CN106584472A - Method and device for controlling autonomous mobile equipment - Google Patents

Abstract

The invention provides a method and a device for controlling autonomous mobile equipment. The method comprises the following steps: acquiring grid map data for describing an indoor environment, wherein the grid map data comprise a plurality of grid units, each grid unit corresponds to a grid datum, each grid datum contains various different types of information, and each information type signifies at least one information; and controlling the autonomous mobile equipment according to at least part of types of information of at least part of the grid units in the acquired grid map data. The method and the device achieve the purpose of controlling an autonomous mobile robot through an indoor map containing various information types and facilitate improving the interaction experience of the autonomous mobile robot.

Description

For controlling the method and device of autonomous formula equipment

Technical field

It is more particularly to a kind of for controlling autonomous formula equipment it relates to autonomous formula equipment technical field Method and device.

Background technology

Indoor map is the important prerequisite of autonomous formula equipment environment autonomous indoors.In correlation technique, there is many The technology of kind can set up the indoor map for describing indoor environment.However, the indoor map of correlation technique often only contains ground Tong Guo region and barrier region in figure, or with the feature description indoor environment such as point-line-surface, or with topological mode table Show the connectedness of indoor environment.The shortcoming of these indoor maps is that the information for including is single, it is difficult to meet autonomous formula equipment Man-machine interaction demand.

The content of the invention

Present disclose provides a kind of method and device for controlling autonomous formula equipment, to solve prior art in Autonomous formula equipment controls single technical problem.The method includes：

In one aspect, present disclose provides a kind of method for controlling autonomous formula equipment, the method includes：Obtain Take in the grating map data of description indoor environment, wherein, grating map data include multiple grid cells, each grid list Unit's one raster data of correspondence, information of each raster data comprising number of different types, every kind of information type represents at least one The information of kind；And, according to the information control of at least part of type of at least part of grid cell in the grating map data for getting Make the autonomous formula equipment.

In some examples, information type include grid cell by the room area belonging to type, grid cell, grid At least one of corresponding semantic title of lattice unit or combination in any.

In some examples, according at least part of type of at least part of grid cell in the grating map data for getting Information control the autonomous formula equipment, including：According in grating map data grid cell by Type Control control The movement of the autonomous formula equipment is made, wherein, the different shift strategies different by type correspondence.

In some examples, shift strategy includes that collision rule and/or shift strategy are associated with mobile purpose, wherein, no With the different collision rule of the grid correspondence by type.

In some examples, according at least part of type of at least part of grid cell in the grating map data for getting Information control autonomous formula equipment, including：Target location is obtained, wherein, the target location belongs in multiple room areas At least one；Room area according to belonging to grid cell in grating map data, determines the corresponding grid cell in target location； And, make autonomous formula equipment move to the corresponding grid cell in target location.

In some examples, according at least part of type of at least part of grid cell in the grating map data for getting Information control the autonomous formula equipment, including：Moving range is obtained, wherein, the moving range belongs to multiple interiors At least one of region；According in grating map data grid cell by type and grid cell belonging to room area, Determine the corresponding grid cell of the moving range；And, autonomous type mobile device is limited in into the corresponding grid of moving range In unit.

In some examples, according at least part of type of at least part of grid cell in the grating map data for getting Information control the autonomous formula equipment, including：Target location is obtained, wherein the target location is multiple semantic titles At least one of；According to the corresponding semantic title of grid cell in grating map data, the corresponding grid list in target location is determined Unit；And, make autonomous formula equipment move to the corresponding grid cell in target location or its grid cell for closing on.

In yet another aspect, present disclose provides a kind of device for controlling autonomous formula equipment, the device includes： Acquisition module, for obtaining the grating map data for describing indoor environment, wherein, grating map data include multiple grids Unit, each grid cell one raster data of correspondence, information of each raster data comprising number of different types, every kind of information Type represents at least one information；And, control module, for according at least part of grid in the grating map data for getting The information of at least part of type of unit controls the autonomous formula equipment.

In some examples, information type include grid cell by the room area belonging to type, grid cell, grid At least one of corresponding semantic title of lattice unit or combination in any.

In some examples, control module, for according in grating map data grid cell by Type Control control The movement of autonomous formula equipment processed, wherein, the different shift strategies different by type correspondence.

In some examples, shift strategy includes that collision rule and/or the shift strategy are associated with mobile purpose, its In, difference is by the different collision rule of the grid correspondence of type.

In some examples, control module, for obtaining target location, wherein, the target location belongs to multiple interiors At least one of region；Room area according to belonging to grid cell in grating map data, determines the target location correspondence Grid cell；And, make the autonomous formula equipment move to the corresponding grid cell in the target location.

In some examples, control module, for obtaining moving range, wherein, the moving range belongs to multiple interiors At least one of region；According in grating map data grid cell by type and grid cell belonging to room area, Determine the corresponding grid cell of the moving range；And, the autonomous type mobile device is limited in into the moving range pair In the grid cell answered.

In some examples, control module, for obtaining target location, wherein the target location is multiple semantic titles At least one of；According to the corresponding semantic title of grid cell in grating map data, the corresponding grid in the target location are determined Lattice unit；And, make the autonomous formula equipment move to the corresponding grid cell in the target location or its grid for closing on Lattice unit.

In some examples, at least one of or combination in any are included by type：Can pass through, barrier and at least Plant restriction to pass through.

The disclosure, realizes by the indoor map comprising much information type to control autonomous formula robot, has Beneficial to the interactive experience for improving autonomous formula robot.

Description of the drawings

Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, not Constitute limitation of the invention.In the accompanying drawings：

Fig. 1 is a kind of schematic diagram of communication system 100 of the disclosure；

Fig. 2 is a kind of schematic diagram of autonomous formula equipment 110 of the disclosure；

Fig. 3 is the flow chart of the method for the indoor map that a kind of display that the disclosure is provided has much information type；

Fig. 4 is the structured flowchart of the device of the indoor map that a kind of display that the disclosure is provided has much information type；

Fig. 5 is a kind of using the control autonomous formula equipment of the indoor map with much information type of disclosure offer Method flow chart；

Fig. 6 is a kind of using the control autonomous formula equipment of the indoor map with much information type of disclosure offer Device structured flowchart；

Fig. 7 is a kind of autonomous formula equipment using the indoor map with much information type that the disclosure is provided Schematic diagram；

Fig. 8 is the flow chart of the method for the indoor map that a kind of transmission that the disclosure is provided has much information type；

Fig. 9 is the flow chart of the method for the indoor map that a kind of generation that the disclosure is provided has much information type；

Figure 10 is the structured flowchart of the device of the indoor map that a kind of transmission that the disclosure is provided has much information type；

Figure 11 is the structured flowchart of the device of the indoor map that a kind of generation that the disclosure is provided has much information type；

Figure 12 is the flow chart of the method for the indoor map that a kind of generation that the disclosure is provided has semantic description；

Figure 13 is the schematic diagram of an indoor environment of the disclosure；

Figure 14 is the schematic diagram of the grating map of the disclosure；

Figure 15 is the flow chart of another kind of method for generating the indoor map with semantic description that the disclosure is provided；

Figure 16 is the structured flowchart of the device of the indoor map that a kind of generation that the disclosure is provided has semantic description；

Figure 17 is the structured flowchart of another kind of device for generating the indoor map with semantic description that the disclosure is provided；

Figure 18 is a kind of flow chart for editing the method for indoor map that the disclosure is provided；

Figure 19 is a kind of flow chart for limiting the method for autonomous formula equipment moving range that the disclosure is provided；

Figure 20 is a kind of structured flowchart for editing the device of indoor map that the disclosure is provided；

Figure 21 is a kind of structured flowchart for limiting the device of autonomous formula equipment moving range that the disclosure is provided；

Figure 22 is a kind of flow chart for controlling the method for autonomous formula robot that the disclosure is provided；

Figure 23 is a kind of structured flowchart for controlling the device of autonomous formula robot that the disclosure is provided；

Figure 24 is a kind of flow chart of the method for indoor map of generation comprising multiple room areas that the disclosure is provided；

Figure 25 is a kind of structured flowchart of the device of indoor map of generation comprising multiple room areas that the disclosure is provided；

Figure 26 is the flow chart of another kind of method for generating the indoor map comprising multiple room areas that the disclosure is provided；

Figure 27 is the structural frames of another kind of device for generating the indoor map comprising multiple room areas that the disclosure is provided Figure；

Figure 28 is the flow chart of the method that the another kind that the disclosure is provided is used to control autonomous formula equipment；

Figure 29 is the structured flowchart of the device that the another kind that the disclosure is provided is used to control autonomous formula equipment；

Figure 30 is that a kind of of disclosure offer is set using the control of the indoor map with much information type autonomous formula The flow chart of standby method；

Figure 31 is a kind of flow chart of the method for use room area control autonomous formula equipment that the disclosure is provided；

Figure 32 is that the another kind that the disclosure is provided uses room area to control the flow chart of the method for autonomous formula equipment；

Figure 33 is a kind of flow chart of method using semantic title control autonomous formula equipment that the disclosure is provided；

Figure 34 is that a kind of of disclosure offer is set using the control of the indoor map with much information type autonomous formula The structured flowchart of standby device；

Figure 35 is a kind of flow chart of the method for use computing device control autonomous formula equipment that the disclosure is provided；

Figure 36 is that the another kind that the disclosure is provided uses computing device to control the flow chart of the method for autonomous formula equipment；

Figure 37 is a kind of flow chart of the method for Voice command autonomous formula equipment that the disclosure is provided；

Figure 38 is a kind of structured flowchart of computing device that the disclosure is provided；

Figure 39 is a kind of structured flowchart of autonomous formula equipment that the disclosure is provided；

Figure 40 is the structured flowchart of another kind of autonomous formula equipment that the disclosure is provided；

Figure 41 is the flow chart of the method that a kind of user that the disclosure is provided passes through user terminal editor's indoor map；

Figure 42 is the flow chart of the method for a kind of user that the disclosure is provided and autonomous formula equipment interactive voice；

Figure 43 is the flow process of the method that a kind of user that the disclosure is provided controls autonomous formula equipment by user terminal Figure；

Figure 44 is a kind of method of the operating point of utilization indoor map planning autonomous formula equipment that the disclosure is provided Flow chart；And

Figure 45 is a kind of device of the operating point of utilization indoor map planning autonomous formula equipment that the disclosure is provided Structured flowchart.

Specific embodiment

It is right with reference to embodiment and accompanying drawing to make the object, technical solutions and advantages of the present invention become more apparent The present invention is described in further details.Here, the exemplary embodiment of the present invention and its illustrate for explaining the present invention, but and It is not as a limitation of the invention.

Here, through description below, term " equipment " " device " be disclosed as by different parts in different encapsulation and/or Together or it is implemented separately in position.Only as an example, each equipment/system or method can pass through one or more processing units Part/device is controlling or be realized by distributed network.

Fig. 1 is a kind of schematic diagram of communication system 100 of the disclosure.

As shown in figure 1, the system 100 may include：Autonomous formula equipment 110, computing device 120 and computing device 130, And one or more servers 140, system 100 is also including private network 150 and public network 160.

Autonomous formula equipment 110 can by private network 150 and the computing device 130 on public network 160 and/ Or one or more servers 140 communicate, autonomous formula equipment 110 also by private network 150 and can be located at private network Computing device 120 communicate.Computing device 120 can be communicated by private network 150 with autonomous formula equipment 110, also can be led to Cross private network 150 to communicate with public network 160, and then communicate with autonomous formula equipment 110.

In certain embodiments, computing device 120 and 130 include personal computer (PC), mobile terminal, kneetop computer, Various types of equipment such as panel computer.Computing device 120 and 130 can also include autonomous formula equipment, such as intelligent machine Device people etc..In some examples, autonomous formula equipment 110 can communicate with computing device 120 and 130, with to computing device 120 Information is sent with 130, or from the receive information of computing device 120 and 130.

Autonomous formula equipment 110 includes the equipment such as clean robot, security robot, but not limited to this, and other can be certainly The equipment of main movement is also feasible.In some examples, autonomous formula equipment 110 can gather environmental information, and according to The environmental information for collecting sets up map, and can position itself position in the environment, using map contexture by self mobile route, With autonomous in environment indoors.

In certain embodiments, autonomous formula equipment 110 can carry out map structuring and positioning.In order to obtain robot Pose and environmental map, autonomous formula equipment 110 can possess the related sensor that can perceive the external world.According to autonomous shifting Sensor information acquisition methods two classes of classification that dynamic formula equipment 110 is adopted in navigation：One class is realized using internal sensor Acquisition of information, it can perceive autonomous formula equipment 110 motion itself.This sensor includes but is not limited to compass, mileage Meter etc., these sensors are generally to autonomous formula equipment 110 together with autonomous formula equipment 110 motion model of itself Position is predicted estimation, based on dead reckoning method etc., for tracking the movement locus of autonomous formula equipment 110.It is another Class is to realize acquisition of information using external sensor, and it is mainly used in being observed external environment condition, be complete map structuring, The main tool of avoidance, positioning etc..This kind of sensor can include but is not limited to laser range finder, sonar ranging instrument, ultrasound wave, Infrared technique and video camera etc..

Autonomous formula equipment 110 can independently explore indoor environment, set up the indoor map for describing indoor environment. In some embodiments, indoor map may include scale map or topological map, and its medium scale maps can be divided into grating map (Grid Map) and geometric properties map.Whole environment is divided into cartographic representation based on grid the grid of some formed objects Lattice, for each grid points out wherein there is barrier.It should be appreciated that being here only to the schematic of indoor map Illustrate, the indoor map of other forms also can be employing.In some examples, using sonar or this kind of distance of laser radar Sensor obtains the information of barrier and is simultaneously added in map, the information of each grid directly with environment in certain region pair Should.

Server 140 can communicate with autonomous formula equipment 110 and computing device 130 and 140, to set from autonomous formula For 110 and the receive information of computing device 130 and 140, or letter is sent to autonomous formula equipment 110 and computing device 130 and 140 Breath.For example, server 140 can receive the data that the various sensor collections of autonomous mobile unit 110 are arrived, according to these data In at least partly produce control data to autonomous formula equipment 110, server 140 sends control data to autonomous Formula equipment 110.

One or more servers 140 may include speech recognition server, and speech recognition server receives autonomous portable The voice data of equipment 110, identification obtains the corresponding text message of voice data, and the text message that can be obtained identification sends To autonomous formula equipment 110.Additionally, one or more servers 140 can also recognize speaker according to vocal print etc..

One or more servers 140 may include semantic analysis server, and semantic analysis server can enter to text message Row semantic analysis, therefrom extracting includes the information such as task or position or time, to produce the control to autonomous formula equipment 110 System order so that the voice responsive of autonomous formula equipment 110 is interacted.

One or more servers 140 may include image recognition server, and image recognition server can recognize that autonomous People, article, animal in information in the image that the photographic head of formula equipment 110 is collected, including identification image etc., and will can know The information being clipped to is supplied to autonomous formula equipment 110.Image recognition server can adopt face recognition technology, be known according to face Others' identity.

One or more servers 140 may include video processing service device, and video processing service device can be stored and processed certainly The video that the photographic head of main mobile unit 110 is collected, and video can be supplied to autonomous formula equipment 110 and/or meter Calculation equipment 130 and 140.

It should be appreciated that Fig. 1 is not the restriction of the quantity to equipment or component, system 100 may include less or less Component.For example, system 100 may not include public network 160, and autonomous formula equipment 110 can pass through private network 150 Communicate with computing device 130.Or, system 100 may not include server 140.Or, system 100 may include more calculating Equipment 130 or more autonomous formula equipment 110.

Fig. 2 is a kind of schematic diagram of autonomous formula equipment 110 of the disclosure.

As shown in Fig. 2 autonomous formula equipment 110 may include：Controller 20, range sensor 21, driver element 24, deposit Reservoir 25 and emitter 26.It should be understood that the only property explanation as an example of the autonomous formula equipment 110 shown in Fig. 2, is not Restriction of this disclosure, other feasible autonomous formula equipment 110 also apply be applicable to the disclosure.

Controller 20 may include one or more processing units and its peripheral circuit, and processing unit and peripheral circuit have phase The communication interface answered is carrying out data transmission.

Emitter 26 can send information by antenna (not shown in Fig. 2), and send by antenna reception to controller 20 Information.

Driver element 24 is moved including motor etc. with driving moving parts (not shown in Fig. 2) to produce.Driver element 24 can Driving instruction is received from controller 20, drives moving parts to produce movement according to driving instruction.In some examples, moving parts Wheel type mobile part, walking moving parts (single-leg type, both legs formula and many lower limb formulas) can be included, crawler-type mobile part, creeped The types such as formula moving parts, creeping motion type moving parts and swimming type moving parts, but not limited to this.In some examples, drive Unit 24 can also provide feedback information to controller 20.In addition, driver element 24 may also include motor etc. drives limbs (in Fig. 2 It is not shown), the part generation action such as cleaning module (not shown in Fig. 2).

In some examples, autonomous formula equipment 110 may also include detection of obstacles sensor 22.Detection of obstacles is passed Sensor 22 may include infrared sensor/infrared sensor group, ultrasonic sensor etc..Detection of obstacles sensor 22 can launch and Signal is received, and sends the signal to controller 20, controller 20 judges whether barrier according to signal.In some examples In, signal can be launched and be received to detection of obstacles sensor 22, and judge whether barrier according to signal, and will determine that knot Fruit is sent to controller 20.But the disclosure is not limited to this.

In some examples, autonomous formula equipment 110 may also include displacement detector unit 23.Displacement is detected Unit 23 can be adopted for detecting that wheel rotates the rotation detection sensor of the number of turns.For example, rotation detection sensor can be adopted With the encoder of the rotation number of turns for being used to detect motor.In some examples, displacement detector unit 23 can be using acceleration Degree sensor and gyroscope carry out estimated moving distance.It should be appreciated that in the disclosure can also using other feasible movements away from From detector unit, above example is only not restriction of this disclosure as distance explanation.

In some examples, autonomous formula equipment 110 can also include mike or microphone array (hereinafter referred to as wheat Gram wind 26).Mike 26 can gather sound, and acoustical signal is sent to into controller 20 Jing after voicefrequency circuit process.Controller 20 may include speech recognition component, and Jing speech recognition algorithms identification sound-content can also be by feature identification speakers such as vocal prints. Additionally, microphone array may also provide sound source place orientation.Mike 26 can also adopt speech enhancement technique, improve voice collecting Effect.

In some examples, autonomous formula equipment 110 may also include loudspeaker 27.Controller 20 is by audio signal to loudspeaker 27 playing sound.Controller 20 can provide digital audio and video signals, and the audio frequency processing circuit of the correlation of loudspeaker 27 is believed DAB Number digital-to-analogue conversion is carried out, obtain simulated audio signal, the signal of telecommunication of simulated audio signal is converted into acoustical signal by loudspeaker 27.

In some examples, autonomous formula equipment 110 can also include display screen 28.In some examples, display screen 28 can adopt touch-sensitive display, as long as touch-sensitive display can allow user finger or other media lightly to touch on display screen Figure (icon or word etc.) can be achieved with input operation, so broken away from keyboard and mouse action, make man-machine interaction more Bluntly.It should be appreciated that the disclosure is not limited to this.

Autonomous formula equipment 110 can explore indoor environment, and set up the indoor map for describing indoor environment.At this In open, illustrate as a example by the environment sensing sensor as a example by using range sensor 21.As shown in Fig. 2 autonomous Formula equipment 110 may include range sensor 21.

In some examples, range sensor 21 can adopt laser range finder, laser range finder to adopt laser diode Launch and receive light pulse to find range.Laser distance measurement method can be based on TOF (time of flight) technology, and emission system sends One signal, is collected Jing after target reflection by reception system, and the distance of target is determined by measuring the run time of reflected light.From Main mobile unit 110 can be according to the signal of laser range finder collection, using positioning immediately and map structuring (simultaneous Localization and mapping, referred to as SLAM) technology sets up indoor map.

In some examples, range sensor 21 can adopt sonar sensor.Sonar can be found range using pulse ranging method.Arteries and veins Telemetry is rushed based on TOF technologies, that is, is launched a pulse signal and is received its echo again, calculated to destination object according to time difference Range information.Multiple transducer arrangements can be obtained in different directions in the application the range information in plane.It is autonomous to move Dynamic formula equipment 110 can set up indoor map according to the signal of sonar collection using SLAM technologies.

In some examples, autonomous formula equipment 110 can also adopt vision sensor.Vision sensor is by environment Optical signal is converted into the signal of telecommunication.Vision sensor can be divided into barrage vision, binocular vision by the vision sensor number according to adopting The visual systemes such as feel, trinocular vision and mixing vision.Illustrate by taking stereoscopic vision as an example below, stereoscopy passive ranging is to utilize The visual system of photographic head composition known to two mutual alignments, according to the parallaxometer that same scenery is imaged on two photographic head The depth of scenery is calculated, so as to obtain its range information.

In some examples, autonomous formula equipment 110 can merge the data of multiple sensors to position and create map. As an example, multiple sensor integrated method can adopt weighted average, Kalman filtering, Bayesian Estimation, statistical decision theory, card It is theorized that, the method such as production rule.In addition, can also be using intelligence computation methods such as fuzzy logic and neutral nets.

It is not to autonomous formula equipment 110 it should be appreciated that positioning and building drawing method only property explanation as an example above Create the restriction of map.In fact, various known methods are also feasible in correlation technique, will not be described here.The disclosure Technology afterwards be equally applicable to autonomous formula equipment 110 carry out robot localization and create map, the disclosure to this not Limit.

Each grid cell only represents the probability that there is barrier in grating map in correlation technique, if there is possible Property, barrier (or referred to as can not pass through) is recorded as in the data of grid cell, if there is no barrier, in grid cell Data in be recorded as passing through.Its grid cell includes to pass through and barrier two types, the raster data of grid cell To pass through and the type in barrier.

Present disclose provides a kind of grating map, the grating map data include multiple grid cells, each grid cell One raster data of correspondence, information of each raster data comprising number of different types, every kind of information type represents at least one Information.By the grating map, more rich information is provided for autonomous formula equipment, autonomous formula equipment can be improved Experience.The information of number of different types is recorded in the raster data of each grid cell, autonomous formula equipment can be reduced Process the amount of calculation of various information.

Used as an example, the raster data of grid cell is represented by multiple data segments, records in each data segment A kind of value of information type.Wherein, different pieces of information section can have identical or different length, and the disclosure is not limited this. It should be appreciated that the additive method for being able to record that polytype information of grid cell is also feasible, the present embodiment to this not Limit.

In some examples, a kind of information type of grid cell is grid cell by type, can be wrapped by type Include barrier (or referred to as can not pass through) and can pass through.The grid cell of barrier is corresponding to autonomous type mobile device in environment The position at the places such as 110 articles that cannot be walked, the grid cell that can pass through is feasible corresponding to autonomous formula equipment 110 The position walked.In the related, the artificial moving range for limiting autonomous formula equipment 110 is needed, for example, sometimes may be used Autonomous formula equipment 110 can be limited into the region such as kitchen or toilet.

In correlation technique, autonomous formula equipment 110 is avoided to enter magnetic using the devices such as magnetic stripe are installed in interior environment The region that the devices such as bar are located.But this method needs to install some devices, and these devices often install inconvenience, and destroy room The aesthetic property of interior environment.

Present disclose provides except barrier and in addition to can passing through by type, hereon referred to as restriction passes through.In the disclosure In, included by type：Barrier, can pass through and at least one restriction passes through.It should be appreciated that limiting by being not limited to one Value or one kind, according to the requirement that restriction passes through, can there is multiple values or various.Different values can correspond to different limits System.For example, limit by the way that the restriction of walking and the restriction of clean up task can be distinguished, if limiting the restriction by being walking, When performing clean up task, autonomous formula equipment 110 can pass through；If limited by for the restriction of clean up task, performing row When walking task, autonomous formula equipment 110 can pass through.It should be appreciated that herein by way of example only, the disclosure is not limited to this. It should be appreciated that those skilled in the art, can be arranged as required to one or more restriction and pass through.

The map that autonomous formula equipment 110 is created describes indoor environment, but map is that autonomous formula equipment 110 is felt What the environmental information for perceiving was created, in map and not comprising understanding of the mankind to environment.For example, the mankind to indoor environment often Multiple regions are divided into, by taking home environment as an example, kitchen, toilet, one or more bedrooms are generally divided in family.But certainly Environmental information becomes the region being made up of grid in the map that main mobile unit 110 is created, and does not possess these partition informations.

In some examples, area information is provided for grating map.In some examples, in the grid number of grid cell It is used to record the information type of the room area belonging to grid cell according to defined in.The information type can record retouching for room area State the mark (ID) of information and/or room area.What autonomous formula equipment 110 can determine according to the information of the information type Room area.By this way, the zoning concept of room area can be incorporated in grating map, at least beneficial to autonomous The man-machine interaction experience of formula equipment 110.

In some examples, it is the grid cell set that can pass through that room area can be constrained to pass through type, will be by class Type is that the grid cell set that can pass through is divided into multiple room areas.In some examples, room area may include by class Type is can to pass through the grid cell set with barrier, is drawn with the closer room area of indoor environment by the way that the example is available Point.

The grid cell of grating map and position in environment have a corresponding relation, but autonomous formula equipment 110 is set up Map does not have the understanding to position.For example, the position that " bed " is located in indoor environment is for autonomous formula equipment 110 Speech, is only " barrier ", not with semantic meaning.

In some examples, semantic title is provided for grating map.Can be by grid cell and semanteme by semantic title Meaning is associated, and semantic title can be related to the article in indoor environment or position, but not limited to this.For example, " bed " can be located The grid cell aggregated label of position is " bed ", so as to increase Item Information in grating map, and according to the position of grid Also include position of the bed in map in map.Or, it is " window " by the grid cell aggregated label of " window " position.Example again Such as, semantic title can be defined for a certain position, so this position there can be semantic meaning.In grating map, grid cell The raster data information type that includes for representing semantic title, semantic title can be recorded in data segment.In some examples In, the mark of semantic title itself or semantic title can be recorded in the data segment, the disclosure is not limited this.

It should be appreciated that information type is illustrate only in above-mentioned example including grid cell by type, grid cell institute At least one of corresponding semantic title of the room area of category, grid cell or combination in any.But the present embodiment is not limited to this, Actually other feasible information types are also can be conceived by those skilled in the art.

In the disclosure, there is provided a kind of method for showing indoor map on the computing device, as shown in figure 3, should Method includes step 302 to step 304.

Step 302, obtains the grating map data for describing indoor environment, wherein, the grating map data include many Individual grid cell, each grid cell one raster data of correspondence, information of each raster data comprising number of different types, often Plant information type and represent at least one information.

In some examples, the information type of the raster data of grid cell include grid cell by type, grid At least one of corresponding semantic title of room area, grid cell belonging to unit or combination in any.As an example, Mei Zhongxin Breath type can use one or more in multiple values of information.Alternatively, much information type can be according to pre- in each raster data Define sequential arrangement.

In some examples, including but not limited to being passed through by unit of grid cell, barrier, at least one limit At least one of pass through or combination in any.

Step 304, shows indoor map on the display of computing device, and wherein indoor map includes much information type Corresponding information.

In the present embodiment, the information for showing on the display of computing device includes the corresponding part of multiple information types Or full detail.For example, corresponding information can be shown according to the display pattern of indoor map, also can display portion or whole letters Breath, the present embodiment is not limited this.

For example, indoor map may include multiple display patterns, and different pattern correspondences shows the information of different information types, Or, different pattern adopts different visual elements, but not limited to this for the information of identical information type.Each pattern One or more information can be shown.In some examples, the letter that indoor map is included can be shown according to the selection to display pattern Breath.

In some examples, grating map data are can read, the coordinate system informations in grating map data are set up and sat Mark system, determines the position of each grid cell.For example, grating map data may include origin, length and the width and grid of map Unit, grid cell one raster data of correspondence.In some examples, the grid cell in grating map constitutes array, array In each element be the corresponding raster data of grid cell.

The raster data of each grid cell is read, the much information that grid cell is included is obtained, with computing device At least part of information in much information is shown on display.

For example, read grid cell by type, obtain grid cell by type, by different visual elements Difference is distinguished by the grid cell of type.Certainly, it is different by the grid cell of type as needed, it is also possible to by identical Visual elements show that the present embodiment is not limited this.

For example, the information type for representing the affiliated room area of grid cell of grid cell is read, by different Visual elements distinguish the grid cell of different room areas, for example, the grid cell correspondence different colours of different room areas Visual elements.Certainly, the grid cell of different room areas as needed, it is also possible to shown by identical visual elements, this Embodiment is not limited this.

For example, the information type for representing the semantic title of grid cell of grid cell is read, by visual elements Mark these grid cells corresponding position over the display.

In some examples, in grating map data, much information type is according to predefined procedure arrangement, position and info class Type correspondence, can in the raster data of grid cell relevant position read corresponding information type information.As an example, such as table 1 Shown, the raster data of grid cell may include by type, room area, three information types of semantic description, each information Data segment of the type corresponding to predetermined length.Or separation separator, the number of each information type can be set between information type May be the same or different according to segment length.It should be appreciated that here is illustrative only, the disclosure is not limited to this.

The raster data table of table 1

By type

Room area

Semantic description

In some examples, the raster data of grid cell includes information type mark and information value, can be according to information Type identification determines the implication of information.It should be appreciated that here is illustrative only, the disclosure is not limited to this.As one Example, raster data can be expressed as follows：{A：" value ", B：" value ", C：" value " }, wherein, A, B, C are information type Mark, " value " is the value of each information type.

In some examples, the information type for identifying the room area belonging to grid cell can record interior dummy section Title, the title of room area can be included in the corresponding region of grid cell of same room area, the name of room area Claim cocoa to connect to read from raster data.

In some examples, the information type for identifying the room area belonging to grid cell can record interior dummy section Mark.According to the mark of room area and the incidence relation of the title of room area, the mark correspondence of room area can be searched Room area title, or the mark of the corresponding room area of title of room area.In the grid of same room area The corresponding region of unit shows the title of room area.By this way, when the title of room area needs modification, can close The title of room area is replaced with into new title in connection relation, and the raster data of grid cell need not be changed, can at least be subtracted Few data processing amount.It should be appreciated that the present embodiment is not limited to this.

In some examples, for identifying the recordable semanteme title of the information type of the semantic title of grid cell itself, Also can record the mark of semanteme title.Semantic title can be included the region that the grid cell in same semantic title is located.Language Adopted title can read from raster data, it is also possible to according to mark and the incidence relation of semantic title of semantic title, determine grid The semantic title of lattice unit.It should be appreciated that the present embodiment is not limited to this.

In the disclosure, there is provided a kind of device for showing indoor map on the computing device, as shown in figure 4, should Device includes：Acquisition module 402, for obtaining the grating map data for describing indoor environment, wherein, the grating map number According to including multiple grid cells, each grid cell one raster data of correspondence, each raster data includes number of different types Information, every kind of information type represents at least one information；And, display module 404 is connected with acquisition module 402, is used for Indoor map is shown on the display of computing device, wherein indoor map includes the corresponding information of much information type.

In the present embodiment, for showing that the device of indoor map can be computer program module on the computing device, deposit Corresponding function is read by one or more processing units and performed to storage in the memorizer of one or more computing devices.Should Memorizer can be local storage, or the memorizer positioned at distal end, and the present embodiment is not limited this.

In some real examples, information type may include but be not limited to grid cell by belonging to type, grid cell At least one of room area, the corresponding semantic title of grid cell or combination in any.Alternatively, every kind of information type can use One or more in multiple values of information.Alternatively, in each raster data much information type according to predefined sequential arrangement.

For showing that the further describing for device of indoor map is referred to but be not limited to such as Fig. 3 institutes on the computing device The description of the method shown, will not be described here.

In the disclosure, there is provided a kind of method for autonomous formula equipment, as shown in figure 5, the method includes step Rapid 502 to step 504.

Step 502, stores the grating map data for describing indoor environment in the memorizer of autonomous formula equipment, Wherein, the grating map data include multiple grid cells, each grid cell one raster data of correspondence, each grid number According to comprising various different information types, every kind of information type represents at least one information.

In some examples, the information type of the raster data of grid cell include but is not limited to grid cell by class At least one of corresponding semantic title of room area, grid cell belonging to type, grid cell or combination in any.As showing Example, every kind of information type can use one or more in multiple values of information.Alternatively, much information type in each raster data Can be according to predefined sequential arrangement.

In some examples, including but not limited to being passed through by unit of grid cell, barrier, at least one limit At least one of pass through or combination in any.

Step 504, controls autonomous formula and sets according to the information that at least one of grating map data information type is represented It is standby.

In step 504, the mobile route of autonomous formula equipment is can control as an example or autonomous formula is limited sets Standby moving range controls at least one of behavioral pattern of the autonomous formula equipment or combination in any.

In the disclosure, there is provided a kind of device for autonomous formula equipment, as shown in fig. 6, the device includes：Deposit Storage module 602, for storing the grating map data for describing indoor environment in the memorizer of autonomous formula equipment, its In, grating map data include multiple grid cells, and each grid cell one raster data of correspondence, each raster data is included The information of number of different types, every kind of information type represents at least one information；And, control module 604, with memory module 602 are connected, for the information control autonomous formula equipment represented according at least one of grating map data information type.

In the present embodiment, the device can be computer program module, in being stored in one or more memorizeies, by one Or multiple processing units read and perform corresponding function.The memorizer can be local storage, or positioned at distal end Memorizer, the present embodiment do not limited this.Further describing for the device is referred to but is not limited to side as shown in Figure 6 The description of method, will not be described here.

In the disclosure, there is provided a kind of autonomous formula equipment, as shown in fig. 7, autonomous formula equipment may include：Deposit Reservoir 702, is used to describe the grating map data of indoor environment for storage, wherein, grating map data include multiple grids Unit, each grid cell one raster data of correspondence, information of each raster data comprising number of different types, every kind of information Type represents at least one information；And, at least one processing unit 704 is connected, for according to grid with memorizer 702 The information control autonomous formula equipment that at least one of map datum information type is represented.

In some examples, information type include but is not limited to grid cell by the room belonging to type, grid cell At least one of corresponding semantic title of inner region, grid cell or combination in any.

At least one processing unit 704 can be used for but be not limited to control the mobile route of autonomous formula equipment or limit At least one of the moving range of autonomous formula equipment or the behavioral pattern of control autonomous formula equipment or combination in any.

In the disclosure, there is provided a kind of indoor map sending method, as shown in figure 8, the method comprising the steps of 802 to step Rapid 804.

Step 802, generates the grating map data for describing indoor environment, wherein, grating map data include multiple Grid cell, each grid cell one raster data of correspondence, information of each raster data comprising number of different types is every kind of Information type represents at least one information.

In some examples, information type include but is not limited to grid cell by the room belonging to type, grid cell At least one of corresponding semantic title of inner region, grid cell or combination in any.Grid cell by type include but not It is limited to pass through, barrier and at least one restriction pass through.

In some examples, grating map number can be generated at autonomous formula equipment or computing device or server According to.

Step 804, sends the grating map data.

In some examples, the grating map data can be sent to server or autonomous formula equipment in step 804.

In the present embodiment, there is provided a kind of indoor map generation method.Fig. 9 is generated for a kind of indoor map of the disclosure The flow chart of method, as shown in figure 9, the method comprising the steps of 902 to step 906.

Step 902, obtains the first grid map datum, wherein the first grid map datum is according to autonomous formula equipment pin The information gathered to indoor environment is obtained.

In some examples, the first grid map datum includes multiple grid cells, and each grid cell is according to autonomous The environmental information that mobile unit is collected, is marked as passing through or barrier.In some examples, do not visit in map datum The grid of rope can be marked as not exploring.

Step 904, obtains the information of at least one type, wherein, information and the indoor environment phase of at least one type Close.

In some examples, information type may include by type, compared with correlation technique, can lead to defined in the example Cross or barrier outside by type, at least one is limited and passed through.It should be appreciated that limit by be not limited to a value or One kind, according to the requirement that restriction passes through, can there is multiple values or various.Different Limit Types can correspond to different restrictions. For example, limit by the way that the restriction of walking and the restriction of clean up task can be distinguished, if limiting the restriction by being walking, performing During clean up task, autonomous formula equipment 110 can pass through；If limited by for the restriction of clean up task, performing walking times During business, autonomous formula equipment 110 can pass through.It should be appreciated that herein by way of example only, the disclosure is not limited to this.Should Understand, those skilled in the art can be arranged as required to one or more restriction and pass through.

In some examples, information type may include the information type for representing the room area belonging to grid cell. The title of the recordable room area of the information type and/or the mark (ID) of room area.Autonomous formula equipment 110 can be with root The room area itself being located is determined according to the information type.By this way, room area can be incorporated in grating map Zoning concept, at least beneficial to the man-machine interaction experience of autonomous formula equipment 110.

In some examples, information type may include the information type for representing the semantic title of grid cell.Pass through Semantic title can associate grid cell with semantic meaning.For example, can be by the grid cell aggregated label of " bed " position " bed ", so as to increase Item Information in grating map, and according to also including bed in map in the situational map of grid Position.Or, it is " window " by the grid cell aggregated label of " window " position.Again for example, can be semantic for the definition of a certain position Title, so this region can have semantic meaning.In grating map, the raster data of grid cell is included for representing language The information type of adopted title, can record semantic title in data segment.In some examples, semanteme can be recorded in the data segment The mark of title itself or semantic title, the disclosure is not limited this.

It should be appreciated that information type is illustrate only in above-mentioned example including grid cell by type, grid cell institute At least one of corresponding semantic title of the room area of category, grid cell or combination in any.But the present embodiment is not limited to this, Actually other feasible information types are also can be conceived by those skilled in the art.

Step 906, according to the information of the first grid map datum and at least one information type the second grid ground is generated Diagram data, the second grid map datum generated in it includes multiple grid cells, each grid cell one grid of correspondence Data, information of each raster data comprising number of different types, every kind of information type represents at least one information.

In some examples, much information type is arranged according to predefined procedure, and position is corresponding with information type, can be in grid Relevant position records the information of corresponding information type in the raster data of unit.As an example, the raster data of grid cell can Including tri- information types of A, B, C, data segment of each information type corresponding to predetermined length.Or can set between information type Separation separator is put, the data segment, length of each information type may be the same or different.It should be appreciated that here is only said as an example Bright, the disclosure is not limited to this.

In some examples, the raster data of grid cell includes information type mark and information value, can be according to information Type identification determines the implication of information, records corresponding information.It should be appreciated that here is illustrative only, the disclosure is not It is limited to this.Used as an example, the raster data of grid cell can be expressed as follows：{A：" value ", B：" value ", C： " value " }, wherein, A, B, C are the mark of information type, and " value " is the value of each information type.

Figure 10 is a kind of structured flowchart of indoor map dispensing device of the disclosure, and as shown in Figure 10, the device includes：It is raw Into module 1002, for generating the grating map data for describing indoor environment, wherein, grating map data include multiple grid Lattice unit, each grid cell one raster data of correspondence, information of each raster data comprising number of different types, Mei Zhongxin Breath type represents at least one information；And, sending module 1004 is connected with generation module 1002, for sending the grid Map datum.

Figure 11 is a kind of structured flowchart of indoor map generating means of the disclosure, and as shown in figure 11, the device includes：The One acquisition module 1102, for obtaining the first grid map datum, wherein the first grid map datum sets according to autonomous formula It is standby to obtain for the information that indoor environment is gathered.Second acquisition module 1104, for obtaining the information of at least one type, extremely Few a type of information is related to indoor environment.And, generation module 1106 is obtained with the first acquisition module 1102, second Module 1104 is connected, for generating the second grid according to the information of the first grid map datum and at least one information type Map datum, the second grid map datum generated in it includes multiple grid cells, each grid cell one grid of correspondence Lattice data, information of each raster data comprising number of different types, every kind of information type represents at least one information.

In the present embodiment, there is provided one kind has the indoor map of semantic description (also referred to as semantic title) for generating Method, as shown in figure 12,1202 to step that the method comprising the steps of 1206.

Step 1202, shows the indoor map for describing indoor environment on the display of computing device.

In some examples, the type of indoor map is grating map.The indoor map of display can at least include each grid Tong Guo the type of lattice unit.Wherein, Tong Guo the type of grid cell at least includes passing through and barrier, but is not limited to This.Difference can be shown by the grid cell of type using different visual elements, will be the grid that can pass through by type for example The region that lattice unit is located is shown as a kind of color, and the grid cell by type for barrier is shown as into other colors.Its He passes through the grid cell of type by that analogy.

In some examples, grating map data include multiple grid cells, each grid cell one grid number of correspondence According to information of each raster data comprising number of different types, every kind of information type represents at least one information.In computing device Display on show information include the corresponding part or all of information of multiple information types.For example, can be according to indoor map Display pattern show corresponding information, also can display portion or full detail, the disclosure do not limited this.

For example, indoor map may include multiple display patterns, and different pattern correspondences shows the information of different information types, Or, different pattern adopts different visual elements, but not limited to this for the information of identical information type.Each pattern One or more information can be shown.In some examples, the letter that indoor map is included can be shown according to the selection to display pattern Breath.

In some examples, grating map data are can read, the coordinate system informations in grating map data are set up and sat Mark system, determines the position of each grid cell.For example, grating map data may include origin, length and the width and grid of map Unit, grid cell one raster data of correspondence.In some examples, the grid cell in grating map constitutes array, array In each element be the corresponding raster data of grid cell.

The raster data of each grid cell is read, the much information that grid cell is included is obtained, with computing device At least part of information in much information is shown on display.

By taking the indoor environment shown in Figure 13 as an example, the display effect of indoor map is described.Figure 14 is the disclosure The schematic diagram of indoor map display effect, as shown in figure 14, wherein, black portions are barrier, and white portion is to pass through.

Indoor map is shown as interactive visual figure, the position of interactive visual figure and the grid list of indoor map Unit has mapping relations.User can operate for interactive visual figure to indoor map.

Step 1204, in response to selection of the user to region in indoor map, points out user input to selected region Semantic description.

As shown in figure 14, barrier has profile corresponding with homologue product in indoor environment, can by part also with it is aobvious Show the corresponding profile of environment.User can associate indoor map with indoor environment according to profile.

User can select the region in indoor map by input interface, and for example, user may be selected " bed " corresponding to interior Region in map, or " TV " is selected corresponding to the region in indoor map, or " windowsill " is selected corresponding to indoor ground Position in figure.In certain embodiments, input interface is included but is not limited to, mouse, touch-sensitive display, touch pad, keyboard etc..

In some examples, selectable region is limited for region can not be passed through.Can not be by region in grating map Article region in indoor environment, therefore user can be made to increase the semantic description of article.

In some examples, selectable region is limited for region can be passed through.In grating map can used region typically with The regions such as passageway correspondence, or it is corresponding with the article region that autonomous formula equipment can pass through, hence in so that user can increase Plus the semantic description in these regions.

In response to selection of the user to region, semantic description of the user input to selected region is pointed out.In an example In, an input frame can be shown.User is input into semantic description by input interface.

Step 1206, in response to user input, records selected region and its semantic description, obtains with semantic description Indoor map.

In response to user input, selected region and its semantic description are recorded in map datum indoors, and then by language Justice description is associated with map datum, obtains the indoor map with semantic description.

In some examples, the incidence relation of the corresponding grid cell in selected region and semantic description, root be can record According to the incidence relation, can inquire about and obtain corresponding grid cell in known semantic description；Or, can be in known grid cell When, inquiry obtains corresponding semantic description.

In some examples, grating map data may include multiple grid cells, each grid cell one grid of correspondence Data, information of each raster data comprising number of different types.Semantic description can be marked at the corresponding info class of semantic description In type.

In some examples, can in corresponding informance type labelling semantic description itself or semantic description mark.Cause This, can generative semantics description mark, the mark be used for distinguish different semantic descriptions；The mark of semantic description can be marked at In the corresponding information type of semantic description.But the disclosure is not limited to this.

In some examples, can also be according at least one of the profile in selected region, area, position or combination in any The suggestion of the semantic description for selected region is provided.For example, can be remembered in the data base according to the data base for pre-setting Record has room area, the profile of indoor article, area, position etc., the corresponding article in selected region or region etc., obtains language Justice description suggestion.

In the present embodiment, there is provided one kind has the indoor map of semantic description (also referred to as semantic title) for generating Method, as shown in figure 15,1502 to step that the method comprising the steps of 1506.

Step 1502, obtains the indoor map for describing indoor environment, and the wherein type of the indoor map is grid ground Figure.

In some examples, indoor map can at least including Tong Guo the type of each grid cell.Wherein, grid cell Tong Guo type at least include passing through and barrier, but not limited to this.

Step 1504, multiple regions are divided into according to indoor environment data base by indoor map, and produce multiple regions In at least part of region semantic description, wherein, the plurality of region is corresponding with indoor article position.

In some examples, the profile of the information including the interior space for recording in indoor environment data base, indoor article At least one of profile, the size of indoor article, indoor article position indoors in space or combination in any and indoor thing The semantic description of product.

In some examples, indoor environment data-base recording has the image of multiple indoor environments.

Step 1506, records each region and its corresponding semantic description, obtains the semantic description with indoor article Indoor map.

In some examples, the incidence relation of the corresponding grid cell in selected region and semantic description, root be can record According to the incidence relation, can inquire about and obtain corresponding grid cell in known semantic description；Or, can be in known grid cell When, inquiry obtains corresponding semantic description.

In some examples, grating map data may include multiple grid cells, each grid cell one grid of correspondence Data, information of each raster data comprising number of different types.Semantic description can be marked at the corresponding info class of semantic description In type.

In some examples, can in corresponding informance type labelling semantic description itself or semantic description mark.Cause This, can generative semantics description mark, the mark be used for distinguish different semantic descriptions；The mark of semantic description can be marked at In the corresponding information type of semantic description.But the disclosure is not limited to this.

In the present embodiment, there is provided a kind of device for generating the indoor map with semantic description, such as Figure 16 institutes Show, the device includes：Display module 1602, for showing the interior for describing indoor environment on the display of computing device Map；Reminding module 1604, for the selection in response to user to region in indoor map, points out user input to selected The semantic description in region；And, logging modle 1606, in response to user input, records selected region and its semantic description.

In some examples, the type of indoor map is grating map, but not limited to this.

The description for further describing the method that can be found in as shown in figure 14 of the device, will not be described here.

In the present embodiment, a kind of device for generating the indoor map with semantic description, such as Figure 17 are additionally provided Shown, the device includes：Acquisition module 1702, is used to describe the indoor map of indoor environment for acquisition, wherein interior ground The type of figure is grating map；Analysis module 1704, for indoor map to be divided into into multiple areas according to indoor environment data base Domain, and produce in multiple regions at least partly semantic description in region, wherein, multiple regions and indoor article position pair Should；And, logging modle 1706, for recording each region and its corresponding semantic description, obtains the language with indoor article The indoor map of justice description.

In some examples, the profile of the information including the interior space for recording in indoor environment data base, indoor article At least one of profile, the size of indoor article, indoor article position indoors in space or combination in any and indoor thing The semantic description of product.

In some examples, indoor environment data-base recording has the image of multiple indoor environments.Can be by the figure of indoor environment As carrying out the matching analysis with grating map, to obtain region of the indoor article in grating map.

The description for further describing the method that can be found in as shown in figure 15 of the device, will not be described here.

In the present embodiment, a kind of method for editing indoor map is additionally provided, as shown in figure 18, the method includes Step 1802 is to step 1804.

Step 1802, shows the indoor map for describing indoor environment, wherein the indoor map be grating map, the grid Lattice map include multiple grid cells, each grid cell by type include at least two.

In some examples, the type of indoor map is grating map.The indoor map of display can at least include each grid Tong Guo the type of lattice unit.Wherein, grid cell can may include to pass through by type, during barrier, restriction pass through At least two, but not limited to this.Difference can be shown using different visual elements by the grid cell of type, for example, will be led to Cross the region that type is that the grid cell that can pass through is located and be shown as a kind of color, grid cell of the type for barrier will be passed through It is shown as other colors.Other pass through the grid cell of type by that analogy.

Step 1804, in response to user is to the selection in the region by type to be edited in indoor map and to edit The corresponding grid cell in selected region can be adjusted to the target to be edited into by the target for arriving by type by type By type, wherein, the target is that grid cell currently passes through type by the one kind outside type by type.

In some examples, target by type be other one or more outside above-mentioned at least two by type it One.

For example, a part is selected to be the grid cell that can pass through by type, it is barrier to be compiled as by type Grid cell.By the example, can allow users to correct the error that autonomous formula equipment is set up in map, the error It is to pass through possibly by the position mark that script is barrier, autonomous formula equipment can be avoided unnecessary in movement Collision.In addition, in correlation technique, after setting up map, if indoor newly-increased barrier (article etc.), needs autonomous formula to set Standby detecting could update after barrier map datum.By the example so that barrier can be added to map number by user According in.

For example, select a part to be the grid cell of barrier by type, be compiled as by type to pass through Grid cell.By the example, can allow users to correct the error that autonomous formula equipment is set up in map, the error Possibly by script be the position mark that can pass through be barrier, can avoid to autonomous formula equipment moving range need not Limit.In addition, in correlation technique, after setting up map, if indoor section barrier (article etc.) disappears, needing autonomous shifting Dynamic formula equipment is detected after barrier disappears could update map datum.By the example so that user can by barrier from Remove in map datum.

For example, select a part to be the grid cell that can pass through by type, be compiled as logical to limit by type The grid cell crossed.By the example, the moving range of autonomous formula equipment can be limited by map.As it was previously stated, limiting By being not limited to a value, according to the requirement that restriction passes through, there can be multiple values.Different values can correspond to different Limit.For example, limit by the way that the restriction of walking and the restriction of clean up task can be distinguished, if limiting the restriction by being walking, When clean up task is performed, autonomous formula equipment can pass through；If limited by for the restriction of clean up task, performing walking During task, autonomous formula equipment can pass through.It should be appreciated that herein by way of example only, the disclosure is not limited to this.Should manage Solution, those skilled in the art can be arranged as required to one or more restriction and pass through.

In some examples, each grid cell one raster data of correspondence, each raster data includes various inhomogeneities The information of type, every kind of information type represents at least one information.Can be by the grid number of the corresponding grid cell in selected region The target to be edited into is adjusted to by type by the corresponding information type of type according in.

In embodiment, a kind of method for limiting autonomous formula equipment moving range is additionally provided, such as Figure 19 institutes Show, 1902 to step that the method comprising the steps of 1904.

Step 1902, shows the indoor map for describing indoor environment, wherein, the indoor map be grating map, grid Lattice map includes multiple grid cells, and each grid cell is to pass through or barrier by type.

Step 1904, in response on user indoors map to limit moving area selection, by selected region pair The grid cell answered is labeled as restriction and passes through, and obtains comprising can pass through, the grid list that barrier and at least one restriction pass through The indoor map of unit.

User can be by input interface selectional restriction moving area, and in certain embodiments, input interface includes but do not limit In mouse, touch-sensitive display, touch pad, keyboard etc..

As it was previously stated, limiting by being not limited to a value, according to the requirement that restriction passes through, there can be multiple values. Different values can correspond to different restrictions.For example, limit by the way that the restriction of walking and the restriction of clean up task can be distinguished, if Limit by the restriction to walk, when clean up task is performed, autonomous formula equipment can pass through；If limited by clean The restriction of task, when walking task is performed, autonomous formula equipment can pass through.It should be appreciated that herein by way of example only, this It is open to be not limited to this.It should be appreciated that those skilled in the art, can be arranged as required to one or more restriction and pass through.

In some examples, shown in indoor map with different visual cues can pass through, barrier and at least one The grid cell that restriction passes through, but not limited to this.

In some examples, can selected region be restricted to by type be area that the grid cell that can pass through is located Domain.

In some examples, each grid cell one raster data of correspondence, each raster data includes various inhomogeneities The information of type, every kind of information type represents at least one information.Can be by the grid number of the corresponding grid cell in selected region Restriction is adjusted to according in by the corresponding information type of type to pass through.

In some examples, may also be responsive to, in for the selection to the effect duration in selected region, record selected area The restriction movement effect duration in domain.

In the present embodiment, a kind of device for editing indoor map, as shown in figure 20, the device bag are additionally provided Include：Display module 2002, for showing the indoor map for describing indoor environment, wherein the indoor map is grid ground Figure, the grating map include multiple grid cells, each grid cell by type include at least two.Editor module 2004, in response to user to the selection in the region by type to be edited in indoor map and the target to be edited into By type, the corresponding grid cell in selected region can be adjusted to into the target to be edited into by class by type Type, wherein, target is that grid cell currently passes through type by the one kind outside type by type.

With regard to the description for further describing the method that can be found in as shown in figure 18 of the device, will not be described here.

In the present embodiment, a kind of device for limiting autonomous formula equipment moving range, such as Figure 21 are additionally provided Shown, the device includes：Display module 2102, is used to describe the indoor map of indoor environment for display, wherein interior ground Figure is grating map, and grating map includes multiple grid cells, and each grid cell is to pass through or barrier by type； And, mark module 2104, in response on user indoors map to limit moving area selection, by selected area The corresponding grid cell in domain is labeled as restriction and passes through, and obtains comprising can pass through, grid cell that barrier and restriction pass through Indoor map.

In some examples, the device may also include logging modle (not shown in Figure 21), in response to for institute The selection of the effect duration of selection region, records the restriction movement effect duration in selected region.

The description that can be found in the method as shown in Figure 18 and 19 is further described with regard to the device, be will not be described here.

In the present embodiment, there is provided a kind of method for controlling autonomous formula robot, as shown in figure 22, the party Method includes step 2202 to step 2204.

Step 2202, obtains the indoor map for describing indoor environment, wherein, the indoor map is grating map, Wherein, the grating map includes multiple grid cells, and each grid cell is one kind at least three kinds by type.

In some examples, lattice types at least include passing through, barrier and at least one limit logical by type Cross.As it was previously stated, limiting by being not limited to one kind, according to the requirement that restriction passes through, there can be various restrictions to pass through.Different Limit by the way that different restrictions can be corresponded to.For example, limit by the way that the restriction of walking and the restriction of clean up task can be distinguished, if limit By the restriction to walk, when clean up task is performed, autonomous formula equipment can pass through system；If limited by appointing for cleaning The restriction of business, when walking task is performed, autonomous formula equipment can pass through.It should be appreciated that herein by way of example only, this public affairs Open and be not limited to this.It should be appreciated that those skilled in the art, can be arranged as required to one or more restriction and pass through.

Step 2204, according in indoor map at least part of grid cell by Type Control autonomous formula equipment It is mobile.

In some examples, the different shift strategies different by type correspondence.Used as an example, shift strategy can Include whether position that grid cell is located or by when collision rule etc., collision rule may include whether collision, Yi Jizhi Few a kind of collision method etc..In some examples, shift strategy can also be related to mobile purpose, during different mobile purpose, adopts With different shift strategies.Can be according to the movement that mobile unit is controlled by the corresponding shift strategy of type of grid cell. For example, include passing through by type, barrier and at least one restriction pass through.For walking task, can pass through and limit and be logical The grid cell crossed can be used to plan mobile route；Or, for clean up task, the grid cell that barrier and restriction pass through It is not used to plan mobile route.But not limited to this.

In the present embodiment, a kind of device for controlling autonomous formula robot is additionally provided, as shown in figure 23, should Device includes：Acquisition module 2302, for obtaining the indoor map for describing indoor environment, wherein, indoor map is grid Map, wherein, grating map includes multiple grid cells, and each grid cell is one kind at least three kinds by type； And, control module 2304 is connected with acquisition module 2302, for being passed through according at least part of grid cell in indoor map The movement of autonomous formula equipment described in Type Control.In some examples, grid cell is included but is not limited to by type At least one of or combination in any：Can pass through, barrier and at least one restriction pass through.

With regard to the description for further describing the method that can be found in as shown in figure 22 of the device, will not be described here.

In the present embodiment, also a kind of indoor map generation method, as shown in figure 24,2402 to step that the method comprising the steps of Rapid 2406.

Step 2402, shows the indoor map for describing indoor environment, wherein, the type of the indoor map is grid ground Figure.

In some examples, with reference to Fig. 3, the grating map data for describing indoor environment can be obtained, in some examples In, the grating map data include multiple grid cells, each grid cell one raster data of correspondence, each raster data bag Information containing number of different types, every kind of information type represents at least one information.

In some examples, the information type of the raster data of grid cell include but is not limited to grid cell by class At least one of corresponding semantic title of type, grid cell or combination in any.As an example, every kind of information type can use multiple letters One or more in breath value.

In some examples, the information of display includes the corresponding part or all of information of multiple information types.For example, can root Show corresponding information according to the display pattern of indoor map, can also directly display part or all of information, the present embodiment to this not Limit.

Step 2404, indoor environment is divided into the map partitioning operation of multiple room areas in response to user, according to this Indoor map is divided into multiple room areas by map partitioning operation.

User can carry out map partitioning operation by input interface, and in certain embodiments, input interface includes but do not limit In mouse, touch-sensitive display, touch pad, keyboard etc..

In some examples, can detect the contact with the indoor map for showing；If while continuous contact is detected The track of the contact meets default map partitioning condition, and indoor map is divided into into multiple room areas according to the track of contact.

In some examples, preset map partitioning condition may include but be not limited to：The track of contact and indoor environment border The track of composition closed area or contact constitutes in itself the region of the track covering of closed area or contact and meets pre-conditioned.

As an example, the curve of the track of contact is can detect, judge whether the curve constitutes closed area, if It is, can be using the closed area as a room area.Or, judge whether the curve constitutes enclosed area with indoor environment border Domain, wherein, indoor environment border may include body of wall and/or various barriers etc., if it is, can be using the closed area as one Individual room area.

As an example, the region that the track of contact covers is can detect, if the region that the track of contact covers is whether Meet pre-conditioned, wherein whether the pre-conditioned area including the region for covering is more than preset value or ratio etc., but do not limit In this.

In some examples, the track of contact is shown while continuous contact is detected.The track of contact can be with not It is same as existing visual elements in indoor map to be shown, to point out to contact the track for having been constituted.

In some examples, can be shown with different visual elements and divide the multiple room areas for obtaining, for example, with difference The different region of the figure shows of color, but not limited to this.

Step 2406, the interior in the corresponding grating map data of each room area belonging to labelling correspondence grid cell Region, obtains being marked with the grating map data of multiple room areas.

In some examples, such as the aforesaid grating map data of this enforcement, grating map data may include multiple grid lists Unit, each grid cell one raster data of correspondence, information of each raster data comprising number of different types, information type can Including the room area belonging to grid cell.Can in the corresponding information of affiliated room area of grid cell labelling grid cell Affiliated room area.

In some examples, the description information of room area can be also obtained, the description information may include the language of room area Adopted title, for example, " bedroom ", " kitchen ", " parlor " " toilet " etc..Can be by the descriptive markup of room area in grating map number According in.By the example so that there is multiple room areas, and the semantic meaning with room area in grating map, have Beneficial to the interactive experience of optimization autonomous formula equipment.

In some examples, the room area mark of room area can be generated, by the room area mark mark of room area Note is indoors in the raster data of the corresponding grid cell in region.

In some examples, the description information of room area can be obtained, and sets up room area mark and description information Incidence relation.By the example, room area can be associated with the description information of room area.

In the present embodiment, there is provided a kind of indoor map generating means, as shown in figure 25, the device includes：Show mould Block 2502, for showing the indoor map for describing indoor environment, wherein, the type of indoor map is grating map.Divide Module 2504, for indoor environment to be divided into the map partitioning operation of multiple room areas in response to user, draws according to map Divide operation that indoor map is divided into into multiple room areas.And, mark module 2506 is connected with division module 2504, is used for Room area in the corresponding grating map data of each room area belonging to labelling correspondence grid cell, obtains being marked with many The grating map data of individual room area.

In some examples, mark module 2506 can generate the room area mark of each room area, and each is indoor The room area in region is marked in the raster data of the corresponding grid cell of room area.

In some examples, grating map data include multiple grid cells, each grid cell one grid number of correspondence According to the information of, each raster data comprising number of different types, information type is at least including but not limited to by type and affiliated Room area.Mark module 2506 can be used for the labelling grid cell institute in the corresponding information of affiliated room area of grid cell The room area of category.

In some examples, the device can also include acquisition module (not shown in Figure 25), for obtaining room area Description information；And relating module (not shown in Figure 25), associate with description information for setting up room area and identifying System.

In some examples, the detectable contact with indoor map of division module 2504；And, detecting continuous contact If while contact track meet default map partitioning condition, indoor map is divided into by multiple rooms according to the track of contact Inner region.

Property explanation as an example, above-mentioned default map partitioning condition includes：The track of contact is constituted with indoor environment border The track of closed area or the contact constitutes in itself closed area or the region that covered of track of contact and meets default bar Part, but not limited to this.

In some examples, display module 2502 can also show the track of contact while continuous contact is detected.

Other descriptions with regard to the device can be found in the description of method as shown in figure 24, will not be described here.

In the present embodiment, a kind of indoor map generation method is additionally provided, as shown in figure 26, the method comprising the steps of 2602 to step 2606.

Step 2602, shows the indoor map for describing indoor environment.

In some examples, indoor map is grating map.With reference to Fig. 3, the grid for describing indoor environment can be obtained Map datum, in some examples, the grating map data may include multiple grid cells, each grid cell one grid of correspondence Lattice data, information of each raster data comprising number of different types, every kind of information type represents at least one information.

In some examples, the information type of the raster data of grid cell include but is not limited to grid cell by class At least one of corresponding semantic title of type, grid cell or combination in any.As an example, every kind of information type can use multiple letters One or more in breath value.

In some examples, the information of display includes the corresponding part or all of information of multiple information types.For example, can root Show corresponding information according to the display pattern of indoor map, can also directly display part or all of information, the present embodiment to this not Limit.

Step 2604, indoor environment is divided into the map partitioning operation of multiple room areas in response to user, according to ground Indoor map is divided into multiple room areas by figure division operation.

User can carry out map partitioning operation by input interface, and in certain embodiments, input interface includes but do not limit In mouse, touch-sensitive display, touch pad, keyboard etc..

In some examples, can detect the contact with the indoor map for showing；If while continuous contact is detected The track of the contact meets default map partitioning condition, and indoor map is divided into into multiple room areas according to the track of contact.

In some examples, preset map partitioning condition may include but be not limited to：The track of contact and indoor environment border The track of composition closed area or contact constitutes in itself the region of the track covering of closed area or contact and meets pre-conditioned.

As an example, the curve of the track of contact is can detect, judge whether the curve constitutes closed area, if It is, can be using the closed area as a room area.Or, judge whether the curve constitutes enclosed area with indoor environment border Domain, wherein, indoor environment border may include body of wall and/or various barriers etc., if it is, can be using the closed area as one Individual room area.

As an example, the region that the track of contact covers is can detect, if the region that the track of contact covers is whether Meet pre-conditioned, wherein whether the pre-conditioned area including the region for covering is more than preset value or ratio etc., but do not limit In this.

In some examples, the track of contact is shown while continuous contact is detected.The track of contact can be with not It is same as existing visual elements in indoor map to be shown, to point out to contact the track for having been constituted.

In some examples, can be shown with different visual elements and divide the multiple room areas for obtaining, for example, with difference The different region of the figure shows of color, but not limited to this.

Step 2606, generates and records the boundary information of multiple room areas.Autonomous formula equipment can be believed according to border Breath judges that whether indoors its position in region, can also determine the corresponding grid cell of room area according to boundary information.

In some examples, boundary information is or a prescription journey for describing room area border.

In some examples, the description information of room area can be also obtained, description information and the interior of room area is set up The incidence relation of the boundary information in region.

In the present embodiment, there is provided a kind of indoor map generating means, as shown in figure 27, the device includes：Show mould Block 2702, for showing the indoor map for describing indoor environment；Division module 2704, in response to user by indoor ring Border is divided into the map partitioning operation of multiple room areas, and indoor map is divided into into multiple indoor areas according to map partitioning operation Domain；And, logging modle 2706 is connected with division module 2704, for generating and records the side of the plurality of room area Boundary's information.

In some examples, the device may also include：Acquisition module (not shown in Figure 27), for obtaining room area Description information.Module (not shown in Figure 27) is set up, the border of description information and room area for setting up room area is believed The incidence relation of breath.

In some examples, boundary information is or a prescription journey for describing room area border.

In the present embodiment, a kind of method for controlling autonomous formula equipment, as shown in figure 28, the party are additionally provided Method includes step 2802 to step 2804.

Step 2802, obtains the indoor map for describing indoor environment, and multiple room areas in indoor map Boundary information.Alternatively, the type of indoor map is grating map.

Whether step 2804, judge autonomous formula equipment in a room area according to boundary information.

In some examples, boundary information is or a prescription journey for describing room area border.

In the present embodiment, a kind of device for controlling autonomous formula equipment, as shown in figure 29, the dress are additionally provided Put including：Acquisition module 2902, for obtaining the indoor map for describing indoor environment, and multiple interiors in indoor map The boundary information in region；And, judge module 2904 is connected with acquisition module 2902, for being judged certainly according to boundary information Whether main mobile unit is in a room area.

In some examples, boundary information is or a prescription journey for describing room area border.

In the present embodiment, there is provided a kind of method for controlling autonomous formula equipment, as shown in figure 30, the method Including step 3002 to step 3004.

Step 3002, obtains the grating map data for describing indoor environment, wherein, grating map data include multiple Grid cell, each grid cell one raster data of correspondence, information of each raster data comprising number of different types is every kind of Information type represents at least one information.

In some examples, in the raster data of grid cell, information type is included but is not limited to：Grid cell passes through At least one of corresponding semantic title of room area, grid cell belonging to type, grid cell or combination in any.It is optional Ground, grid cell may include to pass through by type, barrier or at least one restriction pass through.The corresponding language of grid cell Adopted title, including the title of indoor article etc..

Step 3004, according to the letter of at least part of type of at least part of grid cell in the grating map data for getting Breath control autonomous formula equipment.

In some examples, step 3004 can according in grating map data grid cell by Type Control control from The movement of main mobile unit, wherein, different can correspond to different shift strategies by type.Alternatively, shift strategy bag Include collision rule and/or shift strategy related to mobile purpose, wherein, difference is by the different collision rule of the grid correspondence of type Then.

As an example, shift strategy may include whether grid cell be located position or by when collision rule Collision and at least one collision method etc. are may include whether Deng, collision rule.In some examples, shift strategy can also be with Mobile purpose is related, during different mobile purpose, using different shift strategies.Can be according to grid cell by type correspondence Shift strategy control mobile unit movement.For example, by type include can pass through, barrier and restriction pass through.For Walking task, can pass through and limit the grid cell for passing through and can be used to plan mobile route；Or, for clean up task, barrier Hinder thing and limit the grid cell for passing through and be not used to plan mobile route.But not limited to this.

In some examples, as shown in figure 31, step 3004 may include step 3102 to step 3106.

Step 3102, obtains target location, wherein, target location belongs at least one of multiple room areas.

Step 3104, the room area according to belonging to grid cell in grating map data determines the target location pair The grid cell answered.

Step 3106, makes autonomous formula equipment move to the corresponding grid cell in target location.

By the example, realize control autonomous formula equipment and move to target room area.

In some examples, as shown in figure 32, step 3004 includes step 3202 to step 3206.

Step 3202, obtains moving range, wherein, the moving range belongs at least one of multiple room areas.

Step 3204 according in grating map data grid cell by type and grid cell belonging to room area, Determine the corresponding grid cell of moving range.

Step 3206, autonomous type mobile device is limited in the corresponding grid cell of the moving range.

By the example, realize and autonomous formula equipment is limited in one or more room areas.

In some examples, as shown in figure 33, step 3004 includes step 3302 to step 3306.

Step 3302, obtains target location, and wherein target location is at least one of multiple semantic titles.Semantic title bag Include title of indoor article etc., but not limited to this.

Step 3304, according to the corresponding semantic title of grid cell in grating map data, determines that target location is corresponding Grid cell.

Step 3306, makes autonomous formula equipment move to the corresponding grid cell in target location or its grid list for closing on Unit.

By the example, realize makes autonomous formula equipment move to corresponding position according to semantic title, especially When semantic title corresponds to indoor article, autonomous formula equipment can be made to move near article position.

In the present embodiment, a kind of device for controlling autonomous formula equipment, as shown in figure 34, the dress are additionally provided Put including：Acquisition module 3402, for obtaining the grating map data for describing indoor environment, wherein, grating map data Including multiple grid cells, each grid cell one raster data of correspondence, each raster data includes number of different types Information, every kind of information type represents at least one information.Control module 3404, for according in the grating map data for getting At least partly the information of at least part of type of grid cell controls autonomous formula equipment.

In some examples, information type is included but is not limited to：Grid cell by the room belonging to type, grid cell At least one of corresponding semantic title of inner region, grid cell or combination in any.Alternatively, grid cell can by type Including can pass through, barrier or at least one restriction pass through.The corresponding semantic title of grid cell, including the name of indoor article Claim etc..

In some examples, control module 3404 can be used for according in grating map data grid cell by type control The movement of the system control autonomous formula equipment, wherein, the different shift strategies different by type correspondence.Alternatively, Shift strategy includes that collision rule and/or shift strategy are related to task objective, wherein, difference is corresponding not by the grid of type Same collision rule.

In some examples, control module 3404 can be used to obtain target location, wherein, target location belongs to multiple interiors At least one of region；Room area according to belonging to grid cell in grating map data, determines the corresponding grid in target location Lattice unit；And, make autonomous formula equipment move to the corresponding grid cell in target location.

In some examples, control module 3404 can be used to obtain moving range, wherein, moving range belongs to multiple interiors At least one of region；According in grating map data grid cell by type and grid cell belonging to room area, Determine the corresponding grid cell of moving range；And, autonomous type mobile device is limited in into the corresponding grid cell of moving range It is interior.

In some examples, control module 3404 can be used to obtain target location, and wherein target location is multiple semantic names At least one of claim；According to the corresponding semantic title of grid cell in grating map data, the corresponding grid in target location is determined Unit；And, make autonomous formula equipment move to the corresponding grid cell in target location or its grid cell for closing on.

In the present embodiment, there is provided a kind of method that use computing device controls autonomous formula equipment, such as Figure 35 institutes Show, 3502 to step that the method comprising the steps of 3504.

Step 3502, at computing device, shows the indoor map for describing indoor environment.

The grating map data of the indoor map may include multiple grid cells, each grid cell one grid number of correspondence According to each raster data includes polytype information, and information type includes：Grid cell by type and grid institute The corresponding semantic title of room area and/or grid cell of category.

In some examples, grid cell may include to pass through, barrier or at least one limits logical by type Cross.The corresponding semantic title of grid cell, including the title of indoor article etc..But not limited to this.

Step 3504, in response to selection of the user to room area and/or semantic title, sends to autonomous formula equipment The corresponding room area mark of room area and/or the corresponding semantic name identification of indoor article.

As an example, the selection to task in user is may also be responsive to, sending to autonomous formula equipment to be performed Task so that autonomous formula equipment perform in selected room area and/or the corresponding position of semantic title it is selected Task.Wherein, task is included but is not limited to：A certain region or position are moved to, or to entering around a certain region or position Row covering etc..

In the present embodiment, there is provided a kind of method that use computing device controls autonomous formula equipment, such as Figure 36 institutes Show, 3602 to step that the method comprising the steps of 3606.

Step 3602, at autonomous formula equipment, receives the corresponding room area of room area that computing device sends Mark and/or the corresponding semantic name identification of indoor article.

Step 3604, inquires about room area mark and/or the corresponding grid of semantic name identification in grating map data Unit.

The grating map data of the indoor map include multiple grid cells, each grid cell one grid number of correspondence According to each raster data includes polytype information, and information type includes：Grid cell by type and grid institute The corresponding semantic title of room area and/or grid cell of category.

In some examples, grid cell may include to pass through, barrier or at least one limits logical by type Cross.The corresponding semantic title of grid cell, including the title of indoor article etc..But not limited to this.

Step 3606, controls autonomous formula equipment and is directed to the grid cell generation action for inquiring.

As an example, the task of computing device transmission can be also received, according to the task control autonomous formula equipment Grid cell for inquiring produces corresponding actions.

In the present embodiment, there is provided a kind of method of control autonomous formula equipment, as shown in figure 37, the method includes Step 3702 is to step 3706.

Step 3702, obtains voice control command, wherein, voice control command carries room area and/or semantic name Claim.

Step 3704, according to room area and/or semantic title corresponding grid cell is inquired about in grating map data.

The grating map data include multiple grid cells, each grid cell one raster data of correspondence, each grid Packet contains polytype information, and information type includes：Grid cell by the room area belonging to type and grid And/or the corresponding semantic title of grid cell.

In some examples, grid cell may include to pass through, barrier or at least one limits logical by type Cross.The corresponding semantic title of grid cell, including the title of indoor article etc..But not limited to this.

In some examples, can be according to room area and first incidence relation and/or semantic title of room area mark With the second incidence relation of semantic name identification, the corresponding room area mark of room area and/or semantic title correspondence are determined Semantic name identification.And room area pair is determined according to the room area mark of labelling in the raster data of each grid cell The grid cell answered, and/or semantic title is determined according to the semantic name identification of labelling in the raster data of each grid cell Corresponding grid cell.

Step 3706, produces grid cell of the autonomous formula equipment for inquiring dynamic according to voice control command Make.

In some examples, also carry in task, step 3706 in voice control command, can be ordered according to Voice command Task in order makes grid cell of the autonomous formula equipment for inquiring produce corresponding actions.

In the present embodiment, there is provided a kind of computing device, as shown in figure 38, the computing device includes：Display module 3802, for showing the indoor map for describing indoor environment.Module 3804 is provided, is connected with display module 3802, use In the selection in response to user to room area and/or semantic title, room area is sent to autonomous formula equipment corresponding Room area is identified and/or the corresponding semantic name identification of indoor article.

In some examples, the grating map data of indoor map include multiple grid cells, each grid cell correspondence One raster data, each raster data includes polytype information, and information type includes：Grid cell by type, And the corresponding semantic title of room area and/or grid cell belonging to grid.

Used as an example, grid cell may include to pass through, barrier or at least one limits logical by type Cross.The corresponding semantic title of grid cell, including the title of indoor article etc..But not limited to this.

In the present embodiment, there is provided a kind of autonomous formula equipment, as shown in figure 39, the autonomous formula equipment can be wrapped Include：Receiver module 3902, the corresponding room area mark of the room area for receiving computing device transmission and/or indoor article Corresponding semantic name identification.Enquiry module 3904, is connected with receiver module 3902, for inquiring about in grating map data Room area is identified and/or the corresponding grid cell of semantic name identification.Control module 3906, is connected with enquiry module 3904 Connect, for controlling autonomous formula equipment the grid cell generation action for inquiring is directed to.

In some examples, as it was previously stated, the grating map data of indoor map may include multiple grid cells, each grid Lattice unit one raster data of correspondence, each raster data includes polytype information, and information type includes：Grid cell By the corresponding semantic title of room area and/or grid cell belonging to type and grid.

Used as an example, grid cell may include to pass through, barrier or at least one limits logical by type Cross.The corresponding semantic title of grid cell, including the title of indoor article etc..But not limited to this.

In the present embodiment, a kind of autonomous formula equipment is additionally provided, as shown in figure 40, the autonomous formula equipment bag Include：Acquisition module 4002, for obtaining voice control command, wherein, the voice control command carries room area and/or language Adopted title.Enquiry module 4004, is connected with acquisition module 4002, for according to room area and/or semantic title in grid Corresponding grid cell is inquired about in map datum.Control module 4006, is connected with enquiry module 4004, for according to voice control System order makes autonomous formula equipment be directed to the grid cell generation action for inquiring.

In some examples, grating map data include multiple grid cells, each grid cell one grid number of correspondence According to each raster data includes polytype information, and information type includes：Grid cell by type and grid institute The corresponding semantic title of room area and/or grid cell of category.

Used as an example, grid cell may include to pass through, barrier or at least one limits logical by type Cross.The corresponding semantic title of grid cell, including the title of indoor article etc..But not limited to this.

In some examples, enquiry module 4004 may include the first query unit (not shown in Figure 40), for according to room Inner region and first incidence relation and/or semantic title of room area mark and the second incidence relation of semantic name identification, Determine the corresponding room area mark of room area and/or the corresponding semantic name identification of semantic title；And, the second cargo tracer First (not shown in Figure 40), is connected, for labelling in the raster data according to each grid cell with the first enquiry module Room area mark determines the corresponding grid cell of room area, and/or according to labelling in the raster data of each grid cell Semantic name identification determine the corresponding grid cell of semantic title.

Example one

In this example, flow chart of the user by user terminal editor's indoor map is shown, it is as shown in figure 41, indoor The generation method of map includes step 4101 to step 4109.

Step 4101, autonomous formula equipment explores indoor environment, generates the indoor map for describing indoor environment.

As it was previously stated, autonomous formula equipment can adopt SLAM technologies, Active searching is carried out to indoor environment, and according to adopting The environmental information for collecting sets up indoor map.In this example, to set up grating map as a example by illustrate.

Step 4102, autonomous formula device-to-server sends the indoor map for generating.

Step 4103, server to user terminal sends indoor map.

Wherein, step 4102 and step 4103 are optional step, and in some examples, autonomous formula equipment can be to user Terminal sends indoor map.

Step 4104, user terminal displays indoor map.

Step 4105, user terminal responds editor of the user to indoor map.

In step 4105, user may include but be not limited to the editor of indoor map, right in method as shown in figure 12 Room area selects and carries out semantic description, so as to obtain the semantic title of such as indoor article or indoor location；Such as Figure 18 or To the editor by type of grid cell in indoor map in method shown in 19, for example, the grid list of type will can be passed through Unit is compiled as limiting and passes through or barrier, will limit by being compiled as passing through or barrier, and barrier is compiled as to pass through Or restriction passes through；Indoor map is divided into into multiple room areas in method as shown in Figure 24 or 26.

Step 4106, editor of the user terminal according to user to indoor map, generation includes the indoor ground of content of edit Figure.

Wherein, the corresponding map datum of indoor map of content of edit is included as it was previously stated, will not be described here.

Step 4107, user terminal sends the indoor map for including content of edit to server.

Step 4108, server sends the indoor map for including content of edit to autonomous formula equipment.

Wherein, step 4107 and step 4108 are optional step, and in some examples, user terminal can be to autonomous formula Equipment sends the indoor map for including content of edit.

Step 4109, autonomous formula equipment receives and stores the indoor map that includes content of edit.

In some examples, autonomous formula equipment can editor of the relative users to indoor map, according to user to interior The editor of map, generation includes the indoor map of content of edit.

Example two

In this example, the process of user and autonomous formula equipment interactive voice is shown, as shown in figure 42, voice is handed over Mutually include step 4201 to 4204.

Step 4201, the phonetic entry of receive user.

Step 4202, recognizes the phonetic entry for receiving, and obtains the corresponding text of phonetic entry.

In step 4202, in some examples, autonomous formula equipment has speech recognition component, and autonomous formula sets It is standby to carry out speech recognition to phonetic entry.In some examples, phonetic entry can be sent to one by autonomous formula equipment Or multiple servers, one or more servers have speech recognition component, by one or more servers to phonetic entry Speech recognition is carried out, obtains the corresponding text of phonetic entry, and the corresponding text of phonetic entry is sent to into autonomous formula setting It is standby.

Step 4203, semantic analysis are carried out to text, extract the mission bit stream and/or positional information included in text.

Step 4204, using indoor map, according to mission bit stream and/or positional information control autonomous formula equipment.

As it was previously stated, according to mission bit stream and/or positional information control autonomous formula equipment in step 4204, it may include But it is not limited to, the autonomous formula equipment that makes as shown in figure 31 moves to certain room area；As shown in figure 32 will independently move The moving range of dynamic formula equipment is limited at least one room area；The autonomous formula equipment that makes as shown in figure 33 is moved to Certain article is nearby or the other positions with semantic title.

Example three

In this example, show that user controls the process of autonomous formula equipment by user terminal, as shown in figure 43, The process includes step 4301 to step 4306.

Step 4301, user terminal shows over the display indoor map.

In step 4301, indoor map may include polytype information, can grid cell by type, wherein not Can be shown using different visual elements with the grid cell for passing through type.Grid cell may include to pass through by type, Barrier, at least one restriction one of pass through or combination in any.

Indoor map may also include multiple room areas, wherein different room areas is shown by different visual elements, The color of such as different room areas is different.

Indoor map may also include semantic title, and semantic title is displayed at the region of its corresponding position, and language The corresponding position of adopted title can be indicated with visual elements.

Step 4302, user terminal response user passes through control of the indoor map to autonomous formula equipment.

In step 4302, room area is may specify, make autonomous formula equipment move to selected room area, or Autonomous formula equipment is set to perform task in selected room area.

In step 4302, the corresponding position of semantic title is may specify, make autonomous formula equipment move to semantic title Corresponding position, or make autonomous formula equipment that task is performed near the position selected or its.

Step 4303, user terminal produces control message according to the operation of user.

Step 4304, user terminal to autonomous formula equipment sends control message.

Step 4305, autonomous formula equipment receiving control message.

Step 4306, autonomous formula equipment is according to control message generation action.

Example four

In this example, the method for showing the operating point that autonomous formula equipment is planned using indoor map, such as Figure 44 It is shown, 4402 to step that the method comprising the steps of 4404.

Step 4402, shows the indoor map for describing indoor environment for previously generating.

At least part of information of the indoor map is independently explored in environment indoors in advance according to autonomous formula equipment Arrive.

Indoor map can adopt characteristics map, characteristics map to represent ring using relevant set feature (such as point, straight line, face) Border.Indoor map may also be employed topological map, and topology is expressed as indoor environment the topological structure with node and associated wiring Figure, wherein node represents the critical positions point (turning, door, elevator ＆ stairs etc.) in environment, while representing that the connection between node is closed System, such as corridor.Indoor map may also be employed grating map.It should be appreciated that other indoor map method for expressing are also feasible, The present embodiment is not limited this.

Step 4404, in response to the selection on user indoors map to operating point, to autonomous formula equipment institute is provided The information of the operating point of selection.

In some examples, can selected operating point include the corresponding position of predefined semantic description in indoor map Put, wherein semantic description is related to article in indoor environment and/or position.Alternatively, semantic description and its corresponding position can Obtained according to the method as shown in Figure 12 etc., but not limited to this.

Can the corresponding position of pre-recorded semantic description.In step 4402, semantic description and its correspondence can be shown Position, semantic description and/or the corresponding position of semantic description can be shown as interactive graphicss user element.Can respond to semanteme Description or the selection of the corresponding position of semantic description, by the corresponding position of semantic description operating point is set to.

In step 4404, the corresponding semantic description in operating point and/or operating point pair can be provided to autonomous formula equipment The coordinate of the position answered.The semantic description of offer can be the mark (ID) of semantic description itself, or semantic description.

In some examples, the type of indoor map is grating map, wherein, grating map includes multiple grid cells, The raster data of each grid cell includes polytype information, and every kind of information type represents at least one information.Semanteme is retouched State and record in for the information type for representing semantic description.Description with regard to grating map can be found in that the present embodiment is aforementioned to be retouched State, will not be described here.

In some real-time examples, when the operating point for selecting is multiple, can be moved to autonomous according to the order for selecting operating point Dynamic formula equipment provides the job order of multiple operating points.

In some real-time examples, may also be responsive to set path between at least part of operating point on user indoors map Put, to autonomous formula equipment the path between set operating point is provided.User can be (such as touch-sensitive aobvious by input interface Show device, touch pad, keyboard, mouse etc.) path sketched the contours on map between operating point.For example, can detect and touch-sensitive display Contact, if contact while contact track connection operating point, can using contact track as between operating point Path, alternatively can be fitted process to the track for contacting, in order to produce the path for being suitable to navigate.It should be appreciated that this Embodiment is not limited to this.

In some examples, the selection of the task in user to perform in operating point is may also be responsive to, to autonomous formula Equipment provides selected task.As an example, can selected task may include but be not limited to：Purification of air, video recording, Take pictures, voice reminder communicates (send control instruction etc.) with other equipment in indoor environment.

In some examples, may also be responsive in user to autonomous type mobile device the attitude of operating point setting, to from Main mobile unit provides attitude of the autonomous formula equipment in operating point.The attitude of autonomous formula equipment may include but not limit In：The height of autonomous formula equipment, the attitude of the limbs of autonomous formula equipment, autonomous formula device signal emitter Orientation, the direction of the display of autonomous formula equipment, the photographic head of autonomous formula equipment, mike, direction of loudspeaker etc..

For example, for the autonomous formula equipment of monitoring, multiple work for monitoring can be set in environment indoors Point, the operating point for monitoring may include but be not limited to window, basket cot, pet nest etc..Autonomous formula equipment can be set Photographic head direction, to take pictures for monitored object or recorded video etc..

For example, autonomous formula equipment can have it is infrared wait signal projector, can in indoor environment such as TV, The housed devices such as air-conditioning, water heater send control signal.The attitude of autonomous formula equipment can be set, in order to operating point pair The equipment answered sends control signal.

In some examples, also include providing the time that autonomous formula equipment performs task to autonomous formula equipment, Wherein, different operating points can arrange different times, but not limited to this.

In this example, further it is shown that a kind of device for planning autonomous formula equipment operating point, as shown in figure 45, The device includes：Display module 4502, for showing the indoor map for describing indoor environment for previously generating, wherein, room At least part of information of interior map is obtained according to autonomous exploration in the advance environment indoors of autonomous formula equipment.Planning module 4504, it is connected with display module 4502, in response to the selection on user indoors map to operating point, to autonomous Formula equipment provides the information of selected operating point.

In some examples, can selected operating point include the corresponding position of predefined semantic description in indoor map Put, wherein semantic description is related to article in indoor environment and/or position.Semantic description and its corresponding position can be according to such as figures Method shown in 12 grades is obtained, but not limited to this.

Can the corresponding position of pre-recorded semantic description.Display module 4502 can show semantic description and its corresponding Position, semantic description and/or the corresponding position of semantic description can be shown as interactive graphicss user element.Can respond and semanteme is retouched State or the corresponding position of semantic description selection, the corresponding position of semantic description is set to into operating point.

Planning module 4504 can provide the corresponding semantic description in operating point and/or operating point correspondence to autonomous formula equipment Position coordinate.The semantic description of offer can be the mark (ID) of semantic description itself, or semantic description.Independently Mobile unit can find the corresponding grid in operating point according to semantic description or the mark of semantic description in grating map data Unit.

In some examples, the type of indoor map is grating map, wherein, grating map includes multiple grid cells, The raster data of each grid cell includes polytype information, and every kind of information type represents at least one information.Semanteme is retouched State and record in for the information type for representing semantic description.Description with regard to grating map can be found in that the present embodiment is aforementioned to be retouched State, will not be described here.

In some real-time examples, when the operating point for selecting is multiple, can be moved to autonomous according to the order for selecting operating point Dynamic formula equipment provides the job order of multiple operating points.

In some real-time examples, may also be responsive to set path between at least part of operating point on user indoors map Put, to autonomous formula equipment the path between set operating point is provided.

In some examples, the selection of the task in user to perform in operating point is may also be responsive to, to autonomous formula Equipment provides selected task.As an example, can selected task may include but be not limited to：Purification of air, video recording, Take pictures, voice reminder communicates (send control instruction etc.) with other equipment in indoor environment.

In some examples, may also be responsive in user to autonomous type mobile device the attitude of operating point setting, to from Main mobile unit provides attitude of the autonomous formula equipment in operating point.

In another embodiment, a kind of software is additionally provided, the software is used to perform above-described embodiment and preferred reality Apply the technical scheme described in mode.

In another embodiment, a kind of storage medium is additionally provided, be stored with above-mentioned software in the storage medium, should Storage medium is included but is not limited to：CD, floppy disk, hard disk, scratch pad memory etc..

Obviously, those skilled in the art should be understood that each module or each step of the above-mentioned disclosure can be with general Computing device realizing, they can be concentrated on single computing device, or are distributed in multiple computing devices and are constituted Network on, alternatively, they can be realized with the executable program code of computing device, it is thus possible to they are stored Performed by computing device in the storage device, and in some cases, can be shown to perform different from order herein The step of going out or describe, or they are fabricated to respectively each integrated circuit modules, or by the multiple modules in them or Step is fabricated to single integrated circuit module to realize.So, the disclosure is not restricted to any specific hardware and software combination.

The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to, for the skill of this area For art personnel, the disclosure can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair Change, equivalent, improvement etc., should be included within the scope of the present invention.

Claims (15)

1. a kind of method for controlling autonomous formula equipment, it is characterised in that include：

The grating map data for describing indoor environment are obtained, wherein, the grating map data include multiple grid cells, Each grid cell one raster data of correspondence, information of each raster data comprising number of different types, every kind of information type Represent at least one information；And

According to the information control of at least part of type of at least part of grid cell in the grating map data for getting certainly Main mobile unit.

2. the method for claim 1, it is characterised in that described information type include grid cell by type, grid At least one of corresponding semantic title of room area, grid cell belonging to lattice unit or combination in any.

3. method as claimed in claim 2, it is characterised in that according at least part of grid in the grating map data for getting The information of at least part of type of unit controls the autonomous formula equipment, including：

According to the movement that the autonomous formula equipment is controlled by Type Control of grid cell in grating map data, its In, the different shift strategies different by type correspondence.

4. method as claimed in claim 2, it is characterised in that shift strategy includes collision rule and/or the shift strategy Associate with mobile purpose, wherein, difference is by the different collision rule of the grid correspondence of type.

5. method as claimed in claim 2, it is characterised in that according at least part of grid in the grating map data for getting The information of at least part of type of unit controls the autonomous formula equipment, including：

Target location is obtained, wherein, the target location belongs at least one of multiple room areas；

Room area according to belonging to grid cell in grating map data, determines the corresponding grid cell in the target location； And

The autonomous formula equipment is set to move to the corresponding grid cell in the target location.

6. the method as described in claim 2 or 5, it is characterised in that according in the grating map data for getting at least partly The information of at least part of type of grid cell controls the autonomous formula equipment, including：

Moving range is obtained, wherein, the moving range belongs at least one of multiple room areas；

According in grating map data grid cell by type and grid cell belonging to room area, determine the movement The corresponding grid cell of scope；And

The autonomous type mobile device is limited in the corresponding grid cell of the moving range.

7. method as claimed in claim 2, it is characterised in that according at least part of grid in the grating map data for getting The information of at least part of type of unit controls the autonomous formula equipment, including：

Target location is obtained, wherein the target location is at least one of multiple semantic titles；

According to the corresponding semantic title of grid cell in grating map data, the corresponding grid cell in the target location is determined； And

The autonomous formula equipment is set to move to the corresponding grid cell in the target location or its grid cell for closing on.

8. a kind of device for controlling autonomous formula equipment, it is characterised in that include：

Acquisition module, for obtaining the grating map data for describing indoor environment, wherein, the grating map data include Multiple grid cells, each grid cell one raster data of correspondence, information of each raster data comprising number of different types, Every kind of information type represents at least one information；And

Control module, for according to the letter of at least part of type of at least part of grid cell in the grating map data for getting The breath control autonomous formula equipment.

9. device as claimed in claim 8, it is characterised in that described information type include grid cell by type, grid At least one of corresponding semantic title of room area, grid cell belonging to lattice unit or combination in any.

10. device as claimed in claim 9, it is characterised in that the control module, for according to grid in grating map data The movement that the autonomous formula equipment is controlled by Type Control of lattice unit, wherein, different is different by type correspondence Shift strategy.

11. devices as claimed in claim 10, it is characterised in that shift strategy includes collision rule and/or the mobile plan Slightly associate with mobile purpose, wherein, difference is by the different collision rule of the grid correspondence of type.

12. devices as claimed in claim 9, it is characterised in that the control module, for obtaining target location, wherein, institute State target location and belong at least one of multiple room areas；Indoor area according to belonging to grid cell in grating map data Domain, determines the corresponding grid cell in the target location；And, make the autonomous formula equipment move to the target location Corresponding grid cell.

13. devices as described in claim 9 or 12, the control module, for obtaining moving range, wherein, the movement Scope belongs at least one of multiple room areas；According in grating map data grid cell by type and grid cell Affiliated room area, determines the corresponding grid cell of the moving range；And, the autonomous type mobile device is limited in In the corresponding grid cell of the moving range.

14. devices as claimed in claim 9, it is characterised in that the control module, for obtaining target location, wherein institute Target location is stated at least one of multiple semantic titles；According to the corresponding semantic title of grid cell in grating map data, Determine the corresponding grid cell in the target location；And, make the autonomous formula equipment move to the target location pair The grid cell answered or its grid cell for closing on.

15. devices as claimed in claim 9, it is characterised in that described that at least one of or any group are included by type Close：Can pass through, barrier and at least one restriction pass through.