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

Abstract

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

Description

[0001] This application is a divisional application of the invention patent application No. 202310797143.9, with the application date of June 30, 2023, and the invention name of "map drawing method, device, computer equipment and computer readable storage medium". TECHNICAL FIELD

[0002] The present application relates to the technical field of intelligent devices, in particular to a map drawing method, device, computer equipment and computer readable storage medium. BACKGROUND

[0003] With the development of robot technology, self-moving robots such as sweeping robots and mopping robots are widely used, and such mobile robots generally need to detect the regional environment during work, and obtain the environmental layout map in the working environment through the method of simultaneous localization and mapping, so as to automatically complete the cleaning of the regional environment based on the map.

[0004] In the traditional technology, the map of the moving area is automatically constructed by the self-moving robot, and the map drawing time is long, and the efficiency of map drawing is low. SUMMARY

[0005] Therefore, the technical problem to be solved by the present application is how to improve the efficiency of map drawing. In order to solve the above technical problem, the present application provides a map drawing method, comprising: receiving a house type framework of a to-be-moved area determined by a user; wherein the to-be-moved area is a moving area of a self-moving robot; adding environmental information in the house type framework; generating a map of the to-be-moved area based on the house type map after adding the environmental information; wherein the map is used for path planning of the self-moving robot.

[0006] The present application also provides a map drawing method, which comprises: receiving a house type framework of a to-be-cleaned area determined by a user; wherein the to-be-cleaned area is a cleaning area of a cleaning robot; adding information of a fallen object in the house type framework; generating a map of the to-be-cleaned area based on the house type map after adding the information of the fallen object; wherein the map is used for path planning of the cleaning robot.

[0007] The present application also provides a map drawing device, comprising: a receiving module for receiving a house type framework of a to-be-moved area determined by a user; wherein the to-be-moved area is a moving area of a self-moving robot; an adding module for adding environmental information in the house type framework; a generating module for generating a map of the to-be-moved area based on the house type map after adding the environmental information; wherein the map is used for path planning of the self-moving robot.

[0008] The application further provides a computer device. The computer device comprises a memory and a processor, and the memory stores a computer program. When the processor executes the computer program, the steps in the mapping method provided in the above aspects are implemented.

[0009] The application further provides a computer readable storage medium. The computer readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the mapping method provided in the above aspects are implemented.

[0010] The technical solution provided by the application has the following advantages:

[0011] The user can flexibly select a suitable house type framework according to the needs of different house types through the interface provided by the mapping device, customize the house type map corresponding to the moving area or cleaning area of the self-moving robot, then perform individualized setting on various environmental information in the selected house type framework, and finally generate the map corresponding to the moving area or cleaning area of the self-moving robot for path planning based on the house type map after adding the environmental information, so that the inefficiency caused by the self-moving robot building a map according to the environment in the traditional technology can be avoided, and the efficiency of mapping is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0013] Figure 1 The flowchart of the mapping method in an embodiment of the present application is shown in the figure.

[0014] Figure 2 The flowchart of the mapping method in another embodiment of the present application is shown in the figure.

[0015] Figure 3 The block diagram of the mapping device in an embodiment of the present application is shown in the figure.

[0016] Figure 4 The internal structure diagram of the computer device in an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0017] The technical solutions of the present application will be described clearly and completely in the following with reference to the drawings. Obviously, the described embodiments are some of the embodiments of the present application, not all. The present application will be described in detail below with reference to the drawings and embodiments. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0018] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above drawings are used to distinguish similar objects, not necessarily to describe a specific order or sequence.

[0019] In some embodiments, as shown in Figure 1 A mapping method is provided, which is described by taking a self-moving robot as an example, comprising the following steps:

[0020] Step 102, receiving a house type framework of a to-be-moved area determined by a user; wherein the to-be-moved area is a moving area of the self-moving robot.

[0021] The house type framework can include the number of rooms and the relative position information of each room, and also include the area, shape and other characteristic information of each room, and can also include the attribute information corresponding to each room, such as living room, master bedroom and kitchen, etc. The house type framework of the to-be-moved area is determined by the computer device in response to the operation of the user, and corresponds to the to-be-moved area of the self-moving robot. The room shape, area and other layout characteristics of the house type framework are close to the to-be-moved area. The self-moving robot includes but is not limited to a meal delivery robot, a sweeping robot, a mopping robot and a sweeping and mopping integrated robot. The house type framework refers to the house type contour of the to-be-moved area.

[0022] The computer device can pre-store a plurality of house type frameworks. The computer device can receive the house type framework of the to-be-moved area determined by the user according to the selection operation of the user. The computer device can be the self-moving robot itself, or a terminal device. When the computer device is the self-moving robot itself, the self-moving robot can be configured with a display, and the user can select the house type framework displayed on the display. When the computer device is a terminal device, the terminal device is in communication connection with the self-moving robot, and the user can select the house type framework on the terminal device.

[0023] In some embodiments, the determination method of the house type framework of the to-be-moved area can be that the user clicks the target house type framework needed to be configured in a plurality of house type frameworks, and takes the target house type framework as the house type framework of the to-be-moved area. The determination method can also be that the user searches by inputting the name of a certain house type framework in the search box of the computer device interaction interface.

[0024] Step 104, adding environmental information in the house type framework.

[0025] The environmental information is internal arrangement information of the to-be-moved region corresponding to the house type framework, which can include size and position information of furniture, carpets, and floor materials in the room, and the furniture can include various floor furniture such as tables and chairs, wardrobes, and potted plants.

[0026] The computer device can receive an environmental setting instruction corresponding to the environmental addition information, and set the environmental information of the corresponding size and type at the corresponding position in the house type framework.

[0027] Step 106, generating a map of the to-be-moved region based on the house type map after adding the environmental information; wherein the map is used for path planning of the self-moving robot.

[0028] The computer device generates and stores the map corresponding to the to-be-moved region according to the house type map after adding the environmental information obtained through the above steps.

[0029] The above map drawing method receives the house type framework of the to-be-moved region determined by the user, flexibly selects a suitable house type framework according to different house types, customizes and quickly draws a house type map corresponding to the moving region of the self-moving robot, then sets various environmental information in the selected house type framework, and finally generates a map corresponding to the to-be-moved region or the cleaning region for path planning of the self-moving robot based on the house type map after adding the environmental information, thereby avoiding the low efficiency caused by self-mapping of the self-moving robot according to the environment in the traditional technology, and effectively improving the efficiency of map drawing.

[0030] In some embodiments, receiving the house type framework of the to-be-moved region determined by the user includes: obtaining each candidate house type framework; and determining the house type framework of the to-be-moved region in each candidate house type framework in response to a selection operation of the user.

[0031] It can be understood that the computer device has pre-stored a plurality of house type frameworks in the database, and the plurality of house type frameworks correspond to different house type designs, or correspond to the same house type design but different sizes. The computer device can obtain each candidate house type framework from the local database or the server, then obtain a selection instruction corresponding to the selection operation of the user, and determine the house type framework matched with the to-be-moved region in each candidate house type according to the selection instruction.

[0032] In other embodiments, after the computer device obtains each candidate house type framework, the computer device displays the house type map corresponding to each house type framework on the screen of the computer device to the user, and the user can click or drag each house type framework icon displayed in the display interface to complete the selection operation of a certain house type framework, and then determine the house type framework of the to-be-moved region in each candidate house type framework.

[0033] In the above embodiment, by acquiring the pre-stored candidate house type framework, and displaying each house type framework, and then triggering the selection operation by the user, in response to the selection operation of the user, the house type framework corresponding to the to-be-moved area is determined in each candidate house type framework, so that the house type framework is quickly and effectively determined, and the generation efficiency of the house type framework is improved.

[0034] In some embodiments, in response to the selection operation of the user, after the house type framework of the to-be-moved area is determined in each candidate house type framework, the method further includes: receiving a house size modification instruction issued by the user; and modifying the size of the house type framework of the to-be-moved area according to the house size modification instruction.

[0035] In some embodiments, the size modification instruction is used to instruct the computer device to modify the size of the house type framework corresponding to the to-be-moved area determined in the foregoing step, and the modification can be proportional enlargement or proportional reduction.

[0036] In some embodiments, the triggering manner of the house size modification instruction issued by the user can be that the user selects the house to be modified in size and slides the fingertip, and the direction of the size adjustment corresponds to the preset direction of the fingertip sliding. In addition, the triggering manner can also be that the user inputs data or modifies the corresponding size parameter in the setting box corresponding to the house type framework to generate the house size modification instruction.

[0037] In the above embodiment, by receiving the house size modification instruction issued by the user, and modifying the size of the house type framework of the to-be-moved area according to the house size modification instruction, the selected house type framework is more consistent with the arrangement characteristics of the to-be-moved area, and the accuracy of the house type framework is further improved.

[0038] In some embodiments, receiving the house type framework of the to-be-moved area determined by the user includes: receiving a house drawing instruction issued by the user; and generating the house type framework of the to-be-moved area based on the house drawing instruction.

[0039] In some embodiments, the house drawing instruction can be triggered by the user clicking a virtual button on the screen of the computer device, or can be generated by the user clicking the screen with the fingertip and sliding the fingertip on the corresponding drawing area on the screen to generate the basic outline of the house type framework, and then generating the corresponding house drawing instruction according to the basic outline. In addition, the house type framework corresponding to the to-be-moved area can also be generated by inputting the corresponding house parameters (such as the number, area and shape of each room, etc.) in the corresponding house setting box.

[0040] In the above embodiment, by receiving the house type drawing instruction issued by the user, the corresponding house type framework can be flexibly generated, thereby effectively solving the problem of how to quickly generate a house type framework that meets the characteristics of the to-be-moved area when the to-be-moved area does not contain a preset house type framework similar to the actual house type characteristics of the to-be-moved area, and effectively improving the flexibility of generating the house type framework and the convenience of operation.

[0041] In some embodiments, after generating the house type framework of the to-be-moved area based on the house type drawing instruction, the method further includes: receiving a house type size modification instruction issued by the user; and modifying the size of the house type framework of the to-be-moved area according to the house type size modification instruction.

[0042] In some embodiments, the size modification instruction is used to instruct the computer device to modify the size of the house type framework drawn by the user in the foregoing step, and the modification can be at least one of proportional enlargement, proportional reduction, mirror inversion, and rotation around a center point.

[0043] In some embodiments, the user can trigger the house type size modification instruction by selecting the house type to be modified in size and sliding the fingertip, and the direction of size adjustment corresponds to the preset direction of fingertip sliding. In addition, the user can also trigger the house type size modification instruction by inputting data in the setting box corresponding to the house type framework or modifying the corresponding size parameter.

[0044] In the above embodiment, by receiving the house type size modification instruction issued by the user, the size of the house type framework of the to-be-moved area is modified according to the house type size modification instruction, so that the selected house type framework is more consistent with the arrangement characteristics of the to-be-moved area, and the accuracy of the house type framework is further improved.

[0045] In some embodiments, the environmental information includes at least one of the position of the floor object on the moving surface of the to-be-moved area and the size of the floor object.

[0046] In some embodiments, adding the environmental information to the house type framework includes: obtaining each candidate interior decoration framework; determining a target interior decoration framework from each candidate interior decoration framework in response to a selection operation of the user; and adding a corresponding floor object to the house type framework based on the target interior decoration framework.

[0047] The interior frame can include position information of each corresponding floor object in the corresponding house type frame, and characteristic information of each floor object, such as the number, size, and floor object category of the floor object, which can be used to represent the arrangement of the floor object in the house type frame. Different interior frames correspond to different arrangements, and the arrangement includes the category, size, number, and position information of the floor object. The floor object includes various floor furniture, such as tables and chairs, wardrobes, potted plants, and the like. The selected operation can be to arrange and display the floor object arrangement corresponding to each interior frame on the screen of the computer device to show the user, and the user can click or drag each furniture arrangement icon displayed on the display interface to complete the selection operation of a certain interior frame.

[0048] Specifically, the computer device determines a target interior frame corresponding to the floor object arrangement of the to-be-moved area from the candidate interior frames in response to the selection operation of the user, and then adds corresponding floor objects in the house type frame according to the target interior frame. The way of adding floor objects can be to add all at once or to add a part.

[0049] In the above embodiment, by obtaining each candidate interior frame, determining a target interior frame from the candidate interior frames in response to the selection operation of the user, and then adding corresponding floor objects in the house type frame based on the target interior frame, the setting of the environment information in the house type frame is completed. Without setting each floor object one by one, batch setting operation can be completed according to the determined interior frame, which greatly improves the efficiency of environment information setting.

[0050] In some embodiments, obtaining each candidate interior frame includes: determining at least one target candidate interior frame according to the size information corresponding to the house type frame; and obtaining the determined target candidate interior frame.

[0051] Specifically, the computer device obtains the size information corresponding to the house type frame, determines a target candidate interior frame from the candidate interior frames according to the size information and the corresponding relationship between the size information of the house type frame and the interior frame, and then obtains the determined target candidate interior frame.

[0052] In the above embodiment, at least one target candidate interior frame is determined according to the size information corresponding to the house type frame, and then the determined target candidate interior frame is obtained, so that the corresponding interior frame is quickly determined according to the size information corresponding to the house type frame, and the setting efficiency of the environment information of the house type frame is improved.

[0053] In some embodiments, the above map drawing method further includes: receiving a floor object modification instruction issued by the user; and modifying the floor object in the target interior frame according to the floor object modification instruction.

[0054] The floor object modification instruction can be used for modification of a single floor object or batch modification of multiple floor objects, and the modification manner includes but is not limited to modification of the number of floor objects, modification of the position, size, shape and category of the floor object, and the generation of the floor object modification instruction can be triggered in the following manner: the user clicks a virtual button for modification or editing of the floor object, or the user clicks the floor object with a fingertip or an electronic pen and performs a sliding operation to generate the corresponding floor object modification instruction.

[0055] Specifically, the computer device generates and receives the floor object modification instruction issued by the user by detecting the interactive operation of the user in real time, analyzes the floor object modification instruction, obtains the target modification parameters of the corresponding floor object, including the parameters corresponding to the target number, target position, target size, target shape and target category of the modification operation, and modifies the floor object according to the parameters to obtain the modified floor object.

[0056] In the above embodiment, the floor object modification instruction issued by the user is received, and the floor object in the target interior frame is modified according to the floor object modification instruction, so as to flexibly set the floor object, effectively realize rapid modification of the floor object, and improve the accuracy of the environment data in the house type frame.

[0057] In some embodiments, the environment information is added in the house type frame, including: receiving a floor object addition instruction issued by the user; and adding a corresponding floor object in the house type frame according to the floor object addition instruction.

[0058] The floor object addition instruction can be used for addition of a single floor object or batch addition of multiple floor objects, and the generation of the floor object addition instruction can be triggered in the following manner: the user clicks a certain position in the house type frame to automatically generate the floor object addition instruction, or the user inputs corresponding floor object parameters (including the category, size, size, shape and position information of the floor object) in a related floor object configuration box to automatically generate the floor object addition instruction.

[0059] Specifically, the computer device generates and receives the floor object addition instruction issued by the user by detecting the interactive operation of the user in real time, analyzes the floor object addition instruction, obtains the addition parameters of the corresponding floor object, including the parameters corresponding to the target number, target position, target size, target shape and target category of the added floor object, and adds the floor object according to the parameters to obtain the added floor object.

[0060] In the above embodiment, the floor object is added flexibly by receiving the floor object adding instruction issued by the user and adding the floor object in the house type framework according to the floor object adding instruction, and the floor object is added quickly, and the accuracy of the environment data in the house type framework and the convenience of adding the floor object are improved.

[0061] In some embodiments, after adding the corresponding floor object in the house type framework according to the floor object adding instruction, the method further includes: receiving a floor object modification instruction issued by the user, the floor object modification instruction being used for modifying at least one of a size, a type and a position of the corresponding floor object; and modifying the corresponding floor object in the house type framework according to the floor object modification instruction.

[0062] The floor object modification instruction can be used for modifying a single floor object or a batch of floor objects, and the modification manner includes but is not limited to modifying at least one of a number, a position, a size, a shape and a type of the floor object, and the trigger manner of generating the floor object modification instruction includes but is not limited to triggering by the user clicking a virtual button for modifying or editing the floor object, or triggering by the user clicking the floor object with a fingertip or an electronic pen and sliding.

[0063] Specifically, the computer device generates and receives the floor object modification instruction issued by the user by detecting the interactive operation of the user in real time, analyzes the floor object modification instruction, obtains target modification parameters of the corresponding floor object, including parameters corresponding to a target number, a target position, a target size, a target shape and a target type of the modification operation, and modifies the corresponding floor object in the house type framework according to the parameters to obtain a modified floor object.

[0064] In the above embodiment, the floor object is modified flexibly by receiving the floor object modification instruction issued by the user and modifying the floor object in the house type framework according to the floor object modification instruction, and the floor object is modified quickly, and the accuracy of the environment data in the house type framework is improved.

[0065] In some embodiments, the above map drawing method further includes: receiving a region prohibition instruction issued by the user; and determining a prohibited region in the house type framework according to the region prohibition instruction, the prohibited region being a region in which the self-moving robot is prohibited to travel.

[0066] The region prohibition instruction includes label data used for identifying that the corresponding region is a region in which the self-moving robot is prohibited to travel, and the region prohibition instruction can further include a travel prohibition time period, that is, the region is identified as a travel prohibition state in the travel prohibition time period, and the travel prohibition state of the region is automatically revoked outside the time period.

[0067] Specifically, the computer device detects the interaction data generated by the user in real time, generates a region prohibition instruction based on the analysis of the interaction data, and determines the corresponding prohibited region in the house type framework according to the region prohibition instruction. The generation of the region prohibition instruction includes but is not limited to quick generation by the user continuously clicking the corresponding target region in the house type framework for a preset number of times, or setting a corresponding identifier in the parameter setting box of the corresponding target region, or automatically generating by the computer device according to the category of the target region.

[0068] In the above embodiment, the region prohibition instruction issued by the user is received, and the prohibited region in the house type framework is determined according to the region prohibition instruction, so that the target region in the house type framework can be quickly identified and prohibited to travel conveniently, and the efficiency of region attribute setting is improved.

[0069] In some embodiments, as shown in Figure 2 A mapping method is provided, which is applied to a self-moving robot as an example for illustration, and includes the following steps:

[0070] Step 202, receiving a house type framework of a to-be-cleaned region determined by a user; wherein the to-be-cleaned region is a cleaning region of a cleaning robot. For details, please refer to the related description of the above step 102, which will not be repeated again.

[0071] Step 204, adding information of a floor object in the house type framework.

[0072] The information of the floor object is the internal arrangement information corresponding to the house type framework, which can include the size and position information of the floor furniture, carpet, and floor material in the room, and the floor furniture includes but is not limited to tables and chairs, wardrobes, potted plants, etc.

[0073] Specifically, the computer device can receive a floor object setting instruction corresponding to the environment adding information, and set the information of the floor object with the corresponding size, type, and position in the house type framework.

[0074] Step 206, generating a map of the to-be-cleaned region based on the house type map after adding the information of the floor object; wherein the map is used for path planning of the cleaning robot.

[0075] The computer device generates a map corresponding to the to-be-cleaned region after adding the information of the floor object according to the above steps, and stores the map.

[0076] The above mapping method, by receiving the house type framework of the to-be-cleaned area determined by the user, realizes flexible selection of a suitable house type framework according to different house type needs, customizes and quickly draws a house type map corresponding to the to-be-cleaned area of the self-moving robot, then sets information of various floor objects in the selected house type framework, and finally generates a map corresponding to the to-be-cleaned area for path planning of the self-moving robot based on the house type map after adding the information of the floor objects, thereby avoiding the inefficiency caused by self-mapping of the self-moving robot according to the environment in the traditional technology, and effectively improving the efficiency of map drawing.

[0077] In some embodiments, receiving the house type framework of the to-be-cleaned area determined by the user includes: obtaining each candidate house type framework; and determining the house type framework of the to-be-cleaned area in each candidate house type framework in response to a selection operation of the user.

[0078] It can be understood that a plurality of house type frameworks are pre-stored in the database of the computer device, and the plurality of house type frameworks correspond to different house type designs, or correspond to the same house type design but different sizes. The computer device can obtain each candidate house type framework from a local database or a server, then obtain a selection instruction corresponding to a selection operation of the user, and determine a house type framework matched with the to-be-cleaned area in each candidate house type according to the selection instruction.

[0079] In other embodiments, after obtaining each candidate house type framework, the computer device displays a house type diagram corresponding to each house type framework on the screen of the computer device to the user, and the user can click or drag each house type framework icon displayed in the display interface to complete a selection operation on a certain house type framework, and then determine the house type framework of the to-be-cleaned area in each candidate house type framework.

[0080] In the above embodiments, each candidate house type framework is obtained, each house type framework is displayed, a selection operation is triggered by the user, and the house type framework corresponding to the to-be-cleaned area is determined in each candidate house type framework in response to the selection operation of the user, thereby effectively and quickly determining the house type framework and improving the generation efficiency of the house type framework.

[0081] In some embodiments, receiving the house type framework of the to-be-cleaned area determined by the user includes: receiving a house type drawing instruction issued by the user; and generating the house type framework of the to-be-cleaned area based on the house type drawing instruction.

[0082] The house type drawing instruction can be triggered by a user clicking a virtual button on a screen of a computer device, or can be generated by the user tapping the screen with a fingertip and sliding the fingertip on a corresponding drawing area on the screen to generate a basic outline of a house type frame, and then generating a corresponding house type drawing instruction according to the basic outline, or can be generated by inputting corresponding house type parameters (such as the number, area, and shape of each room, and the like) in a corresponding house type setting box to generate a house type frame corresponding to the to-be-cleaned area.

[0083] In the above embodiments, by receiving a house type drawing instruction issued by a user, a corresponding house type frame can be flexibly generated, thereby effectively solving the problem of how to quickly generate a house type frame that meets the characteristics of a to-be-cleaned area when each preset house type frame does not contain a preset house type frame similar to the actual house type characteristics of the to-be-cleaned area, and effectively improving the flexibility of generating a house type frame and the convenience of operation.

[0084] In some embodiments, adding information of a floor object in the house type frame includes: obtaining each candidate interior decoration frame; in response to a selection operation of a user, determining a target interior decoration frame from each candidate interior decoration frame; and adding a corresponding floor object in the house type frame based on the target interior decoration frame.

[0085] The interior decoration frame can include position information of each corresponding floor object in the corresponding house type frame, and characteristic information of each floor object, such as the number, size, and type of the floor object, and can be used to represent the arrangement of the floor objects in the house type frame. Different interior decoration frames correspond to different arrangements, and the arrangement includes the type, size, number, and position information of the floor objects. The floor objects include various floor furniture, such as tables and chairs, wardrobes, potted plants, and the like. The selection operation can be to arrange and display the floor object arrangement diagrams corresponding to each interior decoration frame on the screen of the computer device for the user, and the user can click or drag each furniture arrangement icon arranged and displayed in the display interface to complete the selection operation of a certain interior decoration frame.

[0086] Specifically, the computer device determines a target interior decoration frame corresponding to the to-be-cleaned area and having the same or similar arrangement of floor objects from each candidate interior decoration frame in response to a selection operation of a user, and then adds corresponding floor objects in the house type frame according to the target interior decoration frame. The way of adding the floor objects can be to add all of them at one time, or to add a part of them.

[0087] In the above embodiment, by acquiring each candidate interior decoration framework, and determining the target interior decoration framework from each candidate interior decoration framework in response to the selection operation of the user, and finally adding the corresponding floor object in the house type framework based on the target interior decoration framework, the setting of the environment information in the house type framework is completed, without setting each floor object one by one, so that batch setting operation can be completed according to the determined interior decoration framework, and the efficiency of environment information setting is greatly improved.

[0088] In some embodiments, adding the information of the floor object in the house type framework comprises: receiving a floor object adding instruction issued by the user; and adding a corresponding floor object in the house type framework according to the floor object adding instruction.

[0089] The floor object adding instruction can be used for adding a single floor object or batch adding multiple floor objects, and the trigger mode of generating the floor object adding instruction can be automatically generated after the user clicks a certain position in the house type framework, or the floor object adding instruction can be automatically generated after the user inputs corresponding floor object parameters (including the category, size, size, shape and position information of the floor object) in the related floor object configuration box.

[0090] Specifically, the computer device generates and receives the floor object adding instruction issued by the user by detecting the interactive operation of the user in real time, analyzes the floor object adding instruction, obtains the adding parameters of the corresponding floor object, including the target number, target position, target size, target shape and target category corresponding parameters of the floor object corresponding to the adding operation, and adds the floor object according to these parameters to obtain the added floor object.

[0091] In the above embodiment, by receiving the floor object adding instruction issued by the user, and adding the floor object in the house type framework according to the floor object adding instruction, the flexible setting of the floor object is realized, the rapid addition of the floor object is effectively realized, and the accuracy of the information of the floor object in the house type framework and the convenience of adding the floor object are improved.

[0092] The application further provides an application scenario, and the above-mentioned map drawing method is applied to the application scenario. Specifically, the application of the map drawing method in the application scenario is as follows:

[0093] The computer device provides a mapping interface, a control of the self-made software is provided on a display interface of the computer device, after the user clicks a self-made map virtual button, the computer device displays a self-made map interface, in the self-made map interface, the identification of each house type framework and the house type framework drawing area are displayed, the computer device determines one of the house type framework identifications displayed on the device screen or a default recommended target house type framework as the house type framework corresponding to the moving area of the self-moving robot according to the interactive operation of the user on the device screen, and adjusts each house type or area in the target house type framework selected in the foregoing step according to the interactive data of the user, including adjustment of position, size, shape, and category information.

[0094] After the house type is adjusted, the computer device displays an interior decoration self-made interface in response to the interactive operation of the user, the interior decoration self-made interface displays each interior decoration framework and the interior decoration framework drawing area, the computer device obtains a target interior decoration framework according to the interactive operation of the user in the interior decoration self-made interface, and adds a corresponding floor object in the target house type framework according to the target interior decoration framework, the floor object includes a table and chair, a bed, a wardrobe, a potted plant, and the like, and each floor object is adjusted according to the interactive operation of the user, the adjustment includes adjustment of position, size, shape, material, and category information of each floor object.

[0095] The computer device detects the interactive operation of the user in real time, selects the shape, size, and position of the prohibited travel area according to the interactive operation, and forms the prohibited travel area in the preliminary map according to the shape, size, and position of the prohibited travel area.

[0096] Based on the house type map in which each floor object is set in the foregoing step, a self-made map corresponding to the path planning of the self-moving robot is quickly generated and saved, and the self-made map is sent to the self-moving robot, so that the self-moving robot can clean strictly according to the information provided by the user and supplement the map information based on the self-made map during the mapping process. If the information of a room or an area is changed, the user is prompted whether to update the map, and the user can select not to pop up the prompt, thereby completing the construction of the self-made map corresponding to the moving area of the self-moving robot and the updating process of the robot on the self-made map.

[0097] In the above embodiments, the user can flexibly select a suitable house type framework according to the needs of different house types through the interface provided by the drawing device, customize drawing of a house type map corresponding to a moving area or a cleaning area of the self-moving robot, and then perform individualized setting of various environmental information in the selected house type framework. Finally, a map corresponding to the moving area or the cleaning area for path planning of the self-moving robot is generated based on the house type map after adding the environmental information, so that the inefficiency caused by self-mapping of the self-moving robot according to the environment in the traditional technology can be avoided, and the efficiency of map drawing is effectively improved.

[0098] It should be understood that, although each step in the flowchart involved in each embodiment as described above is displayed in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other sequences. Moreover, at least part of the steps in the flowchart involved in each embodiment as described above can include multiple steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or steps or stages in other steps.

[0099] Based on the same inventive concept, the embodiments of the present application also provide a map drawing device for implementing the above-mentioned map drawing method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme described in the above method, so the specific limitations in one or more map drawing device embodiments provided below can refer to the limitations of the map drawing method in the above text, and will not be repeated here.

[0100] In one embodiment, as shown in Figure 3 a map drawing device is provided, comprising: a receiving module 302, an adding module 304, and a generating module 306, wherein:

[0101] The receiving module 302 is configured to receive a house type framework of a moving area determined by a user; wherein the moving area is a moving area of a self-moving robot.

[0102] The adding module 304 is configured to add environmental information in the house type framework.

[0103] The generating module 306 is configured to generate a map of the moving area based on the house type map after adding the environmental information; wherein the map is used for path planning of the self-moving robot.

[0104] In some embodiments, the receiving module 302 is specifically configured to acquire various candidate house type frames; and in response to a selection operation of the user, determine a house type frame of the region to be moved in the various candidate house type frames.

[0105] In some embodiments, the receiving module 302 is specifically configured to receive a house type size modification instruction issued by the user; and modify the size of the house type frame of the region to be moved according to the house type size modification instruction.

[0106] In some embodiments, the receiving module 302 is specifically configured to receive a house type drawing instruction issued by the user; and generate the house type frame of the region to be moved based on the house type drawing instruction.

[0107] In some embodiments, the receiving module 302 is specifically configured to receive a house type size modification instruction issued by the user; and modify the size of the house type frame of the region to be moved according to the house type size modification instruction.

[0108] In some embodiments, the adding module 304 is specifically configured to acquire various candidate interior decoration frames; in response to a selection operation of the user, determine a target interior decoration frame from the various candidate interior decoration frames; and add a corresponding floor object in the house type frame based on the target interior decoration frame; the environmental information includes at least one of a position of the floor object on a moving surface of the region to be moved and a size of the floor object.

[0109] In some embodiments, the adding module 304 is specifically configured to determine at least one target candidate interior decoration frame according to the size information corresponding to the house type frame; and acquire the determined target candidate interior decoration frame.

[0110] In some embodiments, the adding module 304 is specifically configured to receive a floor object modification instruction issued by the user; and modify the floor object in the target interior decoration frame according to the floor object modification instruction.

[0111] In some embodiments, the adding module 304 is specifically configured to receive a floor object addition instruction issued by the user; and add a corresponding floor object in the house type frame according to the floor object addition instruction.

[0112] In some embodiments, the adding module 304 is specifically configured to receive a floor object modification instruction issued by the user, the floor object modification instruction being used to modify at least one of a size, a type and a position of the corresponding floor object; and modify the corresponding floor object in the house type frame according to the floor object modification instruction.

[0113] In some embodiments, the generating module 306 is specifically configured to receive a region prohibition instruction issued by the user; and determine a prohibited region in the house type frame according to the region prohibition instruction, the prohibited region being a region in which the mobile robot is prohibited from advancing.

[0114] The above mapping device, by receiving the house type framework of the to-be-moved area determined by the user, realizes flexible selection of a suitable house type framework according to different house type needs, customizes and quickly draws a house type map corresponding to the moving area or the cleaning area of the self-moving robot, then sets environment information of various environment information in the selected house type framework, and finally generates a map corresponding to the to-be-moved area or the cleaning area for path planning of the self-moving robot based on the house type map after adding the environment information, so that the inefficiency caused by self-mapping of the self-moving robot according to the environment in the traditional technology can be avoided, and the efficiency of map drawing is effectively improved.

[0115] Each module in the above mapping device can be realized by software, hardware and a combination thereof in whole or in part. The above modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above modules.

[0116] The specific limitations of the mapping device can be referred to the limitations of the mapping method in the above, which will not be repeated here. Each module in the above mapping device can be realized by software, hardware and a combination thereof in whole or in part. The above modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to the above modules.

[0117] In one embodiment, a computer device, which can be a terminal, has an internal structure diagram as shown in Figure 4 The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected by a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The communication interface of the computer device is used to communicate with external terminals in a wired or wireless manner. The wireless manner can be achieved by WIFI, mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by the processor to implement a mapping method. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer overlaid on the display screen, or a key, trackball or touchpad arranged on the shell of the computer device. It can also be an external keyboard, touchpad or mouse, etc.

[0118] Those skilled in the art can understand, Figure 4The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0119] In an embodiment, a computer device is also provided, including a memory and a processor. The memory stores a computer program. The processor executes the computer program to implement the steps in the above method embodiments.

[0120] In an embodiment, a computer readable storage medium is provided, which stores a computer program. The computer program is executed by a processor to implement the steps in the above method embodiments.

[0121] In an embodiment, a computer program product or computer program is provided, which includes computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium. The processor executes the computer instructions, so that the computer device executes the steps in the above method embodiments.

[0122] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0123] Any combination of the technical features of the above embodiments can be made. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of the technical features does not exist, it should be considered as the scope of the present application.

[0124] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the scope of the patent of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of protection of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A map drawing method, characterized in that, The method includes: Receive the floor plan framework of the area to be moved as determined by the user; wherein, the area to be moved is the movement area of ​​the self-moving robot; Add environmental information to the apartment layout framework; the environmental information includes at least one of the following: the position of the landing object on the moving surface of the area to be moved, and the size of the landing object. Obtain each candidate interior design frame; each candidate interior design frame represents a way of arranging a landing object in the apartment layout frame; Display the floor plan of each candidate interior frame to the user. In response to the user clicking or dragging the various furniture arrangement icons displayed on the display interface, the target interior frame that is the same as or similar to the landing object arrangement corresponding to the area to be moved is determined from the various candidate interior frames. Based on the target interior design framework, add corresponding ground objects to the apartment layout framework; the methods for adding ground objects include adding all objects in batches. Based on the floor plan map with the added environmental information, a map of the area to be moved is generated; wherein, the map is used for path planning by the self-moving robot.

2. The method according to claim 1, characterized in that, The receiving user's determined floor plan framework for the area to be moved includes: Obtain the framework of each candidate apartment type; In response to the user's selection operation, the floor plan frame of the area to be moved is determined among the various candidate floor plan frames.

3. The method according to claim 2, characterized in that, After determining the floor plan frame of the area to be moved from among the candidate floor plan frames in response to the user's selection operation, the method further includes: Receive user-sent instructions to modify the apartment layout dimensions; The dimensions of the floor plan frame of the area to be moved are modified according to the floor plan size modification command.

4. The method according to claim 1, characterized in that, The receiving user's determined floor plan framework for the area to be moved includes: Receive floor plan drawing instructions from the user; Based on the floor plan drawing instructions, the floor plan framework of the area to be moved is generated.

5. The method according to claim 4, characterized in that, After generating the floor plan framework of the area to be moved based on the floor plan drawing instructions, the process includes: Receive user-sent instructions to modify the apartment layout dimensions; According to the apartment size modification instruction, the size of the apartment frame of the area to be moved is modified.

6. The method according to claim 1, characterized in that, The process of obtaining each candidate interior trim frame includes: Based on the size information corresponding to the apartment frame, at least one target candidate interior frame is determined; Obtain the identified target candidate interior frame.

7. The method according to claim 6, characterized in that, The method further includes: Receive user-sent instructions to modify the landed object; Modify the landing objects in the target interior frame according to the landing object modification command.

8. The method according to claim 1, characterized in that, Adding environmental information to the apartment layout framework includes: Receive user commands to add objects to the ground; According to the instructions for adding landing objects, add corresponding landing objects to the house frame.

9. The method according to claim 8, characterized in that, After adding the corresponding ground object to the apartment layout frame according to the ground object addition instruction, the process includes: Receive a land object modification command from a user, the land object modification command being used to modify at least one of the size, type, and location of the corresponding land object; According to the modified object instruction, the corresponding objects in the house frame are modified.

10. The method according to any one of claims 1 to 9, characterized in that, The method further includes: Receive area blocking commands from users; The prohibited area in the apartment frame is determined according to the area prohibition instruction, and the prohibited area is the area where the self-moving robot is prohibited from traveling.

11. A map drawing method, characterized in that, The method includes: Receive the floor plan of the area to be cleaned as determined by the user; wherein, the area to be cleaned is the movement area of ​​the cleaning robot; Add environmental information to the apartment layout framework; the environmental information includes at least one of the following: the position of the object on the moving surface of the area to be cleaned and the size of the object. Obtain each candidate interior design frame; each candidate interior design frame represents a way of arranging a landing object in the apartment layout frame; Display the floor plan of each candidate interior frame to the user. In response to the user clicking or dragging the various furniture arrangement icons displayed on the interface, the target interior frame that is the same as or similar to the floor object arrangement corresponding to the area to be cleaned is determined from the various candidate interior frames. Based on the target interior design framework, add corresponding ground objects to the apartment layout framework; the methods for adding ground objects include adding all objects in batches. Based on the floor plan map with the added environmental information, a map of the area to be cleaned is generated; wherein, the map is used for path planning by the cleaning robot.

12. The method according to claim 11, characterized in that, The floor plan framework for the area to be cleaned, as determined by the user, includes: Obtain the framework of each candidate apartment type; In response to the user's selection, the floor plan frame of the area to be cleaned is determined from the various candidate floor plan frames.

13. The method according to claim 11, characterized in that, The floor plan framework for the area to be cleaned, as determined by the user, includes: Receive floor plan drawing instructions from the user; Based on the floor plan drawing instructions, the floor plan framework of the area to be cleaned is generated.

14. The method according to claim 11, characterized in that, The process of adding information about the objects placed on the ground within the apartment layout framework includes: Receive user commands to add objects to the ground; According to the instructions for adding objects, add the corresponding objects to the house frame.

15. A map drawing device, characterized in that, The device includes: A receiving module is used to receive the floor plan frame of the area to be moved, as determined by the user; wherein, the area to be moved is the movement area of ​​the self-moving robot; An addition module is used to add environmental information to the apartment layout framework; the environmental information includes at least one of the following: the position of the landing object on the moving surface of the area to be moved and the size of the landing object. The adding module is also used to obtain each candidate interior design frame; each candidate interior design frame represents a way of arranging a landing object in the apartment frame. The addition module is also used to display the layout diagram of the corresponding landing objects of each candidate interior frame to the user; The adding module is also used to respond to the user clicking or dragging the various furniture arrangement icons displayed in the display interface, and to determine the target interior frame that is the same as or similar to the landing object arrangement corresponding to the area to be moved from each candidate interior frame. The adding module is also used to add corresponding ground objects to the apartment frame according to the target interior frame; the methods for adding ground objects include adding all in batches; The generation module is used to generate a map of the area to be moved based on the floor plan map after adding the environmental information; wherein the map is used for path planning by the self-moving robot.

16. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 14.

17. A computer storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 14.

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