Map updating method and device, sweeping robot, readable storage medium and chip

Abstract

The embodiment of the invention provides a map updating method and device, a sweeping robot, a readable storage medium and a chip, and the map updating method is used for the sweeping robot and comprises the steps: obtaining a first map of which house type recognition is completed in advance, and obtaining a second map of synchronous positioning and mapping in the moving process of the sweeping robot; determining a newly added area of the second map compared with the first map; determining an adjacent relationship between the newly added area and at least one first sub-area in the first map; determining a display state of the newly added area according to the adjacent relation, wherein the display state comprises an independent state and a fusion state; and displaying the newly added area in the second map according to the display state. Through the scheme of the invention, the specific display state can be determined according to the adjacent relationship, so that the small area and the slender area can be fused with the adjacent room, the generation of too many tedious newly-added areas is avoided, and the display after the map is updated is greatly optimized.

Description

Technical Field

[0001] The present invention relates to the field of map updating technology, and in particular to a map updating method, a map updating device, a sweeping robot, a readable storage medium and a chip. Background Art

[0002] At present, when a sweeping robot updates its map, it usually directly superimposes the map generated after synchronous positioning and mapping onto the partition map, resulting in the presence of many small new areas, making the content displayed on the updated map more messy and increasing the difficulty for users to view the map. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] In view of this, an embodiment of a first aspect of the present invention provides a map updating method.

[0005] An embodiment of a second aspect of the present invention provides a map updating device.

[0006] An embodiment of the third aspect of the present invention provides a sweeping robot.

[0007] An embodiment of a fourth aspect of the present invention provides a readable storage medium.

[0008] An embodiment of the fifth aspect of the present invention provides a chip.

[0009] In order to achieve the above-mentioned purpose, an embodiment of the first aspect of the present invention provides a map updating method for a sweeping robot, the map updating method comprising: obtaining a first map for pre-completing house type recognition, and during the movement of the sweeping robot, obtaining a second map for synchronous positioning and mapping; determining a newly added area in the second map compared to the first map; determining the adjacent relationship between the newly added area and at least one first sub-area in the first map; determining a display state of the newly added area based on the adjacent relationship, the display state including an independent state and a fusion state; and displaying the newly added area in the second map based on the display state.

[0010] According to the map updating method proposed in the present invention, it is applied to a sweeping robot that cleans the floor. First, a first map that has completed the household type recognition in advance is obtained, and this map contains the structure and distribution information of the room. Then, during the movement of the sweeping robot, a second map is obtained in real time through synchronous positioning and mapping technology, and this map contains the information of the robot's current position and surrounding environment. By comparing and analyzing the first map and the second map, the newly added area in the second map relative to the first map is determined, that is, the newly appeared area that has not been marked in the first map. For each newly added area, its adjacent relationship with at least one sub-area in the first map is determined, that is, which existing areas are closely connected or adjacent to the newly added area. Based on the adjacent relationship determined above, the display state of each newly added area is determined. Specifically, if the newly added area has no obvious boundary overlap or contact with the existing sub-area, it is set to an independent state; if the newly added area has obvious boundary overlap or contact with the existing sub-area, it is set to a fusion state. Finally, the display state of each newly added area is determined, and the newly added area is marked or displayed in the second map to update the map and reflect the existence and location of the newly added area.

[0011] It can be understood that the solution proposed in this application can update the map in real time and identify the newly added areas while the sweeping robot is performing tasks. It also determines the display status of the newly added areas based on the adjacent relationship between the newly added areas and the existing areas, so as to more accurately reflect the structure of the actual environment in the map. Such an update method can improve the accuracy and visualization of the map, provide more precise navigation and cleaning instructions for the sweeping robot, and improve the robot's work efficiency and accuracy. At the same time, it also improves the user experience, making the map display of the sweeping robot more accurate and easy to understand.

[0012] It should be emphasized that this solution can determine the specific display status according to the adjacent relationship, so that small areas and elongated areas can be integrated with adjacent rooms, avoiding the generation of too many cumbersome new areas, and greatly optimizing the display of the map after the update.

[0013] In some technical solutions, optionally, determining a newly added area on the second map compared to the first map specifically includes: displaying the first map and the second map in an overlay; and comparing the second map with the first map to determine at least one newly added area.

[0014] In this technical solution, when determining the newly added area, it is mainly achieved by superposition comparison. Specifically, the first map and the second map can be superimposed together at a suitable scale and position so that they are aligned in the same coordinate system, which is convenient for comparative analysis. When comparing, all areas or grid units of the second map will be traversed first: each area or grid unit in the second map will be traversed to check whether there is a corresponding area or grid unit in the first map, and then the newly added area will be confirmed. For areas or grid units that exist in the second map but do not have corresponding areas or grid units in the first map, they are newly added areas. Mark these newly added areas for subsequent processing. It can be understood that this solution can accurately determine the newly added areas of the second map compared to the first map. These newly added areas can represent new areas or unknown environments detected during the movement of the sweeping robot, which plays an important role in updating and optimizing the map. In the next step, according to the specific situation of the newly added area, its adjacent relationship with the known sub-area can be further determined, as well as whether it needs to be integrated into the adjacent room or displayed as an independent area.

[0015] Furthermore, for the newly detected areas, the boundaries may be further refined and smoothed to reduce jagged edges or discontinuities in the map display and improve the display effect.

[0016] For newly added areas, boundary outlines can be generated based on actual conditions to better show their shapes and locations on the map.

[0017] In some technical solutions, optionally, determining the adjacent relationship between the newly added area and at least one first sub-area in the first map specifically includes: determining at least one first sub-area in the first map; judging whether the newly added area is adjacent to any first sub-area and generating a judgment result; and determining the adjacent relationship based on the judgment result.

[0018] In this technical solution, all known areas or grid cells in the first map are traversed and divided into different sub-areas. Common image processing and segmentation algorithms, such as region growing algorithm, watershed algorithm, etc., can be used to segment the map and obtain multiple sub-areas. The boundaries or grid cells of the newly added area are traversed, and collision detection is performed with all first sub-areas in the first map. If the boundaries or grid cells of the newly added area are adjacent to or overlap with the boundaries or grid cells of any first sub-area, they are determined to be adjacent. The judgment result is recorded, and a Boolean data structure or matrix can be used to represent the adjacent relationship between the newly added area and each first sub-area, or the structure of a graph can be used to represent the relationship between them. Finally, according to the judgment result, it is determined which first sub-areas in the first map are adjacent to the newly added area. If the newly added area is adjacent to multiple first sub-areas, a trade-off can be made based on factors such as adjacent area and distance to select a suitable adjacent sub-area.

[0019] It can be understood that through the above steps, the adjacent relationship between the newly added area and at least one first sub-area in the first map can be determined. This will help decide whether to merge the newly added area into the adjacent sub-area or display it as an independent area, thereby optimizing the map display effect and the navigation performance of the cleaning robot during the map update process.

[0020] In some technical solutions, optionally, a newly added area is displayed in the second map according to the display status, specifically including: determining the area parameters and shape parameters of the newly added area; when the newly added area is adjacent to at least one first sub-area, if the area parameters and the shape parameters meet a preset fusion threshold, determining that the display status of the newly added area is a fusion state, and the newly added area is displayed in a fusion state with the first sub-area, otherwise, determining that the display status of the newly added area is an independent state, and the newly added area is displayed independently in the second map.

[0021] In this technical solution, when displaying a newly added area, it is necessary to first calculate the boundary or grid unit of the newly added area to obtain the area parameter of the newly added area, indicating the size of the newly added area. At the same time, the shape parameters of the newly added area, such as aspect ratio, contour shape, etc., can be calculated to describe the morphological characteristics of the newly added area. Then, the adjacent relationship between the newly added area and at least one first sub-area is determined in the first map. If the newly added area is adjacent to at least one first sub-area, the area parameter and shape parameter of the newly added area are compared with the preset fusion threshold. The preset fusion threshold is a parameter set according to the actual situation, which is used to determine whether the newly added area is fused with the adjacent first sub-area.

[0022] If both the area parameter and the shape parameter of the newly added region meet the conditions of the fusion threshold, the display state of the newly added region is determined to be a fusion state, and the newly added region is fused with the adjacent first sub-region for display.

[0023] If the area parameter and shape parameter of the newly added area do not meet the conditions of the fusion threshold, the display state of the newly added area is determined to be an independent state, and the newly added area is displayed independently in the second map.

[0024] If the newly added area is not adjacent to any first sub-area, its display state is an independent state, and the newly added area is displayed independently in the second map.

[0025] It can be understood that in this solution, the display state of the newly added area can be determined according to the area parameter, shape parameter and adjacent relationship, so as to optimize the map display effect in the second map. For a larger newly added area, if it is similar in shape to the adjacent first sub-area and has a smaller area, it can be fused and displayed to avoid generating too many small newly added areas. For a larger newly added area, if it is significantly different in shape from the adjacent first sub-area or has a larger area, it will be displayed as an independent area to maintain the clarity and aesthetics of the map.

[0026] In some technical solutions, optionally, the display status of the newly added area is determined based on the adjacent relationship, specifically including: when the newly added area is displayed in a fusion with the first sub-area, determining whether the updated first sub-area after the fusion is separated; if the updated first sub-area needs to be separated, the separated area is newly named and displayed independently, and the remaining area retains the original name.

[0027] In this technical solution, after the newly added area is merged with the first sub-area and displayed, an updated first sub-area is obtained. It is determined whether the updated first sub-area is separated into multiple independent sub-areas by the newly added area. If the updated first sub-area is separated into multiple independent sub-areas by the newly added area, it is necessary to newly name these separated areas and display them independently in the second map. The newly created names can adopt certain rules, such as using the names of the original areas plus serial numbers or letter identifiers to keep the map neat and easy to understand. For the parts that are not separated by the newly added areas, that is, the areas that retain the shape and name of the original first sub-area, the original names are kept unchanged.

[0028] This solution can create new names for the possible separated areas and display them independently while integrating the newly added areas and the first sub-area, thereby maintaining the neatness and readability of the map. This update method can effectively avoid the cumbersome display of new areas, while improving the aesthetics and visualization of the map. During the real-time map update process, this strategy will help the sweeping robot generate more accurate, clear, and beautiful maps, improving its navigation and cleaning performance.

[0029] In some technical solutions, optionally, displaying a newly added area in the second map according to the display status specifically includes: determining contour boundary information of at least one second sub-area in the second map according to the display status of the newly added area; and generating a second map including the newly added area according to the contour boundary information of all second sub-areas.

[0030] In this technical solution, when displaying a newly added area, it is mainly classified and displayed according to the previously determined display state. Specifically, for a newly added area in an independent state, a new second sub-area is created in the second map, and its boundary information is set as the contour boundary information of the newly added area. For a newly added area in a fused state, based on the adjacent first sub-areas, the contour boundary information of the newly added area and the contour boundary information of the adjacent first sub-areas are merged to generate a new contour boundary information of the second sub-area. This new second sub-area will contain the fused area information. Finally, based on the contour boundary information of all second sub-areas, the information of the corresponding area in the second map is updated. The boundary information of the newly added area and other second sub-areas is merged to generate a second map containing the newly added area.

[0031] In this solution, the outline boundary information of the newly added area can be accurately displayed in the second map according to the display status of the newly added area, and it can be merged with other areas or displayed independently. This update method can maintain the clarity and aesthetics of the map and improve the readability and practicality of the map. During the real-time map update process, this strategy will help the sweeping robot generate more accurate, clear, and beautiful maps, improving its navigation and cleaning performance.

[0032] An embodiment of the second aspect of the present invention provides a map updating device for a sweeping robot, the map updating device comprising: an acquisition module, used to acquire a first map that has pre-completed household type identification, and during the movement of the sweeping robot, acquire a second map that is synchronously positioned and mapped; a new addition module, used to determine a new area in the second map compared to the first map; an adjacent determination module, used to determine the adjacent relationship between the new area and at least one first sub-area in the first map; a display determination module, used to determine the display state of the new area based on the adjacent relationship, the display state including an independent state and a fusion state; a display module, used to display the new area in the second map based on the display state.

[0033] According to the map updating device proposed in the present invention, it mainly includes an acquisition module, a new module, an adjacent determination module, a display determination module and a display module, and is applied to a sweeping robot that cleans the ground. First, a first map that has completed the household type recognition in advance is acquired, and this map contains the structure and distribution information of the room. Then, during the movement of the sweeping robot, a second map is acquired in real time through synchronous positioning and mapping technology, and this map contains the information of the current position of the robot and the surrounding environment. By comparing and analyzing the first map and the second map, the newly added area in the second map relative to the first map is determined, that is, the newly appeared area that has not been marked in the first map. For each newly added area, its adjacent relationship with at least one sub-area in the first map is determined, that is, which existing areas are closely connected or adjacent to the newly added area. Based on the adjacent relationship determined above, the display state of each newly added area is determined. Specifically, if the newly added area has no obvious boundary overlap or contact with the existing sub-area, it is set to an independent state; if the newly added area has obvious boundary overlap or contact with the existing sub-area, it is set to a fusion state. Finally, the display state of each newly added area is determined, and the newly added area is marked or displayed in the second map to update the map and reflect the existence and position of the newly added area.

[0034] An embodiment of the third aspect of the present invention provides a sweeping robot, which includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor, and the program or instruction, when executed by the processor, implements the steps of the method of the first aspect.

[0035] An embodiment of the fourth aspect of the present invention provides a readable storage medium, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the steps of the method of the first aspect are implemented.

[0036] An embodiment of the fifth aspect of the present invention provides a chip, the chip includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the steps of the method of the first aspect.

[0037] Additional aspects and advantages of the present invention will become apparent from the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram showing a flow chart of a map updating method according to an embodiment of the present application is shown;

[0039] Figure 2 A schematic diagram showing a flow chart of a map updating method according to an embodiment of the present application is shown;

[0040] Figure 3A schematic diagram showing a flow chart of a map updating method according to an embodiment of the present application is shown;

[0041] Figure 4 A schematic diagram showing a flow chart of a map updating method according to an embodiment of the present application is shown;

[0042] Figure 5 A schematic diagram of the structure of a map updating device according to an embodiment of the present application is shown;

[0043] Figure 6 A schematic structural diagram of a sweeping robot according to an embodiment of the present application is shown;

[0044] Figure 7 A schematic flow chart of a control method according to an embodiment of the present application is shown;

[0045] Figure 8 A flow chart of a control method according to an embodiment of the present application is shown.

[0046] in, Figures 5 and 6 The corresponding relationship between the reference numerals and the component names is as follows:

[0047] 1000: sweeping robot; 1109: memory; 1110: processor; 900: map updating device; 901: acquisition module; 902: new module; 903: adjacent determination module; 904: display determination module; 905: display module. DETAILED DESCRIPTION

[0048] In order to more clearly understand the above-mentioned purposes, features and advantages of the embodiments of the present invention, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0049] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the embodiments of the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0050] The following is combined with Figures 1 to 8 , the map updating method and device, sweeping robot, readable storage medium and chip provided in the embodiments of the present application are described in detail through specific embodiments and their application scenarios.

[0051] This embodiment provides a map updating method for Figure 6 The sweeping robot 1000 shown in FIG. 1000 has a map updating method as shown in FIG. Figure 1 As shown, including:

[0052] Step S102: Acquire a first map for pre-completing house type recognition, and acquire a second map for synchronous positioning and mapping during the movement of the sweeping robot;

[0053] Step S104: determining a newly added area of ​​the second map compared to the first map;

[0054] Step S106: determining an adjacent relationship between the newly added area and at least one first sub-area in the first map;

[0055] Step S108: determining the display state of the newly added area according to the adjacent relationship, where the display state includes an independent state and a fused state;

[0056] Step S110: Displaying the newly added area in the second map according to the display status.

[0057] The map updating method provided in this embodiment is applied to a sweeping robot that cleans the floor. First, a first map that has completed the household type recognition in advance is obtained, and this map contains the structure and distribution information of the room. Then, during the movement of the sweeping robot, a second map is obtained in real time through synchronous positioning and mapping technology, and this map contains information about the current position of the robot and the surrounding environment. By comparing and analyzing the first map and the second map, the newly added area in the second map relative to the first map is determined, that is, the newly appeared area that has not been marked in the first map. For each newly added area, its adjacent relationship with at least one sub-area in the first map is determined, that is, which existing areas are closely connected or adjacent to the newly added area. Based on the adjacent relationship determined above, the display state of each newly added area is determined. Specifically, if the newly added area has no obvious boundary overlap or contact with the existing sub-area, it is set to an independent state; if the newly added area has obvious boundary overlap or contact with the existing sub-area, it is set to a fusion state. Finally, the display state of each newly added area is determined, and the newly added area is marked or displayed in the second map to update the map and reflect the existence and location of the newly added area.

[0058] It can be understood that the solution proposed in this application can update the map in real time and identify the newly added areas while the sweeping robot is performing tasks. It also determines the display status of the newly added areas based on the adjacent relationship between the newly added areas and the existing areas, so as to more accurately reflect the structure of the actual environment in the map. Such an update method can improve the accuracy and visualization of the map, provide more precise navigation and cleaning instructions for the sweeping robot, and improve the robot's work efficiency and accuracy. At the same time, it also improves the user experience, making the map display of the sweeping robot more accurate and easy to understand.

[0059] It should be emphasized that this solution can determine the specific display status according to the adjacent relationship, so that small areas and elongated areas can be integrated with adjacent rooms, avoiding the generation of too many cumbersome new areas, and greatly optimizing the display of the map after the update.

[0060] In one embodiment, Figure 2 As shown, determining the newly added area of ​​the second map compared to the first map includes: step S1042: superimposing the first map and the second map; step S1044: comparing the second map and the first map to determine at least one newly added area.

[0061] When determining the newly added area, it is mainly achieved through superposition comparison. Specifically, the first map and the second map can be superimposed together at a suitable scale and position so that they are aligned in the same coordinate system, which is convenient for comparative analysis. When comparing, all areas or grid units of the second map will be traversed first: each area or grid unit in the second map will be traversed to check whether there is a corresponding area or grid unit in the first map, and then the newly added area will be confirmed. For areas that exist in the second map but have no corresponding areas or grid units in the first map, they are newly added areas. Mark these newly added areas for subsequent processing. It can be understood that this solution can accurately determine the newly added areas of the second map compared to the first map. These newly added areas can represent new areas or unknown environments detected during the movement of the sweeping robot, which plays an important role in updating and optimizing the map. In the next step, according to the specific situation of the newly added area, its adjacent relationship with the known sub-area can be further determined, as well as whether it needs to be integrated into the adjacent room or displayed as an independent area.

[0062] Furthermore, for the newly detected areas, the boundaries may be further refined and smoothed to reduce jagged edges or discontinuities in the map display and improve the display effect.

[0063] For newly added areas, boundary outlines can be generated based on actual conditions to better show their shapes and locations on the map.

[0064] In one embodiment, the adjacent relationship between the newly added area and at least one first sub-area in the first map is determined, such as Figure 3 As shown, it includes: step S1062: determining at least one first sub-area in the first map; step S1064: judging whether the newly added area is adjacent to any first sub-area, and generating a judgment result; step S1066: determining the adjacent relationship according to the judgment result.

[0065] Traverse all known areas or grid cells in the first map and divide them into different sub-areas. Common image processing and segmentation algorithms, such as region growing algorithm, watershed algorithm, etc., can be used to segment the map and obtain multiple sub-areas. Traverse the boundaries or grid cells of the newly added area and perform collision detection with all first sub-areas in the first map. If the boundaries or grid cells of the newly added area are adjacent to or overlap with the boundaries or grid cells of any first sub-area, they are determined to be adjacent. Record the judgment results. Boolean data structures or matrices can be used to represent the adjacent relationship between the newly added area and each first sub-area, or the structure of a graph can be used to represent the relationship between them. Finally, based on the judgment results, determine which first sub-areas in the first map the newly added area is adjacent to. If the newly added area is adjacent to multiple first sub-areas, a trade-off can be made based on factors such as adjacent area and distance to select a suitable adjacent sub-area.

[0066] It can be understood that through the above steps, the adjacent relationship between the newly added area and at least one first sub-area in the first map can be determined. This will help decide whether to merge the newly added area into the adjacent sub-area or display it as an independent area, thereby optimizing the map display effect and the navigation performance of the cleaning robot during the map update process.

[0067] In one embodiment, Figure 4 As shown, displaying the newly added area in the second map according to the display status specifically includes: step S1102: determining the area parameters and shape parameters of the newly added area; step S1104: in the case where the newly added area is adjacent to at least one first sub-area, if the area parameter and the shape parameter meet the preset fusion threshold, determining that the display status of the newly added area is a fusion state, and the newly added area is fused with the first sub-area and displayed; otherwise, determining that the display status of the newly added area is an independent state, and the newly added area is displayed independently in the second map.

[0068] When displaying a newly added area, it is necessary to first calculate the boundary or grid unit of the newly added area to obtain the area parameter of the newly added area, indicating the size of the newly added area. At the same time, the shape parameters of the newly added area, such as aspect ratio, contour shape, etc., can be calculated to describe the morphological characteristics of the newly added area. Then, the adjacent relationship between the newly added area and at least one first sub-area is determined in the first map. If the newly added area is adjacent to at least one first sub-area, the area parameter and shape parameter of the newly added area are compared with the preset fusion threshold. The preset fusion threshold is a parameter set according to the actual situation, which is used to determine whether the newly added area is fused with the adjacent first sub-area.

[0069] If both the area parameter and the shape parameter of the newly added region meet the conditions of the fusion threshold, the display state of the newly added region is determined to be a fusion state, and the newly added region is fused with the adjacent first sub-region for display.

[0070] If the area parameter and shape parameter of the newly added area do not meet the conditions of the fusion threshold, the display state of the newly added area is determined to be an independent state, and the newly added area is displayed independently in the second map.

[0071] If the newly added area is not adjacent to any first sub-area, its display state is an independent state, and the newly added area is displayed independently in the second map.

[0072] It can be understood that in this solution, the display state of the newly added area can be determined according to the area parameter, shape parameter and adjacent relationship, so as to optimize the map display effect in the second map. For a larger newly added area, if it is similar in shape to the adjacent first sub-area and has a smaller area, it can be fused and displayed to avoid generating too many small newly added areas. For a larger newly added area, if it is significantly different in shape from the adjacent first sub-area or has a larger area, it will be displayed as an independent area to maintain the clarity and aesthetics of the map.

[0073] Based on any of the above embodiments, optionally, the display status of the newly added area is determined according to the adjacent relationship, specifically including: when the newly added area is displayed in a fusion with the first sub-area, determining whether the updated first sub-area after the fusion is separated; if the updated first sub-area needs to be separated, the separated area is newly named and displayed independently, and the remaining area retains the original name.

[0074] After the newly added area is merged with the first sub-area and displayed, an updated first sub-area is obtained. Determine whether the updated first sub-area is separated into multiple independent sub-areas by the newly added area. If the updated first sub-area is separated into multiple independent sub-areas by the newly added area, it is necessary to newly name these separated areas and display them independently in the second map. Certain rules can be used for the newly created names, such as using the names of the original areas plus serial numbers or letter identifiers to keep the map neat and easy to understand. For the parts that are not separated by the newly added areas, that is, the areas that retain the shape and name of the original first sub-area, keep their original names unchanged.

[0075] This solution can create new names for the possible separated areas and display them independently while integrating the newly added areas and the first sub-area, thereby maintaining the neatness and readability of the map. This update method can effectively avoid the cumbersome display of new areas, while improving the aesthetics and visualization of the map. During the real-time map update process, this strategy will help the sweeping robot generate more accurate, clear, and beautiful maps, improving its navigation and cleaning performance.

[0076] Based on any of the above embodiments, optionally, displaying a newly added area in the second map according to the display status includes: determining contour boundary information of at least one second sub-area in the second map according to the display status of the newly added area; and generating a second map including the newly added area according to the contour boundary information of all second sub-areas.

[0077] When displaying a newly added area, it is mainly classified and displayed according to the previously determined display state. Specifically, for a newly added area in an independent state, a new second sub-area is created in the second map, and its boundary information is set as the contour boundary information of the newly added area. For a newly added area in a fused state, based on the adjacent first sub-areas, the contour boundary information of the newly added area and the contour boundary information of the adjacent first sub-areas are merged to generate a new contour boundary information of the second sub-area. This new second sub-area will contain the fused area information. Finally, based on the contour boundary information of all second sub-areas, the information of the corresponding area in the second map is updated. The boundary information of the newly added area and other second sub-areas is merged to generate a second map containing the newly added area.

[0078] In this solution, the outline boundary information of the newly added area can be accurately displayed in the second map according to the display status of the newly added area, and it can be merged with other areas or displayed independently. This update method can maintain the clarity and aesthetics of the map and improve the readability and practicality of the map. During the real-time map update process, this strategy will help the sweeping robot generate more accurate, clear, and beautiful maps, improving its navigation and cleaning performance.

[0079] In a specific embodiment, Figure 7 As shown, a control method for a sweeping robot is provided, which is mainly used for real-time display of map fusion, including: step S202: obtaining a slam map and a region segmentation map; step S204: superimposing the two maps to obtain a newly added area; step S206: determining whether it is an isolated area; if so, step S208: displaying a gray newly added area, otherwise, step S210: determining the adjacent ID of the newly added area, step S212: if the area is less than 1 square meter, or the width is less than 7 pixels, step S214: integrating the area into the adjacent ID, otherwise step S208: displaying a gray newly added area, and finally step S216: updating the boundary and internal obstacles.

[0080] The real-time update process includes the following steps: obtaining the current SLAM grid map and region segmentation map; comparing and analyzing the region segmentation map with the SLAM map to identify newly added regions; for each newly added region, analyzing and determining which sub-region it is adjacent to; judging whether to display the newly added region as an independent new region or to merge it into the adjacent room based on its area and shape characteristics; finally, updating the region segmentation map based on the above analysis results to ensure that the map size is consistent with the latest SLAM map.

[0081] During the real-time map update process, small and elongated areas are merged with adjacent rooms to avoid generating too many cumbersome new areas. At the same time, larger areas will be displayed as independent new areas.

[0082] When the cleaning task is completed, the system will perform the final area segmentation. At this stage, the larger newly added areas will be re-segmented and optimized. This can maintain the accurate and beautiful display of the map during continuous cleaning tasks and improve the user experience.

[0083] By adopting the method described in the present invention, the problem of too many small areas and elongated areas in the existing map update strategy can be effectively solved, so that the cleaning robot has better navigation and cleaning performance when performing continuous cleaning tasks.

[0084] In a specific embodiment, Figure 8 As shown, a control method for a sweeping robot is provided, which is mainly used for updating a region segmentation map, including: step S202: obtaining a SLAM map and a region segmentation map; step S204: superimposing the two maps to obtain a newly added region; step S206: determining whether it is an isolated region; if so, step S2082: filtering small regions and assigning new IDs to large regions, otherwise, step S210: determining adjacent IDs of the newly added regions, step S213: if the area is greater than 3 square meters, step S214: merging the region with the adjacent region, otherwise step S215: assigning the fused region to the original ID, after step S214, executing step S2152: determining whether the fused region is divisible, if so, step S2153: assigning a new ID to the divisible new region, and the original region ID remains unchanged, otherwise step S215: assigning the fused region to the original ID; and finally step S2162: updating boundary and obstacle information.

[0085] The region segmentation update strategy mainly includes the following: obtain the current SLAM grid map and region segmentation map; compare and analyze the region segmentation map with the SLAM map to identify the newly added regions; analyze each newly added region and determine its adjacent sub-regions; merge the smaller regions into the adjacent rooms according to the area and shape characteristics of the newly added regions; for larger newly added regions, treat them and the adjacent rooms as a whole region and re-segment the regions. If these larger regions cannot be further subdivided, merge them into the adjacent rooms; if they can be subdivided, display them as new sub-regions; finally, update the region boundary outline and internal obstacle information to ensure that the latest region segmentation map accurately reflects the actual environment.

[0086] By adopting this updating strategy, we can effectively optimize the display effect and accuracy of the regional segmentation map, thereby providing more precise navigation and cleaning guidance for the cleaning robot.

[0087] In general, this solution provides a real-time display and update of regional segmentation map solutions for home environments to ensure that the map presents the best visual effects while ensuring the authenticity and accuracy of the map in the current state. It can be widely used in scenarios such as smart homes and indoor layout planning to help users better understand and grasp the status of home spaces. It has a wide range of applications in both commercial and home robotics. It focuses on real-time updates on maps that have been segmented, and ensures that the display effect of the map is always kept in the best state by filtering, deleting and fusing the newly added areas. It not only improves the map readability and user experience, but also provides a more accurate reference for robot navigation and task planning.

[0088] like Figure 5 As shown, the embodiment of the present application provides a map updating device 900. The map updating device 900 includes an acquisition module 901, a new addition module 902, an adjacent determination module 903, a display determination module 904 and a display module 905.

[0089] Among them, the acquisition module 901 is used to obtain a first map that has pre-completed apartment type recognition, and to obtain a second map that is synchronously positioned and mapped during the movement of the sweeping robot; the new module 902 is used to determine the new area of ​​the second map compared to the first map; the adjacent determination module 903 is used to determine the adjacent relationship between the new area and at least one first sub-area in the first map; the display determination module 904 is used to determine the display state of the new area according to the adjacent relationship, and the display state includes an independent state and a fusion state; the display module 905 is used to display the new area in the second map according to the display state.

[0090] Furthermore, the adjacent determination module 903 is further configured to display the first map and the second map in an overlapping manner; and to compare the second map with the first map to determine at least one newly added area.

[0091] The adjacent determination module 903 is also used to determine at least one first sub-area in the first map; determine whether the newly added area is adjacent to any first sub-area and generate a determination result; and determine the adjacent relationship according to the determination result.

[0092] The display module 905 is also used to determine the area parameters and shape parameters of the newly added area; when the newly added area is adjacent to at least one first sub-area, if the area parameters and shape parameters meet the preset fusion threshold, the display state of the newly added area is determined to be a fusion state, and the newly added area is displayed in a fusion state with the first sub-area; otherwise, the display state of the newly added area is determined to be an independent state, and the newly added area is displayed independently in the second map.

[0093] The display determination module 904 is used to determine whether the updated first sub-region after fusion is separated when the newly added region is displayed in a fusion with the first sub-region; if the updated first sub-region needs to be separated, the separated region is newly named and displayed independently, and the remaining region retains the original name.

[0094] The display module 905 is used to determine the contour boundary information of at least one second sub-region in the second map according to the display state of the newly added region; and generate the second map including the newly added region according to the contour boundary information of all the second sub-regions.

[0095] The map updating device in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0096] The map updating device provided in the embodiment of the present application can achieve Figures 1 to 4 To avoid repetition, the various processes implemented by the method embodiment are not described here.

[0097] Alternatively, if Figure 6 As shown, the embodiment of the present application also provides a sweeping robot 1000, including a processor 1110, a memory 1109, and a program or instruction stored in the memory 1109 and executable on the processor 1110. When the program or instruction is executed by the processor 1110, the various processes of the embodiment of the above-mentioned map updating method are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0098] It should be noted that the sweeping robot in the embodiment of the present application includes the above-mentioned electronic equipment and non-electronic equipment.

[0099] Among them, the processor 1110 is used to obtain a first map that has pre-completed apartment type recognition, and during the movement of the sweeping robot, obtain a second map that simultaneously locates and builds a map; determine a new area in the second map compared to the first map; determine the adjacent relationship between the new area and at least one first sub-area in the first map; determine the display status of the new area based on the adjacent relationship, the display status includes an independent state and a fusion state; and display the new area in the second map based on the display status.

[0100] Furthermore, the processor 1110 is further configured to display the first map and the second map in an overlapping manner; and to compare the second map with the first map to determine at least one newly added area.

[0101] The processor 1110 is used to determine at least one first sub-area in the first map; determine whether the newly added area is adjacent to any first sub-area and generate a determination result; and determine the adjacent relationship according to the determination result.

[0102] Processor 1110 is used to determine the area parameters and shape parameters of the newly added area; when the newly added area is adjacent to at least one first sub-area, if the area parameters and shape parameters meet the preset fusion threshold, the display state of the newly added area is determined to be a fusion state, and the newly added area is displayed in a fusion state with the first sub-area; otherwise, the display state of the newly added area is determined to be an independent state, and the newly added area is displayed independently in the second map.

[0103] Processor 1110 is used to determine whether the updated first sub-region after fusion is separated when the newly added region is displayed in a fusion with the first sub-region; if the updated first sub-region needs to be separated, the separated region is newly named and displayed independently, and the remaining region retains the original name.

[0104] The processor 1110 is configured to determine contour boundary information of at least one second sub-region in the second map according to the display status of the newly added region; and generate a second map including the newly added region according to the contour boundary information of all second sub-regions.

[0105] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, each process of the above-mentioned map updating method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0106] The processor is the processor in the electronic device in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0107] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned map update method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0108] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0109] According to the map updating method, device, sweeping robot, readable storage medium and chip provided by the present invention, the specific display state can be determined according to the adjacent relationship, so that small areas and elongated areas can be merged with adjacent rooms, avoiding the generation of too many cumbersome new areas, and greatly optimizing the display after the map update.

[0110] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0111] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front” and “back” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention.

[0112] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0113] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A map updating method, characterized in that: For a sweeping robot, the map updating method includes: Acquire a first map in which the house type recognition is completed in advance, and acquire a second map for synchronous positioning and mapping during the movement of the sweeping robot; Determining a newly added area of ​​the second map compared to the first map; Determine an adjacent relationship between the newly added area and at least one first sub-area in the first map; Determine a display state of the newly added area according to the adjacent relationship, where the display state includes an independent state and a fused state; The newly added area is displayed in the second map according to the display state.

2. The map updating method according to claim 1, characterized in that: The determining of the newly added area of ​​the second map compared with the first map specifically includes: Overlaying and displaying the first map and the second map; The second map is compared with the first map to determine at least one newly added area.

3. The map updating method according to claim 2, characterized in that: The determining of the adjacent relationship between the newly added area and at least one first sub-area in the first map specifically includes: determining at least one of the first sub-areas in the first map; Determine whether the newly added area is adjacent to any of the first sub-areas, and generate a determination result; The neighbor relationship is determined according to the judgment result.

4. The map updating method according to claim 1, characterized in that: The displaying the newly added area in the second map according to the display state specifically includes: Determining area parameters and shape parameters of the newly added area; In the case that the newly added area is adjacent to at least one of the first sub-areas, if the area parameter and the shape parameter meet the preset fusion threshold, the display state of the newly added area is determined to be a fusion state, and the newly added area is displayed fused with the first sub-area; otherwise, the display state of the newly added area is determined to be an independent state, and the newly added area is displayed independently in the second map.

5. The map updating method according to claim 4, characterized in that: The determining the display state of the newly added area according to the adjacent relationship specifically includes: In the case where the newly added area is displayed in a fused manner with the first sub-area, determining whether the fused updated first sub-area is separated; If the updating of the first sub-region needs to be separated, a new name is given to the separated region and it is displayed independently, and the remaining region retains the original name.

6. The map updating method according to any one of claims 1 to 5, characterized in that: The displaying the newly added area in the second map according to the display state specifically includes: Determining outline boundary information of at least one second sub-area in the second map according to the display state of the newly added area; A second map including the newly added area is generated according to the contour boundary information of all the second sub-areas.

7. A map updating device, characterized in that: For a sweeping robot, the map updating device comprises: An acquisition module, used to acquire a first map for pre-finishing the house type recognition, and to acquire a second map for synchronous positioning and mapping during the movement of the sweeping robot; A new adding module, used to determine a new area of ​​the second map compared to the first map; an adjacent determination module, configured to determine an adjacent relationship between the newly added area and at least one first sub-area in the first map; A display determination module, used to determine a display state of the newly added area according to the adjacent relationship, wherein the display state includes an independent state and a fusion state; A display module is used to display the newly added area in the second map according to the display state.

8. A sweeping robot, characterized in that: The method comprises a processor, a memory and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the map updating method as claimed in any one of claims 1 to 6.

9. A readable storage medium, characterized in that: The readable storage medium stores a program or an instruction, and when the program or the instruction is executed by the processor, the steps of the map updating method according to any one of claims 1 to 6 are implemented.

10. A chip, characterized in that: The chip includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run a program or an instruction to implement the steps of the map updating method according to any one of claims 1 to 6.

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