layouts, and the layout includes the type, size, number, and position information of the floor objects. Floor objects include various floor furniture, such as tables and chairs, wardrobes, potted plants, etc. The selection operation may be to display the floor object layout diagram corresponding to each interior frame on the screen of the computer device to the user, and the user may click or drag the furniture layout icons displayed in the display interface to complete the selection operation of a certain interior frame.

[0047] Specifically, in response to the user's selection operation, the computer device determines a target interior frame from each candidate interior frame that has the same or similar layout of floor objects corresponding to the area to be moved, and then adds corresponding floor objects to the apartment frame according to the target interior frame. The floor objects can be added in batches or in part.

[0048] In the above embodiment, by acquiring each candidate interior frame and responding to the user's selection operation, a target interior frame is determined from each candidate interior frame, and finally corresponding floor objects are added to the apartment frame based on the target interior frame, thereby completing the setting of environmental information in the apartment frame. There is no need to set each floor object one by one, and batch setting operations can be completed according to the determined interior frame, which greatly improves the efficiency of environmental information setting.

[0049] In some embodiments, obtaining each candidate interior frame includes: determining at least one target candidate interior frame according to size information corresponding to the apartment frame; and obtaining the determined target candidate interior frame.

[0050] Specifically, the computer device obtains the size information corresponding to the apartment frame, determines the target candidate interior frame from each candidate interior frame based on the size information and the correspondence between the apartment frame size information and the interior frame, and then obtains the determined target candidate interior frame.

[0051] In the above embodiment, at least one target candidate interior frame is determined based on the size information corresponding to the apartment frame, and then the determined target candidate interior frame is obtained, so that the corresponding interior frame can be quickly determined based on the size information corresponding to the apartment frame, thereby improving the setting efficiency of the apartment frame environmental information.

[0052] In some embodiments, the above-mentioned map drawing method further includes: receiving a ground object modification instruction issued by a user; and modifying the ground object in the target interior frame according to the ground object modification instruction.

[0053] Among them, the ground object modification instruction can be used to modify a single ground object, or to batch modify multiple ground objects. The modification methods include but are not limited to modifying the number of ground objects, modifying the position, size, shape and category of the ground objects. The triggering method for generating the ground object modification instruction includes but is not limited to triggering by the user clicking a virtual button for modifying or editing the ground object, and it can also be generated by the user clicking the ground object with the fingertips or an electronic pen and sliding.

[0054] Specifically, the computer device generates and receives the ground object modification instructions issued by the user by detecting the user's interactive operations in real time, and analyzes the ground object modification instructions to obtain the target modification parameters of the corresponding ground object, including the parameters corresponding to the target quantity, target position, target size, target shape and target category corresponding to the modification operation, and then modifies the ground object according to these parameters to obtain the modified ground object.

[0055] In the above embodiment, by receiving the ground object modification instruction issued by the user, and modifying the ground object in the target interior frame according to the ground object modification instruction, the flexible setting of the ground object is realized, the rapid modification of the ground object is effectively realized, and the accuracy of the environmental data in the apartment frame is improved.

[0056] In some embodiments, adding environmental information to the apartment frame includes: receiving a floor object adding instruction issued by a user; and adding a corresponding floor object to the apartment frame according to the floor object adding instruction.

[0057] Among them, the floor object adding instruction can be used to add a single floor object or a batch of multiple floor objects. The triggering method for generating the floor object adding instruction can be automatic generation after the user clicks on a certain position in the apartment frame, or it can be automatic generation after the user enters the corresponding floor object parameters (including the category, size, size, shape and location information of the floor object) in the relevant floor object configuration box.

[0058] Specifically, the computer device generates and receives the user's instructions for adding falling objects by detecting the user's interactive operations in real time, and analyzes the instructions for adding falling objects to obtain the corresponding adding parameters of the falling objects, including the target number, target position, target size, target shape and target category of the falling objects corresponding to the adding operation, and then adds the falling objects according to these parameters to obtain the added falling objects.

[0059] In the above embodiment, by receiving the ground object adding instruction issued by the user, and adding the ground objects in the apartment frame according to the ground object adding instruction, the flexible setting of the ground objects is realized, the rapid addition of the ground objects is effectively realized, and the accuracy of the environmental data in the apartment frame and the convenience of adding ground objects are improved.

[0060] In some embodiments, after adding the corresponding ground object in the apartment frame according to the ground object adding instruction, it includes: receiving the ground object modification instruction issued by the user, the ground object modification instruction is used to modify at least one of the size, type and position of the corresponding ground object; according to the ground object modification instruction, modifying the corresponding ground object in the apartment frame.

[0061] Among them, the ground object modification instruction can be used to modify a single ground object, or a batch modification of a single ground object. The modification method includes but is not limited to modifying the number of ground objects, modifying at least one of the position, size, shape and category of the ground objects, and the triggering method for generating the ground object modification instruction includes but is not limited to triggering by the user clicking a virtual button for modifying or editing the ground object, and it can also be generated by the user clicking the ground object with the fingertips or an electronic pen and sliding.

[0062] Specifically, the computer device generates and receives the ground object modification instructions issued by the user by detecting the user's interactive operations in real time, and analyzes the ground object modification instructions to obtain the target modification parameters of the corresponding ground objects, including the parameters corresponding to the target quantity, target position, target size, target shape and target category corresponding to the modification operation, and then modifies the corresponding ground objects in the apartment frame according to these parameters to obtain the modified ground objects.

[0063] In the above embodiment, by receiving the ground object modification instructions issued by the user and modifying the ground objects in the apartment frame according to the ground object modification instructions, flexible setting of the ground objects is achieved, and the rapid modification of the ground objects is effectively achieved, thereby improving the accuracy of the environmental data in the apartment frame.

[0064] In some embodiments, the above-mentioned map drawing method also includes: receiving an area prohibition instruction issued by a user; determining a prohibited area in the house frame according to the area prohibition instruction, and the prohibited area is an area where the self-moving robot is prohibited from moving.

[0065] Among them, the area prohibition instruction contains label data for identifying the corresponding area as an area where the self-mobile robot is prohibited from traveling. Optionally, the area prohibition instruction can also include a prohibited travel time period, that is, within the prohibited travel time period, the area is marked as a prohibited travel state, and outside the time period, the prohibited travel state of the area is automatically revoked.

[0066] Specifically, the computer device detects the interactive data generated by the user in real time, generates an area prohibition instruction based on the analysis of the interactive data, and then determines the corresponding prohibited area in the apartment frame according to the area prohibition instruction, wherein the generation method of the area prohibition instruction includes but is not limited to quickly generating it by the user continuously clicking on the corresponding target area in the apartment frame for a preset number of times, it can also be determined by setting a corresponding mark in the parameter setting box of the corresponding target area, or the computer device can automatically generate it by default according to the category of the target area.

[0067] In the above embodiment, by receiving the area prohibition instruction issued by the user and determining the prohibited area in the apartment frame according to the area prohibition instruction, it is possible to quickly identify the prohibited travel labels of the target area in the apartment frame, thereby improving the efficiency of area attribute setting.

[0068] In some embodiments, Figure 2 As shown, a map drawing method is provided, which is described by taking the method applied to a self-propelled robot as an example, and includes the following steps:

[0069] Step 202, receiving the house frame of the area to be cleaned determined by the user; wherein the area to be cleaned is the cleaning area of ​​the cleaning robot. For details, please refer to the relevant description of the aforementioned step 102, which will not be repeated again.

[0070] Step 204, adding information of the ground object to the house frame.

[0071] The information of the ground objects is the internal layout information corresponding to the apartment frame, which may include the size and location information of the floor-standing furniture, carpets, and floor materials inside the room, among which the floor-standing furniture includes but is not limited to tables and chairs, wardrobes, potted plants, etc.

[0072] Specifically, the computer device can receive a floor object setting instruction corresponding to the environment addition information, and set the information of the floor object of corresponding size and type at the corresponding position in the house frame.

[0073] Step 206, based on the apartment map after adding the information of the fallen object, a map of the area to be cleaned is generated; wherein the map is used for path planning of the cleaning robot.

[0074] The computer device obtains the house map after adding the information of the fallen objects according to the above steps, generates a map corresponding to the area to be cleaned and stores it.

[0075] The above-mentioned map drawing method, by receiving the apartment frame of the area to be cleaned determined by the user, realizes the flexible selection of the appropriate apartment frame according to the needs of different apartment types, and quickly draws the apartment map corresponding to the area to be cleaned by the self-mobile robot according to customization, and then sets the information of various ground objects in the selected apartment frame. Finally, based on the apartment map with the information of the ground objects added, a map corresponding to the area to be cleaned for the path planning of the self-mobile robot is generated. Therefore, it can avoid the inefficiency brought about by the traditional technology of self-mobile robots building maps according to the environment, and effectively improve the efficiency of map drawing.

[0076] In some embodiments, receiving the apartment frame of the area to be cleaned determined by the user includes: acquiring each candidate apartment frame; and determining the apartment frame of the area to be cleaned in each candidate apartment frame in response to a selection operation by the user.

[0077] It can be understood that the computer device database pre-stores multiple apartment frames, which correspond to different apartment designs or the same apartment design but with different sizes. The computer device can obtain each candidate apartment frame from the local database or server, and then obtain a selection instruction corresponding to the user's selection operation, and determine the apartment frame matching the area to be cleaned from each candidate apartment according to the selection instruction.

[0078] In other embodiments, after the computer device obtains each candidate apartment frame, the apartment plan corresponding to each apartment frame is displayed on the computer device screen for display to the user. The user can click or drag according to the icons of each apartment frame displayed in the display interface to complete the selection operation of a certain apartment frame, thereby realizing the apartment frame of the area to be cleaned in each candidate apartment frame.

[0079] In the above embodiment, by obtaining the pre-stored candidate apartment type frames and displaying each apartment type frame, the user triggers the selection operation, and in response to the user's selection operation, the apartment type frame corresponding to the area to be cleaned is determined in each candidate apartment type frame, thereby achieving effective and rapid determination of the apartment type frame and improving the efficiency of generating the apartment type frame.

[0080] In some embodiments, receiving the apartment frame of the area to be cleaned determined by the user includes: receiving an apartment drawing instruction issued by the user; and generating the apartment frame of the area to be cleaned based on the apartment drawing instruction.

[0081] Among them, the apartment drawing instruction can be triggered by the user clicking a virtual button on the screen of the computer device, or by the user clicking the screen with the fingertips and sliding the fingertips on the corresponding drawing area on the screen to generate the basic outline of the apartment frame, and then generating the corresponding apartment drawing instruction based on the basic outline. It can also be by entering the corresponding apartment parameters (such as the number, area and shape of each room) in the corresponding apartment setting box to generate the apartment frame corresponding to the area to be cleaned.

[0082] In the above embodiment, by receiving the apartment drawing instructions issued by the user, the corresponding apartment framework can be flexibly generated, thereby effectively solving the problem of how to quickly generate an apartment framework that meets the characteristics of the area to be cleaned when the various preset apartment frameworks do not contain a preset apartment framework similar to the actual apartment characteristics of the area to be cleaned, thereby effectively improving the flexibility of generating the apartment framework and the convenience of operation.

[0083] In some embodiments, adding information of floor objects to the apartment frame includes: acquiring various candidate interior frames; determining a target interior frame from various candidate interior frames in response to a user's selection operation; and adding corresponding floor objects to the apartment frame based on the target interior frame.

[0084] The interior frame may include the position information of each corresponding floor object in the corresponding apartment frame, as well as the number, size, and type of each floor object, which can be used to characterize the layout of the floor objects in the apartment frame. Different interior frames correspond to different layouts, and the layout includes the type, size, number, and position information of the floor objects. Floor objects include various floor furniture, such as tables and chairs, wardrobes, potted plants, etc. The selection operation may be to display the floor object layout diagram corresponding to each interior frame on the screen of the computer device to the user, and the user may click or drag the furniture layout icons displayed in the display interface to complete the selection operation of a certain interior frame.

[0085] Specifically, in response to the user's selection operation, the computer device determines a target interior frame from each candidate interior frame that has the same or similar arrangement of floor objects corresponding to the area to be cleaned, and then adds corresponding floor objects to the apartment frame according to the target interior frame. The floor objects can be added in batches or in part.

[0086] In the above embodiment, by acquiring each candidate interior frame and responding to the user's selection operation, a target interior frame is determined from each candidate interior frame, and finally corresponding floor objects are added to the apartment frame based on the target interior frame, thereby completing the setting of environmental information in the apartment frame. There is no need to set each floor object one by one, and batch setting operations can be completed according to the determined interior frame, which greatly improves the efficiency of environmental information setting.

[0087] In some embodiments, adding information about a floor object in a housing frame includes: receiving a floor object adding instruction issued by a user; and adding a corresponding floor object in the housing frame according to the floor object adding instruction.

[0088] Among them, the floor object adding instruction can be used to add a single floor object or a batch of multiple floor objects. The triggering method for generating the floor object adding instruction can be automatic generation after the user clicks on a certain position in the apartment frame, or it can be automatic generation after the user enters the corresponding floor object parameters (including the category, size, size, shape and location information of the floor object) in the relevant floor object configuration box.

[0089] Specifically, the computer device generates and receives the user's instructions for adding falling objects by detecting the user's interactive operations in real time, and analyzes the instructions for adding falling objects to obtain the corresponding adding parameters of the falling objects, including the target number, target position, target size, target shape and target category of the falling objects corresponding to the adding operation, and then adds the falling objects according to these parameters to obtain the added falling objects.

[0090] In the above embodiment, by receiving the ground object adding instruction issued by the user, and adding the ground objects in the apartment frame according to the ground object adding instruction, the flexible setting of the ground objects is realized, the rapid addition of the ground objects is effectively realized, and the accuracy of the information of the ground objects in the apartment frame and the convenience of adding the ground objects are improved.

[0091] The present application also provides an application scenario, which applies the above-mentioned map drawing method, and the method is applied to a scenario of drawing a reference map for a robot to carry out work. Specifically, the application of the map drawing method in the application scenario is as follows:

[0092] A computer device provides a map drawing interface, and a control for homemade software is provided on the display interface of the computer device. After the user clicks the homemade map virtual button, the computer device displays the homemade map interface, in which the identification of each apartment frame and the apartment frame drawing area are displayed. The computer device uses one of the apartment frame identifications displayed on the device screen or the default recommended target apartment frame as the apartment frame corresponding to the area to be moved by the self-moving robot according to the user's interactive operation on the device screen, and adjusts each apartment or area in the target apartment frame selected in the above steps according to the user's interactive data, including adjustment of information such as position, size, shape and category.

[0093] After the apartment type adjustment is completed, the computer device responds to the user's interactive operation and displays an interior customization interface, in which various interior frames and interior frame drawing areas are displayed. The computer device obtains a target interior frame based on the user's interactive operation in the interior customization interface, and adds corresponding floor objects in the target apartment type frame based on the target interior frame. The floor objects include tables, chairs, beds, wardrobes, potted plants, etc., and then adjusts each floor object based on the interactive operation issued by the user. The adjustment includes adjustment of information such as the position, size, shape, material and category of each floor object.

[0094] The computer device detects the user's interactive operation in real time, selects the shape, size and position of the prohibited area according to the interactive operation, and forms the prohibited area in the preliminary map according to the shape, size and position of the prohibited area.

[0095] Based on the household maps of the objects on the ground that have been set up in the above steps, a self-made map corresponding to the path planning of the self-moving robot is quickly generated and saved, and then the self-made map is sent to the self-moving robot, so that the self-moving robot can use the user's self-made map as the basis during the map building process. The machine cleans strictly according to the information provided by the user and supplements the map information. If the information of the room or area is identified to be changed, the user will be prompted whether to update the map. The user can choose not to pop up the prompt, thereby completing the construction of the self-made map corresponding to the area to be moved by the self-moving robot and the robot's update process of the self-made map.

[0096] In the above embodiment, the user can flexibly select a suitable apartment framework according to the needs of different apartment types through the interface provided by the drawing device, customize the apartment map corresponding to the moving area or cleaning area of ​​the self-mobile robot, and then personalize various environmental information in the selected apartment framework. Finally, based on the apartment map with added environmental information, a map corresponding to the area to be moved or the cleaning area for path planning of the self-mobile robot is generated. This can avoid the inefficiency brought about by the self-mobile robot building a map according to the environment in traditional technologies, and effectively improve the efficiency of map drawing.

[0097] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0098] Based on the same inventive concept, the embodiment of the present application also provides a map drawing device for implementing the map drawing method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more map drawing device embodiments provided below can refer to the limitations on the map drawing method above, and will not be repeated here.

[0099] In one embodiment, Figure 3 As shown, a map drawing device is provided, including: a receiving module 302, an adding module 304 and a generating module 306, wherein:

[0100] The receiving module 302 is used to receive the house frame of the area to be moved determined by the user; wherein the area to be moved is the moving area of ​​the self-moving robot.

[0101] The adding module 304 is used to add environmental information to the house type framework.

[0102] The generation module 306 is used to generate a map of the area to be moved based on the house map after adding environmental information; wherein the map is used for path planning of the mobile robot.

[0103] In some embodiments, the receiving module 302 is specifically used to obtain each candidate housing type framework; in response to the user's selection operation, determine the housing type framework of the area to be moved in each candidate housing type framework.

[0104] In some embodiments, the receiving module 302 is specifically used to receive an apartment size modification instruction issued by a user; and modify the size of the apartment frame of the area to be moved according to the apartment size modification instruction.

[0105] In some embodiments, the receiving module 302 is specifically configured to receive a house type drawing instruction issued by a user; and generate a house type framework of the area to be moved based on the house type drawing instruction.

[0106] In some embodiments, the receiving module 302 is specifically used to receive an apartment size modification instruction issued by a user; and modify the size of the apartment frame of the area to be moved according to the apartment size modification instruction.

[0107] In some embodiments, the adding module 304 is specifically used to obtain various candidate interior frames; in response to the user's selection operation, determine the target interior frame from the various candidate interior frames; add the corresponding ground objects in the apartment frame based on the target interior frame; the environmental information includes at least one of the position of the ground object on the moving surface of the area to be moved and the size of the ground object.

[0108] In some embodiments, the adding module 304 is specifically used to determine at least one target candidate interior frame according to the size information corresponding to the apartment frame; and obtain the determined target candidate interior frame.

[0109] In some embodiments, the adding module 304 is specifically used to receive a ground object modification instruction issued by a user; and modify the ground object in the target interior frame according to the ground object modification instruction.

[0110] In some embodiments, the adding module 304 is specifically used to receive a floor object adding instruction issued by a user; and add a corresponding floor object in the apartment frame according to the floor object adding instruction.

[0111] In some embodiments, the adding module 304 is specifically used to receive a ground object modification instruction issued by a user, and the ground object modification instruction is used to modify at least one of the size, type and position of the corresponding ground object; according to the ground object modification instruction, the corresponding ground object in the apartment frame is modified.

[0112] In some embodiments, the generation module 306 is specifically used to receive an area prohibition instruction issued by a user; determine a prohibited area in the apartment frame according to the area prohibition instruction, and the prohibited area is an area where the self-moving robot is prohibited from moving.

[0113] The above-mentioned map drawing device, by receiving the apartment frame of the area to be moved determined by the user, realizes the flexible selection of the appropriate apartment frame according to the needs of different apartment types, and quickly draws the apartment map corresponding to the moving area or cleaning area of ​​the self-moving robot according to customization, and then sets various environmental information in the selected apartment frame. Finally, based on the apartment map with the environmental information added, a map corresponding to the area to be moved or the cleaning area for the path planning of the self-moving robot is generated. Therefore, it can avoid the inefficiency brought about by the self-moving robot building a map according to the environment in the traditional technology, and effectively improve the efficiency of map drawing.

[0114] Each module in the above-mentioned map drawing device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module above.

[0115] The specific definition of the map drawing device can be found in the definition of the map drawing method above, which will not be repeated here. Each module in the above-mentioned map drawing device can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0116] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 4As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a map drawing method is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0117] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0118] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0119] In one embodiment, a computer-readable storage medium is provided, storing a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0120] In one embodiment, a computer program product or computer program is provided, the computer program product or computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in the above-mentioned method embodiments.

[0121] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0122] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0123] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A map drawing method, characterized in that: The method comprises: Receiving a housing frame of a to-be-moved area determined by a user; wherein the to-be-moved area is a moving area of ​​the self-moving robot; Adding environmental information to the house frame; Based on the house type map after adding the environmental information, a map of the area to be moved is generated; wherein the map is used for path planning of the self-moving robot.

2. The method according to claim 1, characterized in that: The receiving of the housing frame of the area to be moved determined by the user includes: Obtain the framework of each candidate apartment type; In response to a selection operation by the user, the housing type frame of the area to be moved is determined from among the candidate housing type frames.

3. The method according to claim 2, characterized in that In response to the user's selection operation, after determining the apartment frame of the to-be-moved area from among the candidate apartment frame, the method further includes: Receive the apartment size modification instruction issued by the user; The size of the apartment frame of the area to be moved is modified according to the apartment size modification instruction.

4. The method according to claim 1, characterized in that: The receiving of the housing frame of the area to be moved determined by the user includes: Receive the house drawing instruction issued by the user; Based on the apartment drawing instruction, a apartment frame of the area to be moved is generated.

5. The method according to claim 4, characterized in that After the housing type framework of the area to be moved is generated based on the housing type drawing instruction, the method includes: Receive the apartment size modification instruction issued by the user; According to the apartment size modification instruction, the size of the apartment frame of the area to be moved is modified.

6. The method according to any one of claims 1 to 5, characterized in that: The environmental information includes at least one of a position of the landed object on the moving surface of the to-be-moved area and a size of the landed object.

7. The method according to claim 6, characterized in that Adding environmental information in the housing frame includes: Obtain each candidate interior frame; In response to a selection operation by a user, determining a target interior frame from the candidate interior frames; Based on the target interior frame, corresponding floor objects are added to the apartment frame.

8. The method according to claim 7, characterized in that The step of obtaining each candidate interior frame includes: Determine at least one target candidate interior frame according to the size information corresponding to the apartment frame; The determined target candidate interior frame is obtained.

9. The method according to claim 7 or 8, characterized in that: The method further comprises: Receive the ground object modification instruction issued by the user; The ground object in the target interior frame is modified according to the ground object modification instruction.

10. The method according to claim 6, characterized in that Adding environmental information in the housing frame includes: Receive the command of adding a landing object issued by the user; According to the ground object adding instruction, a corresponding ground object is added in the house frame.

11. The method according to claim 10, characterized in that After adding the corresponding ground object in the apartment frame according to the ground object adding instruction, the method includes: receiving a ground object modification instruction issued by a user, wherein the ground object modification instruction is used to modify at least one of a size, a type, and a position of a corresponding ground object; According to the ground object modification instruction, the corresponding ground object in the apartment frame is modified.

12. The method according to any one of claims 1 to 11, characterized in that: The method further comprises: Receive area ban instructions from users; A prohibited area in the house frame is determined according to the area prohibition instruction, and the prohibited area is an area where the self-moving robot is prohibited from moving.

13. A method for drawing a map, characterized in that: The method comprises: Receiving a housing frame of an area to be cleaned determined by a user; wherein the area to be cleaned is a cleaning area of ​​a cleaning robot; Adding information of ground objects in the house frame; Based on the house map after adding the information of the fallen object, a map of the area to be cleaned is generated; wherein the map is used for path planning of the cleaning robot.

14. The method according to claim 13, characterized in that The receiving of the housing frame of the area to be cleaned determined by the user includes: Obtain the framework of each candidate apartment type; In response to a selection operation by a user, the housing type frame of the area to be cleaned is determined from among the candidate housing type frames.

15. The method according to claim 13, characterized in that The receiving of the housing frame of the area to be cleaned determined by the user includes: Receive the house drawing instruction issued by the user; Based on the house type drawing instruction, a house type framework of the area to be cleaned is generated.

16. The method according to claim 13, characterized in that The information of adding the ground object in the house frame includes: Obtain each candidate interior frame; In response to a selection operation by a user, determining a target interior frame from the candidate interior frames; Based on the target interior frame, corresponding floor objects are added to the apartment frame.

17. The method according to claim 13, characterized in that The information of adding the ground object in the house frame includes: Receive the command of adding a landing object issued by the user; According to the ground object adding instruction, corresponding ground objects are added in the apartment frame.

18. A map drawing device, characterized in that: The device comprises: A receiving module, used to receive a housing frame of a to-be-moved area determined by a user; wherein the to-be-moved area is a moving area of ​​the self-moving robot; An adding module, used for adding environmental information to the house type framework; A generation module is used to generate a map of the area to be moved based on the house map after adding the environmental information; wherein the map is used for path planning of the self-moving robot.

19. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 17 are implemented.

20. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 17 are implemented.

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