CN111047642B - Method, device and storage medium for correcting environment map - Google Patents
Method, device and storage medium for correcting environment map Download PDFInfo
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- CN111047642B CN111047642B CN201811195275.XA CN201811195275A CN111047642B CN 111047642 B CN111047642 B CN 111047642B CN 201811195275 A CN201811195275 A CN 201811195275A CN 111047642 B CN111047642 B CN 111047642B
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Abstract
The embodiment of the application provides a correction method, equipment and storage medium of an environment map. In some exemplary embodiments of the present application, an environment map corresponding to a working environment where a robot is located is obtained; calculating an inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment based on a straight line contained in the environment map; and correcting the environment map according to the inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment. According to the method and the device, the environment map generated by the robot in the working process is obtained, the inclination angle of the environment map in the coordinate system established by the display interface of the terminal equipment is calculated based on the straight line in the environment map, the environment map is corrected according to the inclination angle, the cleaned house type map presented to the user is guaranteed to be positive, and the user experience is further improved.
Description
Technical Field
The present application relates to the field of artificial intelligence technologies, and in particular, to a method, an apparatus, and a storage medium for correcting an environment map.
Background
The existing floor sweeping robot has an inclination in the house pattern diagram stored after the room is cleaned, so that the user can take the inclined floor sweeping house pattern diagram.
At present, a method for solving the problem that the user side displays an inclined cleaning house type graph is not available.
Disclosure of Invention
Various aspects of the application provide a correction method, equipment and storage medium for an environment map, which are used for correcting a cleaning house type map generated by a robot before the cleaning house type map is presented to a user, and the correction effect on the cleaning house type map is good, so that the problem of inclination of the house type map displayed on user terminal equipment in the prior art is solved.
The embodiment of the application provides a correction method of an environment map, which is applicable to terminal equipment, and comprises the following steps: acquiring an environment map corresponding to a working environment where the robot is located; calculating an inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment based on a straight line contained in the environment map; and correcting the environment map according to the inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment.
The embodiment of the application also provides a terminal device, which comprises: a memory, a processor, and a communication component; the memory is used for storing a computer program; the processor is configured to execute the computer program for: receiving an environment map corresponding to the working environment of the robot through a communication assembly; calculating an inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment based on a straight line contained in the environment map; and correcting the environment map according to the inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment.
The present embodiments also provide a computer-readable storage medium storing a computer program that, when executed by one or more processors, causes the one or more processors to perform acts comprising: acquiring an environment map corresponding to a working environment where the robot is located; calculating an inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment based on a straight line contained in the environment map; and correcting the environment map according to the inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment.
According to the method and the device for correcting the environment map, the environment map generated in the working process of the robot is obtained, the inclination angle of the environment map in the coordinate system established by the display interface of the terminal device is calculated based on the straight line in the environment map, the environment map is corrected according to the inclination angle, the cleaned house type map presented to the user is guaranteed to be positive, and therefore user experience is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
Fig. 1 is a schematic structural diagram of a correction system for an environment map according to an exemplary embodiment of the present application;
FIG. 2 is a method flow chart of a method for correcting an environment map according to an exemplary embodiment of the present application;
fig. 3 is a flowchart of a method for calculating an inclination angle of an environment map in a coordinate system established by a display interface of a terminal device according to an exemplary embodiment of the present application;
FIG. 4 is a flowchart of a method for correcting an environment map according to another exemplary embodiment of the present application;
fig. 5 is a schematic structural diagram of a terminal device according to an exemplary embodiment of the present application.
Detailed Description
For the purposes, technical solutions and advantages of the present application, the technical solutions of the present application will be clearly and completely described below with reference to specific embodiments of the present application and corresponding drawings. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
When the sweeping floor type map is generated, the sweeping floor type map mainly depends on a walking track and an obstacle information map formed by the sweeping floor robot in the sweeping process, and the situation that the walking track and the obstacle information map of the robot incline is unavoidable, so that the sweeping floor type map finally presented to a user is inclined. At present, in order to solve the problems that the sweeping robot needs to perform operations such as position alignment and the like when the sweeping robot starts to sweep, the obtained robot walking track and the obstacle information graph have different degrees of inclination due to the accuracy of the sensor, and the sweeping house type graph finally presented to the user is inclined.
Aiming at the technical problem that the cleaning house type map displayed on the user side is inclined, in some exemplary embodiments of the application, an inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment is calculated by acquiring the environment map generated by the robot in the working process and taking a straight line in the environment map as a basis, and the environment map is corrected according to the inclination angle, so that the cleaning house type map presented to the user is ensured to be positive, and further the experience of the user is improved.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, the "plurality" generally includes at least two, but does not exclude the case of at least one.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a commodity or system comprising such elements.
The following describes in detail the technical solutions provided by the embodiments of the present application with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an environment map correction system according to an exemplary embodiment of the present application, as shown in fig. 1, the system 10 includes: a terminal device 10a and a robot 10b.
In this embodiment, the terminal device 10a is a computer device used by a user and having functions of computing, surfing the internet, and communicating, etc., which may be implemented in various manners, for example, a smart phone, a personal computer, a wearable device, a tablet computer, etc.
The robot 10b may have functions such as calculation, communication, and internet surfing, in addition to the basic service function. The basic service functions of the robot 10b may be different according to the application scenario. For example, the basic service function of the robot 10b for sweeping the floor in a scene such as a home, office building, or market is to sweep the floor in the scene; for the glass wiping robot 10b applied to the scenes of families, office buildings, markets and the like, the basic service function is to clean glass in the scenes; for the following robot 10b, its basic service function is to follow the target object; the basic service function for the greeting robot 10b is to welcome the customer and guide the customer to the destination.
The terminal device 10a may be communicatively connected to the robot 10b, and mainly perform various controls on the robot 10b, or view data related to the robot, for example, view a floor sweeping floor plan of the robot 10b, and the like. In this embodiment, the terminal device 10a and the robot 10b may be connected wirelessly or by wire. For example, the terminal device 10a is provided with a signal output interface, and the robot 10b is provided with a corresponding signal input interface, which are interconnected by a data transmission line such as a USB line. Or, the terminal device and the robot 10a and 10b are internally provided with an adaptive wireless communication module, such as a bluetooth module, a WIFI module, a network card, etc., so that the terminal device 10a and the robot 10b can be wirelessly connected through the wireless communication module.
The terminal device 10a in this embodiment has a man-machine interaction function, supports interaction with a user, and the user can perform various controls on the robot 10b through the terminal device 10 a. For example, the user may control the robot 10b to turn on or off through the terminal device 10a, control the robot 10b to start a task, adjust the operation mode of the robot 10b, control the temperature of the robot 10b, and so on.
In this embodiment, the terminal device 10a includes an electronic display screen, through which a user can interact with the terminal device 10 a; the terminal device 10a may display the related data stored inside the robot on its electronic display screen.
The robot 10b gets a tilted environment map due to the sensor accuracy at the start of operation, and the environment map finally presented on the electronic display screen of the terminal device 10a is tilted. In order to finally present the positive environment map on the electronic display screen of the terminal device 10a, the terminal device 10a needs to correct the inclined environment map sent by the robot 10b and then display the corrected environment map on the electronic display screen of the terminal device 10 a. The procedure of the terminal device 10a for correcting the environment map can be seen in the embodiment of the correction method of the environment map described below.
Fig. 2 is a flowchart of a method for correcting an environment map according to an exemplary embodiment of the present application, as shown in fig. 2, where the method includes:
s201: acquiring an environment map corresponding to a working environment where the robot is located;
s202: calculating an inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment based on a straight line contained in the environment map;
s203: and correcting the environment map according to the inclination angle of the environment map in a coordinate system established by the display interface of the terminal equipment.
In this embodiment, the robot draws an environment map corresponding to the working environment during the working process. The type of the robot is not limited, and the robot can be a sweeping robot, a following robot, a welcome robot and the like, and various types of robots respectively establish environment maps corresponding to working environments. The sweeping robot can acquire environmental images of living room, kitchen, toilet, horizontal area and the like in the running process in the cleaning process of households and families, and draws a cleaned house type map according to the acquired environmental images and the running track; the shopping guide robot of the mall can acquire environmental images of areas such as a pedestrian passageway, a shop and the like in the running process in the process of guiding the customer, and draw a mall environmental map according to the acquired environmental images and the running track; in the following process of the following robot, the following robot can acquire the following target and the surrounding environment images in the advancing process, and draw an environment map of the environment according to the acquired environment images and the walking track. In addition, the application does not limit the type of the environment map, and can be any type of map corresponding to the robot,
After the robot draws the environment map corresponding to the working environment, the robot sends the environment map to the terminal equipment through communication connection with the terminal equipment and displays the environment map on a display screen of the terminal equipment, so that a user can conveniently check the environment map. The communication manner between the robot and the terminal device is described in detail in the foregoing, and is not described in detail herein. In the existing robot, before the robot draws an environment map, the robot can adopt a sensor to perform position alignment operation, and due to the accuracy problem of the sensor, real alignment is difficult to achieve, the obtained environment map is inclined to different degrees, and finally the environment map displayed on an electronic screen on a terminal device is inclined. Therefore, it is necessary to correct the environment map before it is displayed on the electronic screen of the terminal device to present the environment map at an appropriate angle to the user.
After an environment map corresponding to the working environment where the robot is located is acquired, the inclination angle of the environment map to be corrected needs to be calculated. The application provides an exemplary embodiment, and calculates an inclination angle of an environment map in a coordinate system established by a display interface of a terminal device based on a straight line contained in the environment map. The coordinate system established by the display interface of the terminal equipment can be the coordinate system established by the terminal equipment or the coordinate system established by the APP on the terminal equipment.
Fig. 3 is a flowchart of a method for calculating an inclination angle of an environment map in a coordinate system established by a display interface of a terminal device according to an exemplary embodiment of the present application, as shown in fig. 3, where the method includes:
s301: removing the walking track of the robot from the environment map;
s302: identifying a straight line from the lines left after the walking track of the robot is removed;
s303: calculating the inclination angle of at least one straight line contained in the environment map based on a coordinate system established by a display interface of the terminal equipment;
s304: selecting an inclination angle interval from a preset plurality of angle subintervals according to the inclination angle of at least one straight line and the length of at least one straight line;
s305: the tilt angle of the environment map in the coordinate system established by the display interface of the terminal device is determined from the tilt angle interval.
In this embodiment, the inclination angle of the environment map in the coordinate system established by the display interface of the terminal device is calculated based on the straight line included in the environment map. After receiving the environment map, the terminal device needs to remove the walking track of the robot in the environment map, and then identifies a straight line from the lines remaining after the walking track of the robot is removed, namely, the lines of the obstacle. The LSD algorithm or the EDLINE algorithm may be used to identify lines from the environment map.
In the embodiments of the present application, the inclination angle of the straight line in the environment map should be calculated under the same coordinate system. The present exemplary embodiment calculates the inclination angle of a straight line in an environment map based on a coordinate system established by a display interface of a terminal device. The terminal device may calculate the inclination angle of each straight line for all the identified straight lines, or select a part of straight lines to calculate the inclination angle of each straight line, and the method of selecting a part of straight lines may be to select a straight line with a length greater than a set length threshold, or a straight line meeting a definition threshold, where the set length threshold or the definition threshold are set in advance by a user, and the set length threshold or the definition threshold is not limited. The terminal device may also set corresponding preset conditions to select a desired line in the step of identifying a line in the environment map.
The inclination angles of the straight lines are calculated in pixel space, the inclination angle ranges from-90 degrees to 90 degrees, and in addition, in order to ensure the accuracy of the inclination angle for finally correcting the environment map, the angle range of the inclination angle is divided into an even number of angle subintervals, and the inclination angle of at least one straight line falls into each angle subinterval according to the inclination angle. The number of the angle subintervals is not limited, and each 5 degrees can be used as one angle subinterval, and the angle with the inclination angle ranging from-90 degrees to 90 degrees can be divided into 36 angle subintervals.
In the above-described embodiment, the selection of the inclination angle section from among the preset plurality of angle sub-sections according to the inclination angle of at least one straight line and the length of at least one straight line may be obtained in the following manner. Determining an angle subinterval to which at least one straight line belongs according to the inclination angle of the at least one straight line; according to the length of the straight line included in each angle subinterval, an angle subinterval with the length of the straight line meeting a set condition is selected from a plurality of angle subintervals as an inclination angle interval. Wherein, according to the length of the straight line contained in each angle subinterval, selecting the angle subinterval with the length of the straight line meeting the set condition from a plurality of angle subintervals as the inclination angle interval comprises two modes:
in embodiment 1, an angle subinterval having a length of a straight line that meets a set condition is selected as the inclination angle interval from among the plurality of angle subintervals, based on the length of the straight line included in each angle subinterval.
In the embodiment 2, an angle subinterval having a length of a straight line that meets a set condition is selected as the inclination angle interval from among the plurality of angle subintervals, based on the lengths of the straight lines included in each angle subinterval and the angle subinterval perpendicular to each angle subinterval.
For the above two ways, there are two ways of determining the length of the straight line included in the angle subinterval:
In embodiment 1, an angle subinterval having the largest total length of straight lines is selected as the inclination angle interval, based on the total length of all straight lines included in each angle subinterval and the angle subinterval perpendicular to each angle subinterval.
In the present embodiment 1, for each angle subinterval, the total length of all straight lines falling in the angle subinterval is calculated, the angle subinterval having the largest total length of the straight lines is selected as the inclination angle interval, and the angle subinterval having the largest total length of the straight lines is selected as the inclination angle interval. Alternatively, the sum of the total length of all straight lines falling in the angle subinterval and the total length of all straight lines falling in the angle subinterval perpendicular to the angle subinterval is calculated, and the angle subinterval with the largest sum of the total lengths of the straight lines is selected as the inclination angle interval.
In the embodiment 2, the angle subinterval having the largest number of specified length segments is selected as the inclination angle interval, based on the number of specified length segments included in each angle subinterval and all straight lines included in the angle subinterval perpendicular to each angle subinterval.
In the method 2, the straight line identified by the terminal device is divided according to the specified length line segments, the number of all the specified length line segments falling into the angle subinterval is counted for each angle subinterval, the angle subinterval with the largest number of the specified length line segments is selected as the inclination angle interval, or the number of all the specified length line segments falling into the angle subinterval and the angle subinterval perpendicular to the angle subinterval is counted for each angle subinterval, and the angle subinterval with the largest number of the specified length line segments is selected as the inclination angle interval.
For example, an angle in which the inclination angle ranges from-90 degrees to 90 degrees is divided into 36 angle subintervals, and the recognized straight lines all fall into the corresponding angle subintervals. For each angle subinterval, dividing the straight line identified by the terminal equipment according to the specified length line segments, counting the number of all the specified length line segments falling into the angle subinterval and the angle subinterval perpendicular to the angle subinterval for each angle subinterval, taking the angle subinterval of 10 degrees to 15 degrees as an example, calculating the number of the specified length line segments falling into the angle subinterval of 10 degrees to 15 degrees and the number of the specified length line segments perpendicular to the angle subinterval of-80 degrees to-75 degrees, summing, and selecting the angle subinterval of 10 degrees to 15 degrees as the inclination angle interval if the total number of the specified length limit within the angle subinterval of 10 degrees to 15 degrees and the specified length limit perpendicular to the angle subinterval of-10 degrees to-15 degrees is maximum.
In the above embodiments, the angle corrected by the environment map in the terminal device is accurate to be within a tilt angle interval, and in order to determine the final tilt angle, the exemplary embodiments of the present application provide a method for determining the tilt angle of the environment map in the coordinate system established by the display interface of the terminal device from the tilt angle interval, and order the tilt angles of the straight lines included in the tilt angle interval; and selecting the inclination angle in the middle as the inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment. By adopting the method for determining the inclination angle of the environment map in the coordinate system established by the display interface of the terminal equipment from the inclination angle interval, the error caused by line offset in the process of constructing the environment map by the robot can be eliminated. In practice, the method for determining the tilt angle of the environment map in the coordinate system established by the display interface of the terminal device from the tilt angle interval may be any value in the tilt angle interval, or may be a maximum value, a minimum value or other values.
In essence, the inclination angle of the environment map in the coordinate system established by the display interface of the terminal equipment, which is finally found by the correction method of the environment map, is the inclination angle corresponding to the boundary line of the environment map, and in the cleaning house type map, the inclination angle corresponding to the corner line is finally found, so that the correction of the environment image is carried out according to the inclination angle corresponding to the corner line, and the cleaning house type map can be turned to a proper angle. In addition, the cleaning house type map is corrected and determined within the range of the inclination angle interval, and then the inclination angle of the environment map in the coordinate system established by the display interface of the terminal equipment is determined from the inclination angle interval, so that the correction accuracy is further improved.
After the inclination angle of the environment map in the coordinate system established by the display interface of the terminal equipment, the terminal equipment can correct the environment map according to the inclination angle. Rotating the environment map towards a horizontal angle to form an inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment; or, the environment map is rotated towards a vertical angle by a difference angle between the right angle and the inclination angle of the environment map in a coordinate system established by a display interface of the terminal device. In this embodiment, the user may set in advance that the environment map is rotated toward a horizontal angle or rotated toward a vertical angle, and the environment map corrected in the two ways is exactly vertical, so that the environment map can be turned right. After correcting the environment map, the user sends out a display instruction by operating the terminal equipment, and the corrected environment map is displayed on a display screen of the terminal equipment.
In the embodiments of the present application, by acquiring an environment map generated by a robot in a working process and based on a straight line in the environment map, calculating an inclination angle of the environment map in a coordinate system established by a display interface of a terminal device, correcting the environment map according to the inclination angle, ensuring that a clean house type map presented to a user is positive, and further improving user experience.
Based on the description of the correction method of the environment map in the foregoing embodiments, fig. 4 is a more detailed flowchart of a correction method of the environment map according to an exemplary embodiment of the present application. As shown in fig. 4, the method includes:
s401: the robot builds an environment map of the working environment in the working process;
s402: the robot sends the constructed environment map to the terminal equipment;
s403: the terminal equipment receives the environment map;
s404: calculating an inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment based on a straight line contained in the environment map;
s405: correcting the environment map according to the inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment;
s406: and the terminal equipment displays the corrected environment map on a display screen.
In the embodiment of the application, the inclination angle of the environment map in the coordinate system established by the display interface of the terminal equipment is calculated by acquiring the environment map generated by the robot in the working process and taking the straight line in the environment map as the basis, and the environment map is corrected according to the inclination angle, so that the cleaned house type map presented to the user is ensured to be positive, and the user experience is further improved.
The following describes the correction method of the environment map of the present application in connection with embodiments of different scenes.
Application scenario 1: in a sweeping robot scene, the sweeping robot can acquire environmental images of living room, kitchen, toilet, horizontal type and other areas in the running process in the process of sweeping households, and draws a sweeping house type graph according to the acquired environmental images and a walking track; the floor sweeping robot sends the drawn floor sweeping house type diagram to terminal equipment, the terminal equipment receives the floor sweeping house type diagram, and the walking track of the floor sweeping robot is removed from the floor sweeping house type diagram; identifying a straight line from the lines remaining after the walking track of the robot is removed; dividing the straight line identified by the terminal equipment according to a line segment with a specified length, and calculating the inclination angle of the straight line contained in the cleaning house type diagram based on a coordinate system established by a display interface of the terminal equipment; counting the number of all specified length line segments falling into the angle subinterval and the angle subinterval vertical to the angle subinterval aiming at each angle subinterval, and selecting the angle subinterval with the largest number of the specified length line segments as an inclination angle interval; ordering the tilt angles of the lines included in the tilt angle interval; selecting the inclination angle in the middle as the inclination angle of the cleaning house type diagram in a coordinate system established by a display interface of the terminal equipment; rotating the cleaning house type diagram towards a horizontal angle to form an inclination angle of the cleaning house type diagram in a coordinate system established by a display interface of the terminal equipment; after correcting the cleaning house type graph, a user sends a display instruction through operating the terminal equipment, and the corrected cleaning house type graph is displayed on a display screen of the terminal equipment, so that the user can check conveniently, the corresponding actual room position can be checked accurately, and the user experience is improved.
Application scenario 2: in a shopping guide robot scene of a shopping mall, the shopping guide robot can acquire environmental images of areas such as a pedestrian passageway, a shop and the like in the running process in the process of guiding customers, and draw a shopping mall environmental map according to the acquired environmental images and a running track; the shopping guide robot of the shopping mall sends the drawn environment map of the shopping mall to the terminal equipment, the terminal equipment receives the environment map of the shopping mall, and the walking track of the shopping guide robot of the shopping mall is removed from the environment map of the shopping mall; identifying a straight line from the lines remaining after the walking track of the robot is removed; dividing the straight line identified by the terminal equipment according to a line segment with a specified length, and calculating the inclination angle of the straight line contained in the cleaning house type diagram based on a coordinate system established by a display interface of the terminal equipment; counting the number of all specified length line segments falling into the angle subinterval and the angle subinterval vertical to the angle subinterval aiming at each angle subinterval, and selecting the angle subinterval with the largest number of the specified length line segments as an inclination angle interval; ordering the tilt angles of the lines included in the tilt angle interval; selecting the inclination angle in the middle as the inclination angle of the market environment map in a coordinate system established by a display interface of the terminal equipment; rotating the market environment map towards a horizontal angle by an inclination angle of the market environment map in a coordinate system established by a display interface of the terminal equipment; after correcting the market environment map, the user sends a display instruction through operating the terminal equipment, and the corrected market environment map is displayed on a display screen of the terminal equipment, so that the user can conveniently check the internal environment map of the market, and the position of a destination can be accurately found.
Application scenario 3: in a supermarket shopping goods scene of a following robot following user, the following robot can acquire surrounding environment images of the user and in the advancing process in the process of following the user, and draw a supermarket environment map of the environment according to the acquired supermarket environment images and walking tracks; the following robot sends the drawn supermarket environment map to the terminal equipment, the terminal equipment receives the supermarket environment map, and the walking track of the following robot is removed from the supermarket environment map; identifying a straight line from the lines remaining after the walking track of the following robot is removed; dividing the straight line identified by the terminal equipment according to a line segment with a specified length, and calculating the inclination angle of the straight line contained in the supermarket environment map based on a coordinate system established by a display interface of the terminal equipment; counting the number of all specified length line segments falling into the angle subinterval and the angle subinterval vertical to the angle subinterval aiming at each angle subinterval, and selecting the angle subinterval with the largest number of the specified length line segments as an inclination angle interval; ordering the tilt angles of the lines included in the tilt angle interval; selecting the inclination angle in the middle as the inclination angle of the supermarket environment map in a coordinate system established by a display interface of the terminal equipment; rotating the supermarket environment map towards a horizontal angle to form an inclined angle of the market environment map in a coordinate system established by a display interface of the terminal equipment; after correcting the supermarket environment map, a user sends a display instruction through operating the terminal equipment, the corrected supermarket environment map is displayed on a display screen of the terminal equipment, the user can conveniently check the internal environment map of the supermarket, and the placing position of goods can be accurately found.
Fig. 5 is a schematic structural diagram of a terminal device according to an exemplary embodiment of the present application. As shown in fig. 5, the terminal includes: an electronic display 501, a processor 502 memory 503, and a communication component 504.
An electronic display 501 for displaying the corrected environment map.
Among them, the electronic display 501 includes a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the electronic display comprises a touch panel, the electronic display may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or sliding action, but also the duration and pressure associated with the touch or sliding operation.
A memory 503 for storing a computer program and may be configured to store various other data to support operations on the terminal device. Examples of such data include instructions or the like for any application or method operating on the terminal device.
The memory 503 stores a computer program that the processor 502 may execute, available to:
acquiring an environment map corresponding to a working environment where the robot is located; calculating an inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment based on a straight line contained in the environment map; and correcting the environment map according to the inclination angle of the environment map in a coordinate system established by the display interface of the terminal equipment.
Optionally, the processor 502 is further configured to, before calculating the tilt angle of the environment map in the coordinate system established by the display interface of the terminal device based on the straight line included in the environment map: removing the walking track of the robot from the environment map; a straight line is identified from the lines remaining after the travel track of the robot is removed.
Optionally, the processor 502 calculates an inclination angle of the environment map in a coordinate system established by a display interface of the terminal device based on a straight line included in the environment map, and may be used to: calculating the inclination angle of at least one straight line contained in the environment map based on a coordinate system established by a display interface of the terminal equipment; selecting an inclination angle interval from a preset plurality of angle subintervals according to the inclination angle of at least one straight line and the length of at least one straight line; the tilt angle of the environment map in the coordinate system established by the display interface of the terminal device is determined from the tilt angle interval.
Optionally, the processor 502 selects a tilt angle interval from a preset plurality of angle subintervals according to the tilt angle of the at least one straight line and the length of the at least one straight line, which may be used to: determining an angle subinterval to which at least one straight line belongs according to the inclination angle of the at least one straight line; according to the length of the straight line included in each angle subinterval, an angle subinterval with the length of the straight line meeting a set condition is selected from a plurality of angle subintervals as an inclination angle interval.
Optionally, the processor 502 selects, as the inclination angle interval, an angle subinterval with a length of a straight line meeting a set condition from a plurality of angle subintervals according to a length of the straight line included in each angle subinterval, and may be used to: according to the length of each angle subinterval and the length of the straight line included in the angle subinterval perpendicular to each angle subinterval, selecting the angle subinterval with the length of the straight line meeting the set condition from a plurality of angle subintervals as the inclination angle interval.
Optionally, the processor 502 selects, as the inclination angle interval, an angle subinterval with a length of a straight line meeting a set condition from a plurality of angle subintervals according to the length of each angle subinterval and a straight line included in the angle subinterval perpendicular to each angle subinterval, and may be used to: according to the total length of all straight lines contained in each angle subinterval and the angle subinterval vertical to each angle subinterval, selecting the angle subinterval with the maximum total length of the straight lines as an inclination angle interval; or, according to the number of the specified length line segments included in each angle subinterval and all the straight lines included in the angle subinterval perpendicular to each angle subinterval, selecting the angle subinterval with the largest number of the specified length line segments as the inclination angle interval.
Optionally, the processor 502 determines from the tilt angle interval a tilt angle of the environment map in a coordinate system established by a display interface of the terminal device, which may be used to: ordering the tilt angles of the lines included in the tilt angle interval; and selecting the inclination angle in the middle as the inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment.
Optionally, the processor 502 corrects the environment map according to the inclination angle of the environment map in the coordinate system established by the display interface of the terminal device, and may be used for: rotating the environment map towards a horizontal angle by an inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment; or, the environment map is rotated towards a vertical angle by a difference angle between the right angle and the inclination angle of the environment map in a coordinate system established by a display interface of the terminal device.
Optionally, after correcting the environment map, the processor 502 is further configured to: and displaying the corrected environment map on a display screen of the terminal equipment.
Accordingly, embodiments of the present application also provide a computer readable storage medium storing a computer program, where the computer program when executed is capable of implementing the steps of the method embodiments described above that may be performed by a computing platform.
In the embodiment of the terminal equipment, the inclination angle of the environment map in the coordinate system established by the display interface of the terminal equipment is calculated by acquiring the environment map generated by the robot in the working process and taking the straight line in the environment map as the basis, and the environment map is corrected according to the inclination angle, so that the cleaned house type map presented to the user is ensured to be positive, and the user experience is further improved.
Accordingly, embodiments of the present application also provide a computer-readable storage medium storing a computer program. The computer-readable storage medium stores a computer program that, when executed by one or more processors, causes the one or more processors to perform the steps corresponding to the method embodiment shown in fig. 2.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (11)
1. A method for correcting an environment map, which is applicable to a terminal device, the method comprising:
acquiring an environment map corresponding to a working environment where the robot is located;
calculating an inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment based on a straight line contained in the environment map, wherein the inclination angle specifically comprises: calculating the inclination angle of at least one straight line contained in the environment map based on a coordinate system established by a display interface of the terminal equipment; selecting an inclination angle interval from a preset plurality of angle subintervals according to the inclination angle of the at least one straight line and the length of the at least one straight line; determining an inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment from the inclination angle interval;
And correcting the environment map according to the inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment.
2. The method according to claim 1, characterized in that before calculating the tilt angle of the environment map in the coordinate system established by the display interface of the terminal device based on the straight lines contained in the environment map, further comprising:
removing the walking track of the robot from the environment map;
and identifying a straight line from the lines remained after the walking track of the robot is removed.
3. The method of claim 1, wherein selecting a tilt angle interval from a preset plurality of angle subintervals according to a tilt angle of the at least one straight line and a length of the at least one straight line comprises:
determining an angle subinterval to which the at least one straight line belongs according to the inclination angle of the at least one straight line;
and selecting an angle subinterval with the length of the straight line meeting a set condition from the plurality of angle subintervals as the inclination angle interval according to the length of the straight line contained in each angle subinterval.
4. A method according to claim 3, wherein selecting, as the inclination angle section, an angle sub-section having a length conforming to a set condition from the plurality of angle sub-sections, based on a length of a straight line included in each angle sub-section, comprises:
And selecting an angle subinterval with the length of the straight line meeting a set condition from the plurality of angle subintervals as the inclination angle interval according to the lengths of the straight line included in each angle subinterval and the angle subinterval perpendicular to each angle subinterval.
5. The method according to claim 4, wherein selecting, as the inclination angle section, an angle subsection having a length conforming to a set condition from the plurality of angle subsections based on the length of each angle subsection and a straight line included in an angle subsection perpendicular to each angle subsection, comprises:
according to the total length of each angle subinterval and all straight lines contained in the angle subinterval vertical to each angle subinterval, selecting the angle subinterval with the maximum total length of the straight lines as the inclination angle interval;
or selecting the angle subinterval with the largest number of the specified length line segments as the inclination angle interval according to the number of the specified length line segments contained in all the straight lines contained in each angle subinterval and the angle subinterval perpendicular to each angle subinterval.
6. The method according to claim 1, characterized in that determining the tilt angle of the environment map in the coordinate system established by the display interface of the terminal device from the tilt angle interval comprises:
Ordering the tilt angles of the lines included in the tilt angle interval;
and selecting the inclination angle in the middle as the inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment.
7. The method according to claim 1, wherein correcting the environment map according to an inclination angle of the environment map in a coordinate system established at a display interface of the terminal device comprises:
rotating an environment map towards a horizontal angle by an inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment;
or, rotating the environment map towards a vertical angle by a difference angle between the right angle and the inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment.
8. The method of claim 1, further comprising, after correcting the environment map:
and displaying the corrected environment map on a display screen of the terminal equipment.
9. A terminal device, comprising: a memory, a processor, and a communication component;
the memory is used for storing a computer program;
the processor is configured to execute the computer program for:
Receiving an environment map corresponding to the working environment of the robot through a communication assembly;
calculating an inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment based on a straight line contained in the environment map, wherein the inclination angle specifically comprises: calculating the inclination angle of at least one straight line contained in the environment map based on a coordinate system established by a display interface of the terminal equipment; selecting an inclination angle interval from a preset plurality of angle subintervals according to the inclination angle of the at least one straight line and the length of the at least one straight line; determining an inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment from the inclination angle interval;
and correcting the environment map according to the inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment.
10. The terminal device of claim 9, further comprising: and the electronic display screen is used for displaying the corrected environment map.
11. A computer-readable storage medium storing a computer program, which when executed by one or more processors causes the one or more processors to perform acts comprising:
Acquiring an environment map corresponding to a working environment where the robot is located;
calculating an inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment based on a straight line contained in the environment map, wherein the method specifically comprises the following steps: calculating the inclination angle of at least one straight line contained in the environment map based on a coordinate system established by a display interface of the terminal equipment; selecting an inclination angle interval from a preset plurality of angle subintervals according to the inclination angle of the at least one straight line and the length of the at least one straight line; determining an inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment from the inclination angle interval;
and correcting the environment map according to the inclination angle of the environment map in a coordinate system established by a display interface of the terminal equipment.
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| CN201811195275.XA CN111047642B (en) | 2018-10-15 | 2018-10-15 | Method, device and storage medium for correcting environment map |
| CN202410312754.4A CN118014912A (en) | 2018-10-15 | 2018-10-15 | Method, device and storage medium for correcting environment map |
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| CN113515256B (en) * | 2021-05-19 | 2024-02-02 | 云米互联科技(广东)有限公司 | HomeMap-based visual control method and device for equipment sound source state |
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| CN102576228A (en) * | 2009-08-31 | 2012-07-11 | Neato机器人技术公司 | Method and apparatus for simultaneous localization and mapping of mobile robot environment |
| CN107976194A (en) * | 2017-11-24 | 2018-05-01 | 北京奇虎科技有限公司 | The method of adjustment and device of environmental map |
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| JP4479372B2 (en) * | 2004-06-25 | 2010-06-09 | ソニー株式会社 | Environmental map creation method, environmental map creation device, and mobile robot device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102576228A (en) * | 2009-08-31 | 2012-07-11 | Neato机器人技术公司 | Method and apparatus for simultaneous localization and mapping of mobile robot environment |
| CN104699099A (en) * | 2009-08-31 | 2015-06-10 | Neato机器人技术公司 | Method and apparatus for simultaneous localization and mapping of mobile robot environment |
| CN107976194A (en) * | 2017-11-24 | 2018-05-01 | 北京奇虎科技有限公司 | The method of adjustment and device of environmental map |
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