Map creation method and device and electronic equipment

Abstract

The embodiment of the invention provides a map creating method and device and electronic equipment, and relates to the technical field of robots. The method comprises the steps that a map management page is displayed; in response to a map creation operation triggered in the map management page, displaying a map creation page, and displaying a preview view of an environment point cloud in real time in a map preview area of the map creation page, the environment point cloud being updated according to a point cloud of a working environment collected by a robot in real time; and in response to a map saving operation, generating a point cloud map of the working environment based on the environment point cloud. By applying the scheme provided by the embodiment of the invention, a user can obtain the point cloud map according with expectation through simple operation.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a map creation method, apparatus, and electronic device. Background Technology

[0002] Currently, robots are widely used in industrial manufacturing, logistics and distribution, and commercial services, becoming an important tool for improving production efficiency and optimizing service quality.

[0003] Point cloud maps of the robot's environment accurately represent its geometric structure and spatial information, serving as the data foundation for the robot's environmental perception. They play a crucial role in various common tasks, including robot localization, navigation, and obstacle avoidance. Therefore, point cloud maps are essential for the successful execution of tasks by robots.

[0004] In view of the above, there is a need to provide a map creation solution so that users can obtain point cloud maps that meet their expectations through simple operations. Summary of the Invention

[0005] The purpose of this invention is to provide a map creation method, apparatus, and electronic device, enabling users to easily obtain point cloud maps that meet their expectations. The specific technical solution is as follows:

[0006] In a first aspect, embodiments of the present invention provide a map creation method, the method comprising:

[0007] Display the map management page;

[0008] In response to a map creation operation triggered on the map management page, the map creation page is displayed, and a preview view of the environmental point cloud is displayed in real time in the map preview area of ​​the map creation page. The environmental point cloud is updated according to the point cloud of the working environment collected by the robot in real time.

[0009] In response to the map saving operation, a point cloud map of the working environment is generated based on the environmental point cloud.

[0010] Secondly, embodiments of the present invention provide a map creation apparatus, the apparatus comprising:

[0011] The management page display module is used to display the map management page;

[0012] The preview module is used to respond to the map creation operation triggered on the map management page, display the map creation page, and display a preview view of the environmental point cloud in real time in the map preview area of ​​the map creation page, wherein the environmental point cloud is updated according to the point cloud of the working environment collected by the robot in real time;

[0013] The map generation module is used to generate a point cloud map of the working environment based on the environmental point cloud in response to the map saving operation.

[0014] Thirdly, embodiments of the present invention provide an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0015] Memory, used to store computer programs;

[0016] When a processor executes a program stored in memory, it implements the steps of the method described in the first aspect.

[0017] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described in the first aspect.

[0018] Fifthly, embodiments of the present invention provide a computer program product containing instructions that, when run on a computer, cause the computer to perform the steps of the method described in the first aspect.

[0019] The solution provided by this invention allows for the display of a map creation page based on a user's map creation operation triggered on the map management page. A continuously updated preview view of the environmental point cloud is displayed in real-time within the map preview area of ​​the map creation page. Upon receiving a map save operation, a point cloud map of the working environment is generated based on the environmental point cloud. For the user, the construction of the point cloud map can be triggered simply by performing a visual operation on the page. In other words, users can easily construct a point cloud map from scratch using the solution provided by this invention. Furthermore, users can preview the dynamic construction process of the point cloud map in real-time within the map preview area, allowing them to identify and intervene in issues such as missed point cloud data collection and noise during the construction process, thereby obtaining a point cloud map that meets their expectations.

[0020] Of course, implementing any product or method of the present invention does not necessarily require achieving all of the advantages described above at the same time. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0022] Figure 1 This is a schematic diagram of a first interface provided in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of a second interface provided in an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of a third interface provided in an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of a fourth interface provided in an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the fifth interface provided in an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of a sixth interface provided in an embodiment of the present invention;

[0028] Figure 7 This is a schematic diagram of the seventh interface provided in an embodiment of the present invention;

[0029] Figure 8 This is a schematic diagram of the eighth interface provided in an embodiment of the present invention;

[0030] Figure 9 This is a schematic diagram of the ninth interface provided in an embodiment of the present invention;

[0031] Figure 10 This is a schematic diagram of the tenth interface provided in an embodiment of the present invention;

[0032] Figure 11 This is an eleventh interface diagram provided in an embodiment of the present invention;

[0033] Figure 12 This is a schematic diagram of the twelfth interface provided in an embodiment of the present invention;

[0034] Figure 13 This is a thirteenth interface diagram provided in an embodiment of the present invention;

[0035] Figure 14 This is a schematic diagram of the fourteenth interface provided in an embodiment of the present invention;

[0036] Figure 15 This is a schematic diagram of the fifteenth interface provided in an embodiment of the present invention;

[0037] Figure 16 This is a schematic diagram of the sixteenth interface provided in an embodiment of the present invention;

[0038] Figure 17 This is a schematic diagram of the seventeenth interface provided in an embodiment of the present invention;

[0039] Figure 18 This is a schematic diagram of the eighteenth type of interface provided in an embodiment of the present invention;

[0040] Figure 19 This is a nineteenth interface diagram provided in an embodiment of the present invention;

[0041] Figure 20 This is a schematic diagram of the twentieth interface provided in an embodiment of the present invention;

[0042] Figure 21 A schematic flowchart of a map creation method provided in an embodiment of the present invention;

[0043] Figure 22 This is a schematic diagram of the structure of a map creation device provided in an embodiment of the present invention;

[0044] Figure 23 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art based on the present invention are within the scope of protection of the present invention.

[0046] To enable users to obtain point cloud maps that meet their expectations through simple operations, this invention provides a map creation scheme. Using the map creation scheme provided by this invention, users can easily trigger robot mapping by performing simple visual operations on a page provided by a mapping management platform (hereinafter referred to as the platform) deployed in their electronic devices. Furthermore, users can preview the robot mapping process in real time and obtain a point cloud map that meets their expectations.

[0047] The mapping process of previewing the robot refers to displaying a preview view of the environmental point cloud in real time. This environmental point cloud is updated based on the point cloud of the working environment collected by the robot in real time. Specifically, by performing registration and fusion processing on the point cloud collected by the robot, the environmental point cloud of the robot's environment can be obtained.

[0048] Since point cloud map construction is a dynamic process, as the robot continuously collects point clouds, the environmental point cloud obtained based on the collected point clouds will also be continuously and dynamically updated; consequently, the real-time preview view of the environmental point cloud will also be continuously and dynamically updated.

[0049] The solution provided by this invention allows for the display of a map creation page based on a user's map creation operation triggered on the map management page. A continuously updated preview view of the environmental point cloud is displayed in real-time within the map preview area of ​​the map creation page. Upon receiving a map save operation, a point cloud map of the working environment is generated based on the environmental point cloud. For the user, the construction of the point cloud map can be triggered simply by performing a visual operation on the page. In other words, users can easily construct a point cloud map from scratch using the solution provided by this invention. Furthermore, users can preview the dynamic construction process of the point cloud map in real-time within the map preview area, allowing them to identify and intervene in issues such as missed point cloud data collection and noise during the construction process, thereby obtaining a point cloud map that meets their expectations.

[0050] In the solution provided by this embodiment of the invention, a communication connection is pre-established between the platform and the robot. The environmental point cloud can be obtained by the robot by fusing the collected point clouds. In this way, after each update of the environmental point cloud, the robot can send the updated environmental point cloud to the platform for the platform to display a preview view of the environmental point cloud. Alternatively, the robot can send each frame of the collected point cloud to the mapping management platform during the point cloud collection process. The mapping management platform can then generate and continuously update the environmental point cloud based on the received point cloud and display a preview view of the environmental point cloud.

[0051] In one possible implementation, in addition to point cloud map preview and construction, the mapping management platform may also include, but is not limited to, map management, map application, and map editing functions. For ease of understanding, the various functions of a mapping management platform provided in this embodiment of the invention will be described in detail below, with reference to the page illustrations.

[0052] I. Map Creation

[0053] The map creation function is a core feature provided by the map management platform.

[0054] After entering the map management platform, the user is displayed a map management page, where they can trigger a map creation operation. This map creation operation can be triggered in various ways, and this embodiment of the invention does not limit the specific methods. Examples are provided below. For instance, clicking the map creation button on the map management page; or right-clicking on a blank area of ​​the page and then selecting map creation from the pop-up menu.

[0055] In one possible implementation, the map management page can also display display cards of all currently generated point cloud maps. The display cards can be arranged in a grid format so that users can intuitively see the currently generated point cloud maps.

[0056] See Figure 1The diagram illustrates a map management page. In the absence of an existing point cloud map, "Create Map" buttons can be displayed in the center and upper right corner of the page. Clicking either button triggers map creation. Furthermore, the page can display a message: "No map available yet. Click the button to start creating your first map," prompting the user to proceed with map creation.

[0057] See Figure 2 The diagram illustrates another map management page. As you can see, the page displays generated point cloud maps in a list format. Each card shows a preview of the point cloud map and displays information such as the map name (map name 1-map name 3 in the diagram) and the map's location (area a-map name c in the diagram). Clicking the "Create Map" button in the upper right corner triggers map creation.

[0058] In one possible implementation, to make it easier for users to create and manage maps, the map management page can also display a control for setting the attribute information of the point cloud map to be generated. Then, in response to attribute setting operations on the control, the attribute information of the point cloud map to be generated can be set. The attribute information may include, but is not limited to, the map name, the region where the map is located, and the map's application scenario.

[0059] Preferably, the aforementioned attribute information setting control can be displayed after the user clicks the create map button, such as... Figure 3 As shown, after the user clicks the map creation button, a new map window (property information setting control) is displayed; after the user enters information such as the map name and the area where the map is located in the property information setting control, and then clicks the next button, the subsequent process is triggered.

[0060] For example, if the map name entered by the user is the same as the name of an existing map, an error message can pop up on the screen when the user clicks the next button: "Map name already exists." At this point, the user can re-enter a unique map name and then click the next button to trigger the subsequent process normally.

[0061] Of course, after the user clicks the "Create Map" button, the robot needs to move around in the working environment and collect point clouds so that a preview view of the environmental point clouds can be displayed on the map creation page. The following describes how to trigger the robot to collect point clouds.

[0062] In one implementation, the mapping management platform can display point cloud acquisition prompts, which in turn prompt the user to use remote control devices to control the robot's movement in the working environment and acquire point clouds. For example... Figure 4As shown, the point cloud acquisition prompt message could be "Please use the remote control to operate the robot to circle the field once, so that the robot can scan the entire environment."

[0063] Preferably, the point cloud acquisition prompt information can be displayed via pop-up windows, floating windows, or other means after the user clicks the create map button.

[0064] In this way, after seeing the above prompts, users can intuitively understand that they need to control the robot to collect point clouds. They can then use the remote control to operate the robot to move in the working environment and collect point clouds after clicking the start button.

[0065] In another implementation, the mapping management platform can directly send point cloud acquisition commands to the robot. These commands instruct the robot to move autonomously within the working environment and acquire point clouds. In this case, the robot can store a pre-set travel route. Upon receiving the point cloud acquisition command, the robot begins to travel along the stored route and acquires point clouds at a set frequency during the journey.

[0066] It should be noted that when multiple robots establish communication connections with the platform, users can select or enter the identifier of the robot used for point cloud collection on the interface, so that the platform can send point cloud collection instructions to the selected robot.

[0067] In this way, the mapping management platform can proactively notify the robot to collect point clouds without requiring manual operation by the user, thus simplifying the user experience and improving user experience.

[0068] After the robot is triggered to collect point clouds, the platform displays the map creation page. As the robot continues to collect point clouds, the map preview area on the map creation page displays a real-time preview view of the continuously updated environmental point clouds, such as... Figure 5 The image shows a preview view of the environmental point cloud at a specific moment. Users can intuitively understand the construction status and progress of the point cloud map based on the preview view. Once the point cloud map is complete, the user can click the "Complete Mapping" button, at which point the platform will generate and save the point cloud map based on the latest updated environmental point cloud.

[0069] II. Map Editing

[0070] To facilitate users in defining map-building areas within the robot's working environment according to their specific needs, one possible implementation is that the map creation page may include region editing controls. In this case, users can select the region editing function within the region editing controls to define the region of interest in the preview view. Subsequently, the platform will extract points corresponding to the region of interest from the environmental point cloud to obtain a point cloud map of the working environment.

[0071] In one possible implementation, the aforementioned region editing functionality may include: region selection functionality and / or custom selection box functionality. Wherein,

[0072] The region selection function provides sub-controls for setting regions. Each sub-control corresponds to a region in the preview view, allowing users to quickly select the region of interest. The region corresponding to each sub-control can be preset by staff, and can be of different locations and sizes to meet diverse user needs.

[0073] Considering that users mostly consider the actual map construction range required by the robot when setting the map construction area in the robot's working environment, one possible implementation is to pre-set different map construction ranges for users to quickly select, improving the efficiency of area setting. Specifically, in this case, the setting area corresponding to each area setting sub-control in the preview view is: an area with the geometric center of the preview view as its geometric center and a side length equal to the setting size corresponding to that area setting sub-control. The shape of the above area can be a rectangle, triangle, etc., and this embodiment of the invention does not limit this.

[0074] In this way, after a user clicks on a certain area to set a sub-control, the platform can construct the scope according to the map corresponding to the selected sub-control and mark the area of ​​interest corresponding to the sub-control in the preview view. An example is given below with reference to the attached figure.

[0075] like Figure 6 As shown, the range limitation function offers several different map building ranges: 10m × 10m, 20m × 20m, and 30m × 30m. After selecting the range limitation function in the editing tools (checking the range limitation checkbox), clicking on the 30m × 30m map building range will jump to... Figure 7 The interface shown is... Figure 7 The dashed area in the preview view represents the map construction area selected by the user.

[0076] The custom selection feature allows users to flexibly select the area they want to build from the preview view, meeting personalized needs. Specifically, after a user selects the custom selection feature, a selection icon will be displayed in the preview view. After the user clicks and drags the selection icon and releases the click, the platform can determine the specific area selected by the user in the preview view based on the start and end positions and movement trajectory of the selection icon.

[0077] As explained above, users can intuitively understand the specific content of the point cloud map based on the preview view. In some cases, due to factors such as point cloud quality and fusion errors, the point cloud map may contain noise that does not match the actual environment. To remove noise from the point cloud map, improve its accuracy, and ensure the robot's successful subsequent task execution, one possible implementation is to include a noise removal control on the map creation page. In this case, the user can select the noise removal function within the noise removal control. The platform identifies the noise area from the preview view and deletes pixels located within the noise area. After the user clicks the "Complete Mapping" button, the platform removes the noise corresponding to the noise area from the environmental point cloud, obtaining and storing the noise-removed point cloud map.

[0078] In one possible implementation, the noise removal function described above may include: a custom removal function and / or an automatic removal function. Wherein,

[0079] The custom noise removal feature allows users to flexibly select the area to be removed from the preview view, meeting individual needs. If the user selects the custom noise removal feature (checks the "Erase Noise" checkbox), the preview view will display something like this. Figure 8 The eraser-like icon shown allows users to click and drag it. The platform identifies the area covered by the eraser icon's movement trajectory as the noise region to be removed. Then, pixels located in the noise region are deleted from the preview view. After the user clicks the "Complete Mapping" button, the noise corresponding to the noise region is removed from the environmental point cloud. The preview view of the removed environmental point cloud is shown below. Figure 9 As shown.

[0080] The automatic noise removal function is used to autonomously identify and remove noise in point cloud maps, simplifying user operations. If the user selects the custom noise removal function, the platform uses the set noise identification method to determine the noise area from the preview view, then deletes the pixels located in the noise area from the preview view, and removes the noise corresponding to the noise area from the environmental point cloud after the user clicks the "Complete Mapping" button.

[0081] In one possible implementation, the aforementioned area editing function may also include zoom in and zoom out controls, allowing users to flexibly set the zoom level of the preview view by clicking on these controls.

[0082] III. Map Applications

[0083] To facilitate users' quick application of completed point cloud maps to robots, one possible implementation of the platform is to provide map application functionality. After a user triggers an application operation on a created map, the platform can send an application notification message to the robot indicating the point cloud map to be applied. In this way, the robot can use the point cloud map to be applied as the point cloud map when performing tasks.

[0084] It should be noted that when multiple robots establish communication connections with the platform, users can select or enter the identifier of the robot to be applied to the map on the interface, so that the platform can send the above application notification information to the selected robot.

[0085] The following section introduces the specific methods for using maps in user applications.

[0086] In one implementation, after the user clicks the "Complete Map Creation" button on the map creation page, map application controls will be displayed on the map creation page, such as... Figure 10 The "Apply Map" button allows users to easily apply the newly created point cloud map to the robot.

[0087] To prevent accidental user operations, one possible implementation is as follows: Figure 11 As shown, when a user clicks the above-mentioned application map button, a confirmation control will be displayed on the map creation page. The application confirmation control displays the prompt message "Are you sure you want to apply map 'XX' to the robot?". After the user clicks the OK button in the application confirmation control, the platform will then apply the point cloud map that has just been created to the robot.

[0088] In another implementation, the platform can provide a globally displayed shortcut control that appears on all pages. Users can use this shortcut control to efficiently and conveniently switch between different pages and apply the robot's map. Specifically, for example... Figures 12 to 14 As shown, the quick application control (drop-down box at the top of the interface) displays the name of the point cloud map currently applied to the robot. After the user focuses on the quick application control or clicks the drop-down button in the quick application control, the drop-down box displays the names of each point cloud map that has been created. According to the actual needs, the user selects the point cloud map named "Map Name 2" from the list. The platform applies the selected point cloud map to the robot and updates the currently applied map name displayed in the quick application control.

[0089] For example, regardless of which of the above-mentioned methods is used to apply the map, after the map application is successful, the platform can briefly display a prompt message indicating that the application was successful in the form of a pop-up window or the like.

[0090] IV. Map Management

[0091] In one possible implementation, the platform also provides map management functionality. With this functionality, users can easily perform management operations such as browsing, deleting, and editing point cloud maps, reducing the difficulty of map management.

[0092] Specifically, the map list displays a point cloud map display card, which contains a management button. Users can trigger various management operations by clicking the management button.

[0093] In one possible implementation, to ensure the page remains simple while facilitating user operation, the management buttons in the display cards are hidden. When a display card is focused, the management buttons in that display card become clickable by the user.

[0094] The embodiments of the present invention do not limit the above-mentioned map management functions; the following examples illustrate the concepts.

[0095] like Figures 15 to 17 As shown, when a user focuses on the display card named "Map Name 1" in the map list, the card displays an attribute edit button and a delete button. Clicking the delete button triggers a confirmation control on the page to prevent accidental deletion. This confirmation control displays the message "Are you sure you want to delete map 'Map Name 1'?". After the user clicks the confirmation button, the platform removes the display card from the map list and deletes the corresponding point cloud map locally. This allows users to easily delete created point cloud maps through the map management platform.

[0096] like Figures 18 to 19 As shown, when a user focuses on the display card named "Map Name 1" in the map list, the card displays an attribute edit button and a delete button. Clicking the attribute edit button opens a window for editing map attributes (an attribute editing control). The user can update the map's attribute information in the attribute editing control and click the confirm button after completing the update. Naturally, the attribute information displayed in the map list's display card will also be updated accordingly. This allows users to conveniently edit the attribute information of created point cloud maps through the map management platform.

[0097] In addition, such as Figure 20 As shown, after a user clicks on the main body of the display card named "Map Name 1" in the map list, they can be redirected to the page described above. Figure 6The image shows the map creation page. Users can browse point cloud maps on this page or edit them using the map editing tools described earlier. Afterward, the user clicks "Complete Map Creation," and the platform updates the edited point cloud map. This allows users to easily modify created point cloud maps through the map management platform.

[0098] In one possible implementation, after a user clicks on the main body of the displayed card, the selected target displayed card can be highlighted according to a set display effect. After the highlighted target displayed card has been highlighted for a set duration, the highlighting is canceled, and then the map creation page of the target displayed card is displayed. The highlighting effect can specifically add a outline of a set color to the card, change the card's background color, add animation effects, etc., and this embodiment of the invention is not limited to these. The above-mentioned highlighting effect makes it easier for users to confirm that the displayed card has been selected, improving the user experience.

[0099] As can be seen, the aforementioned map management platform enables the creation, management, and application of robot navigation maps. Users can complete the entire process from map creation, map editing, information modification, and final application to the robot through a simple interface.

[0100] Based on the foregoing embodiments, the following flowchart will be used to describe the motion control command flow generation scheme provided by the embodiments of the present invention.

[0101] See Figure 21 The above is a schematic flowchart of a map creation method provided by an embodiment of the present invention. The method includes the following steps S2101-S2103.

[0102] Step S2101: Display the map management page.

[0103] Step S2102: In response to the map creation operation triggered on the map management page, display the map creation page and display a real-time preview view of the environmental point cloud in the map preview area of ​​the map creation page.

[0104] Among them, the environmental point cloud is updated based on the point cloud of the working environment collected by the robot in real time.

[0105] Step S2103: In response to the map saving operation, generate a point cloud map of the working environment based on the environmental point cloud.

[0106] In one possible implementation, the map creation page includes a region editing control. Before generating a point cloud map of the working environment based on the environmental point cloud in response to the map saving operation, it can also: determine the region of interest from the preview view in response to selecting the region editing function in the region editing control, and mark the region of interest in the preview view; in this case, the step of generating a point cloud map of the working environment based on the environmental point cloud can be implemented as follows: extract the points corresponding to the region of interest from the environmental point cloud to obtain the point cloud map of the working environment.

[0107] In one possible implementation, the region editing function includes: a region selection function, and the region editing control includes multiple region setting sub-controls, each region setting sub-control corresponding to a set region in the preview view. In this case, the step of determining the region of interest from the preview view can be implemented in the following way:

[0108] In response to a selection operation of a target sub-control among multiple region settings, the region corresponding to the target sub-control in the preview view is determined as the region of interest.

[0109] In one possible implementation, the region editing functionality includes a custom selection box feature, in which the step of determining the region of interest from the preview view can be implemented in the following way:

[0110] In response to a region selection operation in the preview view, the region indicated by the region selection operation in the preview view is identified as the region of interest.

[0111] In one possible implementation, the setting area corresponding to each region setting sub-control in the preview view is: an area with the geometric center of the preview view as the geometric center and the side length as the setting size corresponding to the region setting sub-control, wherein the setting size corresponding to each region setting sub-control is different.

[0112] In one possible implementation, the map creation page also includes noise removal controls, and before generating a point cloud map of the working environment based on the environmental point cloud in response to the map saving operation, it can also:

[0113] In response to selecting the noise removal function in the noise removal control, the noise region is determined from the preview view; pixels located in the noise region in the preview view are deleted, and noise corresponding to the noise region is removed from the environmental point cloud.

[0114] In one possible implementation, the noise removal function includes: a custom removal function, where the step of determining the noise area from the preview view can be implemented in the following way:

[0115] Display the erase icon in the preview view; in response to dragging the erase icon, define the area covered by the erase icon's movement trajectory as the noise region.

[0116] In one possible implementation, the noise removal function includes: an automatic removal function, whereby the step of determining the noise area from the preview view can be implemented in the following way:

[0117] The noise area is determined from the preview view using a set noise recognition method.

[0118] In one possible implementation, it is also possible to: in response to an application operation on the generated point cloud map, send an application notification message of the point cloud map to be applied to the robot, the application notification message being used to instruct the robot to use the point cloud map to be applied as the point cloud map when performing the task.

[0119] In one possible implementation, the application operation includes at least one of the following:

[0120] The map creation page includes operations for selecting map application controls and operations for selecting application sub-controls in the globally displayed shortcut application controls. Each application sub-control corresponds to a generated point cloud map.

[0121] In one possible implementation, the map management page includes display cards of the generated point cloud map. In this case, it is also possible to: in response to a management operation on the target point cloud map, perform an action indicating a management operation on the target point cloud map, wherein the target point cloud map is the point cloud map corresponding to the selected target display card.

[0122] In one possible implementation, the map creation page for the target display card can also be displayed in response to a selection action on the display card.

[0123] In one possible implementation, the steps for displaying the map creation page with the target display card can be implemented in the following way:

[0124] Highlight the selected target card with the set display effect; after the target card is highlighted for the set duration, cancel the highlighting and display the map creation page of the target card.

[0125] In one possible implementation, before responding to the management operation, the following can also be done: in response to the target display card being focused, a management button is displayed in the target display card; the management operation is the operation performed after the management button is selected.

[0126] In one possible implementation, the management button includes a delete button, and the management operation is a delete operation performed after the delete button is selected.

[0127] In one possible implementation, the management button includes an attribute editing button, and the management operation is the editing operation performed on the displayed attribute editing page after selecting the attribute editing button.

[0128] In one possible implementation, the following can also be used: display an attribute information setting control; in response to an attribute setting operation on the attribute information setting control, set the attribute information of the point cloud map to be generated, the attribute information including at least one of the following: map name, map location, and map application scenario.

[0129] In one possible implementation, a point cloud acquisition prompt message can also be displayed, which prompts the user to use a remote control device to control the robot to move in the working environment and acquire point clouds.

[0130] In one possible implementation, a point cloud acquisition command can also be sent to the robot, which instructs the robot to move autonomously in the working environment and acquire point clouds.

[0131] The following describes specific application scenarios of point cloud maps obtained using the solutions provided in the embodiments of the present invention.

[0132] The aforementioned point cloud map can be applied to various scenarios requiring robots to locate themselves and navigate autonomously to perform tasks, such as industrial manufacturing, logistics and distribution, commercial services, and performances. Furthermore, in these scenarios, robots can flexibly decide on their movement paths or specific actions based on the point cloud map to avoid collisions with obstacles in the environment.

[0133] Taking a robot dancing scenario as an example, when the robot is performing a dance demonstration / training, it can adjust its posture by combining the obstacles, boundaries, and other conditions in the constructed point cloud map.

[0134] Specifically, the robot can adaptively adjust the size of its dance steps and the range of its limb extensions based on the map boundaries / obstacles to avoid contact with obstacles or map boundaries; alternatively, the robot can adaptively change its dance movements based on the map boundaries / obstacles. For example, if actions A and B are similar, when obstacles are present around the robot, it can choose to replace the larger movement A with the smaller movement B, thus ensuring minimal visual difference in the dance movements and preventing the robot from colliding with obstacles.

[0135] Corresponding to the map creation device described above, this embodiment of the invention also provides a map creation device.

[0136] See Figure 22The above is a schematic diagram of a map creation device provided in an embodiment of the present invention. The device includes the following modules:

[0137] The management page display module 2201 is used to display the map management page;

[0138] The preview module 2202 is used to respond to the map creation operation triggered on the map management page, display the map creation page, and display a preview view of the environmental point cloud in real time in the map preview area of ​​the map creation page, wherein the environmental point cloud is updated according to the point cloud of the working environment collected by the robot in real time.

[0139] The map generation module 2203 is used to generate a point cloud map of the working environment based on the above-mentioned environmental point cloud in response to the map saving operation.

[0140] The solution provided by this invention allows for the display of a map creation page based on a user's map creation operation triggered on the map management page. A continuously updated preview view of the environmental point cloud is displayed in real-time within the map preview area of ​​the map creation page. Upon receiving a map save operation, a point cloud map of the working environment is generated based on the environmental point cloud. For the user, the construction of the point cloud map can be triggered simply by performing a visual operation on the page. In other words, users can easily construct a point cloud map from scratch using the solution provided by this invention. Furthermore, users can preview the dynamic construction process of the point cloud map in real-time within the map preview area, allowing them to identify and intervene in issues such as missed point cloud data collection and noise during the construction process, thereby obtaining a point cloud map that meets their expectations.

[0141] In one possible implementation, the map creation page includes region editing controls, and the device further includes:

[0142] The region of interest determination module is used to determine the region of interest from the preview view and mark the region of interest in the preview view in response to selecting the region editing function in the region editing control before the map generation module is triggered.

[0143] The map generation module described above is specifically used to extract points corresponding to the region of interest from the environmental point cloud to obtain a point cloud map of the working environment.

[0144] This makes it easier for users to set the map building area in the robot's working environment according to their actual needs.

[0145] In one possible implementation, the aforementioned region editing function includes: a region selection function; the region editing control includes multiple region setting sub-controls, each region setting sub-control corresponding to a set region in the preview view; and the region of interest determination module is specifically used to determine the set region corresponding to the target sub-control in the preview view as the region of interest in response to a selection operation of the target sub-control among the multiple region setting sub-controls. In this way, the user can quickly set the region of interest by selecting the region setting sub-control.

[0146] In one possible implementation, the aforementioned region editing function includes: a custom selection function, and the aforementioned region of interest determination module, specifically used to determine the region indicated by the region selection operation in the aforementioned preview view as the region of interest in response to the region selection operation in the aforementioned preview view.

[0147] In this way, users can flexibly select the area they want to build from the preview view to meet their personalized needs.

[0148] In one possible implementation, the setting area corresponding to each region setting sub-control in the above preview view is: an area with the geometric center of the above preview view as the geometric center and the side length as the setting size corresponding to the region setting sub-control, wherein the setting size corresponding to each region setting sub-control is different.

[0149] This allows users to quickly select different map construction ranges in advance, improving the efficiency of region setting.

[0150] In one possible implementation, the map creation page further includes noise removal controls, and the device further includes:

[0151] The noise region determination module is used to determine the noise region from the preview view in response to selecting the noise removal function in the noise removal control before the map generation module is triggered.

[0152] The noise removal module is used to delete pixels located in the noise region in the preview view and remove noise corresponding to the noise region from the environmental point cloud.

[0153] This allows for the removal of noise from point cloud maps, improving their accuracy and ensuring the robot's successful execution of subsequent tasks.

[0154] In one possible implementation, the noise removal function includes: a custom removal function; the noise region determination module, specifically used to display an erase icon in the preview view; and in response to a drag operation on the erase icon, determining the area covered by the movement trajectory of the erase icon as a noise region.

[0155] In this way, users can flexibly select the area to be noise removed from the preview view to meet their personalized needs.

[0156] In one possible implementation, the noise removal function includes: an automatic removal function, and the noise region determination module, specifically used to determine the noise region from the preview view using a set noise recognition method.

[0157] In this way, electronic devices can autonomously identify and remove noise in point cloud maps, simplifying user operations.

[0158] In one possible implementation, the above-mentioned device further includes:

[0159] The map application module is used to respond to the application operation on the generated point cloud map by sending an application notification message of the point cloud map to be applied to the robot, which is an instruction of the application operation. The application notification message is used to instruct the robot to use the point cloud map to be applied as the point cloud map used when performing the task.

[0160] This makes it easy for users to quickly apply the completed point cloud map to the robot.

[0161] In one possible implementation, the above application operations include at least one of the following:

[0162] The map creation page includes operations for selecting map application controls and operations for selecting application sub-controls in the globally displayed shortcut application controls. Each of the above application sub-controls corresponds to a generated point cloud map.

[0163] In this way, users can easily apply the point cloud map they have just created to the robot on the map creation page, or they can use the quick application control to efficiently and conveniently switch the map applied to the robot on various pages.

[0164] In one possible implementation, the map management page includes display cards of the generated point cloud map, and the device further includes:

[0165] The map management module is used to respond to management operations on the target point cloud map and execute the actions instructed by the management operations on the target point cloud map, wherein the target point cloud map is the point cloud map corresponding to the selected target display card.

[0166] In this way, users can easily perform management operations such as browsing, deleting, and editing point cloud maps, reducing the difficulty of map management.

[0167] In one possible implementation, the above-mentioned device further includes:

[0168] The map viewing module is used to display the map creation page of the target display card in response to the selection operation of the above display card.

[0169] In this way, users can easily modify the point cloud maps they have created through the map management platform.

[0170] In one possible implementation, the map viewing module described above is specifically used to highlight the display card of the selected target with a set display effect;

[0171] After highlighting the target display card for the set duration, dehighlight it to display the map creation page for the target display card.

[0172] The above-mentioned highlighting effect makes it easier for users to confirm that the selected display card has been selected, thus improving the user experience.

[0173] In one possible implementation, the above-mentioned device further includes:

[0174] The management button display module is used to display a management button in the target display card in response to the target display card being focused; the management operation is the operation performed after the management button is selected.

[0175] This ensures the page remains simple while making it easy for users to operate.

[0176] In one possible implementation, the above management button includes a delete button, and the above management operation is a delete operation performed after selecting the above delete button.

[0177] In this way, users can easily delete the point cloud maps they have created through the map management platform.

[0178] In one possible implementation, the aforementioned management button includes an attribute editing button, and the aforementioned management operation is an editing operation performed on the displayed attribute editing page after selecting the aforementioned attribute editing button.

[0179] In this way, users can easily edit the attribute information of the point cloud map they have created through the map management platform.

[0180] In one possible implementation, the above-mentioned device further includes:

[0181] The control display module is used to display property information settings controls.

[0182] The attribute setting module is used to respond to the attribute setting operation of the above attribute information setting control, and to set the attribute information of the point cloud map to be generated. The above attribute information includes at least one of the following: map name, map location, and map application scenario.

[0183] This makes it easier and more convenient for users to create and manage maps.

[0184] In one possible implementation, the above-mentioned device further includes:

[0185] The prompt information display module is used to display point cloud acquisition prompt information, which prompts the user to use a remote control device to control the robot to move in the above-mentioned working environment and acquire point clouds.

[0186] In this way, after seeing the above prompts, users can intuitively understand that they need to control the robot to collect point clouds. They can then use the remote control to operate the robot to move in the working environment and collect point clouds after clicking the start button.

[0187] In one possible implementation, the above-mentioned device further includes:

[0188] The instruction sending module is used to send point cloud acquisition instructions to the robot, which instruct the robot to move autonomously and acquire point clouds in the working environment.

[0189] In this way, the mapping management platform can proactively notify the robot to collect point clouds without requiring manual operation by the user, thus simplifying the user experience and improving user experience.

[0190] Corresponding to the map creation method described above, embodiments of the present invention also provide an electronic device, a storage medium, and a program product.

[0191] This invention also provides an electronic device, such as... Figure 23 As shown, it includes a processor 2301, a communication interface 2302, a memory 2303, and a communication bus 2304, wherein the processor 2301, the communication interface 2302, and the memory 2303 communicate with each other through the communication bus 2304.

[0192] Memory 2303 is used to store computer programs;

[0193] The processor 2301 is used to execute the program stored in the memory 2303 to implement the aforementioned map creation method.

[0194] The communication bus mentioned in the above electronic devices can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0195] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0196] The memory may include random access memory (RAM) or non-volatile memory (NVM), such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0197] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0198] In another embodiment of the present invention, a computer-readable storage medium is also provided, which stores a computer program that, when executed by a processor, implements the steps of any of the above-described map creation methods.

[0199] In another embodiment of the present invention, a computer program product containing instructions is also provided, which, when run on a computer, causes the computer to execute any of the map creation methods described above.

[0200] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0201] It should be noted that, in this document, relational terms such as "first" and "second" are used only 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.

[0202] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, electronic devices, and storage media are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0203] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A map creation method characterized by, The method includes: Display the map management page; In response to a map creation operation triggered on the map management page, the map creation page is displayed, and a preview view of the environmental point cloud is displayed in real time in the map preview area of ​​the map creation page, wherein the environmental point cloud is updated according to the point cloud of the working environment collected by the robot in real time; In response to the map saving operation, a point cloud map of the working environment is generated based on the environmental point cloud.

2. The method according to claim 1, characterized in that, The map creation page includes region editing controls, and before generating the point cloud map of the working environment based on the environmental point cloud in response to the map save operation, it also includes: In response to selecting the region editing function in the region editing control, the region of interest is determined from the preview view, and the region of interest is marked in the preview view; The step of generating a point cloud map of the working environment based on the environmental point cloud includes: Points corresponding to the region of interest are extracted from the environmental point cloud to obtain a point cloud map of the working environment.

3. The method according to claim 2, characterized in that, The region editing function includes: a region selection function; the region editing control includes multiple region setting sub-controls, each region setting sub-control corresponding to a set region in the preview view; the step of determining the region of interest from the preview view includes: In response to the selection operation of the target sub-control among the multiple region setting sub-controls, the setting region corresponding to the target sub-control in the preview view is determined as the region of interest; or, The region editing function includes: a custom selection box function, wherein determining the region of interest from the preview view includes: In response to a region selection operation in the preview view, the region indicated by the region selection operation in the preview view is determined as the region of interest.

4. The method according to claim 3, characterized in that, The setting area corresponding to each region setting sub-control in the preview view is: an area with the geometric center of the preview view as the geometric center and the side length as the setting size corresponding to the region setting sub-control, wherein the setting size corresponding to each region setting sub-control is different.

5. The method according to any one of claims 1 to 4, characterized in that, The map creation page also includes noise removal controls, and before generating the point cloud map of the working environment based on the environmental point cloud in response to the map saving operation, it also includes: In response to selecting the noise removal function in the noise removal control, the noise area is determined from the preview view; Delete the pixels located in the noise region in the preview view, and remove the noise points corresponding to the noise region from the environmental point cloud.

6. The method according to claim 5, characterized in that, The noise removal function includes: a custom removal function, wherein determining the noise region from the preview view includes: An erase icon is displayed in the preview view; in response to a drag operation on the erase icon, the area covered by the movement trajectory of the erase icon is defined as a noise region; or, The noise removal function includes: an automatic removal function, wherein determining the noise region from the preview view includes: The noise region is determined from the preview view using a set noise recognition method.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: In response to an application operation on the generated point cloud map, an application notification message for the point cloud map to be applied, which is an instruction of the application operation, is sent to the robot. The application notification message is used to instruct the robot to use the point cloud map to be applied as the point cloud map when performing the task. The application operation includes at least one of the following: a selection operation of the map application control included in the map creation page, and a selection operation of the application sub-control in the globally displayed shortcut application control, wherein each application sub-control corresponds to a generated point cloud map; And / or, The map management page includes display cards of the generated point cloud map, and the method further includes: In response to a management operation on a target point cloud map, the action indicated by the management operation is performed on the target point cloud map, wherein the target point cloud map is the point cloud map corresponding to the selected target display card; And / or, The method further includes: Display property information setting control; In response to the attribute setting operation of the attribute information setting control, the attribute information of the point cloud map to be generated is set, and the attribute information includes at least one of the following: map name, map location, and map application scenario; And / or, Displaying point cloud acquisition prompts, which prompt the user to use a remote control device to control the robot to move in the working environment and acquire point clouds; or, sending point cloud acquisition commands to the robot, which instruct the robot to move autonomously in the working environment and acquire point clouds.

8. The method according to claim 7, characterized in that, The method further includes: In response to a selection operation on the display card, the map creation page for the target display card is displayed; And / or, The map creation page that displays the target display card includes: Highlight the selected target card with the set display effect; After the target display card is highlighted for a set duration, the highlighting is canceled, and the map creation page of the target display card is displayed. And / or, Prior to responding to the management operation, the following is also included: In response to the target display card being focused, a management button is displayed on the target display card; The management operation is the operation performed after selecting the management button; The management button includes a delete button, and the management operation is a delete operation performed after selecting the delete button; or, the management button includes an attribute edit button, and the management operation is an edit operation performed on the displayed attribute edit page after selecting the attribute edit button.

9. A map creation device, characterized in that, The device includes: The management page display module is used to display the map management page; The preview module is used to respond to the map creation operation triggered on the map management page, display the map creation page, and display a preview view of the environmental point cloud in real time in the map preview area of ​​the map creation page, wherein the environmental point cloud is updated according to the point cloud of the working environment collected by the robot in real time; The map generation module is used to generate a point cloud map of the working environment based on the environmental point cloud in response to the map saving operation.

10. An electronic device, characterized in that, It includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, when executing a program stored in memory, implements the steps of the method described in any one of claims 1 to 8.

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