Stair creation and display method, and computer-readable storage medium

Abstract

This application relates to a method for creating and displaying stairs, and a computer-readable storage medium. The method includes: displaying a floor map of the current floor where a self-moving robot is located on a user display interface; in response to the self-moving robot recognizing a stair object on the current floor, creating and displaying a stair graphic corresponding to the stair object on the user display interface; and in response to the self-moving robot autonomously moving along the stair object to the next floor, automatically switching the floor map of the current floor on the user display interface to the floor map of the next floor, wherein the stair graphic is used to display on the user display interface in the floor map of the current floor and / or the floor map of the next floor. This method not only solves the problem of traditional methods failing to recognize and create stairs, and realizes cross-floor map structure representation, but also automatically switches map floors following the robot, reducing user operations and improving the smoothness of the user experience.

Description

Technical Field

[0001] This application relates to the field of robotics, and in particular to a method for creating and displaying stairs, as well as a computer-readable storage medium. Background Technology

[0002] In the era of smart homes, smart devices within these homes are becoming increasingly diverse, providing users with greater convenience in all aspects of daily life. Among them, robots, as one type of smart device, play a significant role in daily life.

[0003] For example, common robotic vacuum cleaners can usually only perform cleaning tasks within one floor. For multi-story residential buildings, users need to manually move the vacuum cleaner to other floors. In response to this, an auxiliary device has emerged to work with the robotic vacuum cleaner to enable it to automatically move up and down floors, such as a stair climber.

[0004] However, current robot vacuum applications (APPs) are not compatible with stair climbers, and cannot automatically map multi-story residential buildings, nor can they create stairs during the multi-story mapping process, resulting in insufficient connectivity of multi-story maps. Summary of the Invention

[0005] Based on this, it is necessary to provide a method, apparatus, terminal device, computer-readable storage medium, and computer program product that can adapt to the automatic construction of multi-story maps and the automatic creation of staircases between floors to address the above-mentioned technical problems.

[0006] Firstly, this application provides a method for displaying multi-floor maps, including:

[0007] In response to the map creation command, the floor map of the current floor where the mobile robot is located is displayed on the user display interface, and the mapping process of the current floor map is dynamically shown.

[0008] In response to the self-moving robot autonomously moving to the next floor, the system automatically switches the floor map of the current floor on the user's display interface to the floor map of the next floor, and dynamically displays the mapping process of the floor map of the next floor.

[0009] In one embodiment, the method further includes: displaying a floor control on a user display interface, the floor control including at least a single floor identifier unit corresponding to the floor for which the floor map has been created; and, in response to triggering a single floor identifier unit, displaying a floor map of the floor corresponding to the triggered single floor identifier unit on the user display interface.

[0010] In one embodiment, the floor control further includes an overview identifier unit; in response to triggering the overview identifier unit, an overview view is displayed on the user display interface, the overview view being used to display an overview map, the overview map including a floor overview map of all floors and stair graphics between the floors.

[0011] In one embodiment, the overview signage unit and each individual floor signage unit are arranged linearly at intervals on the user display interface; and / or, the staircase graphics are presented in a 3D style on the user display interface.

[0012] In one embodiment, the method further includes: synchronously updating the display state of the floor control based on changes in the state of the self-moving robot or user-triggered operations.

[0013] In one embodiment, the floor control has at least a first visual feature and a second visual feature. The first visual feature includes at least one of transparency, background, color, blinking animation, and symbol identification. The second visual feature includes at least one of transparency, background, color, blinking animation, and symbol identification. The first visual feature and the second visual feature are different to characterize different display states of the floor control.

[0014] In one embodiment, the floor control has an active state and a dormant state, and the floor control presents different visual characteristics in the active state and the dormant state; in response to touch operation on the user display interface, the floor control is in the active state; when a preset no-operation condition is met, the floor control enters the dormant state.

[0015] In one embodiment, the method further includes: in response to triggering a map style control on a user display interface, switching the floor map displayed on the user display interface from a first map style to a second map style; the first map style is one of a 2D style and a 3D style, and the second map style is the other of a 2D style and a 3D style.

[0016] In one embodiment, the method further includes: displaying floor status information on a user display interface, the floor status information including at least one of mapping progress information and the action status of a self-moving robot, the floor status information being displayed at least partially superimposed on the floor map, or displayed in partitions on the same screen as the floor map.

[0017] In one embodiment, the method further includes: displaying a mapping guidance page on a user display interface, the mapping guidance page being used to receive floor information input by the user, the floor information including at least one of floor number information and floor information where the base station is located; in response to triggering the mapping control in the mapping guidance page, generating a map creation instruction, switching from the mapping guidance page to a map display page, and automatically displaying the floor control in the map display page based on the floor information; the floor control includes a single floor identification unit corresponding to each floor.

[0018] In one embodiment, the method further includes: in response to the completion of the floor map creation, the single floor identification unit corresponding to the completed floor map is in a triggerable state.

[0019] In one embodiment, the method further includes: displaying an editing control on a user display interface; in response to triggering the editing control, the floor map enters a manual editing state, in which the floor map supports at least one of the following editing operations: area merging, area splitting, area naming, restricted area setting, adding or removing spatial elements, defining ground material, and marking stairs.

[0020] In one embodiment, the method further includes: displaying a robot icon of the self-moving robot in a floor map and / or an overview map based on the location information of the self-moving robot; and displaying a base station icon of the base station in the floor map and / or an overview map based on the location information of the base station.

[0021] In one embodiment, the self-moving robot includes a cleaning robot and a stair-climbing robot. The robot icons include a first icon, a second icon, and a third icon. The first icon represents the independently walking cleaning robot, the second icon represents the independently walking stair-climbing robot, and the third icon represents the combination of the stair-climbing robot and the cleaning robot.

[0022] In one embodiment, the base station includes a cleaning base station and a stair-climbing base station. The cleaning base station is used to dock with a cleaning robot, and the stair-climbing base station is used to dock with a stair-climbing robot. The base station icon includes a fourth icon and a fifth icon, where the fourth icon represents the cleaning base station and the fifth icon represents the stair-climbing base station.

[0023] In one embodiment, the method further includes: in response to a task execution instruction, displaying a floor map of the current floor where the self-mobile robot is located on a user display interface, and dynamically displaying the task execution process of the self-mobile robot on the current floor; in response to the self-mobile robot autonomously moving to the next floor, automatically switching the floor map of the current floor to the floor map of the next floor, and dynamically displaying the task execution process of the self-mobile robot on the next floor; wherein the task execution instruction includes a cleaning task execution instruction or a patrol task execution instruction.

[0024] In one embodiment, the method further includes: in response to the self-mobilizing robot entering the area where the staircase is located on the next floor, displaying a staircase graphic in the floor map of the current floor and / or the floor map of the next floor.

[0025] In one embodiment, the method further includes: in response to the self-mobilizing robot entering the area of ​​the stairs to the next floor, displaying a stair-climbing marker in the floor map of the current floor, the stair-climbing marker including a direction icon, the direction icon being used to represent the stair-climbing direction of the self-mobilizing robot; the direction icon being a static icon or a dynamic icon.

[0026] The aforementioned multi-floor map display method, apparatus, computer device, storage medium, and computer program product, in response to a map creation instruction, display a floor map of the current floor where the self-moving robot is located on a user display interface, and dynamically display the mapping process of the current floor map; then, in response to the self-moving robot autonomously moving to the next floor, automatically switch the floor map of the current floor on the user display interface to the floor map of the next floor, and dynamically display the mapping process of the next floor map. In other words, the method proposed in this application enables the self-moving robot to move autonomously between multiple floors. During the mapping process, the terminal device can not only perform real-time mapping based on the self-moving robot's position for a single floor and dynamically display the mapping process of that floor on the user's display interface, but also automatically and synchronously update the floor map displayed on the user's display interface based on the changes in the floor the self-moving robot is on as it moves autonomously between multiple floors. This method solves the problem that existing robotic vacuum cleaners cannot adapt to stair-climbing robots, causing the robotic vacuum cleaner's application to be unable to automatically update the floor map according to changes in the floor the robot is on. In other words, this method can display the floor map of the floor where the self-moving robot is located in real-time on the user's display interface without requiring the user to manually switch floors, thus improving the functionality and intelligence of the application, providing users with more convenient and intelligent functions, and enhancing the user experience.

[0027] Secondly, this application provides a method for creating and displaying stairs, including:

[0028] Display a floor map of the current floor where the mobile robot is located on the user interface;

[0029] In response to the self-moving robot recognizing a stair object on the current floor, a stair graphic corresponding to the stair object is created and displayed on the user's display interface;

[0030] In response to the self-moving robot autonomously moving along the staircase object to the next floor, the floor map of the current floor on the user display interface is automatically switched to the floor map of the next floor. The staircase graphics are used to display on the user display interface in the floor map of the current floor and / or the floor map of the next floor.

[0031] In one embodiment, in response to the self-moving robot recognizing a stair object on the current floor, a stair graphic corresponding to the stair object is created and displayed on the user display interface, including: in response to the self-moving robot successfully recognizing the stair object, a stair climbing icon is displayed in the stair area of ​​the floor map of the current floor, the stair climbing icon being used to represent the self-moving robot's autonomous movement on the stair object; and in response to the self-moving robot completing map construction for the stair object, the stair graphic is displayed on the user display interface.

[0032] In one embodiment, in response to the self-moving robot successfully recognizing the stair object, a stair climbing icon is displayed in the stair area of ​​the floor map of the current floor, including: in response to the self-moving robot successfully recognizing the stair object in the current floor, a first stair icon is displayed in the stair area; in response to the self-moving robot autonomously moving down to the next floor along the stair object, the first stair icon is updated to a stair climbing icon; wherein the first stair icon and the stair climbing icon have different visual elements.

[0033] In one embodiment, the user display interface also supports manual auxiliary mapping operations, which include: in response to the user's manual calibration operation on the user display interface, displaying a manual stair marker in the stair area of ​​the floor map of the current floor; in response to the self-moving robot successfully recognizing the stair object based on the manual stair marker, displaying a stair climbing marker in the stair area of ​​the floor map of the current floor; or, in response to the self-moving robot failing to automatically recognize the stair object based on the manual stair marker, updating the manual stair marker to a second stair marker; wherein the second stair marker has different visual elements from the manual stair marker.

[0034] In one embodiment, prior to the manual calibration operation, the method further includes: displaying a recognition failure message on the user display interface in response to the failure of the self-moving robot to automatically identify the stair object; and, in response to a triggering operation of the first stair marker control in the recognition failure message, the floor map of the current floor enters a stair manual editing state that supports manual calibration; or, in response to a triggering operation of the second stair marker control, the floor map of the current floor enters a stair manual editing state that supports manual calibration.

[0035] In one embodiment, the method further includes: in response to a triggering operation on the editing control, displaying a secondary control menu page on the user display interface, the secondary control menu page including at least a second stair marker control.

[0036] In one embodiment, the method further includes: displaying user guidance information on a user display interface, the user guidance information being used to prompt the user to clear obstacles at the stair entrance and / or on the stair steps of the stair object; in response to the user's confirmation operation on the user guidance information and the successful automatic identification of the stair object by the self-moving robot based on the manual stair marker, displaying a stair climbing marker in the stair area of ​​the floor map of the current floor; or, in response to the user's confirmation operation on the user guidance information and the failure of the self-moving robot to automatically identify the stair object based on the manual stair marker, displaying an error message on the user display interface.

[0037] In one embodiment, the manual calibration operation includes: displaying the manual stair marker in the floor map of the current floor in response to a triggering operation of a control corresponding to the manual stair marker; and displaying the manual stair marker in the stair area of ​​the floor map of the current floor in response to a dragging operation of the manual stair marker.

[0038] In one embodiment, after the manual calibration operation, the method further includes: providing a selection operation for confirmation timing on the user display interface, the confirmation timing including immediate confirmation timing and follow-task confirmation timing; the immediate confirmation timing is used to instruct the self-mobilizing robot to immediately go to identify the stair object corresponding to the manual stair marker; the follow-task confirmation timing is used to instruct the self-mobilizing robot to go to identify the stair object corresponding to the manual stair marker after completing the current task.

[0039] In one embodiment, the method further includes: displaying a visual icon corresponding to the stair object on a user display interface. The visual icon includes a climbing icon, a first stair icon, a second stair icon, or a manual stair icon, and the climbing icon, the first stair icon, the second stair icon, and the manual stair icon each have different visual elements. The climbing icon is used to represent the autonomous movement of the self-moving robot on the stair object; the first stair icon is used to represent the successful automatic recognition of the stair object by the self-moving robot; the second stair icon is used to represent the failure of the self-moving robot to automatically recognize the stair object; and the manual stair icon is used to represent the location of the stair area corresponding to the stair object manually marked by the user on the floor map.

[0040] In one embodiment, the visualization icons include directional icons, which are used to represent the climbing direction of the self-moving robot; the directional icons can be static or dynamic.

[0041] In one embodiment, the method further includes: in response to a task execution instruction, and in response to the successful automatic recognition of a staircase object by the self-moving robot, displaying a climbing stair identifier on the staircase graphic, where the climbing stair identifier is used to characterize the process of the self-moving robot moving autonomously on the staircase object; wherein, the task execution instruction includes a cleaning task execution instruction or a patrol task execution instruction.

[0042] In the above method for creating and displaying a staircase, the terminal device displays the floor map of the current floor where the self-moving robot is located on the user display interface; in response to the self-moving robot recognizing a staircase object on the current floor, creates and displays a staircase graphic corresponding to the staircase object on the user display interface; then, in response to the self-moving robot autonomously moving along the staircase object to the next floor, automatically switches the floor map of the current floor on the user display interface to the floor map of the next floor, and the staircase graphic is used to be displayed in the floor map of the current floor and / or the floor map of the next floor on the user display interface. That is to say, the self-moving robot can automatically recognize the staircase and create and display the staircase graphic in the floor map, and after the self-moving robot autonomously moves to the next floor, it can also automatically update the floor map in the user display interface, realizing the linkage display between the user display interface and the self-moving robot; that is, when the self-moving robot performs cross-floor movement, there is no need for the user to manually switch the floor on the interface, the interface can automatically update the map, and the interface can also synchronously display the staircase graphic corresponding to the staircase object, connecting the floor maps of adjacent floors through the staircase graphic, strengthening the spatial structure relationship of the multi-floor map construction; adopting this method, not only solves the problem of traditional inability to recognize and create stairs, realizes the cross-floor map structure expression, but also can automatically switch the map floor following the robot, reducing user operations and improving the experience fluency.

[0043] In a third aspect, the present application further provides a multi-floor map display device, including:

[0044] A map building and display module, configured to display the floor map of the current floor where the self-moving robot is located on the user display interface, and dynamically display the map building process of the floor map of the current floor;

[0045] The map building and display module is further configured to, in response to the self-moving robot autonomously moving to the next floor, automatically switch the floor map of the current floor on the user display interface to the floor map of the next floor, and dynamically display the map building process of the floor map of the next floor.

[0046] In a fourth aspect, the present application further provides a staircase creating and displaying device, including:

[0047] A map display module, configured to display the floor map of the current floor where the self-moving robot is located on the user display interface;

[0048] The staircase display module is used to create and display the staircase graphic corresponding to the staircase object on the user interface in response to the self-moving robot recognizing the staircase object on the current floor.

[0049] The map display module is also used to automatically switch the floor map of the current floor on the user display interface to the floor map of the next floor in response to the self-moving robot autonomously moving along the stair object to the next floor. The stair graphics are used to be displayed on the user display interface in the floor map of the current floor and / or the floor map of the next floor.

[0050] Fifthly, this application also provides a terminal device, including a memory, a processor, and a display component. The memory stores a computer program, and when the processor executes the computer program, it implements the steps of the multi-floor map display method in the first aspect above, so as to control the display component to display the content corresponding to the multi-floor map display method in the first aspect above.

[0051] Sixthly, this application also provides a computer-readable storage medium having a computer program stored thereon. The computer program is applied to a terminal device equipped with a display component. When the computer program is executed by a processor, it implements the steps of the multi-floor map display method in the first aspect above, so as to control the display component to display the content corresponding to the multi-floor map display method in the first aspect above.

[0052] In a seventh aspect, this application also provides a computer program product, including a computer program applied to a terminal device equipped with a display component. When the computer program is executed by a processor, it implements the steps of the multi-floor map display method in the first aspect above, so as to control the display component to display the content corresponding to the multi-floor map display method in the first aspect above. Attached Figure Description

[0053] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0054] Figure 1 This is an application environment diagram of a multi-floor map display method and a staircase creation and display method in one embodiment;

[0055] Figure 2 This is a flowchart illustrating a method for displaying a multi-floor map in one embodiment;

[0056] Figure 3This is a schematic diagram of the user interface for the mapping process in one embodiment.

[0057] Figure 4 This is a flowchart illustrating a multi-floor map display method in another embodiment;

[0058] Figure 5 This is a schematic diagram of the user interface displayed in an overview view in one embodiment;

[0059] Figure 6 This is a schematic diagram of the visual structure of the floor control in different states in one embodiment;

[0060] Figure 7 This is a flowchart illustrating a multi-floor map display method in another embodiment;

[0061] Figure 8 This is a schematic diagram of a diagram creation guide page in one embodiment;

[0062] Figure 9 This is a schematic diagram of a map display page in one embodiment;

[0063] Figure 10 This is a flowchart illustrating a multi-floor map display method in another embodiment;

[0064] Figure 11 This is a schematic diagram of a map editing page in one embodiment;

[0065] Figure 12 This is a flowchart illustrating a multi-floor map display method in another embodiment;

[0066] Figure 13 This is a schematic diagram illustrating the interface changes during the task execution phase in one embodiment;

[0067] Figure 14 This is a flowchart illustrating the method for creating and displaying stairs in one embodiment;

[0068] Figure 15 This is a schematic diagram of the interface changes of manually marked stairs in one embodiment;

[0069] Figure 16 A schematic diagram illustrating the interface changes of manually marked stairs in another embodiment;

[0070] Figure 17 This is a schematic diagram of interface changes for manually marked stairs in one embodiment;

[0071] Figure 18 This is a schematic diagram of the timing confirmation page in one embodiment;

[0072] Figure 19This is a schematic diagram illustrating the interface changes during task execution corresponding to the task confirmation timing in one embodiment.

[0073] Figure 20 This is a visual structure diagram of a visual icon in one embodiment;

[0074] Figure 21 This is a structural block diagram of a multi-floor map display device in one embodiment;

[0075] Figure 22 This is a structural block diagram of a staircase creation and display device in one embodiment;

[0076] Figure 23 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0077] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0078] With the increasing prevalence of multi-story residential buildings, duplexes, villas, and multi-story structures, the demand for robotic vacuum cleaners to perform intelligent mapping and cleaning tasks across multiple floors is growing. Traditional robotic vacuum cleaners typically only map and clean within a single floor. When cleaning other floors is required, users must manually move the device to the new floor and remap it. To address this, auxiliary devices such as "stair-climbing robots" have gradually emerged to assist robotic vacuum cleaners in moving between floors. However, existing robotic vacuum cleaner apps are not yet compatible with stair-climbing robots, and the following technical issues remain:

[0079] 1. Lack of overall display: There is a lack of a unified way to display the whole building view, making it difficult for users to grasp the overall structure of the building's floors and the vertical correspondence between floors;

[0080] 2. Lack of quick switching: The app does not adapt well to multi-floor map management, making it difficult for users to intuitively switch between different floor views;

[0081] 3. Limited control styles: The display style cannot be automatically adjusted according to the task status (mapping, cleaning, etc.), making it difficult to grasp the overall task progress;

[0082] 4. Lack of cross-floor status linkage: The APP cannot determine that the robot has entered a new floor through the stairs and can only rely on the user to switch manually. That is, after the robot moves, the APP cannot automatically switch to the corresponding floor map, and the displayed information does not match the actual location.

[0083] 5. Lack of stair recognition and labeling capabilities: Most robotic vacuum cleaners can only recognize "drops / cliffs" and cannot accurately understand the location and structure of stairs, thus making it difficult to establish relationships between floors;

[0084] 6. Lack of automatic and manual stair creation mechanism: There is a lack of manual annotation after automatic identification of stair failure, and it is impossible to generate the binding relationship between stair and floor;

[0085] 7. Lack of multi-floor map editing capabilities: After the map is completed, there is no standard path for adding stairs, which cannot flexibly meet the user's needs for changing the floor cleaning level;

[0086] 8. Lack of visual representation of stairs: The app only displays multiple independent floor plans and does not show the location of the stairs, making it difficult for users to intuitively understand the spatial relationship between floors.

[0087] Therefore, there is an urgent need for a method for constructing and editing multi-floor maps that can work in conjunction with stair-climbing robots, realizing a complete closed-loop app interaction from map creation to viewing, editing, and switching. There is also an urgent need for a method for constructing and editing stairs in multi-floor maps, enabling the robot vacuum to present the vertical connections between floors more completely through the app, based on the logic of "automatic stair recognition + guiding users to manually annotate after recognition failure + editing and supplementing floors / stairs after map creation."

[0088] The following is an explanation of the proper nouns used in this application.

[0089] Stair-climbing module: An auxiliary device that works with a sweeping machine to automatically move up and down floors. It enables the main unit to operate continuously in multi-story buildings through physical climbing or electric lifting.

[0090] Floor Switch Control: An interactive control in the app interface used to freely switch between different floor maps.

[0091] Multi-floor map: refers to a building spatial map structure that includes multiple floors, used to display environmental data of different floors of a building.

[0092] Whole-building View: A map mode that displays the overall layout and cleaning coverage of all floors of a building; it can also be called an overview view.

[0093] Single-floor view: A mode that displays map information only for the currently selected floor.

[0094] Stair Object: A map element that represents the connection between floors.

[0095] Auto Stair Detection: The ability of a device to detect the location of stairs based on sensors.

[0096] Manual Annotation: Users can manually add stair objects in the App interface.

[0097] It should be noted that the multi-floor map display method and staircase creation and display method proposed in this application are applicable not only to robot vacuum cleaners, but also to stair climbing robots, or other types of self-moving robots. This application does not make any specific limitations on them.

[0098] The multi-story map display method and staircase creation and display method provided in this application can be applied to, for example... Figure 1 In the application environment shown, terminal device 101 can install and run an application (APP) for the self-moving robot. When the application APP is running, the terminal device 101 can display a user interface for the self-moving robot through its display component. On the user interface, the self-moving robot's location, status, basic information, floor map, operation controls, and other related content can be displayed in real time. The application APP can not only support the automatic creation of multi-floor maps, but also the automatic creation of stairs, and can also support the manual creation of floors and / or stairs based on user interaction.

[0099] For example, the terminal device 101 may be, but is not limited to, various personal computers, laptops, smartphones, tablets and portable wearable devices, such as smartwatches, smart bracelets, head-mounted devices, etc.

[0100] Additionally, it should be noted that when the terminal device executes the above method, some background processing operations can be performed on the terminal device or on the server corresponding to the application. The server will then send the execution results back to the terminal device so that the terminal device can display and update the interface after obtaining the relevant data.

[0101] In one exemplary embodiment, such as Figure 2 As shown, a method for displaying multi-floor maps is provided, which can be applied to... Figure 1 Taking a terminal device as an example, the explanation includes the following steps 201 to 202. Wherein:

[0102] Step 201: In response to the map creation command, display the floor map of the current floor where the mobile robot is located on the user display interface, and dynamically show the map creation process of the current floor map.

[0103] Step 202: In response to the self-moving robot autonomously moving to the next floor, automatically switch the floor map of the current floor on the user's display interface to the floor map of the next floor, and dynamically display the mapping process of the floor map of the next floor.

[0104] Regarding the map creation process, users can either automatically trigger the map creation process after registering and logging into the mobile robot's application, or manually trigger it through controls such as a map creation control on the application's user display interface. When the map creation process is triggered, the terminal device generates a map creation command and responds to the command, displaying the map creation content on the user display interface. For example, the application can access a map creation page, which is displayed on the user display interface. This page shows the floor map of the current floor where the mobile robot is located and dynamically displays the map creation process of the current floor.

[0105] It's important to clarify that the user display interface and the map creation page have different meanings. The user display interface refers to the interface displayed after the application starts on the terminal device. This interface can be the full-screen display, a half-screen display in split-screen mode, or a window display when the application is a mobile window. The map creation page, on the other hand, refers to the page content displayed within the user display interface. The user display interface can display one or more different pages. This content can be static (static pages) or dynamic (dynamic pages). For example, the map creation page can dynamically display floor maps of different floors, perhaps using different layers within the page; or it can dynamically display the map creation process; or different floor maps can be displayed using different map creation pages, such as a first map creation page displaying the first floor map, which can be switched to a second map creation page displaying the second floor map, and so on.

[0106] In one alternative implementation, if it is the first time mapping is being done, multi-floor mapping can be started from the floor where the self-mobile robot's base station is located. Assuming the floor where the base station is located is the current floor, the mapping process of the floor map of the base station's floor can be dynamically displayed on the map creation page of the user's display interface. This mapping process can be based on the real-time location of the self-mobile robot on the current floor to build a dynamic map. The real-time location of the self-mobile robot on the current floor can be obtained directly from the self-mobile robot or from the server corresponding to the self-mobile robot. The self-mobile robot can report the location information to the server in real time.

[0107] It should be noted that the floor map of the current floor displayed in the user interface is dynamically displayed in real time according to the current floor's mapping process. In the initial state, the floor map of the current floor can be an empty floor map, or a partial floor map of the current floor that was not completed in the past.

[0108] In one alternative implementation, the mapping process can be executed by a server. The server creates a map based on the real-time location of the self-moving robot and the environmental information collected by the self-moving robot in real time, and synchronizes the real-time map (partial map of the current floor) during the mapping process to the terminal device so that the terminal device can perform real-time map rendering and dynamically display the mapping process of the floor map of the current floor.

[0109] In one alternative implementation, the mapping process can also be performed by the terminal device. The terminal device acquires the real-time position of the self-moving robot and the environmental information collected by the self-moving robot in real time, including but not limited to floor structure, room outline, obstacles, furniture and equipment, etc. The terminal device creates a map based on the environmental information collected by the self-moving robot in real time and the real-time position of the self-moving robot, and dynamically displays the mapping process. That is, as the position of the self-moving robot changes, the terminal device dynamically displays the floor structure, room outline, furniture and equipment in the room, obstacles and other information of the current floor.

[0110] refer to Figure 3 As shown, assuming the user's multi-story building has 3 floors, and the current floor is the first floor, i.e., floor 1 (F), then the user's display interface can dynamically display the mapping process of the first floor 1F and the corresponding floor map, such as... Figure 3 The first interface diagram is shown. For example, during the mapping process, the user display interface can also display mapping prompts, such as displaying prompts like "Mapping on 1F", "Mapping duration on 1F", "Mapping area on 1F", and a mapping progress bar in the lower area of ​​the user display interface.

[0111] After the floor map for the current floor is created, the self-moving robot can identify floor objects from the current floor to the next floor, such as the stairs from the 1st floor to the 2nd floor. The self-moving robot then autonomously moves to the next floor using these floor objects. For example, if the self-moving robot is a cleaning robot, such as a robot vacuum cleaner, it can be assisted by a stair-climbing robot to automatically climb stairs. That is, the self-moving robot in this example can include both a cleaning robot and a stair-climbing robot to achieve autonomous movement and stair climbing. Stair climbing includes going up and down stairs, i.e., autonomously moving from a lower floor to a higher floor, or vice versa. Of course, the self-moving robot can also be an independent robot with its own stair-climbing capability, possessing autonomous stair-climbing ability.

[0112] For example, during the stair climbing process, the user interface can also display stair climbing information, such as displaying stair climbing information on the map creation page mentioned above. Figure 3 The second interface diagram shows that the map-building prompts on the 1F map can be updated to a stair-climbing prompt indicating that you are going upstairs.

[0113] After the terminal device detects that the self-propelled robot has autonomously moved to the next floor, it can automatically switch the floor map of the current floor on the user's display interface to the floor map of the next floor, and dynamically display the mapping process of the next floor's floor map. For example... Figure 3 The third interface diagram illustrates that after the mobile robot moves from the 1st floor to the 2nd floor, the floor map displayed on the user's screen can be automatically updated, and the mapping process for the next floor can be dynamically shown. Correspondingly, the climbing prompts can also be automatically updated to the mapping prompts in the 2nd floor map, and the mapping progress bar can also be updated adaptively.

[0114] It should be noted that the next floor can be higher or lower than the current floor. In addition, the current floor and the next floor can be two adjacent floors or two floors separated by a gap. For example, when creating floor maps for the 1st and 3rd floors, the self-moving robot can move directly from the 1st floor to the 3rd floor. After completing the creation of the floor map for the 1st floor, it can autonomously move to the 3rd floor to create the floor map for the 3rd floor.

[0115] For example, during the stair-climbing process, the terminal device can also display a stair graphic in the floor map of the current floor and / or the floor map of the next floor in response to the self-mobilizing robot entering the area where the staircase is located on the next floor. (See reference) Figure 3 As shown, where, Figure 3The second interface diagram shows the staircase graphic displayed on the floor map of the 1st floor during the autonomous movement from the 1st floor to the 2nd floor. In addition, after the autonomous robot moves to the 2nd floor, the user interface can automatically update the floor map of the 1st floor to the floor map of the 2nd floor. At the same time, the staircase graphic from the 1st floor to the 2nd floor can also be displayed on the floor map of the 2nd floor.

[0116] For example, during the stair-climbing process, the terminal device can also display a stair-climbing marker on the floor map of the current floor in response to the self-mobilizing robot entering the stairwell area of ​​the next floor. The stair-climbing marker includes a direction icon, which represents the climbing direction of the self-mobilizing robot. This direction icon can be a static icon or a dynamic icon. (Reference) Figure 3 The second interface diagram shows that during the climbing process, a climbing icon can be simultaneously displayed overlaid on the floor map of the current floor (1st floor). This climbing icon can include directional icons, such as an upward arrow, which can show the user that the robot is currently moving from the 1st floor to the 2nd floor.

[0117] The upward arrow can be either static or dynamic. Displaying it as a dynamic icon can provide animation effects, thereby improving the climbing prompt effect and making it clear to users at a glance.

[0118] In addition, during the mapping or text creation task, the user interface can also display a base station control and a stop control. The base station control can instruct the self-moving robot to end the current mapping / task flow and return to the base station; the stop control can instruct the self-moving robot to stop moving and pause the current mapping / task flow. For example, after the stop control is triggered, it can switch to a start control. After the user triggers the start control, the self-moving robot can continue to execute the current mapping / task flow.

[0119] In the above-mentioned multi-floor map display method, the terminal device, in response to the map creation command, displays the floor map of the current floor where the self-moving robot is located on the user display interface, and dynamically displays the mapping process of the current floor map; then, the terminal device can also, in response to the self-moving robot autonomously moving to the next floor, automatically switch the floor map of the current floor on the user display interface to the floor map of the next floor, and dynamically display the mapping process of the next floor map. In other words, the method proposed in this application enables the self-moving robot to move autonomously between multiple floors. During the mapping process, the terminal device can not only perform real-time mapping based on the self-moving robot's position for a single floor and dynamically display the mapping process of that floor on the user's display interface, but also automatically and synchronously update the floor map displayed on the user's display interface based on the changes in the floor the self-moving robot is on as it moves autonomously between multiple floors. This method solves the problem that existing robotic vacuum cleaners cannot adapt to stair-climbing robots, causing the robotic vacuum cleaner's application to be unable to automatically update the floor map according to changes in the floor the robot is on. In other words, this method can display the floor map of the floor where the self-moving robot is located in real-time on the user's display interface without requiring the user to manually switch floors, thus improving the functionality and intelligence of the application, providing users with more convenient and intelligent functions, and enhancing the user experience.

[0120] In an exemplary embodiment, for a multi-floor scenario, the user interface may further display a floor control, wherein the floor control may include at least a single floor identifier unit corresponding to the floor for which the floor map has been created; for example, referring to Figure 3 The first and second interface diagrams illustrate how, when the terminal device is mapping the current floor where the self-propelled robot is located (including during and after mapping), the user display can show single-floor identifiers corresponding to the current floor, such as the 1F identifier shown on the right side of the interface. In other words, when a map creation task for a specific floor is triggered, or when a map creation task for a specific floor is completed, the user display can show the single-floor identifier for that floor. This allows the user to trigger the single-floor identifier to display the floor map of the corresponding floor on the user display. The floor map can be a complete map or a partial map of the corresponding floor (i.e., a mapping task has been triggered but not yet completed).

[0121] Based on this, such as Figure 4 As shown, the above multi-floor map display method may further include steps 401 to 402. Wherein:

[0122] Step 401: Display floor controls on the user display interface. The floor controls include at least a single floor identifier unit corresponding to the floor for which the floor map has been created.

[0123] Step 402: In response to the triggering of a single-floor identification unit, the user display interface displays a floor map of the floor corresponding to the triggered single-floor identification unit.

[0124] Assuming the building has 3 floors, after creating the map for the 1st floor, the user interface can display the 1st floor markers. After creating the map for the 2nd floor, the user interface can display both the 1st and 2nd floor markers. After creating the map for the 3rd floor, the user interface can display the 1st, 2nd, and 3rd floor markers.

[0125] When a user wants to view a floor map of a specific floor, they can trigger a single-floor identifier, such as the 2nd floor identifier, so that the terminal device can update the floor map displayed on the user's screen, that is, display the floor map of the floor corresponding to the triggered single-floor identifier, such as displaying the 2nd floor map.

[0126] In other implementations, when a map creation task for a specific floor is triggered but the map creation for that floor (i.e., map building) is not completed, a single-floor identifier for that floor can be displayed on the user interface. Alternatively, based on the number of floors in a multi-story building, single-floor identifiers for each floor can be directly displayed on the user interface, such as... Figure 3 The third interface diagram shows that even if the 3F floor map has not yet been created during the creation of the 2F floor map, the 3F marker unit can still be displayed. In this case, when the user triggers the 3F marker unit, the user's display interface can show an empty or default floor map.

[0127] For example, when displaying single-floor identifiers for all floors, the terminal device can also determine the triggering state of each single-floor identifier based on the mapping status of the floor map for each floor. For instance, the terminal device can set the single-floor identifiers corresponding to the completed or in-process floor map to a triggerable state after responding to the completion of floor map creation or after responding to a triggered map creation task, while setting the single-floor identifiers corresponding to the incomplete floor map creation or the inactive map creation task to a non-triggerable state. The display state of the single-floor identifier differs between the triggerable and non-triggerable states, and these different display states can be distinguished by the visual characteristics of the single-floor identifier.

[0128] In other words, after the floor maps for some floors are created, the corresponding single-floor identifiers can be clicked to switch between them. Of course, in other implementations, each single-floor identifier can be clicked to switch between them after all the floor maps have been created. In other words, during the map creation process, users cannot switch floor maps by triggering single-floor identifiers; they can only view the floor maps of each floor after all the floor maps have been created.

[0129] For example, in drawing mode and / or display mode and / or task mode, the above-mentioned floor control may also include an overview label unit, such as Figure 5 As shown, Figure 5 A schematic diagram of an interface for displaying an overview identifier unit in display mode is shown, wherein the overview identifier unit is ALL; based on this, the terminal device can respond to triggering the overview identifier unit to display an overview view on the user display interface. The overview view is used to display an overview map, which may include a floor overview map of all floors and stair graphics between each floor, or the overview map may include a floor overview map of all floors, or the overview map may include a floor map of all floors, or the overview map may include a floor map of all floors and stair graphics between each floor.

[0130] It should be noted that the floor overview map is different from the floor map mentioned above. In the overview view, the floor maps of each floor in the floor overview map can be simply displayed. For example, the floor overview map may not display the specific map elements in the floor maps of each floor, such as furniture elements in the floor maps.

[0131] For example, in the overview view, a user can also access the floor map of a floor by clicking on the single floor identifier unit of the corresponding floor. That is, the terminal device can switch the floor overview map in the overview view to the floor map of the floor corresponding to the single floor identifier unit in response to the trigger operation of the single floor identifier unit; or, the terminal device can also switch the floor overview map in the overview view to the floor map of a floor in response to the trigger operation of a certain floor in the floor overview map.

[0132] The overview signage units and individual floor signage units mentioned above can be arranged linearly at intervals on the user display interface, such as... Figure 5 The elements shown are arranged vertically at equal intervals in the right-hand area of ​​the interface. For example, when the overview map includes a staircase graphic, the staircase graphic can be displayed in a 3D style on the user's display interface. The 3D style staircase graphic can reflect the three-dimensional effect of multiple floors, thereby improving the display effect of the overview view.

[0133] In this embodiment, based on map creation instructions, the terminal device can automatically enter a multi-floor mapping wizard mode, or mapping mode for short. The floor control allows real-time display of the mapping completion status of each floor. After each floor is completed, the terminal device automatically saves the map data for that floor, and the floor control automatically switches to the next floor for highlighting, enabling automatic mapping of the next floor. The floor control adopts a layered map structure, supplemented by an overall building overview view. By displaying single-floor identifiers and overview identifiers for each floor on the user interface, users can freely switch between single-floor and overall building views using the floor control, improving map switching flexibility. Furthermore, the single-floor view displays map elements, mapping and cleaning status for each floor, supporting zooming, editing, and task execution operations. The overall building view displays all floor maps in a layered perspective, allowing users to quickly overview multi-floor selections, overall task progress, etc., meeting users' viewing and operational needs from different perspectives and improving the user experience.

[0134] In an exemplary embodiment, the terminal device can also synchronously update the display state of the floor control based on changes in the state of the self-moving robot or user-triggered operations. The state of the self-moving robot can include its location state, task state, etc. The display state of the floor control includes at least two types: a first display state when the floor is the current floor, and a second display state when the floor is not the current floor; for example, when the self-moving robot is on the 1st floor, the 1st floor is the current floor, the 1F identifier unit corresponding to the 1st floor is in the first display state, while the 2F and 3F identifier units are in the second display state; or, when the user triggers the 2F identifier unit, the 2nd floor is the current floor, the 2F identifier unit corresponding to the 2nd floor is in the first display state, while the 1F and 3F identifier units are in the second display state.

[0135] For example, a floor control may have at least a first visual feature and a second visual feature. The first visual feature includes at least one of transparency, background, color, blinking animation, and symbol identification. The second visual feature includes at least one of transparency, background, color, blinking animation, and symbol identification. The first visual feature and the second visual feature are different to represent different display states of the floor control. For example, the first visual feature represents a first display state, and the second visual feature represents a second display state. It should be noted that the element type corresponding to the first visual feature and the element type corresponding to the second visual feature may be the same or different. For example, when the element types are the same, for a single floor identification unit that has completed mapping (such as having the first visual feature) and a single floor identification unit that has not completed mapping (such as having the second visual feature), both are identification units containing symbol identification (such as small dots) and floor numbers. The difference lies in the color of the small dots. For example, the small dots in a single floor identification unit that has completed mapping (such as having the first visual feature) are blue, while the small dots in a single floor identification unit that has not completed mapping (such as having the second visual feature) are gray. In addition, when the element types are different, a single floor identification unit that has been mapped (such as having a first visual feature) may include a symbol (such as a small dot) and a floor number, while a single floor identification unit that has not been mapped (such as having a second visual feature) may only include a floor number.

[0136] In other implementations, the display state of the floor control can be adjusted according to the task status of the floor, which can include cleaning tasks, mapping tasks, etc. For example: when the floor task is completed, the corresponding single-floor identifier unit is in the third display state; when the floor task is triggered but not completed, the corresponding single-floor identifier unit is in the fourth display state; and when the floor task is not triggered, the corresponding single-floor identifier unit is in the fifth display state. That is, assuming that cleaning tasks for floors 1 and 2 are started, and floor 1 is cleaned but floor 2 is not, then the display states of the 1F, 2F, and 3F identifier units will be different. For example, refer to... Figure 5 As shown, assuming cleaning tasks are initiated on all three floors, with floor 1 already cleaned, floor 2 in progress, and floor 3 not yet cleaned, then the 1F, 2F, and 3F signage units all contain symbols, such as the small circle in front of 1F. In the actual interface, the symbol in the 1F signage unit can be blue / green, indicating cleaning is complete; the symbol in the 2F signage unit can be yellow, indicating cleaning is in progress; and the symbol in the 3F signage unit can be gray, indicating cleaning has not yet started. If the cleaning task on floor 3 has not started, the small circle in front of the 3F signage unit may not be displayed.

[0137] It should be noted that the above examples are only illustrative and are not intended to limit the display state and its visual characteristics. In addition to representing the triggering task, the symbol can also represent other attributes, such as: a symbol indicates that the mapping has been completed, and no symbol indicates that the mapping has not been completed. The embodiments of this application do not make specific limitations in this regard.

[0138] In an exemplary embodiment, the floor control may also have an active state and a dormant state, in which the floor control presents different visual characteristics; based on this, the terminal device may also respond to touch operation on the user display interface, with the floor control in an active state; when a preset no-operation condition is met, the floor control enters a dormant state.

[0139] For example, when a floor control is active, it indicates that the control can be triggered and clicked; that is, in the active state, clicking supports switching floor maps, and the app automatically refreshes map data and device status. When a floor control is dormant, it indicates that the control cannot be triggered or clicked; that is, when a floor control in dormant state is triggered, the terminal device does not respond to the triggering operation.

[0140] In one optional implementation, if the user interface remains inactive for an extended period, the floor control can be switched to a dormant state. Alternatively, if the floor map on the user interface remains inactive for an extended period, the floor control can be switched to a dormant state. Furthermore, the absence of operation conditions can also include prohibiting operation during map creation; in this case, the floor control is in a dormant state. For example, after 3 seconds of inactivity, the floor control can enter a dormant state, with its overall transparency reduced, facilitating the display of the floor map or overview map within the map area. Conversely, after the terminal device responds to a touch operation on the user interface, the floor control can be switched from a dormant state to an active state, allowing the user to trigger the active floor control and thus flexibly switch between floor map view modes.

[0141] refer to Figure 6As shown, this illustrates the visual representation of floor controls in active and dormant states under different task conditions. Taking a single floor marker unit 3F as an example, for the active state, the following features are distinguished: whether mapping is complete can be differentiated by transparency (100% transparency for completed mapping, 40% transparency for incomplete mapping); whether the view is selected can be differentiated by the background indicator (a background is present when the 3rd floor view is selected, and absent when the 3rd floor view is not selected); whether there is cleaning content can be differentiated by the dot indicator (a dot is present when cleaning content is present, and absent when cleaning content is absent); whether the task is in progress can be differentiated by the blinking animation (text blinks during mapping tasks, and remains still when not in mapping tasks; dots blink during cleaning tasks, and remain still when not in cleaning tasks); and whether cleaning has been performed can be differentiated by the dot color (blue / green for cleaned dots, gray for uncleaned dots).

[0142] In the dormant state, the transparency of the single-floor identification unit 3F under the above different tasks is lower than that in the active state, and the transparency corresponding to the task is higher than that corresponding to the task is not. That is, the transparency corresponding to the task is not is the lowest in the dormant state.

[0143] In this embodiment, the floor control can have different display states and / or different activation states. Different visual features are used to reflect the different states of the floor control, so as to provide users with different status prompts through obvious visual differences, improve the status prompt effect of the user display interface, and help users to clearly and intuitively grasp the status of the floor control, and thus grasp the status of the self-moving robot and the status of the floor map.

[0144] In one exemplary embodiment, the floor map can be displayed in a two-dimensional view or a three-dimensional view, meaning the user can view either a two-dimensional map or a three-dimensional map. Based on this, the terminal device can respond to triggering a map style control on the user's display interface to switch the floor map displayed on the user's display interface from a first map style to a second map style; wherein the first map style is one of a 2D style and a 3D style, and the second map style is the other of a 2D style and a 3D style.

[0145] For example, when the user interface displays a floor map in a first map style, the map style control can be a style control corresponding to a second map sample. When the user triggers the style control corresponding to the second map sample, the floor map in the first map style displayed on the user interface can be updated to the floor map in the second map sample, and the map style control can be switched from the style control corresponding to the second map style to the style control corresponding to the first map style. This allows the user to then trigger the style control corresponding to the first map style to display the floor map in the first map style on the user interface; that is, the map style control enables switching between different map styles for the floor map. For example, the user interface initially displays a 2D map, and the map style control is a 3D control. After the 3D control is triggered, the user interface displays a 3D map, and the map style control switches to a 2D control.

[0146] In other implementations, the map style control can also include 2D and 3D controls. The triggering state of the map style control can be dynamically adjusted according to the map style of the displayed floor map. For example, when displaying a 2D map, the 2D control is in a non-triggerable state, and the 3D control is in a triggerable state. At this time, triggering the 3D control can switch the 2D map to a 3D map. At the same time, the 3D control switches to a non-triggerable state, and the 2D control switches to a triggerable state.

[0147] For example, in both single-story view and / or whole-building view, the map style of the displayed floor map can be switched using the map style control. In the whole-building view, if it is in 2D style, the floor map of each floor can be a 2D map, and the staircase graphics between floors can be in 3D style, so that the multi-layer three-dimensional structure can still be displayed from a global perspective.

[0148] In this embodiment, by setting a map style control on the user display interface, the user can flexibly switch the map style of the floor map displayed on the user display interface when the user triggers the map style control, so that the user can view the floor map from different perspectives, namely 2D or 3D perspectives. This not only improves the diversity of map styles, but also meets the user's viewing needs for different map perspectives.

[0149] In an exemplary embodiment, floor status information may also be displayed on the user display interface. The floor status information includes at least one of mapping progress information and the action status of the self-moving robot. The floor status information is displayed at least partially superimposed on the floor map, or displayed in a partitioned manner on the same screen as the floor map.

[0150] For example, refer to the above Figure 3As shown, during the mapping phase, the floor map and floor status information can be displayed synchronously on the user display interface. The floor status information can include mapping progress information and the action status of the self-moving robot. For example, by displaying the mapping process of the floor map dynamically in the middle area of ​​the user display interface (i.e., the same user display interface), and displaying the mapping progress information at the bottom area of ​​the user display interface, the action status of the self-moving robot can also be displayed synchronously on the floor map. For example, the position and actions of the self-moving robot, such as climbing stairs, can be displayed in real time on the floor map.

[0151] For example, during the task execution phase, the task is a type of task other than mapping tasks, such as self-cleaning tasks, sweeping tasks, patrol tasks, etc. The floor map and the action status of the self-moving robot can be displayed simultaneously on the user display interface; the action status of the self-moving robot can be overlaid on the floor map, or it can be displayed in the same screen as the floor map in a partitioned manner.

[0152] For overlay displays, all floor status information can be overlaid on the floor map, or only some floor status information can be overlaid on the floor map, with the remaining floor status information displayed in areas other than the floor map. For example, the overlay display can take the form of a floating page, displaying all or part of the floor status information on the floating page, which is overlaid on the map display page. The display of the floating page may partially or not obscure the floor map of the current floor shown on the map display interface. For example, the floating page can be a static page, meaning its position, size, etc., are fixed and cannot be freely adjusted by the user; or, the floating page can be a dynamic page, meaning its position, size, etc., can be flexibly adjusted by the user, such as dragging the floating page to different positions on the map display page, shrinking / enlarging the size of the floating page, including proportional scaling and free scaling.

[0153] In an exemplary embodiment, the user display interface may also display the robot icon of the self-moving robot and the base station icon of the base station corresponding to the self-moving robot; based on this, the terminal device may also display the robot icon of the self-moving robot in the floor map and / or overview map based on the location information of the self-moving robot; and display the base station icon of the base station in the floor map and / or overview map based on the location information of the base station.

[0154] For example, when the self-moving robot includes a cleaning robot and a stair-climbing robot, the robot icon may include a first icon, a second icon, and a third icon. The first icon may be used to represent the independently walking cleaning robot, the second icon may be used to represent the independently walking stair-climbing robot, and the third icon may be used to represent the combination of the stair-climbing robot and the cleaning robot. For instance, within a single floor, the floor map of that floor may display the first icon corresponding to the cleaning robot and the second icon corresponding to the stair-climbing robot, respectively. During the stair-climbing process, the floor map of that single floor may display the third icon corresponding to the combination of the stair-climbing robot and the cleaning robot.

[0155] Based on this, the base station can also include a cleaning base station and a stair-climbing base station. The cleaning base station is used to connect to the cleaning robot, and the stair-climbing base station is used to connect to the stair-climbing robot. The base station icon can include a fourth icon and a fifth icon. The fourth icon is used to represent the cleaning base station, and the fifth icon is used to represent the stair-climbing base station. Typically, the location of the base station is fixed and does not easily change. Therefore, based on the location of the cleaning base station and the stair-climbing base station, the fourth icon corresponding to the cleaning base station and the fifth icon corresponding to the stair-climbing base station can be displayed on the floor map of the corresponding floor.

[0156] For example, in the overview map, robot icons of self-moving robots and base station icons of base stations can be displayed synchronously. Robot icons of different robots and base station icons of different base stations can be displayed in the floor map of the same floor or in the floor maps of different floors. In the single-view floor map, robot icons of self-moving robots and / or base station icons of base stations can be displayed dynamically or statically. Regarding robot icons, they can be displayed dynamically or statically. Dynamic display means that the robot icon changes position synchronously with the robot's position in the user display interface. It should be noted that since the floor map displayed in the user display interface is scaled down compared to the actual scene, when the self-moving robot undergoes a small positional change / moves within a small range in the actual scene, the corresponding robot icon on the user display interface may not move. Static display means that the robot icon does not change with the robot's position.

[0157] Furthermore, the self-moving robot can be a single robot or a combination of multiple robots. A single robot can also possess the ability to climb stairs and perform other tasks. For example, a cleaning robot with the ability to climb stairs, or a stair-climbing robot with specific task capabilities, such as cleaning, carrying, organizing, and patrolling. In the case of a combination of multiple robots, each robot can correspond to a separate base station, or multiple robots can correspond to a single base station; this application does not impose specific limitations on either approach.

[0158] In this embodiment, when the user display interface displays the floor map and / or overview map, it can simultaneously display the floor status information, robot icon, and base station icon, so that the user can keep track of the floor status, robot status and location, and base station status and location at any time.

[0159] In addition, in the technical solution formed by combining this embodiment and the above embodiments, when the stair-climbing robot carries the cleaning robot up or down the stairs, the terminal device receives the floor switching signal and can automatically switch to the floor map of the corresponding floor. At the same time, it can automatically identify the floor number and synchronously update the status of the floor where the stair-climbing robot and the cleaning robot are located (such as mapping / cleaning, etc.). That is, it can synchronously update the relevant information displayed on the interface according to the floor change, so as to realize the information synchronization between the robot and the application.

[0160] In one exemplary embodiment, a mapping triggering method is provided, namely, triggering the mapping process through mapping guidance. Based on this, as... Figure 7 As shown, based on the above embodiments, the multi-floor map display method may further include steps 701 to 702. Wherein:

[0161] Step 701: Display a mapping guidance page on the user display interface. The mapping guidance page is used to receive floor information input by the user. The floor information includes at least one of the following: the number of floors and the floor where the base station is located.

[0162] Step 702: In response to triggering the mapping control in the mapping guidance page, generate a map creation instruction, switch from the mapping guidance page to the map display page, and automatically display the floor control in the map display page based on the floor information; the floor control includes a single floor identifier unit corresponding to each floor.

[0163] For example, the drawing guidance page can be displayed in any of the following scenarios: when a user registers and logs in for the first time, the drawing guidance page can be displayed on the user's display screen after entering the application; when a user has registered and logged in but has not started the drawing process, the drawing guidance page can be displayed on the user's display screen every time the user enters the application; when a user has previously started the drawing process but there are floors that have not been drawn, the drawing guidance page can be displayed on the user's display screen after the user enters the application; entering the application can include launching an application that is not running, or launching a running application from the background.

[0164] For example, the terminal device can also flexibly display the mapping guidance page according to different guidance frequencies, such as: displaying it only once a day, such as when entering the application for the first time in a day; or, displaying it multiple times a day according to time intervals; or, providing mapping guidance according to the prompt time set by the user, etc.

[0165] refer to Figure 8 The diagram illustrates a mapping guidance page. This page may include a floor number component, a base station information component, a confirmation control, a "later" control, and other relevant prompts. The floor number component allows the user to input the total number of floors, including the basement. For example, the component may include a floor number input box for direct user input; alternatively, it may include a floor number selection box, which displays a list of candidate floors for user selection. Similarly, the base station information component may include a base station information input box or a base station information selection box for user input of the floor where the base station is located. By obtaining the floor where the base station is located, the terminal device can determine the floor order for mapping, where the base station floor is the first floor to be mapped.

[0166] For example, if there is no floor below the base station, the system can start from the floor where the base station is located and climb upwards by default; if there is a floor below the base station, the system can start from the floor where the base station is located, climb upwards, return to the floor where the base station is located, and then climb downwards, or vice versa, start from the floor where the base station is located, climb downwards, return to the floor where the base station is located, and then climb upwards.

[0167] For example, on the map creation guidance page, users can enter all or part of the floor information, or they can temporarily leave the floor information blank and trigger a "later" control to skip entering the floor information and directly enter the map display page. When the user enters the floor information and triggers a map creation control such as a confirmation control on the map creation guidance page, the terminal device can generate a map creation instruction. This instruction can carry the user-entered floor information and switch from the map creation guidance page to the map display page, such as from... Figure 8 The map creation guide page shown redirects to... Figure 3 The first schematic diagram shows the map display page, which displays the floor map for the first floor and the corresponding map construction process.

[0168] In addition, the terminal device can automatically display floor controls on the map display page based on the floor information input by the user. These floor controls can include at least one-to-one single-floor identifiers corresponding to each floor. For example, when there are 3 floors, 3 single-floor identifiers corresponding to the 3 floors can be directly displayed, such as 1F, 2F, and 3F. Exemplarily, the terminal device can also sequentially display the single-floor identifiers corresponding to each floor on the map display page according to the mapping progress. That is, the terminal device can respond to the completion of the floor map creation by making the single-floor identifiers corresponding to the completed floor map in a triggerable state. For example, when creating the floor map for floor 1, the single-floor identifier 1F for floor 1 is displayed; when the floor map for floor 1 is completed and the creation of the floor map for floor 2 begins, the single-floor identifier 2F for floor 2 is added and displayed; when the floor map for floor 2 is completed and the creation of the floor map for floor 3 begins, the single-floor identifier 3F for floor 3 is added and displayed.

[0169] For example, the floor control may also include an overview label unit. It should be noted that the overview label unit may or may not be displayed during the drawing stage, and can be flexibly adjusted according to different strategies in practical applications.

[0170] In addition, the map-building guide page can also include a multi-floor structure preview area. This area displays a preview structure corresponding to the number of floors entered by the user, i.e., an initial multi-floor structure. For example, if the user enters a total of 3 floors, the multi-floor structure preview area can display a 3-floor preview structure. If the user adjusts the total number of floors to 5, the multi-floor structure preview area can update to display a 5-floor preview structure. In other words, the multi-floor preview structure can dynamically display according to the total number of floors entered by the user, allowing the user to more intuitively and clearly view the overall structure and verify the accuracy of the entered floor numbers.

[0171] In this embodiment, before mapping, a user's residential floor information, such as the number of floors and the floor where the base station is located, is collected through a user guide page. Based on the pairing information between the stair-climbing robot and the sweeping robot, and referring to the information provided by the user, the terminal device can automatically build a floor index and generate an initial multi-floor structure, which is then displayed in the multi-floor structure preview area. In other words, by setting up a mapping guide page, this embodiment proactively provides users with a mapping entry point, improving the efficiency and convenience of initiating mapping.

[0172] In one exemplary embodiment, if the user skips the mapping guidance page directly, or wants to trigger the mapping process from the map display page, this application embodiment also provides another mapping triggering method, namely, triggering the mapping process through a mapping control. Based on this, the multi-floor map display method may further include, in addition to the above embodiments:

[0173] The terminal device responds to the map creation control on the map display page by generating a map creation command.

[0174] refer to Figure 9 As shown, the map display page can include map creation controls, such as "Start Map Creation." Users can initiate the map creation process by triggering "Start Map Creation." Figure 9 The map display page shown has been updated to Figure 3 The first schematic diagram shows the map display page. For example, even if the user skips the map creation guide page, the user can still input relevant floor information through floor configuration. The terminal device determines whether multi-floor mapping is complete based on the floor information. If multi-floor mapping is not completed, mapping controls can be displayed on the map display page, such as... Figure 9 As shown; once multi-floor drawings have been completed, you can enter display mode, which displays the following: Figure 5 The map display page shown is in Figure 5 The map display page shown includes a map display area and a functional area. The functional area includes multiple functional controls and task controls. The functional controls can include public areas, houses, rooms, areas, etc. Different functional controls can be used to indicate different cleaning areas. The task controls can include cleaning controls. After the cleaning area is determined by the functional controls, the start cleaning control can be triggered to initiate the cleaning task. The terminal device instructs the self-propelled robot to automatically clean according to the cleaning area specified by the user.

[0175] In other implementation schemes besides the map-building guidance, a floor configuration page can also be displayed after user registration. This page can receive floor information entered by the user, and then the user is redirected to... Figure 9 As shown on the map display page, users can enter the map creation process by triggering the map creation control on the map display page. When executing the map creation process, the order of map creation floors can be determined based on the floor information entered by the user, and the self-moving robot can be controlled to collect map creation information according to the order of map creation floors to realize multi-floor map creation.

[0176] This embodiment provides two map-building triggering methods. Users can use different map-building triggering methods to trigger multi-floor map building as needed, which can improve the diversity and flexibility of map building and thus meet the diverse needs of users.

[0177] In one exemplary embodiment, a map editing function is also provided for the created floor map. Based on this, as... Figure 10 As shown, the above multi-floor map display method may further include steps 1001 to 1002. Wherein:

[0178] Step 1001: Display the editing controls on the user display interface.

[0179] Step 1002: In response to triggering the editing control, the floor map enters manual editing mode. In manual editing mode, the floor map supports at least one of the following editing operations: area merging, area splitting, area naming, restricted area setting, adding or removing spatial elements, ground material definition, and stair marking.

[0180] For example, in the map display page of the user interface, editing controls, i.e., map editing controls, can be displayed, such as... Figure 3 , Figure 5 and Figure 9 As shown; it should be noted that map editing controls can be set in both map building and display modes, and these controls can be the main editing controls. When the map editing control is triggered, the user can jump from the map display page to the map editing page, as shown below. Figure 11 As shown. The map editing page includes a floor map, floor controls, and multiple operation controls corresponding to different editing operations. These operation controls can be sub-editing controls under the main editing control. Users can select the floor they want to edit using the single-floor identifier units. The terminal device displays the floor map corresponding to the single-floor identifier unit selected by the user.

[0181] Next, users can trigger the corresponding operation controls for different editing operations as needed to manually edit the displayed floor map. Manual editing includes at least one of the following operations: merging areas, splitting areas, naming areas, setting restricted areas, adding or removing spatial elements (such as carpets, furniture, etc.), defining floor materials, and marking stairs. During the map building process, stairs can be automatically identified and marked, generating a multi-floor map including floor maps of each floor and stair graphics between floors. In cases where automatic stair identification fails (i.e., stair creation fails), the application also supports manual stair marking to add stair graphics to the pre-generated multi-floor map, ultimately forming a complete multi-floor map. In other words, the stair marking control can be used to allow users to manually add stairs when the machine cannot identify them, and it can also be used for users to supplement floors not considered in the tutorial, such as entering 2 floors in the tutorial when the user's home actually has 3 floors. For a detailed description of the automatic and manual stair construction process, please refer to the following section on stair creation and display methods.

[0182] In other implementations, when the map editing control (main editing control) is triggered, the operation controls (sub-editing controls) corresponding to the various editing operations contained under the map editing control can also be displayed on the map display page. When the operation control is triggered, the map editing page is entered, and the operation control can be the above-mentioned editing control, so that the map enters the manual editing state.

[0183] The technical solution provided in this embodiment not only provides the function of automatically building multi-story maps, but also provides the function of manually editing multi-story maps. Users can select the floor map to be edited in the map editing mode to perform operations such as supplementing, merging, and naming. Manual editing can not only improve the defects of automatic map building, such as manually adding unrecognized spatial elements and manually modifying incorrectly identified areas, but also limit the area for subsequent tasks, thereby improving the functionality of the application.

[0184] In an exemplary embodiment, after the floors are created, automated tasks can be executed based on the created floor map. This embodiment does not limit the task type; in practical applications, tasks can be set according to the task attributes of the self-moving robot. Based on this, such as... Figure 12 As shown, the above multi-floor map display method may further include steps 1201 to 1202. Wherein:

[0185] Step 1201: In response to the task execution command, display the floor map of the current floor where the self-moving robot is located on the user display interface, and dynamically display the task execution process of the self-moving robot on the current floor.

[0186] Step 1202: In response to the self-moving robot autonomously moving to the next floor, automatically switch the floor map of the current floor to the floor map of the next floor, and dynamically display the task execution process of the self-moving robot on the next floor.

[0187] The task execution instructions include cleaning task execution instructions or patrol task execution instructions.

[0188] refer to Figure 13 As shown, during the task execution phase, users can enter task mode by triggering task initiation controls on the map display page, such as the "Start Cleaning" control. Figure 13The first interface diagram illustrates this; in task mode, the terminal device can send task execution instructions to the self-moving robot, controlling it to perform relevant tasks. For example, the task execution instructions can carry information such as task type, task execution floor, and task execution area on each floor. Correspondingly, the terminal device can display a floor map of the current floor where the self-moving robot is located on the map display page of the user interface, based on the robot's real-time location, and dynamically display the task execution process of the self-moving robot on the current floor, such as... Figure 13 The second interface diagram shows that after the task on the current floor is completed, the self-moving robot can use the staircase object from the current floor to the next floor to move to the next floor and continue to execute the task for the next floor. At the same time, the terminal device automatically switches the floor map of the current floor to the floor map of the next floor and dynamically displays the task execution process of the self-moving robot on the next floor until the tasks corresponding to all floors of the task execution instruction are completed.

[0189] For example, during the task execution phase, the user interface can still display the aforementioned map display page; the difference lies in the content displayed on the map display page, which varies at different stages. For example: Comparison Figure 13 The second interface diagram and the above Figure 3 The interface diagram shown illustrates that during the mapping phase, the map display page can be divided into sections. The mapping progress information is displayed at the bottom of the floor map. During the task phase, the task progress information is displayed at the bottom of the floor map, such as "Cleaning in progress on the 1st floor," "Task progress bar," "Task execution time," and "Cleaning area."

[0190] For example, after a task is completed, the user can navigate from the map display page to the task details page. The task details page displays the task execution status for each floor, and also provides an overview view of the overall task execution status, allowing users to view and understand the task execution status for each floor. Specifically, the task details page can include floor controls, namely individual floor identifiers (e.g., 1F, 2F, 3F) and an overview identifier (ALL). Individual floor identifiers allow users to view the task execution status for different floors, while the overview identifier provides a global view of the task execution status.

[0191] In this embodiment, during the task execution phase, the self-moving robot can also perform tasks across different floors. By executing tasks corresponding to each floor, it eliminates the need for users to manually move the robot to different floors, thus improving the efficiency of multi-floor task execution. Furthermore, the terminal device can synchronously update the user display interface based on the real-time task status of the self-moving robot, enabling automatic switching of the cross-floor map and providing users with real-time map updates. This allows users to monitor task execution and the location and status of the self-moving robot, enhancing the application's self-following display capabilities. In addition, after task completion, task execution records can be archived by floor, automatically generating a multi-floor task report. In overview mode, statistical data such as task duration for each floor are displayed, providing users with more detailed and comprehensive task information, facilitating a complete understanding of multi-floor task execution.

[0192] The multi-floor map display methods provided in the above embodiments, taking robot vacuum cleaners and stair climbers as examples, have the following technical advantages and effects:

[0193] 1. Enables cross-floor linkage of stair-climbing robots: Automatically identifies the floor location of the robot vacuum / stair-climbing robot and switches the map, thus achieving automatic map switching and linkage updates when moving across floors, reducing user operations.

[0194] 2. Unified multi-level map management structure: It realizes two display modes, single-level and overview, through multi-level data stack, supports real-time status switching, and improves the user's spatial cognition efficiency through the overview view formed by multi-level maps.

[0195] 3. Visual status feedback system: Through visual features such as transparency, background, color, and flashing, it helps users quickly judge the status of tasks / equipment.

[0196] 4. Complete onboarding process: Provides a guided operation experience for multi-story building, reducing the initial learning cost for users of new products.

[0197] 5. Integrated management of editing and recording: Enables the linkage management of modules such as map editing and cleaning records with multi-layer map structures, and realizes a complete multi-layer management closed loop from information collection, map building guidance, map editing to cleaning review.

[0198] In one exemplary embodiment, such as Figure 14 As shown, a method for creating and displaying stairs is provided, which can be applied to... Figure 1 Taking a terminal device as an example, the explanation includes the following steps 1401 to 1403. Wherein:

[0199] Step 1401: Display the floor map of the current floor where the mobile robot is located on the user display interface.

[0200] Step 1402: In response to the self-moving robot recognizing a stair object on the current floor, a stair graphic corresponding to the stair object is created and displayed on the user display interface.

[0201] Step 1403: In response to the self-moving robot autonomously moving along the stair object to the next floor, the floor map of the current floor on the user display interface is automatically switched to the floor map of the next floor. The stair graphics are used to display on the user display interface in the floor map of the current floor and / or the floor map of the next floor.

[0202] In this example, during the automatic creation of multi-story maps, staircase graphics between each floor can also be automatically created to connect the floor maps of the upper and lower floors, thereby obtaining an overview map with spatial relationships.

[0203] Refer to the above Figure 3 As shown, during the mapping process, the terminal device can display the floor map of the current floor where the mobile robot is located, and dynamically display the mapping process of the current floor map, such as... Figure 3 The first interface diagram illustrates this; after the map of the current floor is created, the self-moving robot can identify stair objects from the current floor to the next floor. Upon receiving confirmation that the self-moving robot has identified stair objects on the current floor, the terminal device can simultaneously create and display the corresponding stair graphic on the user's display interface, such as... Figure 3 The second interface diagram shows that the staircase graphic can be overlaid on the area where the staircase object is located in the current floor's floor map. Then, after the self-moving robot autonomously moves along the staircase object to the next floor, the terminal device can automatically switch the floor map of the current floor on the user's display to the floor map of the next floor, as shown below. Figure 3 The third interface diagram is shown, and the staircase graphic is also overlaid on the floor map of the next floor.

[0204] For self-moving robots, there are two scenarios when recognizing stair objects: successful recognition and failure. The following description will first elaborate on the scenario of successful stair object recognition.

[0205] When the staircase object is successfully identified, the terminal device can display a stair-climbing icon in the staircase area of ​​the current floor's floor map upon successful automatic identification of the staircase object by the self-moving robot. This icon indicates the self-moving robot's autonomous movement on the staircase object. Figure 3The second interface diagram shows a stair-climbing indicator, which includes a directional icon. In the actual application interface, this directional icon can be a static or dynamic icon. That is, if the autonomous robot successfully identifies a staircase leading to the next floor on the current floor, it can autonomously move along that staircase to the next floor. During the stair-climbing process, the user interface displays the stair-climbing indicator, including the directional icon, on the floor map of the current floor.

[0206] Next, the terminal device can create a staircase graphic corresponding to the staircase object, and display the staircase graphic in the user interface after the self-moving robot completes the staircase graphic construction for the staircase object. That is, after the terminal device creates the staircase graphic corresponding to the staircase object, it can overlay the staircase graphic onto the staircase area in the floor map of the current floor; the staircase graphic can be overlaid on top of the floor map, and the stair-climbing indicator can be further overlaid on top of the staircase graphic, such as... Figure 3 The second interface diagram shows this.

[0207] In one alternative implementation, there may be a certain time interval between the self-moving robot successfully recognizing the stair object and starting to climb the stairs. For example, the self-moving robot may successfully recognize the stair object at a certain distance from the stair entrance. At this point, based on the location of the stair entrance and its current position, the self-moving robot needs to move towards the stair entrance before starting to climb the stairs. For a robot vacuum cleaner that requires a stair-climbing robot for assistance, it also needs to be combined and installed with the stair-climbing robot before it can start climbing the stairs. Therefore, in this case, after the self-moving robot automatically recognizes the stair object on the current floor, the terminal device can first display a first stair marker in the stair area of ​​the floor map for the current floor. When the self-moving robot autonomously moves to the next floor along the stair object, the first stair marker is updated to a climbing marker. The first stair marker and the climbing marker have different visual elements. By displaying the first stair marker and the climbing marker sequentially, the true state of the self-moving robot can be more accurately reflected, allowing users to grasp the real-time status and location of the self-moving robot.

[0208] It should be noted that when the first staircase icon is displayed, the terminal device can create and display a staircase graphic corresponding to the staircase object. For example, in the staircase area of ​​the floor map of the current floor, the staircase graphic is displayed between the floor map and the first staircase icon, that is, the staircase graphic is superimposed on the floor map, and the first staircase icon is superimposed on the staircase graphic. Later, when the self-moving robot moves autonomously to the next floor along the staircase object, the terminal device can update the first staircase icon to a stair-climbing icon, that is, the stair-climbing icon is superimposed on the staircase graphic.

[0209] Regarding the display sequence of the stair graphics, the first stair icon, and the climbing icon, this application embodiment does not make specific limitations. It is clear that the first stair icon is displayed earlier than the climbing icon, and only one of the first stair icon and the climbing icon is displayed in the stair area of ​​the floor map.

[0210] In cases where stair object recognition fails, the terminal device can also utilize the user's manual marking action to display stair graphics and / or stair-climbing icons in the stair area of ​​the current floor's floor map. For this situation, the user display interface can also support manual auxiliary mapping operations, which can include: displaying a manual stair icon in the stair area of ​​the current floor's floor map in response to the user's manual marking action; displaying a stair-climbing icon in the stair area of ​​the current floor's floor map in response to the self-moving robot successfully recognizing the stair object based on the manual stair icon; or, updating the manual stair icon to a second stair icon in response to the self-moving robot's failure to automatically recognize the stair object based on the manual stair icon; wherein the second stair icon has different visual elements from the manual stair icon.

[0211] For example, if the self-moving robot fails to automatically identify the stair object, the terminal device can perform manual auxiliary mapping operations on the map display page; alternatively, the terminal device can also jump from the map display page to the stair marking page, which includes the floor map of the current floor, and perform manual auxiliary mapping operations on the stair marking page. During manual auxiliary mapping operations, the terminal device can respond to the user's manual marking operation on the user display interface by displaying a manual stair marker in the stair area of ​​the floor map of the current floor. The manual marking operation can include: displaying the manual stair marker in the floor map of the current floor in response to a trigger operation on the control corresponding to the manual stair marker; and / or, displaying the manual stair marker in the stair area of ​​the floor map of the current floor in response to a drag operation on the manual stair marker. In other words, during manual map creation, users can manually display stair markers in the stair area of ​​the current floor's floor map by clicking controls or dragging markers. The terminal device can determine the physical location of the actual stair object on the current floor based on the location of the manually displayed stair markers on the current floor's floor map, and send this physical location to the self-moving robot so that the self-moving robot can identify the actual stair object based on this physical location.

[0212] If the self-moving robot successfully identifies the stair object based on the manually marked stair marker, the terminal device can display a climbing marker in the stair area of ​​the current floor's floor map. Alternatively, it can first display a first stair marker in the stair area of ​​the current floor's floor map, and then update the first stair marker to a climbing marker when the self-moving robot autonomously moves to the next floor along the stair object. The first stair marker indicates that the self-moving robot has successfully identified the stair object.

[0213] Additionally, if the self-moving robot fails to automatically identify stair objects based on manual stair markers, the terminal device can update the display of the manual stair markers to a second stair marker. For example, the terminal device can return from the stair marker page to the map display page and display the second stair marker in the stair area of ​​the current floor's floor map on the map display page. This second stair marker can be used to indicate that the self-moving robot failed to automatically identify the stair objects. The second stair marker has different visual elements from the manual stair marker, and it also has different visual elements from the first stair marker.

[0214] Exemplarily, for the case where the manual stair marking fails, since the self-mobile robot still cannot recognize the stair object from the current floor to the next floor at this time, it is impossible to autonomously move along the stair object to the next floor, and the mapping process is forced to abort. Exemplarily, the terminal device can display a recognition failure prompt message on the user display interface to prompt the user to manually move the self-mobile robot to the next floor to continue the mapping process for the next floor; if the user does not respond within the preset duration, the current mapping process can be ended.

[0215] In the above method for creating and displaying stairs, the terminal device displays the floor map of the current floor where the self-mobile robot is located on the user display interface; in response to the self-mobile robot recognizing a stair object on the current floor, a stair graphic corresponding to the stair object is created and displayed on the user display interface; then, in response to the self-mobile robot autonomously moving along the stair object to the next floor, the floor map of the current floor on the user display interface is automatically switched to the floor map of the next floor. The stair graphic is used to be displayed in the floor map of the current floor and / or the floor map of the next floor on the user display interface. That is to say, the self-mobile robot can automatically recognize stairs and create and display stair graphics in the floor map. Moreover, after the self-mobile robot autonomously moves to the next floor, it can also automatically update the floor map in the user display interface, realizing the linked display between the user display interface and the self-mobile robot; that is, when the self-mobile robot moves across floors, there is no need for the user to manually switch floors on the interface. The interface can automatically update the map, and the interface can also synchronously display the stair graphic corresponding to the stair object. The stair graphics connect the floor maps of adjacent floors, strengthening the spatial structure relationship of the multi-floor map construction. By adopting this method, not only the problem of traditional inability to recognize and create stairs is solved, realizing the mapping structure expression across floors, but also it can automatically switch the map floor following the robot, reducing user operations and improving the experience fluency.

[0216] In an exemplary embodiment, before performing the manual marking operation, the terminal device can also first, in response to the self-mobile robot failing to automatically recognize the stair object, display a recognition failure prompt message on the user display interface; then, in response to the triggering operation on the first stair marking control in the recognition failure prompt message, the floor map of the current floor enters the stair manual editing state supporting manual marking operations; or, in response to the triggering operation on the second stair marking control, the floor map of the current floor enters the stair manual editing state supporting manual marking operations.

[0217] In one implementation, in response to the failure of the self-moving robot to automatically identify the stair object, the terminal device can display the identification failure prompt information in the form of pop-ups, bubbles, cards, etc. on the user display interface (map display page). The identification failure prompt information includes a first stair mark control. By triggering the first stair mark control, the user can enter the stair mark page and manually mark the stair location on the floor map of the current floor on the stair mark page.

[0218] In another implementation, in response to the failure of the self-moving robot to automatically identify the stair object, the terminal device can display a recognition failure message on the user display interface (map display page) in the form of a pop-up, bubble, or card. Simultaneously, a second stair marker control is added to the user display interface (map display page). By triggering this second stair marker control, the user can also enter the stair marker page to manually mark the stair location on the floor map of the current floor. For example, after triggering the second stair marker control on the map display page, the floor map of the current floor on the map display page can also enter a manual stair editing state that supports manual marking. That is, the floor map displayed on the map display page can also be in manual stair editing mode, without needing to jump to other pages; manual stair marking can be achieved solely on the map display page.

[0219] In one alternative implementation, a scheme is provided to add a second stair marker control to the user display interface (map display page). The terminal device can respond to a trigger operation on the editing control on the user display interface (map display page) to display a secondary control menu page on the user display interface, which includes at least the second stair marker control.

[0220] For example, refer to Figure 15 As shown, the secondary control menu page can be a map editing page, which includes multiple operation controls corresponding to different editing operations. Each operation control includes a second stair marker control, such as "Mark Stairs". By triggering this second stair editing control, the floor map of the current floor displayed on the map editing page can also enter a manual stair editing state that supports manual marking operations, so that the user can mark the stair location on the floor map of the current floor.

[0221] For example, after clicking "Mark Stairs", users can enter the stair marking page and manually mark the stair location on the floor map of the current floor. The middle area of ​​the stair marking page displays the floor map of the current floor, and the bottom area of ​​the stair marking page displays multiple types of stair components. By dragging or selecting the desired type of stair component, users can manually mark the stair location on the floor map of the current floor.

[0222] It should be noted that manually marking stairs using the editing control is applicable not only during the mapping process but also for adding stairs or floors after mapping is complete. If the number of floors entered by the user is not the actual total number of floors, and some floors are not automatically cleaned, users can access the secondary control menu through the editing control and add stairs and / or floors using the stair marking control. After adding a floor, the self-moving robot can be triggered to autonomously map the newly added floor.

[0223] For example, during manual assisted mapping operations, user guidance information can also be displayed on the user display interface. This user guidance information is used to prompt the user to clear obstacles at the stair entrance and / or on the stair steps of the stair object. Based on this, when the terminal device responds to the user's confirmation operation on the user guidance information and the self-moving robot successfully identifies the stair object based on the manual stair marker, it can display a stair climbing marker in the stair area of ​​the floor map of the current floor; or, when the user fails to respond to the user's confirmation operation on the user guidance information and the self-moving robot fails to automatically identify the stair object based on the manual stair marker, it can display an error message on the user display interface.

[0224] refer to Figure 16 As shown, in response to the failure of the self-moving robot to automatically identify the stair object, the terminal device can also display a user guidance card overlaid on the user display interface (map display page) in the form of a card. The user guidance card can include a recognition failure prompt message and a first stair marking control. For example, the user guidance card can also include user guidance information, such as "1 / 2. Manually mark the stair location". The user can enter the stair marking page by triggering the first stair marking control and manually mark the stair location on the floor map of the current floor displayed on the stair marking page. The middle area of ​​the stair marking page displays the floor map of the current floor, and the bottom area of ​​the stair marking page displays multiple types of stair components. By dragging or selecting the desired type of stair component, the user can manually mark the stair location on the floor map of the current floor.

[0225] Next, the user can trigger a confirmation control on the stair marker page, such as a checkmark, to return to the map display page. At this time, the user guidance information on the user guidance card is updated to "2 / 2. Clear obstacles near the stairs". After the user clears obstacles at the stair entrance and / or on the stair steps of the stair object, the self-moving robot can automatically identify the stair object based on the user-marked stair location. If the identification is successful, a stair-climbing marker can be displayed in the stair area of ​​the current floor's floor map, such as... Figure 17The first interface diagram can be shown below. Alternatively, the first stair marker can be displayed in the stair area of ​​the current floor's floor map. When the self-moving robot moves autonomously down the stair object to the next floor, the first stair marker can be updated to a stair-climbing marker.

[0226] If recognition fails, an error message can be displayed on the user interface, such as... Figure 17 The second interface diagram shows that for stair objects that fail to be identified, an error message can be displayed, such as "Staircase with 1 mark, device failed to identify." For example, by triggering this error message, one can also access the stair troubleshooting page, such as... Figure 17 The third interface diagram shows that the stair troubleshooting page can include failure message, failure reason, solution, usage tips, contact customer service, confirmation control, etc.

[0227] In an exemplary embodiment, after the manual marking operation is performed, the terminal device can also provide a selection operation for the confirmation timing on the user display interface. The confirmation timing includes an immediate confirmation timing and a follow-task confirmation timing. The immediate confirmation timing is used to instruct the self-mobile robot to immediately go to identify the stair object corresponding to the manual stair mark. The follow-task confirmation timing is used to instruct the self-mobile robot to go to identify the stair object corresponding to the manual stair mark after completing the current task.

[0228] For example, refer to Figure 16 The third interface diagram shows that after the user triggers the confirmation control, a timing confirmation page can be displayed on the user's screen. This timing confirmation page is used to select the timing for the device to confirm the staircase movement, such as... Figure 18 As shown; the timing confirmation page may include an immediate confirmation control for immediate timing confirmation, a follow-task confirmation control for follow-task timing confirmation, and related prompts. If the user triggers the immediate confirmation control, i.e., selects immediate timing confirmation, the interface changes to... Figure 17 The first interface illustration shows a return to the map display page. The mobile robot proceeds to confirm the staircase; if confirmation is successful, the first staircase marker is displayed; if confirmation fails, the interface changes to... Figure 17 The second interface diagram shows the output of a recognition failure message.

[0229] If the user triggers the follow task confirmation control, i.e., selects when to confirm the follow task, the interface will change as follows. Figure 13 The first interface diagram. In other words, when the task is confirmed, the self-moving robot cannot find the staircase object from the current floor to the next floor, and therefore cannot move to the next floor to continue mapping. Thus, the mapping process ends.

[0230] Furthermore, when a user initiates a cleaning task, if the historical mapping task has not been completed, and the cleaning area corresponding to the initiated cleaning task includes the stairs marked by the user in the historical mapping task, triggering the "Start Cleaning" control will display a prompt message on the user's display interface indicating that the user should follow the cleaning task. Figure 19 As shown, the cleaning task prompts the user to confirm the location of the stairs marked by the user last time during the current cleaning task. If the stairs are successfully identified, the mapping process for the next floor will be automatically triggered to complete the previously unfinished mapping task.

[0231] This embodiment provides a manual marking entry point, which can be triggered by recognizing the first stair marker control in the failure message, or directly by triggering manual marking through the second stair marker control. These multiple manual marking methods not only meet users' manual operation needs in different scenarios but also enhance the application's responsiveness. Furthermore, it provides multiple verification timings for manual marking. Compared to a single verification timing, this avoids the inconvenience caused to users by forced verification and allows for multi-strategy adjustments to adapt to user needs, further improving the application's intelligence and flexibility, and enhancing the user experience.

[0232] In one exemplary embodiment, a method for creating and displaying stairs is provided, comprising: displaying a floor map of the current floor where a self-mobilizing robot is located on a user display interface; in response to the self-mobilizing robot recognizing a stair object on the current floor, creating and displaying a stair graphic corresponding to the stair object on the user display interface; and in response to the self-mobilizing robot autonomously moving along the stair object to the next floor, automatically switching the floor map of the current floor on the user display interface to the floor map of the next floor, wherein the stair graphic is used to be displayed on the user display interface in the floor map of the current floor and / or the floor map of the next floor.

[0233] Based on this, a visual icon corresponding to the stair object can also be displayed on the user interface. The visual icon can include a climbing icon, a first stair icon, a second stair icon, or a manual stair icon. The climbing icon, the first stair icon, the second stair icon, and the manual stair icon each have different visual elements. Among them, the climbing icon is used to represent the autonomous movement of the self-moving robot on the stair object; the first stair icon is used to represent the successful automatic recognition of the stair object by the self-moving robot; the second stair icon is used to represent the failure of the self-moving robot to automatically recognize the stair object; and the manual stair icon is used to represent the location of the stair area corresponding to the stair object manually marked by the user on the floor map.

[0234] For example, when the visual icon is a stair-climbing identifier, the visual icon may include a direction icon, which is used to represent the stair-climbing direction of the self-mobile robot. The direction icon may be a static icon or a dynamic icon.

[0235] refer to Figure 20 As shown, it displays the corresponding visual icons for different states. After manually marking the stairs, a manual stair icon (the device has not confirmed the marking of the stairs) can be displayed. The manual stair icon can be a physical stair + directional icon + square area, and the color can be blue. When the machine (i.e., the self-moving robot) successfully recognizes the stairs and confirms that there are stairs, a first stair icon can be displayed. The first stair icon can be a hollow stair + directional icon + square area, and the color can be gray. When the machine fails to recognize the stairs and confirms that there are no stairs, a second stair icon can be displayed. The second stair icon can be a hollow stair + directional icon + bubble, and the color can be light blue.

[0236] Additionally, during the creation of the staircase graphic, the concrete staircase graphic is not yet complete. In this case, a stair-climbing indicator can be displayed, such as a staircase + directional icon + speech bubble. The speech bubble can be dark blue and displays a looping up / down animation inside. After climbing the stairs is complete, the concrete staircase graphic is generated. This staircase graphic can be a 2D or 3D graphic. It should be noted that the concrete staircase graphic can be generated during the climbing process or after the climbing is completed.

[0237] In addition, during the stair climbing process, i.e. when the stair climbing begins, a stair climbing icon can also be displayed. If a concrete stair graphic is generated, a bubble-style stair climbing icon can be superimposed on the stair graphic and a looping animation can be displayed.

[0238] In this implementation, visual icons are used for differentiated marking during the processes of map building, stair construction, and stair climbing. This allows users to see the different states of the self-moving robot and improves the visualization effect of the application.

[0239] In one exemplary embodiment, the above-described staircase creation and display method may further include:

[0240] In response to the task execution command and the successful automatic identification of the staircase object by the self-moving robot, the terminal device displays a stair-climbing icon on the staircase graphic. The stair-climbing icon is used to represent the self-moving robot's autonomous movement on the staircase object. The task execution command includes a cleaning task execution command or a patrol task execution command.

[0241] In other words, during the execution of a task, if the self-moving robot moves autonomously from the current floor to the next floor, the user interface can also overlay a stair-climbing icon on the stair graphic in the floor map of the current floor, so that the user can clearly grasp the real-time status and real-time location of the self-moving robot.

[0242] In this embodiment, staircases can be created autonomously and synchronously during the mapping process, or they can be created separately after the mapping is completed, ultimately resulting in a multi-story map with spatial relationships. Furthermore, when the self-moving robot is performing tasks, the user interface can also display the robot's movement status in real time, including displaying the climbing status through climbing icons. This improves the interface display effect during both the mapping and task phases, allowing users to easily monitor the robot's location and status in real time, thus enhancing the user experience.

[0243] The staircase creation and display methods provided in the above embodiments, taking sweeping robots and stair-climbing robots as examples, have the following technical advantages and effects:

[0244] 1. Forming a complete closed loop for stair creation (automatic + manual + supplementary construction): This solves the problem that traditional robot vacuums can only create multiple independent single-layer maps and cannot identify and create stairs. Based on sensor data during the mapping process, it can automatically generate stair objects and bind them to the upper and lower floors. When automatic recognition fails, it can prompt the user to manually mark the stair entrance. The user can select the location and direction based on the visible area. In addition, in manual and supplementary stair scenarios, it can also allow users to add new stair objects in edit mode and automatically update the floor relationships.

[0245] 2. Enable map structure representation across floors: Stairs are displayed as graphics that run through the floors, forming a complete cross-floor visualization. Stairs serve as vertical connection points, allowing users to clearly understand the relationships between the various floors of the entire building.

[0246] 3. Automatic map floor switching with robot: When the robot moves to the next floor, the app automatically jumps to the corresponding floor. Users can also click manually, which makes it easy for users to quickly obtain the device's location information, reduces user operations, and improves the smoothness of the experience.

[0247] 4. Strong ability to add features and adapt to complex floor plans: After the map is built, users can continue to add stairs and expand the floors that the stairs lead to, making the map more accurate.

[0248] 5. Deep integration with navigation and cleaning tasks: Stairs serve as nodes for navigation and cleaning paths, enabling a visual presentation of cross-floor navigation and cleaning.

[0249] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0250] Based on the same inventive concept, this application also provides a multi-floor map display device for implementing the multi-floor map display method described above, and a stair creation and display device for implementing the stair creation and display method described above. The solutions provided by these two devices are similar to those described in the above methods. Therefore, the specific limitations of the one or more multi-floor map display device embodiments and the one or more stair creation and display device embodiments provided below can be found in the limitations of the multi-floor map display method and the stair creation and display method described above, and will not be repeated here.

[0251] In one exemplary embodiment, such as Figure 21 As shown, a multi-floor map display device is provided, including: a map display module 2101, wherein:

[0252] The mapping and display module 2101 is used to respond to the map creation command, display the floor map of the current floor where the mobile robot is located on the user display interface, and dynamically display the mapping process of the current floor map.

[0253] The mapping and display module 2101 is also used to automatically switch the floor map of the current floor on the user display interface to the floor map of the next floor in response to the self-moving robot autonomously moving to the next floor, and dynamically display the mapping process of the floor map of the next floor.

[0254] In one embodiment, the device further includes: a floor control display module for displaying floor controls on a user display interface, the floor controls including at least a single floor identifier unit corresponding to the floor for which the floor map has been created; and a map display module for displaying a floor map of the floor corresponding to the triggered single floor identifier unit on the user display interface in response to triggering the single floor identifier unit.

[0255] In one embodiment, the floor control further includes an overview identifier unit; the map display module is also configured to display an overview view on the user display interface in response to triggering the overview identifier unit. The overview view is used to display an overview map, which includes an overview map of all floors and stair graphics between the floors.

[0256] In one embodiment, the overview signage unit and each individual floor signage unit are arranged linearly at intervals on the user display interface, and / or the staircase graphics are presented in a 3D style on the user display interface.

[0257] In one embodiment, the floor control display module is also used to synchronously update the display state of the floor control according to the state changes of the self-moving robot or user-triggered operations.

[0258] In one embodiment, the floor control has at least a first visual feature and a second visual feature. The first visual feature includes at least one of transparency, background, color, blinking animation, and symbol identification. The second visual feature includes at least one of transparency, background, color, blinking animation, and symbol identification. The first visual feature and the second visual feature are different to characterize different display states of the floor control.

[0259] In one embodiment, the floor control has an active state and a sleep state, and the floor control presents different visual features in the active state and the sleep state; the floor control display module is also used to respond to touch operation on the user display interface, the floor control is in an active state; when a preset no-operation condition is met, the floor control enters a sleep state.

[0260] In one embodiment, the device further includes a map style switching module, configured to switch the floor map displayed on the user display interface from a first map style to a second map style in response to triggering a map style control on the user display interface; the first map style is one of a 2D style and a 3D style, and the second map style is the other of a 2D style and a 3D style.

[0261] In one embodiment, the device further includes: a status information display module, used to display floor status information on a user display interface, the floor status information including at least one of mapping progress information and the action status of a self-moving robot, the floor status information being displayed at least partially superimposed on the floor map, or displayed in partitions on the same screen as the floor map.

[0262] In one embodiment, the device further includes: a mapping guidance module for displaying a mapping guidance page on a user display interface, the mapping guidance page for receiving floor information input by the user, the floor information including at least one of floor number information and floor information where the base station is located; and a mapping instruction generation module for generating a map creation instruction in response to triggering the mapping controls on the mapping guidance page, switching from the mapping guidance page to the map display page, and automatically displaying the floor controls on the map display page based on the floor information; the floor controls include single-floor identification units corresponding one-to-one with each floor.

[0263] In one embodiment, the floor control display module is further configured to, in response to the completion of floor map creation, have the single floor identifier unit corresponding to the created floor map in a triggerable state.

[0264] In one embodiment, the device further includes: an editing control display module for displaying editing controls on a user display interface; and a map editing module for responding to triggering the editing controls, causing the floor map to enter a manual editing state, in which the floor map supports at least one of the following editing operations: area merging, area splitting, area naming, restricted area setting, adding or removing spatial elements, defining ground materials, and marking stairs.

[0265] In one embodiment, the device further includes: a robot icon display module for displaying a robot icon of the self-moving robot in a floor map and / or an overview map based on the location information of the self-moving robot; and a base station icon display module for displaying a base station icon of the base station in a floor map and / or an overview map based on the location information of the base station.

[0266] In one embodiment, the self-moving robot includes a cleaning robot and a stair-climbing robot. The robot icons include a first icon, a second icon, and a third icon. The first icon represents the independently walking cleaning robot, the second icon represents the independently walking stair-climbing robot, and the third icon represents the combination of the stair-climbing robot and the cleaning robot.

[0267] In one embodiment, the base station includes a cleaning base station and a stair-climbing base station. The cleaning base station is used to dock with a cleaning robot, and the stair-climbing base station is used to dock with a stair-climbing robot. The base station icon includes a fourth icon and a fifth icon, where the fourth icon represents the cleaning base station and the fifth icon represents the stair-climbing base station.

[0268] In one embodiment, the device further includes: a task execution module, configured to, in response to a task execution command, display a floor map of the current floor where the self-mobile robot is located on a user display interface, and dynamically display the task execution process of the self-mobile robot on the current floor; in response to the self-mobile robot autonomously moving to the next floor, automatically switch the floor map of the current floor to the floor map of the next floor, and dynamically display the task execution process of the self-mobile robot on the next floor; wherein, the task execution command includes a cleaning task execution command or a patrol task execution command.

[0269] In one embodiment, the mapping and display module 2101 is configured to display a staircase graphic in the floor map of the current floor and / or the floor map of the next floor in response to the self-moving robot entering the area where the staircase is located on the next floor.

[0270] In one embodiment, the mapping and display module 2101 is used to display a stair-climbing indicator in the floor map of the current floor in response to the self-mobilizing robot entering the area where the stairs are located on the next floor. The stair-climbing indicator includes a direction icon, which is used to represent the stair-climbing direction of the self-mobilizing robot. The direction icon can be a static icon or a dynamic icon.

[0271] In one exemplary embodiment, such as Figure 22 As shown, a staircase creation and display device is provided, including: a map display module 2201 and a staircase display module 2202, wherein:

[0272] The map display module 2201 is used to display a floor map of the current floor where the mobile robot is located on the user display interface.

[0273] The staircase display module 2202 is used to create and display a staircase graphic corresponding to the staircase object on the user display interface in response to the self-moving robot recognizing a staircase object on the current floor.

[0274] The map display module 2201 is also used to automatically switch the floor map of the current floor on the user display interface to the floor map of the next floor in response to the self-moving robot autonomously moving along the stair object to the next floor. The stair graphics are used to be displayed on the user display interface in the floor map of the current floor and / or the floor map of the next floor.

[0275] In one embodiment, the staircase display module 2202 is specifically used to display a staircase marker in the staircase area of ​​the floor map of the current floor in response to the self-moving robot successfully recognizing the staircase object. The staircase marker is used to represent the self-moving robot's autonomous movement on the staircase object. In response to the self-moving robot completing the map construction for the staircase object, the staircase graphic is displayed in the user display interface.

[0276] In one embodiment, the stair display module 2202 is specifically used to display a first stair marker in the stair area in response to the self-moving robot successfully recognizing a stair object in the current floor; and to update the first stair marker to a climbing marker when the self-moving robot autonomously moves down to the next floor along the stair object; wherein the first stair marker and the climbing marker have different visual elements.

[0277] In one embodiment, the user display interface also supports manual auxiliary mapping operations by the user. The device further includes: a manual auxiliary mapping module, used to display a manual stair marker in the stair area of ​​the floor map of the current floor in response to the user's manual calibration operation on the user display interface; to display a stair climbing marker in the stair area of ​​the floor map of the current floor in response to the self-moving robot successfully recognizing the stair object based on the manual stair marker; or, in response to the self-moving robot failing to automatically recognize the stair object based on the manual stair marker, to update the display of the manual stair marker to a second stair marker; wherein the second stair marker and the manual stair marker have different visual elements.

[0278] In one embodiment, prior to the manual calibration operation, the device further includes: a failure notification module, configured to display a recognition failure notification message on the user display interface in response to the failure of the self-moving robot to automatically identify the stair object; in response to a triggering operation of the first stair marker control in the recognition failure notification message, the floor map of the current floor enters a stair manual editing state that supports manual calibration operation; or, in response to a triggering operation of the second stair marker control, the floor map of the current floor enters a stair manual editing state that supports manual calibration operation.

[0279] In one embodiment, the device further includes an editing module for displaying a secondary control menu page on a user interface in response to a triggering operation on the editing control, the secondary control menu page including at least a second stair marker control.

[0280] In one embodiment, the device further includes: a guidance module for displaying user guidance information on a user display interface, the user guidance information prompting the user to clear obstacles at the stair entrance and / or on the stair steps of the stair object; a stair display module 2202, specifically used to display a stair climbing icon in the stair area of ​​the current floor's floor map in response to the user's confirmation operation on the user guidance information and the automatic recognition of the stair object by the self-moving robot based on the manual stair icon; or, a failure prompt module for displaying error prompt information on the user display interface in response to the user's confirmation operation on the user guidance information and the failure of the automatic recognition of the stair object by the self-moving robot based on the manual stair icon.

[0281] In one embodiment, the manual assisted mapping module is used to display the manual stair marker in the floor map of the current floor in response to a trigger operation on the control corresponding to the manual stair marker; and to display the manual stair marker in the stair area of ​​the floor map of the current floor in response to a drag operation on the manual stair marker.

[0282] In one embodiment, after the manual calibration operation, the device further includes: a timing confirmation module, used to provide a selection operation for confirmation timing on the user display interface, the confirmation timing including immediate confirmation timing and follow-task confirmation timing; the immediate confirmation timing is used to instruct the self-moving robot to immediately go to identify the stair object corresponding to the manual stair marker; the follow-task confirmation timing is used to instruct the self-moving robot to go to identify the stair object corresponding to the manual stair marker after completing the current task.

[0283] In one embodiment, the device further includes: an icon display module for displaying visual icons corresponding to the stair object on a user display interface. The visual icons include a climbing icon, a first stair icon, a second stair icon, or a manual stair icon, each with different visual elements. The climbing icon represents the autonomous movement of the self-moving robot on the stair object; the first stair icon represents the successful automatic recognition of the stair object by the self-moving robot; the second stair icon represents the failure of the self-moving robot to automatically recognize the stair object; and the manual stair icon represents the location of the stair area corresponding to the stair object manually marked by the user on the floor map.

[0284] In one embodiment, the visualization icons include directional icons, which are used to represent the climbing direction of the self-moving robot; the directional icons can be static or dynamic.

[0285] In one embodiment, the device further includes a task execution module, configured to display a stair climbing icon on a stair graphic in response to a task execution instruction and in response to the self-moving robot successfully recognizing the stair object. The stair climbing icon is used to characterize the self-moving robot's autonomous movement on the stair object. The task execution instruction includes a cleaning task execution instruction or a patrol task execution instruction.

[0286] The modules in the aforementioned multi-story map display device and staircase creation and display device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0287] In one exemplary embodiment, a terminal device is provided, the internal structure of which can be as follows: Figure 23 As shown, the terminal device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, Near Field Communication (NFC), or other technologies. When the computer program is executed by the processor, it implements a multi-floor map display method and / or a staircase creation and display method. The display unit of the terminal device forms a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the terminal device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the terminal device, or external keyboards, touchpads, or mice, etc.

[0288] Those skilled in the art will understand that Figure 23 The structure shown is merely a block diagram of a portion of the structure related to the solution of this application and does not constitute a limitation on the terminal device to which the solution of this application is applied. A specific terminal device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0289] In one exemplary embodiment, a terminal device is provided, including a memory, a processor, and a display component. The memory stores a computer program, and when the processor executes the computer program, it implements the steps of the multi-floor map display method and / or the staircase creation and display method in any of the above embodiments, so as to control the display component to display the content corresponding to the multi-floor map display method and / or the content corresponding to the staircase creation and display method.

[0290] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon. The computer program is applied to a terminal device equipped with a display component. When the computer program is executed by a processor, it implements the steps of the multi-floor map display method and / or the staircase creation and display method in any of the above embodiments, so as to control the display component to display the content corresponding to the multi-floor map display method and / or the content corresponding to the staircase creation and display method.

[0291] In one embodiment, a computer program product is provided, including a computer program applied to a terminal device equipped with a display component. When executed by a processor, the computer program implements the steps of the multi-floor map display method and / or the staircase creation and display method in any of the above embodiments, so as to control the display component to display the content corresponding to the multi-floor map display method and / or the content corresponding to the staircase creation and display method.

[0292] It should be noted that the data involved in this application (including but not limited to data used for analysis, data stored, data displayed, etc.) are all information and data that have been fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0293] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0294] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0295] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method of stair creation and display, characterized by, The method includes: Display a floor map of the current floor where the mobile robot is located on the user interface; In response to the self-moving robot recognizing a stair object on the current floor, a stair graphic corresponding to the stair object is created and displayed on the user display interface; In response to the self-moving robot autonomously moving to the next floor along the staircase object, the floor map of the current floor on the user display interface is automatically switched to the floor map of the next floor. The staircase graphic is used to be displayed on the user display interface in the floor map of the current floor and / or the floor map of the next floor.

2. The method according to claim 1, characterized in that, The step of responding to the self-moving robot recognizing a staircase object on the current floor and creating and displaying a staircase graphic corresponding to the staircase object on the user display interface includes: In response to the automatic recognition of the stair object by the self-moving robot, a stair climbing icon is displayed in the stair area of ​​the floor map of the current floor. The stair climbing icon is used to indicate the autonomous movement of the self-moving robot on the stair object. In response to the self-moving robot completing map construction for the staircase object, the staircase graphic is displayed in the user display interface.

3. The method according to claim 2, characterized in that, The response to the self-moving robot successfully recognizing the stair object and displaying a stair-climbing icon in the stair area of ​​the floor map for the current floor includes: In response to the self-moving robot successfully identifying the stair object on the current floor, a first stair icon is displayed in the stair area; In response to the self-moving robot autonomously moving to the next floor along the stair object, the first stair marker is updated to the stair climbing marker; The first staircase sign and the climbing sign have different visual elements.

4. The method according to claim 2 or 3, characterized in that, The user display interface also supports manual auxiliary mapping operations, which include: In response to a user's manual calibration operation on the user display interface, a manual stair marker is displayed in the stair area of ​​the floor map for the current floor; In response to the self-moving robot successfully recognizing the stair object based on the manual stair marker, the stair-climbing marker is displayed in the stair area of ​​the floor map for the current floor; or, In response to the failure of the self-moving robot to automatically identify the stair object based on the manual stair icon, the manual stair icon is updated and displayed as a second stair icon; The second staircase sign has different visual elements from the manual staircase sign.

5. The method according to claim 4, characterized in that, Prior to the manual calibration operation, the method further includes: In response to the failure of the self-moving robot to automatically identify the stair object, a recognition failure message is displayed on the user display interface; In response to the triggering operation of the first stair marker control in the recognition failure prompt message, the floor map of the current floor enters the stair manual editing state that supports the manual calibration operation; or, In response to the triggering operation of the second stair marker control, the floor map of the current floor enters the stair manual editing state that supports the manual calibration operation.

6. The method according to claim 5, characterized in that, The method further includes: In response to a trigger operation on the edit control, a secondary control menu page is displayed on the user display interface, the secondary control menu page including at least the second stair marker control.

7. The method according to claim 4, characterized in that, The method further includes: User guidance information is displayed on the user display interface. The user guidance information is used to prompt the user to clear obstacles at the stair entrance and / or on the stair steps of the stair object. In response to the user's confirmation of the user guidance information and the successful automatic identification of the stair object by the self-moving robot based on the manual stair marker, the stair climbing marker is displayed in the stair area of ​​the floor map of the current floor; or, In response to the user's confirmation of the user guidance information and the failure of the self-moving robot to automatically identify the stair object based on the manual stair marker, an error message is displayed on the user display interface.

8. The method according to claim 4, characterized in that, The manual calibration operation includes: In response to a trigger operation on the control corresponding to the manual staircase icon, the manual staircase icon is displayed on the floor map of the current floor. In response to a drag operation on the manual stair marker, the manual stair marker is displayed in the stair area of ​​the floor map for the current floor.

9. The method according to claim 4, characterized in that, Following the manual calibration operation, the method further includes: The user display interface provides an option to select the timing of confirmation, which includes immediate confirmation and confirmation following the task. The immediate confirmation timing is used to instruct the self-moving robot to immediately proceed to identify the stair object corresponding to the manual stair marker; The follow task confirmation timing is used to instruct the self-moving robot to proceed to identify the stair object corresponding to the manual stair marker after completing the current task.

10. The method according to claim 1, characterized in that, The method further includes: A visual icon corresponding to the staircase object is displayed on the user interface. This visual icon includes a climbing icon, a first staircase icon, a second staircase icon, or a manual staircase icon, each with different visual elements. The stair-climbing identifier is used to characterize the autonomous movement of the self-moving robot on the stair object; The first stair marker is used to indicate that the self-moving robot has successfully identified the stair object; The second stair marker is used to indicate that the self-moving robot failed to automatically identify the stair object; The manual stair marker is used to represent the location of the stair area corresponding to the stair object, which is manually marked by the user on the floor map.

11. The method according to claim 10, characterized in that, The visualization icons include directional icons, which are used to represent the climbing direction of the self-moving robot. The directional icons can be static or dynamic.

12. The method according to claim 1, characterized in that, The method further includes: In response to the task execution command and in response to the successful automatic recognition of the stair object by the self-moving robot, a stair climbing icon is displayed on the stair graphic, the stair climbing icon being used to characterize the self-moving robot's autonomous movement on the stair object; The task execution instructions include cleaning task execution instructions or patrol task execution instructions.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that is applied to a terminal device equipped with a display component. When executed by a processor, the computer program implements the method as described in any one of claims 1 to 12 to control the display component to display content corresponding to any one of claims 1 to 12.

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