CN111457924A - Indoor map processing method and device, electronic equipment and storage medium - Google Patents
Indoor map processing method and device, electronic equipment and storage medium Download PDFInfo
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- CN111457924A CN111457924A CN202010222437.5A CN202010222437A CN111457924A CN 111457924 A CN111457924 A CN 111457924A CN 202010222437 A CN202010222437 A CN 202010222437A CN 111457924 A CN111457924 A CN 111457924A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
Abstract
The application relates to the technical field of computers, and discloses an indoor map processing method, an indoor map processing device, electronic equipment and a storage medium, which simplify the operation mode of editing an indoor map and improve the map editing efficiency, and the method comprises the following steps: responding to the mark point adding operation, adding mark points in a display interface, wherein the display interface comprises at least two mark points, and a first mark point list on the display interface comprises position information of each mark point in a first map; responding to the movement operation of any one of the at least two mark points, and moving any one mark point to a first target position; and updating the position information of any mark point in the first mark point list according to the first target position.
Description
Technical Field
The present application relates to the field of computer technologies, and in particular, to an indoor map processing method and apparatus, an electronic device, and a storage medium.
Background
With the vigorous development of the robot industry, more and more robots are applied to warehouses, factories, hospitals, markets, office places to provide services such as article distribution, delivery, guidance and the like, so that the production efficiency and the service efficiency are greatly improved, the labor cost is reduced, convenience is provided for users, and the problems of positioning, indoor map construction, path planning and the like in the moving process of the robots are solved for realizing the autonomous navigation of the robots in indoor environments.
Disclosure of Invention
The embodiment of the application provides an indoor map processing method and device, electronic equipment and a storage medium, so that the operation of conveniently editing a plurality of mark points in the same map is realized, the operation is simple, convenient and flexible, and the map editing efficiency is improved.
In one aspect, an embodiment of the present application provides an indoor map processing method, including:
responding to a mark point adding operation, and adding mark points in a display interface, wherein the display interface comprises at least two mark points, and a first mark point list on the display interface comprises position information of each mark point in a first map;
responding to the movement operation of any one of the at least two mark points, and moving the any one mark point to a first target position;
and updating the position information of any mark point in the first mark point list according to the first target position.
In one aspect, an embodiment of the present application provides an indoor map processing apparatus, including:
the adding module is used for responding to mark point adding operation and adding mark points in a display interface, the display interface comprises at least two mark points, and a first mark point list on the display interface comprises position information of each mark point in a first map;
the moving module is used for responding to the moving operation aiming at any one of the at least two mark points and enabling the any mark point to move to a first target position;
and the updating module is used for updating the position information of any mark point in the first mark point list according to the first target position.
Optionally, the apparatus further includes a selecting module, configured to change a display state of any one of the at least two marker points from a first state to a second state in response to a selecting operation for the any one of the at least two marker points, where the first state is used to indicate that the marker point is not selected, and the second state is used to indicate that the marker point is selected;
the moving module is specifically configured to respond to a moving operation for the selected marker point, so that the selected marker point is moved to a first target position.
Optionally, the selecting module is specifically configured to determine that any one of the mark points is selected in the following manner:
acquiring a click coordinate corresponding to the click event on the display interface;
and if the click coordinate is determined to fall into the corresponding selected area of any mark point on the display interface, determining that any mark point is selected.
Optionally, the selected area of any one of the marker points includes at least one of the following areas:
a display area corresponding to any mark point in the first mark point list; and
and any mark point corresponds to a display area in the first map.
Optionally, the mark point is displayed in the first map in an icon manner, and the icon size corresponding to the second state is larger than the icon size corresponding to the first state.
Optionally, position information of a mark point in the first map is displayed on the icon corresponding to the second state.
Optionally, the moving module is specifically configured to:
responding to the moving operation of any one of the at least two marker points, and updating the position of the any marker point displayed in the first map in real time according to the corresponding real-time coordinate of the moving operation on the display interface;
when the ending event of the moving operation is monitored, acquiring a corresponding end point coordinate on the display interface when the moving operation is ended, determining a first target position corresponding to the end point coordinate in the first map, and displaying any mark point at the first target position.
Optionally, the apparatus further comprises a switching module, configured to:
responding to map mode switching operation, and switching the first map displayed in the display interface into a second map corresponding to the first map;
displaying the at least two marker points in the second map.
Optionally, when the marker point is an alignment point, the display interface further includes a second marker point list corresponding to the second map, where the second marker point list includes position information of the at least two marker points in the second map, and the alignment point is a positioning point used for aligning the first map and the second map;
the moving module is further used for responding to the moving operation aiming at any mark point in the second map, and enabling the any mark point to move to a second target position in the second map;
the updating module is further configured to update the position information of the any marker point in the second marker point list according to the second target position.
Optionally, when the marked points are stopping points for indicating positions where the positions can stop, the apparatus further includes a conversion module, configured to determine position information of the at least two marked points in the second map according to position information of the at least two marked points in the first map and a mapping relationship between the first map and the second map;
the switching module is specifically configured to display the at least two marker points in the second map according to the position information of the at least two marker points in the second map.
In one aspect, an embodiment of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the methods when executing the computer program.
In one aspect, an embodiment of the present application provides a computer-readable storage medium having stored thereon computer program instructions, which, when executed by a processor, implement the steps of any of the above-described methods.
In one aspect, an embodiment of the present application provides a computer program product comprising a computer program stored on a computer-readable storage medium, the computer program comprising program instructions that, when executed by a processor, implement the steps of any of the methods described above.
According to the indoor map processing method and device, the electronic equipment and the storage medium, an operator can add a plurality of mark points in the map through mark point adding operation, the position of any mark point in the map is conveniently adjusted through moving operation, a plurality of mark points can be simultaneously edited in the same map, operation is simple, convenient and flexible, and map editing efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic view of an application scenario of an indoor map processing method according to an embodiment of the present application;
fig. 2 is a schematic flowchart of an indoor map processing method according to an embodiment of the present application;
FIG. 3A is a schematic diagram of a display interface provided in an embodiment of the present application;
fig. 3B is a schematic diagram of a display interface provided in an embodiment of the present application;
fig. 4 is a schematic flowchart of an indoor map processing method according to an embodiment of the present application;
fig. 5 is a schematic flowchart of an indoor map processing method according to an embodiment of the present application;
fig. 6 is a schematic diagram of a registration point setting page provided in an embodiment of the present application;
FIG. 7 is a schematic diagram of a docking point setup page provided in an embodiment of the present application;
fig. 8 is a schematic structural diagram of an indoor map processing apparatus according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
For convenience of understanding, terms referred to in the embodiments of the present application are explained below:
indoor engineering map: i.e. a map describing the internal construction and layout of the building as determined by the internal engineering design of the building. Names of all the areas can be marked in the indoor engineering map according to application scenes, for example, the area A is a foreground, the area B is an office, the area C is a conference room and the like.
The indoor mapping map is created by controlling the robot to move in the indoor environment by an operator, recording the moving path of the robot during the moving process, wherein the moving path comprises the moving direction and the moving distance, the moving direction and the moving distance can be determined according to the motion instruction of the robot controlled by the operator, for example, the change of the moving direction is determined according to the 'left turn' instruction and the 'right turn' instruction, the moving distance along the direction is determined according to the moving speed and the moving time of the robot in the same direction, and particularly, the robot can calculate the data of the turning angle and the like during the moving process by combining a gyroscope, an acceleration sensor and the like which are arranged in the robot, so as to obtain an accurate moving path.
Marking points: a localization point added in the map. The marked points in the embodiments of the present application include, but are not limited to, a docking point and a registration point.
A docking point: a positioning point set in the map for indicating a dockable location. For example, the stop point may be a robot standby position, that is, the robot may return to the stop point after executing a task to wait for executing a next task; the stopping point can also be a charging position, and the robot returns to the stopping point for charging when the electric quantity is low; the stop point may also be a position where the robot is designated to stop during task execution, for example, when the delivery robot cannot enter some areas, the stop point may be set around the areas, and the robot reaches the stop point near the position where the user is located, and notifies the user to go to the stop point to pick up the parts.
Alignment points are as follows: and positioning points for registering the two maps, wherein the registration points in the two maps need to be in one-to-one correspondence. For example, when an indoor mapping map and an indoor engineering map are aligned, the registration points in the indoor mapping map correspond to the registration points in the indoor engineering map one to one.
It should be noted that the maps referred to in the embodiments of the present application include, but are not limited to, indoor mapping maps and indoor engineering maps. For example, when the first map refers to an indoor mapping map, the second map may be an indoor engineering map, and when the first map refers to an indoor engineering map, the second map may be an indoor mapping map.
Any number of elements in the drawings are by way of example and not by way of limitation, and any nomenclature is used solely for differentiation and not by way of limitation.
In a specific practice process, in order to facilitate an operator to control the robot, the robot is usually operated through a mobile terminal provided with a mapping tool, and then the indoor mapping map can be edited and registered by directly using the mapping tool in the mobile terminal, so that the operator does not need to derive the indoor mapping map, and the operation of editing the map is simpler and more convenient. In the process of editing and registering an indoor surveying and mapping map by using a mapping tool in a mobile terminal, when a mark point needs to be added, an operator needs to click a mark point adding button to enter a mark point adding interface, a fixed mark point positioned in the center of a screen is arranged in the mark point adding interface, the operator positions the mark point by moving the indoor surveying and mapping map in the mark point adding interface, finally, the position in the indoor surveying and mapping map, which is coincident with the center of the screen, is the coordinate position of the mark point, then the operator clicks a confirmation button, exits the mark point adding interface, and the mark point addition is completed. The method can only edit one mark point at a time, when a new mark point needs to be added or the existing mark point in the map needs to be moved, the mark point adding interface needs to be re-entered, the operation flow is tedious, and the function of editing a plurality of mark points in the map at the same time cannot be conveniently realized.
Therefore, the embodiment of the application provides an indoor map processing method with a more convenient operation mode, a plurality of mark points can be simultaneously displayed in a display interface, and an operator can set the position of the mark point in a first map by moving any mark point displayed in the display interface. The indoor map processing method specifically comprises the following steps: responding to the mark point adding operation, adding mark points in a display interface, wherein the display interface comprises at least two mark points, and a first mark point list on the display interface comprises position information of each mark point in a first map; responding to the movement operation of any one of the at least two mark points, and moving any one mark point to a first target position; and updating the position information of any mark point in the first mark point list according to the first target position. Therefore, an operator can conveniently add a plurality of mark points in the map and can directly move any mark point in the map so as to quickly adjust the position information of any mark point in the map, the operation of conveniently editing the mark points in the same map is realized, the operation is simple, convenient and flexible, and the map editing efficiency is improved.
After introducing the design concept of the embodiment of the present application, some simple descriptions are provided below for application scenarios to which the technical solution of the embodiment of the present application can be applied, and it should be noted that the application scenarios described below are only used for describing the embodiment of the present application and are not limited. In specific implementation, the technical scheme provided by the embodiment of the application can be flexibly applied according to actual needs.
Fig. 1 is a schematic view of an application scenario of an indoor map processing method according to an embodiment of the present application. The application scenario includes a mobile terminal 101 and a robot 102. The mobile terminal 101 and the robot 102 can be connected through a wireless network, the mobile terminal 101 includes but is not limited to a smart phone, a tablet computer, a notebook computer and other portable electronic devices, and the robot 102 includes but is not limited to an indoor navigation robot, a security inspection robot, a sweeping robot and other robots capable of achieving autonomous navigation. The mobile terminal 101 is installed with a drawing tool, an operator 103 can operate the robot through the drawing tool, for example, the operator 103 inputs a control instruction through the mobile terminal 101, and the mobile terminal 101 sends the control instruction to the robot 102, so that the robot 102 is operated to move indoors and collect environmental data. The robot 102 sends the collected environment data to the mobile terminal 101, and the mobile terminal 101 processes the environment data by using a mapping tool to obtain and display an indoor mapping map. Then, the operator 103 may edit the indoor mapping map or register the indoor mapping map and the indoor engineering map through a mapping tool in the mobile terminal 101.
In specific implementation, the robot 102 may also send the collected environmental data to the server, and the server obtains an indoor mapping map based on the environmental data and sends the indoor mapping map to the mobile terminal 101. The operator 103 may browse the indoor mapping map through a mapping tool in the mobile terminal, and perform operations such as editing or registering the indoor mapping map. The server may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a network service, cloud communication, middleware service, a domain name service, a security service, a CDN, a big data and artificial intelligence platform, and the mobile terminal 101, the robot 102, and the server may be directly or indirectly connected through a wireless communication manner, which is not limited herein.
Of course, the method provided in the embodiment of the present application is not limited to be used in the application scenario shown in fig. 1, and may also be used in other possible application scenarios, and the embodiment of the present application is not limited. The functions that can be implemented by each device in the application scenario shown in fig. 1 will be described in the following method embodiments, and will not be described in detail herein.
To further illustrate the technical solutions provided by the embodiments of the present application, the following detailed description is made with reference to the accompanying drawings and the detailed description. Although the embodiments of the present application provide the method operation steps as shown in the following embodiments or figures, more or less operation steps may be included in the method based on the conventional or non-inventive labor. In steps where no necessary causal relationship exists logically, the order of execution of the steps is not limited to that provided by the embodiments of the present application.
The following describes the technical solution provided in the embodiment of the present application with reference to the application scenario shown in fig. 1.
Referring to fig. 2, an embodiment of the present application provides an indoor map processing method, which can be applied to the mobile terminal shown in fig. 1, and specifically includes the following steps:
s201, responding to the mark point adding operation, adding mark points in a display interface, wherein the display interface comprises at least two mark points, and a first mark point list on the display interface comprises position information of each mark point in a first map.
Taking the robot stop point and the registration point as an example, when the first map is an indoor mapping map, the second map may be an indoor engineering map, and when the first map is an indoor engineering map, the second map may be an indoor mapping map. The meaning of the first map and the second map is not limited in the embodiments of the present application.
In specific implementation, the mark point adding operation may be to click a mark point adding button in the display interface, after the mark point adding button is clicked, add a mark point at a preset position (for example, a center position) in the first map displayed on the display interface, and then, an operator may set a position of the mark point in the first map by moving the mark point in the display interface. The mark point adding operation may also be an operation of inputting a specified gesture in the first map of the display interface, for example, pressing a certain position in the first map displayed on the display interface for a long time to add a mark point at the position, or inputting a specified gesture track (such as a circle), and then adding a mark point at a position corresponding to the gesture track. In practical applications, the marking point adding operation is not limited to the above-mentioned manner.
In specific implementation, each time the operator performs the mark point adding operation, the mobile terminal adds one mark point in the display interface. In practical application, when a large number of mark points need to be added, an operator can set a function of adding mark points in batches, that is, each time the operator performs a mark point adding operation, the mobile terminal simultaneously adds a plurality of mark points in the display interface, the number of the mark points added in batches can be preset by the operator, and then the operator can move the mark points added in batches to a desired target position one by one.
S202, responding to the moving operation of any one of the at least two mark points, and moving any one mark point to a first target position.
In specific implementation, the moving operation may be to press and drag the mark point with a hand, or may be to control and move the selected mark point through a provided direction operation key. In the process of moving the mark point, if the displayed first map is too small or the expected target position does not appear in the display interface, the operator can stop the moving operation at any time, and perform operations such as moving, enlarging, reducing and the like on the first map, and move the mark point to the expected target position when the expected target position appears in the display interface or is enlarged to have a sufficiently high resolution, so as to improve the positioning accuracy of the mark point. After an operator moves one marking point, the next marking point can be directly moved without other additional operations, and the operation flow is simplified.
And S203, updating the position information of any mark point in the first mark point list according to the first target position.
In specific implementation, when the moving operation is finished, the mobile device acquires coordinates (X1, Y1) of the moved marker point on the display interface, converts the coordinates (X1, Y1) into coordinates (X1, Y1) in the first map, namely a first target position, according to the mapping relation between the display screen coordinate system corresponding to the display interface and the map coordinate system corresponding to the currently displayed first map, and then updates the position information of the marker point in the first marker point list to (X1, Y1).
Referring to fig. 3A, a schematic diagram of a display interface of a mapping tool running on a mobile terminal when processing an indoor map is shown. The display interface 30 includes a map display area 301, a list display area 302, a map creation function bar 303, and a function area 304. The map display area 301 is used for displaying an editable map, and an operator can move, enlarge, reduce, rotate and the like the displayed map through gesture operations, for example, an indoor mapping map is displayed in the map display area 301 in fig. 3A. An operator can add a new mark point in the indoor mapping map by clicking the mark point adding button 305 in the list display area 302, the corresponding position of each mark point in the indoor mapping map is identified by the icon 306, and the position of each mark point in the indoor mapping map can be changed by moving the icon 306. The list display area 302 is configured to display a first marker point list, where the first marker point list includes marker points in the indoor mapping map and position information of each marker point in the indoor mapping map, for example, coordinates of marker point No. 1 in the indoor mapping map are (203, 698). The functional area 304 is sequentially provided with a return button, a cancel button and a save button from left to right, the page before returning can be returned by clicking the return button, the operation executed in the previous step can be cancelled by clicking the cancel button, and the mark point currently set and the position information of the mark point can be saved by clicking the save button. In addition, the operator may select to enter the docking point setting page (i.e., the interface shown in fig. 3A) by clicking a docking button in the mapping function bar 303, the clicked button is in a highlighted state (the docking button in fig. 3A is in a highlighted state), and when the operator clicks a registration button in the mapping function bar 303, the operator enters the registration point setting page (refer to fig. 6 in particular).
In practical application, an operator can add a plurality of mark points in a map displayed on a display interface, and then move the mark points one by one; or, after the operator can add one mark point, the operator immediately moves the mark point, then adds the next mark point and then moves the next mark point.
According to the indoor map processing method provided by the embodiment of the application, an operator can add a plurality of mark points in the map through mark point adding operation and conveniently adjust the position of any mark point in the map through moving operation, so that the plurality of mark points can be simultaneously edited in the same map, the operation is simple, convenient and flexible, and the map editing efficiency is improved.
On the basis of any of the above embodiments, referring to fig. 4, step S202 specifically includes the following steps:
s401, responding to the moving operation of any one of the at least two mark points, and updating the position of the mark point displayed in the first map in real time according to the corresponding real-time coordinate of the moving operation on the display interface.
S402, when the ending event of the moving operation is monitored, the corresponding end point coordinate on the display interface when the moving operation is ended is obtained, the first target position corresponding to the end point coordinate in the first map is determined, and the mark point is displayed at the first target position.
In particular, the end event of the moving operation may be that the finger of the operator leaves the display screen. When the finger of the operator slides on the display screen, the mobile terminal may obtain, in real time, the screen coordinates (Xp, Yp) of the finger on the display screen through an Application Programming Interface (API), that is, the real-time coordinates corresponding to the movement operation on the display screen. The method comprises the steps that an operator starts sliding on a display screen after clicking a mark point in a first map, a mobile terminal obtains a screen coordinate of a finger on the display screen in real time and displays the mark point at the screen coordinate, and the effect that the mark point moves along with the finger of the operator is formed. When the mobile terminal monitors that the finger of an operator leaves the display screen, the coordinate (Xe, Ye) of the finger leaving the display screen is obtained through a system API, namely the corresponding end point coordinate on the display interface when the moving operation is finished, and the end point coordinate (Xe, Ye) is converted into the coordinate (Xe, Ye) in the first map, namely the first target position according to the mapping relation between the display screen coordinate system and the map coordinate system. Then, the position information of the marker in the first marker list is updated to (xe, ye). Based on this, the operating personnel can slide through the finger and move the mark point to any position in the first map, make things convenient for operating personnel to operate.
During specific implementation, in the process of executing the moving operation, the corresponding position information of the real-time coordinates in the first map can be determined, and the position information of the mark points in the first mark point list is synchronously updated according to the position information, so that an operator can conveniently and accurately position the mark points according to the real-time position information of the mark points moving in the first map.
Further, when an operator knows the accurate coordinate corresponding to the target position of a certain mark point in the first map, the operator can modify the position information corresponding to the mark point in the first mark point list, and the mobile terminal displays the mark point at the corresponding position in the first map according to the modified position information. Therefore, when the operator knows the accurate coordinate corresponding to the target position of the mark point, the operator can directly modify the position information in the first mark point list to realize the accurate positioning of the mark point, so that the operation steps are reduced, and the processing efficiency is improved.
On the basis of any of the above embodiments, in order to prevent the other marker points from being triggered by mistake in the process of moving the marker points, only the selected marker points can be limited to be moved, and at most one marker point in the same map is selected. In the specific implementation process, the unselected mark points in the map are displayed in the first state, and the selected mark points are displayed in the second state, so that an operator can quickly identify movable mark points, namely the mark points which are currently edited, and move the movable mark points.
Based on this, referring to fig. 5, an embodiment of the present application provides another indoor map processing method, which can be applied to the mobile terminal shown in fig. 1, and specifically includes the following steps:
s501, responding to mark point adding operation, adding mark points in a display interface, wherein the display interface comprises at least two mark points, and a first mark point list on the display interface comprises position information of each mark point in a first map.
Step S201 may be referred to in the detailed implementation of step S501.
S502, responding to the selection operation of any one of the at least two mark points, and changing the display state of the any mark point from a first state to a second state, wherein the first state is used for indicating that the mark point is not selected, and the second state is used for indicating that the mark point is selected.
In specific implementation, the selected mark point can be determined in the following ways: acquiring a click coordinate corresponding to the click event on a display interface; and if the click coordinate is determined to fall into the corresponding selected area of any mark point on the display interface, determining that the mark point is selected. Wherein the selected area of each marker point comprises at least one of the following areas: the display area of the mark point in the first mark point list corresponds to the display area of the mark point in the first map.
In specific implementation, when an operator clicks a certain position in a display interface, the mobile terminal may detect a click event through the system API and obtain a screen coordinate (Xp, Yp) of the click point, where the screen coordinate (Xp, Yp) is a click coordinate corresponding to the click event on the display interface.
In specific implementation, the display area of the mark point in the first mark point list may be determined according to the coordinate of the relevant information of the mark point displayed in the first mark point list in the display interface. Referring to fig. 3B, an area in a dashed box around the No. 1 marker is a display area corresponding to the No. 1 marker in the first marker list, and the No. 1 marker can be selected by clicking any position in the dashed box.
In specific implementation, the mark points in the first map may be displayed in an icon manner. The icon of each mark point in the first map corresponds to an enclosing frame, the enclosing frame can be rectangular, circular, triangular and the like, and the area enclosed by the enclosing frame is the corresponding display area of the mark point in the first map. Taking a rectangular bounding box as an example, the range of the bounding box can be determined by four vertices of the rectangle, and if the coordinates of the mark point in the display interface (i.e. the display screen) are (Xc, Yc), the bounding box width boxWidth and height boxHeight, the area covered by the bounding box of the mark point on the display interface may be: (Xc-boxWidth/2, Yc-boxHeight/2), (Xc-boxWidth/2, Yc + boxHeight/2), (Xc + boxWidth/2, Yc + boxHeight/2), and (Xc + boxWidth/2, Yc- + boxHeight/2). It should be noted that the enclosure frame is not displayed on the display interface. When an operator clicks a certain position in a display interface, the mobile terminal can acquire a screen coordinate (Xp, Yp) of a clicked position through a system API (application program interface), if the screen coordinate (Xp, Yp) falls in an enclosing frame corresponding to a certain mark point, the mark point is determined to be selected, and the display state of the mark point in the first map is updated to be a second state; if the screen coordinates (Xp, Yp) do not fall in the bounding box of any marker, the marker is not selected, at the moment, if no marker in the second state exists in the first map, all the markers are maintained in the first state, and if the marker in the second state exists in the first map, the display state of the marker in the second state is updated to the first state.
To this end, responding to the selection operation for any one of the at least two marked points may include: responding to the selection operation of any mark point in the first mark point list or responding to the selection operation of any mark point displayed in the first map. That is, the operator may select a certain mark point by clicking a mark point in the first mark point list, or the operator may select the mark point by clicking a certain mark point displayed in the first map, and at this time, the display state corresponding to the mark point in the first map is updated to the second state, indicating that the operator may move the mark point. When the operator does not select any marker point, the display states of the marker points in the first map are all the first states. After the operator finishes the moving operation of a certain mark point, the operator can click an area which does not contain the mark point in the display interface, the display state of the mark point in the second state in the first map is updated to the first state, and all the mark points in the first map are not selected at the moment.
When the map display method is specifically implemented, the size of the icon corresponding to the second state is larger than that of the icon corresponding to the first state, the display area of the mark points in the display interface is increased by enlarging the icon size of the selected mark points, and therefore an operator can move the mark points in the first map conveniently. Furthermore, the position information of the mark points in the first map is displayed on the icon corresponding to the second state, so that an operator can quickly and intuitively know the position information of the selected mark points in the first map without looking up the first mark point list. Referring to fig. 3B, in which the icon 307 of the selected marker point No. 1 is in the second state, and the icons 306 of other unselected marker points are in the second state, it is obvious that the display area of the icon in the second state is larger than that of the icon in the first state, which is more convenient for the operator to select and move the marker points.
S503, responding to the movement operation aiming at the selected mark point, and moving the selected mark point to the first target position.
Reference may be made to the embodiment of step S202 for a specific embodiment of step S503. For example, step S503 may specifically include: responding to the movement operation aiming at the selected mark point, and updating the position of the mark point displayed in the first map in real time according to the corresponding real-time coordinate of the movement operation on the display interface; when the ending event of the moving operation is monitored, the corresponding end point coordinate on the display interface when the moving operation is ended is obtained, the first target position corresponding to the end point coordinate in the first map is determined, and the selected mark point is displayed at the first target position.
In the method shown in fig. 5, the mobile terminal only responds to the movement operation for the selected mark point, and cannot respond to the movement operation for the unselected mark point, that is, the operator only moves the selected mark point and cannot move the unselected mark point, so that the other mark points can be effectively prevented from being triggered by mistake in the process of moving the mark points.
Furthermore, in the process of executing the moving operation, the mobile terminal can acquire the corresponding real-time coordinate of the moving operation on the display interface, determine the corresponding position information of the real-time coordinate in the first map, and synchronously update the position information displayed in the icon of the moved mark point, so that an operator can conveniently and accurately position the mark point according to the position information.
S504, updating the position information of any mark point in the first mark point list according to the first target position.
Reference may be made to the embodiment of step S203 for a specific embodiment of step S504.
Referring to fig. 3A, when the operator does not select any of the marker points, the marker points in the indoor mapping map are all in the first state. Referring to fig. 3B, when an operator clicks the mark point No. 1 in the first mark point list, or clicks the mark of the mark point No. 1 in the indoor mapping map, the mark point No. 1 in the indoor mapping map is converted from a small icon to a large icon, other mark points are still marked with the small icon, the large icon increases the operable area for moving the icon, and at this time, the operator can click and drag the icon of the mark point No. 1, thereby moving the mark point No. 1 to a desired target position. Then, the mobile terminal acquires the coordinates (X1, Y1) of the marking point No. 1 in the display interface, converts the coordinates (X1, Y1) into coordinates (X1, Y1) in an indoor mapping map according to the mapping relation between the display screen coordinate system and the map coordinate system, and updates the position information of the marking point No. 1 in the first marking point list to (X1, Y1). If the No. 2 mark point needs to be moved after the No. 1 mark point is moved, the No. 2 mark point in the first mark point list can be directly clicked or the icon of the No. 2 mark point in the indoor surveying and mapping map is clicked, the No. 2 mark point is converted into a large icon from a small icon, and at the moment, an operator can drag the icon of the No. 2 mark point to move the No. 2 mark point to a desired target position. If the operator does not need to move other marking points, the operator can click the area which does not contain the marking points in the display interface, the display state of the marking points in the second state in the indoor mapping map is updated to the first state, and all the marking points are not movable at the moment.
The indoor map processing method shown in fig. 5 enables an operator to edit a plurality of mark points simultaneously in the same interface, the operation is simple, convenient and flexible, the map editing efficiency is improved, the operator can only move the selected mark points, and the error triggering of other mark points which do not need to be moved in the process of moving the mark points can be effectively prevented. The icon of the currently edited mark point is amplified and displayed, the currently edited mark point can be highlighted, the operator can conveniently identify, select and move, and the operation convenience is improved.
On the basis of any one of the above embodiments, the indoor map processing method according to the embodiment of the present application further includes the steps of: when a first map is displayed in the display interface, the mobile terminal responds to the map mode switching operation, switches the first map displayed in the display interface into a second map, and displays mark points in the first map in the second map; and when the second map is displayed in the display interface, the mobile terminal responds to the map mode switching operation, switches the second map displayed in the display interface into the first map, and displays the mark points in the second map in the first map. And the mark points in the first map correspond to the mark points in the second map one to one. Therefore, the list display area on the display interface further comprises a second mark point list corresponding to the second map, and the second mark point list comprises position information of each mark point in the second map.
For example, when an indoor mapping map is displayed in the display interface, the mobile terminal responds to the map mode switching operation, switches the indoor mapping map displayed in the display interface into an indoor engineering map corresponding to the indoor mapping map, and displays mark points in the indoor mapping map in the indoor engineering map; when the indoor engineering map displayed in the display interface is displayed, the mobile terminal responds to the map mode switching operation, switches the indoor engineering map displayed in the display interface into an indoor mapping map, and displays each mark point in the indoor mapping map. And the mark points in the indoor mapping map correspond to the mark points in the indoor engineering map one to one. For this purpose, referring to fig. 6 or fig. 7, the list display area 302 on the display interface further includes a second marker point list corresponding to the indoor engineering map, where the second marker point list includes position information of each marker point in the indoor engineering map.
In specific implementation, an operator may also add a marker point in the switched second map and move the marker point, and the specific implementation manner and the corresponding display interface may refer to the manner in which the marker point is added in the first map and is moved, which is not described again.
Referring to fig. 6, a preview window 308 may be provided in the display interface 30, where a preview of the second map may be presented in the preview window 308. The operator clicks the preview window 308, the mobile terminal responds to the map mode switching operation, displays the complete second map in the display area 301, and displays a preview of the first map in the preview window 308. When the operator clicks the preview window 308 again, the mobile terminal displays the complete first map in the display area 301 in response to the map mode switching operation, and displays a preview of the second map in the preview window 308.
Through map mode switching operation, an operator can conveniently switch between a first map mode and a second map mode, and the operator can conveniently compare mark points in the first map and the second map.
Referring to fig. 6, an operator may enter a registration point setting page by clicking a registration button in the map building function bar 303, where the registration button is in a highlighted state, and a mark point set in a map is a registration point.
When the mark point is the registration point, the operator may set the registration point in the first map according to the method shown in fig. 2 or fig. 4, and then the operator may input a map mode switching operation, and the mobile terminal switches the first map displayed in the display interface to a corresponding second map in response to the map mode switching operation, and displays the registration point in the second map. Here, the registration point in the second map may be displayed at a preset initial position, for example, when there is only one registration point, the initial position of the registration point may be further the center position of the second map, and when there are multiple registration points, the multiple registration points may be distributed near the center position of the second map, so as to avoid the situation that the registration points overlap, and facilitate the movement of the registration points by an operator. Then, the mobile terminal responds to the moving operation of any registration point in the second map, so that the registration point moves to a second target position in the second map, and the position information of the registration point in the second mark point list is updated according to the second target position. The moving operation mode of the alignment point in the second map may refer to the moving method of the mark point in the first map, and is not described again.
In a specific implementation, the registration points may be displayed only in the second mark point list, and the coordinates of each registration point in the second mark point list are all initial values, for example, the initial values may be (0, 0). Then, an operator clicks any registration point in the second mark point list to select the registration point, at this time, a large icon in a second state corresponding to the registration point is displayed in the second map, which indicates that the operator can move the registration point, the operator moves the registration point to a desired target position, the mobile terminal updates the position information of the registration point in the second mark point list according to the position of the registration point in the second map, and after the moving operation is finished, the icon of the registration point in the second map is changed into a small icon in the first state, which indicates that the registration point cannot be moved.
By the method, the operator can quickly and conveniently set the plurality of registration points in the first map and the second map, and the first map and the second map are registered based on the set registration points, so that the indoor map processing efficiency is improved.
Referring to fig. 7, an operator may enter a stop point setting page by clicking a stop button in the map building function bar 303, where the registration button is in a highlighted state, and a mark point set in the map is a stop point.
When the marking point is a stopping point for indicating a stopping position, the method of the embodiment of the application further includes the following steps: and the mobile terminal determines the position information of the stop point in the second map according to the position information of the stop point in the first map and the mapping relation between the first map and the second map. Then, the mobile terminal displays the stop point in the second map according to the position information of the stop point in the second map. The mapping relationship between the first map and the second map can be determined based on the registration result between the first map and the second map, and the specific determination method is a general technology in the field of map registration and is not repeated.
Specifically, the operator may set a stop point in the first map according to the method shown in fig. 2 or fig. 4, and the mobile terminal determines the location information of the stop point in the second map according to the location information of the stop point in the first map and the mapping relationship between the first map and the second map. When an operator inputs a map mode switching operation, the mobile terminal responds to the map mode switching operation, switches the first map displayed in the display interface into a corresponding second map, and displays the stop points in the second map according to the position information of the stop points in the second map.
The operator can also adjust the stop points in the second map, at this time, the mobile terminal responds to the moving operation for any stop point in the second map, so that any stop point moves to the second target position in the second map, and according to the second target position, the position information of any stop point in the second marked point list is updated. Meanwhile, the mobile terminal determines the position information of the stop point in the first map according to the position information of the stop point in the second map and the mapping relation between the first map and the second map, and updates the position information of the stop point in the first mark point list. The moving operation mode of the stop point in the second map can refer to the moving method of the mark point in the first map, and is not described again.
Further, when a stop point is set in the second map, the mobile terminal determines second position information of the stop point in the first map according to first position information of the stop point in the second map and a mapping relation between the first map and the second map, and if the second position information does not exist in the first map, error prompt information is generated to prompt an operator to reset the stop point. The absence of the second location information in the first map indicates that the robot cannot reach the location corresponding to the second location information, for example, a printer is placed in the location, or the location is a secure room that is not open to the outside. The set stopping point is ensured to be the position which can be reached by the robot by checking the position information of the stopping point.
For example, when a stop point is set in an indoor engineering map, the mobile terminal determines second position information of the stop point in the indoor mapping map according to first position information of the stop point in the indoor engineering map and a mapping relation between the indoor mapping map and the indoor engineering map, and if the second position information does not exist in the indoor mapping map, generates error prompt information to prompt an operator to reset the stop point. The absence of the second location information in the indoor mapping map indicates that the robot cannot reach the location corresponding to the second location information, for example, a printer is placed in the location, or the location is a secret room that is not open to the outside. The indoor mapping map is drawn by the robot according to indoor environment data, indoor real conditions and positions which can be reached by the robot can be better embodied compared with an indoor engineering map, and the set stopping points in the indoor engineering map are verified based on the indoor mapping map so as to ensure that the set stopping points are positions which can be reached by the robot.
By the mode, the mobile terminal can automatically calculate the position information of the stop points in the map after the map mode is switched according to the position information of the stop points in the map before the map mode is switched, and an operator can adjust the stop points in multiple map modes in a linkage manner, so that the operator can conveniently determine the appropriate stop points by combining the maps in the multiple map modes.
As shown in fig. 8, based on the same inventive concept as the indoor map processing method described above, the embodiment of the present application further provides an indoor map processing apparatus 80, which specifically includes an adding module 801, a moving module 802, and an updating module 803.
The adding module 801 is configured to add a marker point in a display interface in response to a marker point adding operation, where the display interface includes at least two marker points, and a first marker point list on the display interface includes location information of each marker point in a first map.
A moving module 802, configured to respond to a moving operation for any one of the at least two marker points, so as to move any one of the marker points to the first target position.
The updating module 803 is configured to update the position information of any one of the mark points in the first mark point list according to the first target position.
Optionally, the indoor map processing apparatus 80 further includes a selecting module, configured to change a display state of any one of the at least two marked points from a first state to a second state in response to a selecting operation for the any one of the at least two marked points, where the first state is used to indicate that the marked point is not selected, and the second state is used to indicate that the marked point is selected.
Accordingly, the moving module 802 is specifically configured to move the selected marker to the first target position in response to the moving operation for the selected marker.
Optionally, the selecting module is specifically configured to determine that any one of the mark points is selected by: acquiring a click coordinate corresponding to the click event on a display interface; and if the click coordinate is determined to fall into the selected area corresponding to any mark point on the display interface, determining that any mark point is selected.
Optionally, the selected area of any marker point includes at least one of the following areas: a display area corresponding to any mark point in the first mark point list; and the display area corresponding to any mark point in the first map.
Optionally, the mark point is displayed in the first map in an icon manner, and the icon size corresponding to the second state is larger than the icon size corresponding to the first state.
Optionally, the icon corresponding to the second state displays position information of the mark point in the first map.
Optionally, the moving module 802 is specifically configured to:
responding to the moving operation of any one of the at least two mark points, and updating the position of any one mark point displayed in the first map in real time according to the corresponding real-time coordinate of the moving operation on the display interface;
when the ending event of the moving operation is monitored, the corresponding end point coordinate on the display interface when the moving operation is ended is obtained, the first target position corresponding to the end point coordinate in the first map is determined, and any mark point is displayed at the first target position.
Optionally, the indoor map processing apparatus 80 further includes a switching module, configured to:
responding to the map mode switching operation, and switching a first map displayed in a display interface into a second map corresponding to the first map;
at least two marker points are displayed in the second map.
Optionally, when the mark point is an alignment point, the display interface further includes a second mark point list corresponding to the second map, the second mark point list includes position information of at least two mark points in the second map, and the alignment point is an alignment point used for aligning the first map and the second map.
Correspondingly, the moving module 802 is further configured to, in response to a moving operation for any marked point in the second map, move any marked point to a second target position in the second map. The updating module 803 is further configured to update the position information of any mark point in the second mark point list according to the second target position.
Optionally, when the marked points are stopping points used for indicating positions where the vehicle can stop, the apparatus further includes a conversion module, configured to determine position information of the at least two marked points in the second map according to position information of the at least two marked points in the first map and a mapping relationship between the first map and the second map;
correspondingly, the switching module is specifically configured to display the at least two marker points in the second map according to the position information of the at least two marker points in the second map.
The indoor map processing device and the indoor map processing method provided by the embodiment of the application adopt the same inventive concept, can obtain the same beneficial effects, and are not repeated herein.
Based on the same inventive concept as the indoor map processing method, an embodiment of the present application further provides an electronic device, which may specifically be a mobile terminal shown in fig. 1. As shown in fig. 9, the electronic device 90 may include a processor 901 and a memory 902.
The Processor 901 may be a general-purpose Processor, such as a Central Processing Unit (CPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component, which may implement or execute the methods, steps, and logic blocks disclosed in the embodiments of the present Application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software modules in a processor.
An embodiment of the present application provides a computer-readable storage medium for storing computer program instructions for the electronic device, which includes a program for executing the indoor map processing method.
The computer storage media may be any available media or data storage device that can be accessed by a computer, including but not limited to magnetic memory (e.g., floppy disks, hard disks, magnetic tape, magneto-optical disks (MOs), etc.), optical memory (e.g., CDs, DVDs, BDs, HVDs, etc.), and semiconductor memory (e.g., ROMs, EPROMs, EEPROMs, non-volatile memory (NAND F L ASH), Solid State Disks (SSDs)), etc.
The above embodiments are only used to describe the technical solutions of the present application in detail, but the above embodiments are only used to help understanding the method of the embodiments of the present application, and should not be construed as limiting the embodiments of the present application. Modifications and substitutions that may be readily apparent to those skilled in the art are intended to be included within the scope of the embodiments of the present application.
Claims (15)
1. An indoor map processing method, comprising:
responding to a mark point adding operation, and adding mark points in a display interface, wherein the display interface comprises at least two mark points, and a first mark point list on the display interface comprises position information of each mark point in a first map;
responding to the movement operation of any one of the at least two mark points, and moving the any one mark point to a first target position;
and updating the position information of any mark point in the first mark point list according to the first target position.
2. The method of claim 1, further comprising:
responding to the selection operation of any one of the at least two marker points, and changing the display state of the any marker point from a first state to a second state, wherein the first state is used for indicating that the marker point is not selected, and the second state is used for indicating that the marker point is selected;
the responding to the moving operation of any one of the at least two marker points to move the any one marker point to a first target position specifically includes:
and responding to the movement operation aiming at the selected mark point, and moving the selected mark point to a first target position.
3. The method of claim 2, wherein the determination that any of the marker points is selected is made by:
acquiring a click coordinate corresponding to the click event on the display interface;
and if the click coordinate is determined to fall into the corresponding selected area of any mark point on the display interface, determining that any mark point is selected.
4. The method of claim 3, wherein the selected region of any marker point comprises at least one of:
a display area corresponding to any mark point in the first mark point list; and
and any mark point corresponds to a display area in the first map.
5. The method of claim 2, wherein the marker point is displayed in the first map as an icon, and wherein the icon size corresponding to the second state is larger than the icon size corresponding to the first state.
6. The method of claim 4, wherein the icon corresponding to the second state displays position information of a mark point in the first map.
7. The method according to any one of claims 1 to 6, wherein the moving any one of the at least two marker points to the first target position in response to the moving operation for the any one marker point comprises:
responding to the moving operation of any one of the at least two marker points, and updating the position of the any marker point displayed in the first map in real time according to the corresponding real-time coordinate of the moving operation on the display interface;
when the ending event of the moving operation is monitored, acquiring a corresponding end point coordinate on the display interface when the moving operation is ended, determining a first target position corresponding to the end point coordinate in the first map, and displaying any mark point at the first target position.
8. The method according to any one of claims 1 to 6, further comprising:
responding to map mode switching operation, and switching a first map displayed in the display interface into a second map;
displaying the at least two marker points in the second map.
9. The method according to claim 8, wherein when a marker point is an alignment point, a second marker point list corresponding to the second map is further included on the display interface, the second marker point list includes position information of the at least two marker points in the second map, and the alignment point is an alignment point used for aligning the first map and the second map;
after the displaying the at least two marker points in the second map, the method further comprises:
responding to the movement operation aiming at any mark point in the second map, and moving the any mark point to a second target position in the second map;
and updating the position information of any mark point in the second mark point list according to the second target position.
10. The method of claim 8, wherein when the marked point is a docking point for indicating a dockable location, the method further comprises:
determining the position information of the at least two mark points in the second map according to the position information of the at least two mark points in the first map and the mapping relation between the first map and the second map;
the displaying of the at least two marker points in the second map specifically includes:
and displaying the at least two mark points in the second map according to the position information of the at least two mark points in the second map.
11. An indoor map processing apparatus, comprising:
the adding module is used for responding to mark point adding operation and adding mark points in a display interface, the display interface comprises at least two mark points, and a first mark point list on the display interface comprises position information of each mark point in a first map;
the moving module is used for responding to the moving operation aiming at any one of the at least two mark points and enabling the any mark point to move to a first target position;
and the updating module is used for updating the position information of any mark point in the first mark point list according to the first target position.
12. The apparatus according to claim 11, further comprising a selecting module for changing a display state of any one of the at least two markers from a first state to a second state in response to a selecting operation for the any one of the at least two markers, the first state indicating that the marker is not selected, the second state indicating that the marker has been selected;
the moving module is specifically configured to respond to a moving operation for the selected marker point, so that the selected marker point is moved to a first target position.
13. The apparatus according to claim 11 or 12, wherein the apparatus further comprises a switching module configured to:
responding to map mode switching operation, and switching the first map displayed in the display interface into a second map corresponding to the first map;
displaying the at least two marker points in the second map.
14. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1 to 10 are implemented by the processor when executing the computer program.
15. A computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the steps of the method of any one of claims 1 to 10.
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