Map azimuth correction method based on display terminal

Abstract

The invention relates to a map orientation correction method based on a display terminal, and the method comprises the steps: obtaining a first map constructed by a cleaning robot, and a first display orientation, relative to a reference direction, of a work station of the cleaning robot in a display coordinate system of the display terminal; the reference direction is the same as the physical orientation of the display terminal in a three-dimensional space coordinate system; acquiring a first physical orientation of the workstation in the three-dimensional space coordinate system; determining a first target orientation of the first physical orientation in a display coordinate system; based on a first deviation angle between the first target orientation and the first display orientation, the display orientation of each boundary of the first map under the display coordinate system is corrected, and a corrected first target map is obtained, the display orientation of each boundary of the first target map in the display coordinate system is the same as the actual physical orientation of each boundary in the three-dimensional space coordinate system, so that the display orientation of the map displayed in the display terminal is consistent with the actual physical orientation, and the user experience is improved.

Description

Technical Field

[0001] This disclosure relates to the field of map calibration technology, and in particular to a map orientation correction method based on a display terminal. Background Technology

[0002] Cleaning robots can automatically clean the floor in a room using artificial intelligence technology, bringing great convenience to cleaning work.

[0003] Currently, cleaning robots can automatically build maps, and users can view these maps on a display terminal (such as the content disclosed in invention patent CN110000786B). However, users can only see the relative positions of the elements in the map and cannot determine the actual physical orientation of each element, that is, the actual physical orientation of each boundary in the map. This makes the map not very intuitive for users to view on the display terminal, and the orientation of each element in the map seen on the display terminal may not match the actual physical orientation, resulting in a poor user experience. Summary of the Invention

[0004] To address the aforementioned technical problems, this disclosure provides a map orientation correction method based on a display terminal.

[0005] A first aspect of this disclosure provides a map orientation correction method based on a display terminal, comprising: The first map constructed by the cleaning robot is obtained, as well as the first display orientation of the cleaning robot's workstation relative to the reference direction in the display coordinate system of the display terminal. The reference direction is the same as the physical orientation of the display terminal in the three-dimensional spatial coordinate system. Obtain the first physical orientation of the workstation in the three-dimensional coordinate system; Transform the first physical orientation into the display coordinate system to obtain the first target orientation in the display coordinate system; Based on the first deviation angle between the first target orientation and the first display orientation, the display orientation of each boundary of the first map in the display coordinate system is corrected to obtain the corrected first target map. The display orientation of each boundary of the first target map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system.

[0006] Optionally, obtaining the first physical orientation of the workstation in the three-dimensional spatial coordinate system includes: In response to placing the display terminal in the calibration area of ​​the workstation along a preset direction and with the physical orientation of the display terminal being the same as the preset direction, the first physical orientation of the display terminal in the three-dimensional spatial coordinate system is obtained based on the first orientation sensor installed in the display terminal. Based on the preset deviation angle between the preset direction and the absolute orientation of the workstation, the physical orientation of the first terminal is rotated by the preset deviation angle to obtain the first physical orientation of the workstation in the three-dimensional spatial coordinate system.

[0007] Optionally, obtaining the first physical orientation of the workstation in the three-dimensional spatial coordinate system includes: Based on the second orientation sensor installed in the workstation, the first physical orientation of the workstation in the three-dimensional spatial coordinate system is obtained from the second orientation sensor.

[0008] Optionally, the above-described transformation of the first physical orientation to the display coordinate system to obtain the first target orientation of the first physical orientation in the display coordinate system includes: Obtain the first physical orientation of the display terminal in the three-dimensional spatial coordinate system; Calculate the angle between the first physical orientation and the first terminal physical orientation; Based on the correspondence between the reference direction and the physical orientation of the terminal, the physical orientation of the first terminal is transformed into the display coordinate system to obtain the first terminal display orientation in the display coordinate system. The correspondence includes the reference direction and the physical orientation of the terminal being the same. The first terminal display orientation is rotated by an angle around the origin of the display coordinate system to obtain the first target orientation of the first physical orientation in the display coordinate system.

[0009] Optionally, the above-mentioned correction of the display orientation of each boundary of the first map in the display coordinate system based on the first deviation angle between the first target orientation and the first display orientation, to obtain the corrected first target map, includes: Calculate the first deviation angle between the first target orientation and the first display orientation; The first target map is obtained by rotating the first map around its central axis by a first deviation angle.

[0010] Optionally, after correcting the display orientation of each boundary of the first map in the display coordinate system based on the first deviation angle between the first target orientation and the first display orientation to obtain the corrected first target map, the method further includes: Obtain the physical orientation of the second terminal in the three-dimensional spatial coordinate system; Calculate the second deviation angle of the physical orientation of the second terminal relative to the physical orientation of the first terminal; Based on the second deviation angle, the display orientation of each boundary of the first target map in the display coordinate system is corrected to obtain the corrected second target map. The display orientation of each boundary of the second target map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system.

[0011] Optionally, based on the second deviation angle, the display orientation of each boundary of the first target map in the display coordinate system is corrected to obtain the corrected second target map, including: The second target map is obtained by rotating the first target map around its central axis by a second deviation angle.

[0012] Optionally, after correcting the display orientation of each boundary of the first map in the display coordinate system based on the first deviation angle between the first target orientation and the first display orientation to obtain the corrected first target map, the method further includes: In response to the cleaning robot constructing a second map, the second map and the second display orientation of the cleaning robot's workstation relative to the reference direction in the display coordinate system of the display terminal are obtained; Based on the third deviation angle between the first target orientation and the second display orientation, the display orientation of each boundary of the second map in the display coordinate system is corrected to obtain the corrected third target map. The display orientation of each boundary of the third target map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system.

[0013] Optionally, after correcting the display orientation of each boundary of the first map in the display coordinate system based on the first deviation angle between the first target orientation and the first display orientation to obtain the corrected first target map, the method further includes: When the first physical orientation of the workstation changes, obtain the second physical orientation of the workstation in the three-dimensional spatial coordinate system; In response to the cleaning robot building a third map, the third map and the third display orientation of the cleaning robot's workstation relative to the reference direction in the display coordinate system of the display terminal are obtained; Transform the second physical orientation into the display coordinate system to obtain the second target orientation in the display coordinate system; Based on the fourth deviation angle between the second target orientation and the third display orientation, the display orientation of each boundary of the third map in the display coordinate system is corrected to obtain the corrected fourth target map. The display orientation of each boundary of the fourth target map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system.

[0014] Optionally, after correcting the display orientation of each boundary of the first map in the display coordinate system based on the first deviation angle between the first target orientation and the first display orientation to obtain the corrected first target map, the method further includes: The actual physical orientation of at least one boundary of the first target map in a three-dimensional spatial coordinate system is displayed on the display interface.

[0015] The technical solution provided in this disclosure has the following advantages compared with the prior art: In this embodiment, a first map constructed by a cleaning robot is obtained, along with the first display orientation of the cleaning robot's workstation relative to a reference direction in the display coordinate system of the display terminal. The reference direction is the same as the physical orientation of the display terminal in the three-dimensional spatial coordinate system. The first physical orientation of the workstation in the three-dimensional spatial coordinate system is obtained. The first physical orientation is transformed into the display coordinate system to obtain a first target orientation of the first physical orientation in the display coordinate system. Based on a first deviation angle between the first target orientation and the first display orientation, the display orientation of each boundary of the first map in the display coordinate system is corrected to obtain a corrected first target map. The display orientation of each boundary of the first target map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system. The display orientation of the map constructed by the cleaning robot in the terminal can be corrected according to the actual physical orientation of the workstation, so that the display orientation of each boundary of the map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system. At this time, the display orientation of each element in the map seen by the user in the display terminal is consistent with the actual physical orientation, improving the user experience. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0017] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0018] Figure 1 This is a flowchart of a map orientation correction method based on a display terminal provided in an embodiment of this disclosure; Figure 2a This is a schematic diagram of the display interface of a display terminal provided in an embodiment of this disclosure; Figure 2b This is a schematic diagram of the display interface of another display terminal provided in an embodiment of this disclosure; Figure 3a This is a schematic diagram of the display interface of a display terminal provided in an embodiment of this disclosure; Figure 3b This is a schematic diagram of the display interface of another display terminal provided in an embodiment of this disclosure; Figure 4a This is a schematic diagram of a workstation provided in an embodiment of this disclosure; Figure 4b This is a schematic diagram of another workstation provided in an embodiment of this disclosure; Figure 5 This is a flowchart of another map orientation correction method based on a display terminal provided in this disclosure embodiment; Figure 6 This is a flowchart of another map orientation correction method based on a display terminal provided in this disclosure embodiment; Figure 7 This is a flowchart of another map orientation correction method based on a display terminal provided in this disclosure embodiment; Figure 8 This is a schematic diagram of the structure of a map orientation correction device based on a display terminal provided in an embodiment of this disclosure; Figure 9 This is a schematic diagram of the structure of a display terminal provided in an embodiment of this disclosure. Detailed Implementation

[0019] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0020] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0021] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0022] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0023] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0024] Cleaning robots, also known as cleaning robots, can automatically clean floors in a room using artificial intelligence technology, bringing great convenience to cleaning work.

[0025] Currently, cleaning robots can automatically build maps, and users can view the maps built by the cleaning robots on display terminals (such as the content disclosed in invention patent CN110000786B). However, users can only see the relative positions between various elements in the built map and cannot determine the actual physical orientation of each element in the map, that is, the actual physical orientation of each boundary in the map. This makes it less intuitive for users to view the maps built by the cleaning robots on display terminals, and the orientation of each element in the map may not match the actual physical orientation, resulting in a poor user experience.

[0026] To address the shortcomings of related technologies in map display, this disclosure provides a map orientation correction method based on a display terminal. This method can correct the display orientation of the map constructed by the cleaning robot on the terminal according to the actual physical orientation of the workstation, so that the display orientation of each boundary of the map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system. At this time, the display orientation of each element in the map seen by the user on the display terminal is consistent with the actual physical orientation, thus improving the user experience.

[0027] The map orientation correction method based on a display terminal provided in this disclosure can be executed by a display terminal. The terminal can be understood as any device with processing and computing capabilities. The terminal can include, but is not limited to, mobile terminals such as smartphones, laptops, personal digital assistants (PDAs), tablet computers (PADs), portable multimedia players (PMPs), and wearable devices.

[0028] To better understand the inventive concept of the embodiments of this disclosure, the technical solutions of the embodiments of this disclosure will be described below in conjunction with exemplary embodiments.

[0029] Figure 1 This is a flowchart of a map orientation correction method based on a display terminal provided in an embodiment of this disclosure, such as... Figure 1 As shown, the map orientation correction method based on a display terminal provided in this embodiment includes the following steps: Step 110: Obtain the first map constructed by the cleaning robot, and the first display orientation of the cleaning robot's workstation relative to the reference direction in the display coordinate system of the display terminal. The reference direction is the same as the physical orientation of the display terminal in the three-dimensional spatial coordinate system.

[0030] The cleaning robot in this embodiment can be understood as a smart home appliance that automatically cleans the floor in a room using artificial intelligence, also known as a robotic vacuum cleaner. The cleaning robot can move along a pre-planned cleaning route, sweeping, vacuuming, and mopping the floor to achieve the function of floor cleaning, and then return to its corresponding workstation after cleaning is complete.

[0031] The workstation can be understood as the home of the cleaning robot. After the cleaning robot finishes its work, it will automatically return to the corresponding workstation. The workstation can charge the cleaning robot, collect the garbage collected by the cleaning robot, and clean the cleaning robot.

[0032] In this embodiment of the present disclosure, whenever the cleaning robot is used for the first time in an area, the cleaning robot will first run through the area, sense and identify the layout information of the area based on its own sensors, including the room distribution, the size and placement of each item, etc., and then construct and store a first map of the area based on the layout information, and plan a cleaning route based on the first map.

[0033] A three-dimensional spatial coordinate system can be understood as a three-dimensional coordinate system corresponding to a three-dimensional solid space. A three-dimensional spatial coordinate system can be a coordinate system within a geographical environment, including directions such as east, west, north, and south, or it can be a three-dimensional coordinate system for a specific area (such as a room). The physical orientation of a display terminal in a three-dimensional spatial coordinate system can be understood as the actual orientation of the display terminal within that system, based on the direction pointed by the orientation sensor installed in the display terminal. The orientation sensor can use geomagnetism to identify the current location's direction, similar to a compass.

[0034] The display coordinate system can be understood as the two-dimensional coordinate system corresponding to the display interface of the display terminal. The reference direction is the horizontal or vertical direction in the display coordinate system. The reference direction is the same as the physical orientation of the display terminal in the three-dimensional spatial coordinate system. The physical orientation of the display terminal in the three-dimensional spatial coordinate system is usually the physical orientation of the top of the display terminal in the three-dimensional spatial coordinate system.

[0035] In this embodiment of the present disclosure, the display terminal can establish a communication connection with the cleaning robot. The display terminal can obtain the first map constructed by the cleaning robot from the cleaning robot and display the first map in the display interface. Then, it can obtain the first display orientation of the cleaning robot's workstation in the display coordinate system of the display terminal relative to the reference direction from the first map. That is, the first display orientation of the front of the position in the workstation where the cleaning robot enters and exits is located in the display coordinate system relative to the reference direction. The front is perpendicular to the placement surface of the workstation.

[0036] For example, Figure 2a A schematic diagram of the display interface of a display terminal is provided, such as... Figure 2a As shown, 201 is the display terminal, 202 is the first map, 203 is the workstation in the first map, 204 is the front of the workstation, and 205 is the top of the display terminal. The coordinate system formed by the X-axis and Y-axis is the display coordinate system, with 0 as the origin. The X-axis represents the bottom of the display interface, and the Y-axis represents the left side of the display interface. The rightward direction of the X-axis is the positive horizontal direction, and the upward direction of the Y-axis is the positive vertical direction. The upward direction of the Y-axis is the reference direction of the display coordinate system. 206 represents true north in the geographic environment, which is the physical orientation of the display terminal in the three-dimensional spatial coordinate system. The reference direction is the same as the physical orientation of the display terminal in the three-dimensional spatial coordinate system, which is also true north. 207 represents the first display orientation of the workstation relative to the reference direction in the display coordinate system, with an angle of 15° between the first display orientation and the reference direction.

[0037] For example, Figure 3a A schematic diagram of the display interface of a display terminal is provided, such as... Figure 3a As shown, 301 is the display terminal, 302 is the first map, 303 is the workstation in the first map, 304 is the front of the workstation, and 305 is the top of the display terminal. The coordinate system formed by the X-axis and Y-axis is the display coordinate system, with 0 as the origin. The X-axis represents the bottom of the display interface, and the Y-axis represents the left side of the display interface. The rightward direction of the X-axis is the positive horizontal direction, and the upward direction of the Y-axis is the positive vertical direction. The upward direction of the Y-axis is the reference direction of the display coordinate system. 306 represents the northeast direction (45° east of north) in the geographical environment, which is the physical orientation of the display terminal in the three-dimensional spatial coordinate system. The reference direction is the same as the physical orientation of the display terminal in the three-dimensional spatial coordinate system, which is also the northeast direction. 307 represents the first display orientation of the workstation relative to the reference direction in the display coordinate system. The angle between the first display orientation and the reference direction is 0°, meaning the first display orientation is the same as the reference direction.

[0038] Step 120: Obtain the first physical orientation of the workstation in the three-dimensional spatial coordinate system.

[0039] In this embodiment of the disclosure, the display terminal can obtain the first physical orientation of the workstation in the three-dimensional spatial coordinate system, that is, obtain the first physical orientation of the front of the workstation in the three-dimensional spatial coordinate system.

[0040] In some embodiments, the first physical orientation of the workstation in the three-dimensional spatial coordinate system can be determined by calibrating the orientation of the workstation in the three-dimensional spatial coordinate system. Specifically, this may include steps 1201-1202: Step 1201: In response to placing the display terminal in the calibration area of ​​the workstation along a preset direction and with the physical orientation of the display terminal being the same as the preset direction, the first physical orientation of the display terminal in the three-dimensional spatial coordinate system is obtained based on the first orientation sensor installed in the display terminal.

[0041] In this embodiment of the disclosure, the calibration area of ​​the workstation can be understood as a fixed area within any plane of the workstation where a display terminal can be completely placed in a preset direction. The preset direction can be set as needed; for example, it can be parallel to or perpendicular to the front orientation of the workstation. This is not limited here, and the front orientation is a direction perpendicular to the outward orientation of that surface.

[0042] For example, Figure 4a This is a schematic diagram of a workstation provided in an embodiment of this disclosure, as shown below. Figure 4a As shown, 400 represents the workstation in the actual environment, 401 represents the front of the workstation, 402 represents the calibration area of ​​the workstation, 403 represents the preset direction, and 404 represents the front orientation of the workstation. This preset direction is parallel to the front orientation of the workstation, meaning the preset direction is the same as the front orientation of the workstation. Figure 4b The schematic diagram of the workstation shown shows that 405 is the display terminal and 406 is the physical orientation of the display terminal. The display terminal 405 is placed in the calibration area 402 of the workstation along the preset direction 403 and the physical orientation 406 of the display terminal is the same as the preset direction 403.

[0043] In this embodiment of the disclosure, the user can access the calibration page through a setting button in the corresponding workstation application on the display terminal. The workstation application then prompts the user to place the display terminal within the workstation's calibration area, ensuring the display terminal's physical orientation matches the preset direction. Once the user places the display terminal in the corresponding calibration area, as follows... Figure 3b As shown, when the user presses the confirmation button in the application, the application can obtain the first physical orientation of the display terminal in the three-dimensional spatial coordinate system by means of the first orientation sensor set in the display terminal through the system interface.

[0044] Step 1202: Based on the preset deviation angle between the preset direction and the absolute orientation of the workstation, rotate the physical orientation of the first terminal by the preset deviation angle to obtain the first physical orientation of the workstation in the three-dimensional spatial coordinate system.

[0045] In this embodiment, the absolute orientation of the workstation can be understood as the direction perpendicular to the front of the workstation facing outwards. The display terminal stores a preset deviation angle between a preset direction and the absolute orientation of the workstation. After obtaining the first physical orientation of the display terminal in a three-dimensional coordinate system, the display terminal can rotate the first physical orientation by the preset deviation angle between the preset direction and the absolute orientation of the workstation to obtain the first physical orientation of the workstation in the three-dimensional coordinate system.

[0046] Therefore, the actual physical orientation of the workstation can be calibrated through the display terminal, and the actual physical orientation of the workstation can be obtained quickly and accurately.

[0047] In other embodiments, the workstation may be equipped with a second orientation sensor for measuring the physical orientation of the workstation in a three-dimensional spatial coordinate system. The display terminal can establish a communication connection with the workstation and obtain the first physical orientation of the workstation in the three-dimensional spatial coordinate system based on the second orientation sensor. Therefore, the actual physical orientation of the workstation can be directly obtained through the orientation sensor in the workstation, enabling rapid and accurate acquisition of the workstation's actual physical orientation.

[0048] Step 130: Transform the first physical orientation into the display coordinate system to obtain the first target orientation of the first physical orientation in the display coordinate system.

[0049] In this embodiment of the disclosure, since the reference direction in the display coordinate system of the display terminal is the same as the physical orientation of the display terminal in the three-dimensional spatial coordinate system, the physical orientation in the three-dimensional spatial coordinate system can be transformed into the display coordinate system. After obtaining the first physical orientation of the workstation in the three-dimensional spatial coordinate system, the display terminal can transform the first physical orientation into the display coordinate system to obtain the first target orientation of the first physical orientation in the display coordinate system.

[0050] In some embodiments, transforming the first physical orientation into the display coordinate system to obtain the first target orientation of the first physical orientation in the display coordinate system may include steps 1301-1304: Step 1301: Obtain the first physical orientation of the display terminal in the three-dimensional spatial coordinate system.

[0051] In this embodiment of the present disclosure, the display terminal can display the first physical orientation of the terminal in a three-dimensional spatial coordinate system from the orientation sensor set on the display terminal.

[0052] Step 1302: Calculate the angle between the first physical orientation and the first terminal physical orientation.

[0053] In this embodiment of the disclosure, the display terminal can calculate the angle between the first physical orientation and the first terminal physical orientation.

[0054] Step 1303: Based on the correspondence between the reference direction and the physical orientation of the terminal, the physical orientation of the first terminal is transformed into the display coordinate system to obtain the first terminal display orientation in the display coordinate system. The correspondence includes the reference direction and the physical orientation of the terminal being the same.

[0055] In this embodiment of the disclosure, the correspondence between the reference direction and the physical orientation of the terminal can be understood as the reference direction of the display coordinate system being the same as the physical orientation of the terminal. Based on this correspondence, the display terminal can transform the first physical orientation of the terminal into the display coordinate system, obtaining the first terminal display orientation in the display coordinate system, i.e., the first terminal display orientation is the same as the reference direction of the display coordinate system.

[0056] Step 1304: Rotate the first terminal display orientation around the origin of the display coordinate system by an included angle to obtain the first target orientation of the first physical orientation in the display coordinate system.

[0057] In this embodiment of the disclosure, after obtaining the first terminal display orientation in the display coordinate system and the angle between the first physical orientation and the first terminal physical orientation, the display terminal can rotate the first terminal display orientation around the origin of the display coordinate system by the angle to obtain the first target orientation of the first physical orientation in the display coordinate system.

[0058] For example, such as Figure 2a As shown, if the physical orientation of the first terminal is due north 206, since the reference direction of the display coordinate system is the same as the physical orientation of the terminal, the first terminal display orientation 208 in the display coordinate system is the same as the reference direction. If the first physical orientation of the workstation in the three-dimensional spatial coordinate system is due north, then the angle between the first physical orientation and the physical orientation of the first terminal is 0°. Rotate the first terminal display orientation 0° around the origin of the display coordinate system to obtain the first target orientation 209 in the display coordinate system. The first target orientation 209 is the same as the reference direction.

[0059] For example, such as Figure 3aAs shown, if the physical orientation of the first terminal is northeast 306, since the reference direction of the display coordinate system is the same as the physical orientation of the terminal, the first terminal display orientation 308 in the display coordinate system is the same as the reference direction. If the first physical orientation of the workstation in the three-dimensional spatial coordinate system is due north, then the angle between the first physical orientation and the physical orientation of the first terminal is -45°. Rotate the first terminal display orientation 308 around the origin of the display coordinate system by -45°, that is, rotate it counterclockwise by 45° around the origin of the display coordinate system to obtain the first target orientation 309 of the first physical orientation in the display coordinate system. The angle between the first target orientation 309 and the reference direction is -45°.

[0060] Step 140: Based on the first deviation angle between the first target orientation and the first display orientation, correct the display orientation of each boundary of the first map in the display coordinate system to obtain the corrected first target map. The display orientation of each boundary of the first target map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system.

[0061] In this embodiment, after obtaining the first display orientation of the workstation relative to the reference direction in the display coordinate system and the first target orientation in the display coordinate system corresponding to the first physical orientation of the workstation in the three-dimensional spatial coordinate system, the display terminal can calculate the first deviation angle between the first target orientation and the first display orientation, and rotate the first map around the map center axis of the first map by the first deviation angle to correct the display orientation of each boundary of the first map in the display coordinate system, thereby obtaining the corrected first target map. The display orientation of each boundary of the first target map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system.

[0062] For example, such as Figure 2a As shown, the first target orientation 209 is the same as the reference direction, and the first display orientation 207 has an angle of 15° with the reference direction. That is, the first deviation angle between the first target orientation 209 and the first display orientation 207 is -15°. Rotating the first map 202 around its central axis by this first deviation angle of -15° (i.e., rotating it counterclockwise by 15° around its central axis) yields... Figure 2b The first target map 210 shown has each boundary of the first target map 210 having the same display orientation in the display coordinate system as its actual physical orientation in the three-dimensional spatial coordinate system. For example, the display orientation 209 of the workstation 203 in the first target map 210 is the same as the actual physical orientation (first physical orientation) due north of the workstation 203 in the three-dimensional spatial coordinate system. At this time, the display orientation of each element in the map seen by the user in the display terminal is consistent with the actual physical orientation.

[0063] For example, such as Figure 3a As shown, the first display orientation 307 is the same as the reference direction, the first target orientation 309 has an angle of -45° with the reference direction, and the first deviation angle between the first target orientation 309 and the first display orientation 307 is -45°. Rotating the first map 302 around its central axis by this first deviation angle of -45° (i.e., rotating it 45° counterclockwise around its central axis) yields... Figure 3b The first target map 310 shown has each boundary of the first target map 310 having the same display orientation in the display coordinate system as its actual physical orientation in the three-dimensional spatial coordinate system. For example, the display orientation 311 of the workstation 303 in the first target map 310 is the same as the actual physical orientation (first physical orientation) due north of the workstation 303 in the three-dimensional spatial coordinate system. At this time, the display orientation of each element in the map seen by the user in the display terminal is consistent with the actual physical orientation.

[0064] In this embodiment, a first map constructed by a cleaning robot is obtained, along with the first display orientation of the cleaning robot's workstation relative to a reference direction in the display coordinate system of the display terminal. The reference direction is the same as the physical orientation of the display terminal in the three-dimensional spatial coordinate system. The first physical orientation of the workstation in the three-dimensional spatial coordinate system is obtained. The first physical orientation is transformed into the display coordinate system to obtain a first target orientation of the first physical orientation in the display coordinate system. Based on a first deviation angle between the first target orientation and the first display orientation, the display orientation of each boundary of the first map in the display coordinate system is corrected to obtain a corrected first target map. The display orientation of each boundary of the first target map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system. The display orientation of the map constructed by the cleaning robot in the terminal can be corrected according to the actual physical orientation of the workstation, so that the display orientation of each boundary of the map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system. At this time, the display orientation of each element in the map seen by the user in the display terminal is consistent with the actual physical orientation, improving the user experience.

[0065] In some embodiments of this disclosure, after correcting the display orientation of each boundary of the first map in the display coordinate system to obtain the corrected first target map, when the physical orientation of the display terminal in the three-dimensional spatial coordinate system changes, for example, when a user holds the display terminal and changes the physical orientation of the terminal in the three-dimensional spatial coordinate system, the display terminal can perform... Figure 5 A flowchart of a map orientation correction method based on a display terminal is provided, such as... Figure 5 As shown, the map orientation correction method based on a display terminal provided in this embodiment includes the following steps: Step 510: Obtain the physical orientation of the second terminal in the three-dimensional spatial coordinate system.

[0066] In this embodiment of the present disclosure, after obtaining the corrected first target map, the display terminal can obtain the second terminal physical orientation in the three-dimensional spatial coordinate system measured by the first orientation sensor installed in the display terminal.

[0067] Step 520: Calculate the second deviation angle of the physical orientation of the second terminal relative to the physical orientation of the first terminal.

[0068] In this embodiment of the disclosure, the display terminal can calculate a second deviation angle of the physical orientation of the second terminal relative to the physical orientation of the first terminal, that is, the angle at which the physical orientation of the display terminal changes in the three-dimensional spatial coordinate system.

[0069] Step 530: Based on the second deviation angle, correct the display orientation of each boundary of the first target map in the display coordinate system to obtain the corrected second target map. The display orientation of each boundary of the second target map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system.

[0070] In this embodiment of the present disclosure, the display terminal can rotate the first target map around the map center axis of the first target map by a second deviation angle to correct the display orientation of each boundary of the first target map in the display coordinate system, thereby obtaining a corrected second target map. The display orientation of each boundary of the second target map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system.

[0071] Therefore, when the physical orientation of the display terminal changes in the three-dimensional spatial coordinate system, the display orientation of each boundary of the map in the display coordinate system can be corrected according to the angle of change of the physical orientation of the display terminal in the three-dimensional spatial coordinate system. This ensures that the display orientation of each boundary of the map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system. As a result, the display orientation of each element in the map seen by the user in the display terminal matches the actual physical orientation, thus improving the user experience.

[0072] In other embodiments of this disclosure, after correcting the display orientation of each boundary of the first map in the display coordinate system to obtain the corrected first target map, when the position of the workstation remains unchanged but the cleaning area of ​​the cleaning robot changes, the cleaning robot needs to rebuild the map. At this time, the display terminal can execute... Figure 6 A flowchart of a map orientation correction method based on a display terminal is provided, such as... Figure 6 As shown, the map orientation correction method based on a display terminal provided in this embodiment includes the following steps: Step 610: In response to the cleaning robot building a second map, obtain the second map and the second display orientation of the cleaning robot's workstation relative to the reference direction in the display coordinate system of the display terminal.

[0073] In this embodiment of the disclosure, when the position of the workstation remains unchanged but the cleaning area of ​​the cleaning robot changes, the cleaning robot needs to rebuild the map of the cleaning area. The display terminal can respond to the cleaning robot building a second map, obtain the built second map from the cleaning robot, and obtain the second display orientation of the workstation in the display coordinate system of the display terminal relative to the reference direction from the second map. The reference direction is the same as the physical orientation of the display terminal in the three-dimensional spatial coordinate system.

[0074] Step 620: Based on the third deviation angle between the first target orientation and the second display orientation, correct the display orientation of each boundary of the second map in the display coordinate system to obtain the corrected third target map. The display orientation of each boundary of the third target map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system.

[0075] In this embodiment of the disclosure, since the position of the workstation does not change, the first physical orientation of the workstation in the three-dimensional spatial coordinate system does not change, and the first target orientation of the first physical orientation in the display coordinate system also does not change. Therefore, after obtaining the second display orientation of the workstation relative to the reference direction in the display coordinate system of the display terminal, the display terminal can calculate the third deviation angle between the first target orientation and the second display orientation, rotate the second map around the map center axis of the second map by the third deviation angle, correct the display orientation of each boundary of the second map in the display coordinate system, and obtain the corrected third target map. The display orientation of each boundary of the third target map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system.

[0076] Therefore, when the workstation remains in the same position but the cleaning area of ​​the cleaning robot changes, the cleaning robot can rebuild the map of the cleaning area and then correct the display orientation of the map on the terminal according to the actual physical orientation of the workstation. This ensures that the display orientation of each boundary of the map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system. At this time, the display orientation of each element in the map seen by the user on the display terminal is consistent with the actual physical orientation, which improves the user experience.

[0077] In some further embodiments of this disclosure, after correcting the display orientation of each boundary of the first map in the display coordinate system to obtain the corrected first target map, when the physical orientation of the workstation in the three-dimensional spatial coordinate system changes, the cleaning robot needs to rebuild the map. At this time, the display terminal can execute... Figure 7 A flowchart of a map orientation correction method based on a display terminal is provided, such as... Figure 7 As shown, the map orientation correction method based on a display terminal provided in this embodiment includes the following steps: Step 710: When the first physical orientation of the workstation changes, obtain the second physical orientation of the workstation in the three-dimensional spatial coordinate system.

[0078] In this embodiment of the disclosure, when the first physical orientation of the workstation changes, the display terminal can obtain the second physical orientation of the workstation in the three-dimensional spatial coordinate system. For details, please refer to the content of step 120 above, which will not be repeated here.

[0079] Step 720: In response to the cleaning robot building a third map, obtain the third map and the third display orientation of the cleaning robot's workstation relative to the reference direction in the display coordinate system of the display terminal.

[0080] In this embodiment of the disclosure, when the physical orientation of the workstation in the three-dimensional spatial coordinate system changes, the cleaning robot needs to rebuild the map. The display terminal can respond to the cleaning robot building a third map, and obtain the third map and the third display orientation of the cleaning robot's workstation relative to the reference direction in the display coordinate system of the display terminal. The reference direction is the same as the physical orientation of the display terminal in the three-dimensional spatial coordinate system.

[0081] Step 730: Transform the second physical orientation into the display coordinate system to obtain the second target orientation of the second physical orientation in the display coordinate system.

[0082] In this embodiment of the present disclosure, the display terminal can convert the second physical orientation to the display coordinate system to obtain the second target orientation of the second physical orientation in the display coordinate system. For details, please refer to the content of step 130 above, which will not be repeated here.

[0083] Step 740: Based on the fourth deviation angle between the second target orientation and the third display orientation, correct the display orientation of each boundary of the third map in the display coordinate system to obtain the corrected fourth target map. The display orientation of each boundary of the fourth target map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system.

[0084] In this embodiment of the disclosure, after obtaining the third display orientation of the cleaning robot's workstation relative to the reference direction in the display coordinate system of the display terminal and the second target orientation of the second physical orientation in the display coordinate system, the display terminal can calculate the fourth deviation angle between the second target orientation and the third display orientation, rotate the third map around the map center axis of the third map by the fourth deviation angle, correct the display orientation of each boundary of the third map in the display coordinate system, and obtain the corrected fourth target map. The display orientation of each boundary of the fourth target map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system.

[0085] Therefore, when the physical orientation of the workstation changes in the three-dimensional coordinate system, the cleaning robot can reconstruct the map by redetermining the actual physical orientation of the workstation in the three-dimensional coordinate system. Based on the actual physical orientation of the workstation, the display orientation of the map constructed by the cleaning robot in the terminal is corrected so that the display orientation of each boundary of the map in the display coordinate system is the same as its actual physical orientation in the three-dimensional coordinate system. At this time, the display orientation of each element in the map seen by the user in the display terminal is consistent with the actual physical orientation, which improves the user experience.

[0086] In some further embodiments of this disclosure, after correcting the display orientation of each boundary of the first map in the display coordinate system to obtain the corrected first target map, the display terminal can also display the actual physical orientation of at least one boundary of the first target map in the three-dimensional spatial coordinate system on the display interface. For example, as Figure 2b and 3b As shown. This allows users to quickly obtain the actual physical orientation of at least one boundary of the map, improving the user experience.

[0087] Figure 8 This is a schematic diagram of a map orientation correction device based on a display terminal provided in an embodiment of this disclosure. This device can be understood as the aforementioned display terminal or some functional modules within the aforementioned display terminal. Figure 8 As shown, the map orientation correction device 800 based on the display terminal includes: The first acquisition module 810 is used to acquire the first map constructed by the cleaning robot, and the first display orientation of the cleaning robot's workstation relative to the reference direction in the display coordinate system of the display terminal, wherein the reference direction is the same as the physical orientation of the display terminal in the three-dimensional spatial coordinate system. The second acquisition module 820 is used to acquire the first physical orientation of the workstation in the three-dimensional spatial coordinate system; The first conversion module 830 is used to convert the first physical orientation to the display coordinate system to obtain the first target orientation of the first physical orientation in the display coordinate system; The first correction module 840 is used to correct the display orientation of each boundary of the first map in the display coordinate system based on the first deviation angle between the first target orientation and the first display orientation, so as to obtain the corrected first target map, wherein the display orientation of each boundary of the first target map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system.

[0088] Optionally, the second acquisition module 820 mentioned above includes: The first acquisition submodule is used to, in response to placing the display terminal in the calibration area of ​​the workstation along a preset direction and with the physical orientation of the display terminal being the same as the preset direction, acquire the first physical orientation of the display terminal in the three-dimensional spatial coordinate system based on the first orientation sensor installed in the display terminal. The first rotation submodule is used to rotate the physical orientation of the first terminal by a preset deviation angle based on the preset deviation angle between the preset direction and the absolute orientation of the workstation, so as to obtain the first physical orientation of the workstation in the three-dimensional spatial coordinate system.

[0089] Optionally, the second acquisition module 820 mentioned above includes: The second acquisition submodule is used to acquire the first physical orientation of the workstation in the three-dimensional spatial coordinate system based on the second orientation sensor set in the workstation.

[0090] Optionally, the first conversion module 830 mentioned above includes: The third acquisition submodule is used to acquire the first physical orientation of the display terminal in the three-dimensional spatial coordinate system; The first calculation submodule is used to calculate the angle between the first physical orientation and the first terminal physical orientation; The conversion submodule is used to convert the physical orientation of the first terminal to the display coordinate system based on the correspondence between the reference direction and the physical orientation of the terminal, so as to obtain the first terminal display orientation in the display coordinate system. The correspondence includes the reference direction and the physical orientation of the terminal being the same. The second rotation submodule is used to rotate the first terminal display orientation around the origin of the display coordinate system by an included angle to obtain the first physical orientation in the display coordinate system as the first target orientation.

[0091] Optionally, the above-mentioned calibration module 840 includes: The second calculation submodule is used to calculate the first deviation angle between the first target orientation and the first display orientation; The third rotation submodule is used to rotate the first map around the map center axis of the first map by a first deviation angle to obtain the first target map.

[0092] Optionally, the above-mentioned map orientation correction device 800 based on the display terminal includes: The second acquisition module is used to acquire the physical orientation of the display terminal in the three-dimensional spatial coordinate system. The second calculation module is used to calculate the second deviation angle of the physical orientation of the second terminal relative to the physical orientation of the first terminal. The second correction module is used to correct the display orientation of each boundary of the first target map in the display coordinate system based on the second deviation angle, so as to obtain the corrected second target map. The display orientation of each boundary of the second target map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system.

[0093] Optionally, the second correction module mentioned above includes: The fourth rotation submodule is used to rotate the first target map around the map center axis of the first target map by a second deviation angle to obtain the second target map.

[0094] Optionally, the above-mentioned map orientation correction device 800 based on the display terminal includes: The third acquisition module is used to acquire the second map and the second display orientation of the cleaning robot's workstation relative to the reference direction in the display coordinate system of the display terminal in response to the cleaning robot building the second map; The third correction module is used to correct the display orientation of each boundary of the second map in the display coordinate system based on the third deviation angle between the first target orientation and the second display orientation, so as to obtain the corrected third target map. The display orientation of each boundary of the third target map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system.

[0095] Optionally, the above-mentioned map orientation correction device 800 based on the display terminal includes: The fourth acquisition module is used to acquire the second physical orientation of the workstation in the three-dimensional spatial coordinate system when the first physical orientation of the workstation changes. The fifth acquisition module is used to acquire the third map and the third display orientation of the cleaning robot's workstation relative to the reference direction in the display coordinate system of the display terminal in response to the cleaning robot building the third map; The second conversion module is used to convert the second physical orientation to the display coordinate system, so as to obtain the second target orientation of the second physical orientation in the display coordinate system; The fourth correction module is used to correct the display orientation of each boundary of the third map in the display coordinate system based on the fourth deviation angle between the second target orientation and the third display orientation, so as to obtain the corrected fourth target map. The display orientation of each boundary of the fourth target map in the display coordinate system is the same as its actual physical orientation in the three-dimensional spatial coordinate system.

[0096] Optionally, the above-mentioned map orientation correction device 800 based on the display terminal includes: The display module is used to display the actual physical orientation of at least one boundary of the first target map in a three-dimensional spatial coordinate system on the display interface.

[0097] The map orientation correction device for the display terminal provided in this embodiment can implement the method of any of the above embodiments, and its execution mode and beneficial effects are similar, so they will not be described again here.

[0098] This disclosure also provides a display terminal, which includes a processor and a memory. The memory stores a computer program. When the computer program is executed by the processor, it can implement the methods of any of the above embodiments. The execution method and beneficial effects are similar and will not be described again here.

[0099] The display terminal in this disclosure embodiment can be understood as any device with processing and computing capabilities, including but not limited to mobile terminals such as smartphones, laptops, personal digital assistants (PDAs), tablet computers (PADs), portable multimedia players (PMPs), wearable devices, etc.

[0100] Figure 9 This is a schematic diagram of the structure of a display terminal provided in an embodiment of this disclosure, such as... Figure 9 As shown, the display terminal 900 may include a processor 910 and a memory 920. The memory 920 stores a computer program 921. When the computer program 921 is executed by the processor 910, it can implement the method provided in any of the above embodiments. The execution mode and beneficial effects are similar and will not be described again here.

[0101] Of course, for the sake of simplicity, Figure 9 Only some of the components of the display terminal 900 relevant to the present invention are shown in this illustration; components such as buses, input / output interfaces, input devices, and output devices are omitted. In addition, the display terminal 900 may include any other suitable components depending on the specific application.

[0102] This disclosure provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement the methods of any of the above embodiments. The execution method and beneficial effects are similar, and will not be described again here.

[0103] The aforementioned computer-readable storage medium may be any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may, for example, include, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: electrical connections having one or more wires, portable disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0104] The computer program described above can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this disclosure. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer device, partially on the user's device, as a standalone software package, partially on the user's computer device and partially on a remote computer device, or entirely on a remote computer device or server.

Claims

1. A map orientation correction method based on a display terminal, characterized by, The method comprises: obtaining a first map constructed by a cleaning robot, and a first display orientation of a working station of the cleaning robot relative to a reference direction in a display coordinate system of a display terminal, the reference direction being the same as a physical orientation of the display terminal in a three-dimensional space coordinate system; obtaining a first physical orientation of the working station in the three-dimensional space coordinate system; converting the first physical orientation into the display coordinate system to obtain a first target orientation of the first physical orientation in the display coordinate system; calculating a first deviation angle between the first target orientation and the first display orientation, and rotating the first map around a map center axis of the first map by the first deviation angle to obtain a first target map, the display orientation of each boundary of the first target map in the display coordinate system being the same as the actual physical orientation thereof in the three-dimensional space coordinate system.

2. The method of claim 1, wherein, The method further comprises: obtaining a second terminal physical orientation of the display terminal in the three-dimensional space coordinate system; 3. The method of claim 1, wherein, calculating a second deviation angle of the second terminal physical orientation relative to the first terminal physical orientation; based on the second deviation angle, correcting the display orientation of each boundary of the first target map in the display coordinate system to obtain a corrected second target map, the display orientation of each boundary of the second target map in the display coordinate system being the same as the actual physical orientation thereof in the three-dimensional space coordinate system. The method further comprises: in response to the cleaning robot constructing a second map, obtaining the second map and a second display orientation of a working station of the cleaning robot relative to a reference direction in a display coordinate system of a display terminal. The method further comprises:

4. The method of claim 3, wherein, obtaining a second terminal physical orientation of the display terminal in the three-dimensional space coordinate system; calculating a second deviation angle of the second terminal physical orientation relative to the first terminal physical orientation; based on the second deviation angle, correcting the display orientation of each boundary of the first target map in the display coordinate system to obtain a corrected second target map, the display orientation of each boundary of the second target map in the display coordinate system being the same as the actual physical orientation thereof in the three-dimensional space coordinate system. The method further comprises:

5. The method of claim 4, wherein, in response to the cleaning robot constructing a second map, obtaining the second map and a second display orientation of a working station of the cleaning robot relative to a reference direction in a display coordinate system of a display terminal. The method further comprises:

6. The method of claim 1, wherein, obtaining a second terminal physical orientation of the display terminal in the three-dimensional space coordinate system; calculating a second deviation angle of the second terminal physical orientation relative to the first terminal physical orientation; based on the second deviation angle, correcting the display orientation of each boundary of the first target map in the display coordinate system to obtain a corrected second target map, the display orientation of each boundary of the second target map in the display coordinate system being the same as the actual physical orientation thereof in the three-dimensional space coordinate system. The method further comprises: in response to the cleaning robot constructing a second map, obtaining the second map and a second display orientation of a working station of the cleaning robot relative to a reference direction in a display coordinate system of a display terminal. correct the display orientation of each boundary of the second map in the display coordinate system based on a third deviation angle between the second target orientation and the second display orientation, to obtain a corrected third target map, the display orientation of each boundary of the third target map in the display coordinate system being the same as the actual physical orientation thereof in the three-dimensional space coordinate system.

7. The method of claim 1, wherein, The method further comprises: after obtaining the first target map, when the first physical orientation of the workstation changes, acquiring a second physical orientation of the workstation in the three-dimensional space coordinate system; in response to the cleaning robot constructing a third map, acquiring the third map and a third display orientation of the workstation of the cleaning robot relative to a reference direction in a display coordinate system of a display terminal; converting the second physical orientation into the display coordinate system to obtain a second target orientation of the second physical orientation in the display coordinate system; correcting the display orientation of each boundary of the third map in the display coordinate system based on a fourth deviation angle between the second target orientation and the third display orientation, to obtain a corrected fourth target map, the display orientation of each boundary of the fourth target map in the display coordinate system being the same as the actual physical orientation thereof in the three-dimensional space coordinate system.

8. The method of claim 1, wherein, The method further comprises: after obtaining the first target map, displaying on a display interface the actual physical orientation of at least one boundary of the first target map in the three-dimensional space coordinate system.

9. A map orientation correction method based on a display terminal, characterized by, comprises: acquiring a first map constructed by a cleaning robot, and a first display orientation of a workstation of the cleaning robot relative to a reference direction in a display coordinate system of a display terminal, the reference direction being the same as a physical orientation of the display terminal in a three-dimensional space coordinate system; in response to placing the display terminal in a calibration area of the workstation along a preset direction and the physical orientation of the display terminal being the same as the preset direction, acquiring a first terminal physical orientation of the display terminal in the three-dimensional space coordinate system based on a first orientation sensor arranged in the display terminal; rotating the first terminal physical orientation by a preset deviation angle between the preset direction and an absolute orientation of the workstation to obtain a first physical orientation of the workstation in the three-dimensional space coordinate system; converting the first physical orientation into the display coordinate system to obtain a first target orientation of the first physical orientation in the display coordinate system; correcting the display orientation of each boundary of the first map in the display coordinate system based on a first deviation angle between the first target orientation and the first display orientation, to obtain a corrected first target map, the display orientation of each boundary of the first target map in the display coordinate system being the same as the actual physical orientation thereof in the three-dimensional space coordinate system.

10. A map orientation correction method based on a display terminal, characterized by, comprises: Obtaining a first map constructed by a cleaning robot, and a first display orientation of a work station of the cleaning robot relative to a reference direction in a display coordinate system of a display terminal, the reference direction being the same as a physical orientation of the display terminal in a three-dimensional space coordinate system; In response to placing the display terminal in a calibration area of the work station along a preset direction and the physical orientation of the display terminal being the same as the preset direction, obtaining a first terminal physical orientation of the display terminal in the three-dimensional space coordinate system based on a first orientation sensor arranged in the display terminal; Rotating the first terminal physical orientation by a preset deviation angle between the preset direction and an absolute orientation of the work station to obtain a first physical orientation of the work station in the three-dimensional space coordinate system; Obtaining a first terminal physical orientation of the display terminal in the three-dimensional space coordinate system; Calculating an included angle between the first physical orientation and the first terminal physical orientation; Converting the first terminal physical orientation to the display coordinate system based on a corresponding relationship between the reference direction and the terminal physical orientation, the corresponding relationship including the reference direction being the same as the terminal physical orientation, to obtain a first terminal display orientation of the first terminal physical orientation in the display coordinate system; Rotating the first terminal display orientation around an origin of the display coordinate system by the included angle to obtain a first target orientation of the first physical orientation in the display coordinate system; Correcting display orientations of each boundary of the first map in the display coordinate system based on a first deviation angle between the first target orientation and the first display orientation to obtain a corrected first target map, the display orientations of each boundary of the first target map in the display coordinate system being the same as actual physical orientations thereof in the three-dimensional space coordinate system.

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