CN115114385A

CN115114385A - Map processing method and device

Info

Publication number: CN115114385A
Application number: CN202110291021.3A
Authority: CN
Inventors: 唐威威
Original assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Shirui Electronics Co Ltd
Current assignee: Guangzhou Shiyuan Electronics Thecnology Co Ltd; Guangzhou Shirui Electronics Co Ltd
Priority date: 2021-03-18
Filing date: 2021-03-18
Publication date: 2022-09-27

Abstract

The embodiment of the application discloses a map processing method and device, and belongs to the technical field of maps. Wherein, the method comprises the following steps: displaying a first map corresponding to the first space and a first positioning position of the robot on the first map on an operation interface, wherein the first map is a map constructed by scanning the first space when the robot is in the first space; under the condition that a map expansion instruction is detected, determining that the first positioning position is a target position, wherein the target position is an end position of the first map; and displaying a second map corresponding to the second space on the operation interface, wherein the second map is a map constructed by scanning the second space when the robot is in the second space, and the target position is the initial position of the second map. Therefore, the robot can solve the technical problem that in the related art, the robot can only work in a single two-dimensional plane map, and the working efficiency is low.

Description

Map processing method and device

Technical Field

The application relates to the field of maps, in particular to a map processing method and device.

Background

The existing security inspection robot scans and identifies an environment through a laser radar, and a map is constructed by using an SLAM (simultaneous localization and mapping) algorithm. The constructed map is a planar two-dimensional map, and operations such as indoor and outdoor safety inspection, fixed-point photographing, environment detection, intelligent identification and the like can be performed in one area. However, in the actual usage scenario of the device, if a three-dimensional or multi-space usage scenario and an operation space are encountered, only one fixed two-dimensional planar map is provided, that is, only one spatial region is used for performing operations such as inspection, and the like, and the current requirements of work, production and use cannot be met.

In view of the above problems, no effective solution has been proposed.

Disclosure of Invention

The embodiment of the application provides a map processing method and device, and the technical problem that in the related art, a robot can only work in a single two-dimensional plane map, so that the working efficiency is low is at least solved.

According to an aspect of an embodiment of the present application, there is provided a map processing method, including: displaying a first map corresponding to the first space and a first positioning position of the robot on the first map on an operation interface, wherein the first map is a map constructed by scanning the first space when the robot is in the first space; under the condition that a map expansion instruction is detected, determining that the first positioning position is a target position, wherein the target position is an end position of the first map; and displaying a second map corresponding to the second space on the operation interface, wherein the second map is a map constructed by scanning the second space when the robot is in the second space, and the target position is the initial position of the second map.

Optionally, in a case that the map building instruction is detected, displaying a second map corresponding to the second space on the operation interface includes: displaying a map construction page on the operation interface, and displaying a target position in the map construction page; controlling the robot to move in a second space, and constructing a second map by scanning the second space; a second map is displayed on the map build page.

Optionally, after displaying the second map on the map construction page, the method further comprises: storing the target position and the second map in the case that the save instruction is detected; in the case where the cancel instruction is detected, the storage of the target position and the second map is prohibited.

Optionally, in a case that the instruction for selecting a map is detected, displaying a second map corresponding to the second space on the operation interface includes: displaying the stored maps on an operation interface; and under the condition that the selection instruction is detected, displaying a second map on the operation interface, wherein the second map is the map corresponding to the selection instruction.

Optionally, after displaying the second map corresponding to the selection instruction on the operation interface, the method further includes: under the condition that the positioning instruction is detected, displaying a position corresponding to the positioning instruction on a second map; and under the condition that the confirmation instruction is detected, determining the position corresponding to the positioning instruction as the target position.

Optionally, the first map comprises at least one of: the robot scans the map constructed in the first space at the current moment, or the stored map corresponding to the first space.

Optionally, in the process of controlling the robot to move in the first space based on the control instruction, the method further includes: displaying a first map and the current position of the robot on the first map on an operation interface; under the condition that the robot is detected to reach the target position, displaying prompt information on an operation interface, wherein the prompt information is used for prompting whether to switch the first map or not; and under the condition that a switching instruction is detected, displaying a second map corresponding to the target position on the operation interface.

Optionally, in the process that the robot moves in the first space according to the first preset route corresponding to the first map, the method further includes: displaying a first map and the position of the robot on the first map on an operation interface; and under the condition that the robot reaches the target position, displaying a second map corresponding to the target position and the position of the robot on the second map on the operation interface, wherein the robot moves in a second space according to a second preset route corresponding to the second map.

According to another aspect of the embodiments of the present application, there is also provided a map processing method, including: acquiring a first map corresponding to a first space and a first positioning position of the robot on the first map, wherein the first map is a map constructed by scanning the first space when the robot is in the first space; under the condition that a map expansion instruction is detected, determining that the first positioning position is a target position, wherein the target position is an end position of the first map; and acquiring a second map corresponding to the second space, wherein the second map is a map constructed by scanning the second space when the robot is in the second space, and the target position is the initial position of the second map.

Optionally, in a case that the map building instruction is detected, the obtaining of the second map corresponding to the second space includes: controlling the robot to move in the second space; a second map is constructed by scanning the second space.

Optionally, in a case that the instruction for selecting a map is detected, the obtaining a second map corresponding to a second space includes: outputting the stored plurality of maps; and under the condition that the selection instruction is detected, determining that the map corresponding to the selection instruction is the second map.

Optionally, in the process of controlling the robot to move in the first space based on the control instruction, the method further includes: acquiring the current position of the robot on a first map; outputting prompt information under the condition that the current position is the target position, wherein the prompt information is used for prompting whether to switch the first map; and controlling the robot to move in the second space based on the control instruction in the case that the switching instruction is detected.

Optionally, during the process that the robot moves in the first space according to the first preset route corresponding to the first map, the method further includes: and when the robot reaches the target position, the robot moves in a second space according to a second preset route corresponding to the second map.

According to another aspect of the embodiments of the present application, there is also provided a map processing apparatus, including: the first display module is used for displaying a first map corresponding to the first space and a first positioning position of the robot on the first map on the operation interface, wherein the first map is a map constructed by scanning the first space when the robot is located in the first space; the determining module is used for determining the first positioning position as a target position under the condition that a map expansion instruction is detected, wherein the target position is a termination position of the first map; and the second display module is used for displaying a second map corresponding to the second space on the operation interface, wherein the second map is a map constructed by scanning the second space when the robot is positioned in the second space, and the target position is the initial position of the second map.

According to another aspect of the embodiments of the present application, there is also provided a map processing apparatus, including: the robot positioning system comprises a first acquisition module, a second acquisition module and a positioning module, wherein the first acquisition module is used for acquiring a first map corresponding to a first space and a first positioning position of the robot on the first map, and the first map is a map constructed by scanning the first space when the robot is in the first space; the detection module is used for determining the first positioning position as a target position under the condition that a map expansion instruction is detected, wherein the target position is a termination position of the first map; and the second acquisition module is used for acquiring a second map corresponding to the second space, wherein the second map is a map constructed by scanning the second space when the robot is positioned in the second space, and the target position is the initial position of the second map.

According to another aspect of embodiments of the present application, there is also provided a computer storage medium storing a plurality of instructions adapted to be loaded by a processor and to perform any of the method steps described above.

According to another aspect of the embodiments of the present application, there is also provided a robot including: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform any of the method steps described above.

In the embodiment of the application, a first map corresponding to a first space and a first positioning position of a robot on the first map are displayed on an operation interface, then the first positioning position is determined as a target position under the condition that a map expansion instruction is detected, and then a second map corresponding to a second space is displayed on the operation interface. The target position is used as the termination position of the first map and the starting position of the second map, so that the purpose of connecting the maps of two spatial levels is achieved, the robot can work in the maps of different spatial levels, the technical effect of improving the working efficiency is achieved, and the technical problem that in the related art, the robot can only work in a single two-dimensional plane map, and the working efficiency is low is solved.

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 embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a flow chart of a map processing method according to an embodiment of the present application;

FIG. 2 is a schematic diagram of an alternative map expansion button according to an embodiment of the present application;

FIG. 3 is a schematic diagram of an alternative map extension point according to an embodiment of the present application;

FIG. 4 is a schematic diagram of an alternative map expansion mode according to an embodiment of the application;

FIG. 5 is a diagram of an alternative new map according to an embodiment of the present application;

FIG. 6 is a schematic diagram of an alternative scan build page according to an embodiment of the present application;

FIG. 7 is a schematic diagram of an alternative selection map according to an embodiment of the present application;

FIG. 8 is a schematic view of an alternative manual selection position according to an embodiment of the present application;

FIG. 9 is an alternative schematic manual rotation angle according to an embodiment of the present application;

FIG. 10 is a schematic view of an alternative loading position according to an embodiment of the present application;

FIG. 11 is an alternative map expansion prompt diagram according to an embodiment of the present application;

FIG. 12 is a flow chart of another map processing method according to an embodiment of the present application;

FIG. 13 is a schematic diagram of a map processing apparatus according to an embodiment of the present application;

fig. 14 is a schematic diagram of another map processing apparatus according to an embodiment of the present application.

Detailed Description

In order to make the technical solutions of the present application better understood by those skilled in the art, 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, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application, as detailed in the appended claims.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be implemented in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Further, in the description of the present application, "a plurality" means two or more unless otherwise specified. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.

Example 1

In accordance with an embodiment of the present application, there is provided a map processing method, it should be noted that the steps shown in the flowchart of the figure can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described can be executed in an order different from that of the above.

Fig. 1 is a flowchart of a map processing method according to an embodiment of the present application, and as shown in fig. 1, the method may include the following steps:

and S102, displaying a first map corresponding to the first space and a first positioning position of the robot on the first map on the operation interface.

Wherein the first map is a map constructed by scanning the first space in which the robot is located.

The operation interface in the above steps may be an interface displayed for the inspection staff, for example, but not limited to, a mobile phone interface, a tablet interface, a computer interface, etc., and the inspection staff may operate on the interface to generate a corresponding operation instruction; the first map may be a map constructed based on the surrounding environment when the robot is in a new environment (i.e. the first space), or may also be a map already stored in the database, wherein the method adopted when constructing the map may include, but is not limited to, a radar scanning method, a camera shooting method, a GPS positioning method, and the like, and the specific method used when constructing the map is not limited herein; the first positioning position may be specific position information of the robot in the first map, or may be position information set by a user; the robot can be an intelligent security inspection robot, but is not limited to the robot, and can also be other robots which need to work across scenes and spaces.

In an optional embodiment, the inspection personnel remotely control the robot to walk, the environment (i.e. the first space) is identified through scanning of the laser radar, the map (i.e. the first map) is constructed by using the SLAM algorithm, at this time, the current positioning information of the robot on the map can be acquired, and the first positioning position of the robot on the first map can be obtained, so that the first map can be displayed on the operation interface, and the first positioning position of the robot on the first map can be displayed at the same time.

In another optional embodiment, if the first map is a map already stored in the database, the inspection staff may select a map that needs to be expanded on the operation interface as the first map, and may acquire current positioning information of the robot on the map to obtain the first positioning position, so that the first positioning position of the robot on the first map may be displayed while the first map is displayed on the operation interface.

And step S104, determining the first positioning position as the target position when the map expansion instruction is detected.

Wherein the target position is an end position of the first map.

The map expansion command in the above steps may be a command generated by a user clicking a map expansion button on the operation interface, but is not limited thereto, and may be a command generated by performing other specific operations, for example, a gesture operation; the target position may be an expansion point when the map expansion is performed, and the position may be an end position of the base map before the expansion (i.e., the first map) and a start position of the map that needs to be expanded.

In an optional embodiment, the first map which is already built is displayed on the operation interface, and the patrol inspector can click a map expansion button to expand the map on the operation interface. For example, taking a mobile phone interface as an example, as shown in fig. 2, the inspection staff may click on an "expand map" button on the right side of the operation interface, and after detecting an instruction to expand the map, the system may automatically use the first positioning location as an expansion point when expanding the map, and may display the expansion point on the first map, as shown in fig. 3.

And S106, displaying a second map corresponding to the second space on the operation interface.

The second map is constructed by scanning the second space when the robot is in the second space, and the target position is the initial position of the second map.

The second space in the above steps can be other spaces where the robot needs to perform inspection, such as an underground parking lot, a small garden in a central square, a balcony garden and the like; the second map may be a map expanded on the premise of the first map.

In an optional embodiment, after the map expansion instruction is detected, the inspection tour staff may select to newly construct a map as a second map, at this time, a name of the second map may be input, the first map is saved by default, the operation interface enters a scanning construction page of the second map, the robot is controlled to move in the second space to construct the map, the map is constructed by clicking and saving, the construction of the second map is completed, and the position information of the second map display map expansion point (i.e., the target position) is saved, where the position information is the start position of the second map. The first map and the second map can be associated through the determined ending position of the first map and the starting position of the second map, the operation interface can be switched from the first map to another map through the target position, and information of different spatial levels is connected in series.

In another alternative embodiment, after the map expansion instruction is detected, the inspection staff may select the existing map as the second map, and at this time, the second map may be directly called from the database, and the position information of the target position is displayed in the constructed second map, where the position information is the starting position of the second map. The first map and the second map can be associated through the determined ending position of the first map and the starting position of the second map, the operation interface can be switched from the first map to another map through the target position, and information of different spatial levels is connected in series.

Optionally, in the case that the instruction to construct a map is detected, displaying a second map corresponding to the second space on the operation interface includes: displaying a map construction page on the operation interface, and displaying a target position in the map construction page; controlling the robot to move in a second space, and constructing a second map by scanning the second space; the second map is displayed on the map build page.

The map building instruction in the above steps may be an instruction generated by a user clicking a map building button on the operation interface, but is not limited thereto, and may also be an instruction generated by performing other specific operations, for example, a gesture operation, and the like, for example, as shown in fig. 4, the user may generate the map building instruction by clicking a "new map" button.

In an alternative embodiment, when a map building instruction is detected, as shown in fig. 5, the name "underground parking lot" of the second map may be input first, at this time, the first map is saved by default, the operation interface enters the scanning building page of the second map, as shown in fig. 6, the inspection personnel controls the robot to move in the second space to build the map, the position information of the robot is displayed in the map building page, the position information is the target position, and the second map is displayed on the operation interface and the target position is displayed.

Optionally, after displaying the second map on the map building page, the method further includes: storing the target position and the second map in the case that the save instruction is detected; in the case where the cancel instruction is detected, the storage of the target position and the second map is prohibited.

The storage instruction in the above step may be an instruction sent by the inspection staff through the operation interface. After the stored instruction is detected, the second map and the target position on the second map can be recorded, that is, the ending position of the first map can be connected with the starting position of the second map, and further, the map can be expanded; if the cancel instruction is detected, all information of the second map cannot be recorded, that is, only the end position of the first map, the second map corresponding to the end position of the first map, the start position of the second map, and the effective target position are not available, and the map expansion cannot be performed.

Optionally, in the case that the instruction for selecting a map is detected, displaying a second map corresponding to the second space on the operation interface includes: displaying the stored maps on an operation interface; and under the condition that the selection instruction is detected, displaying a second map on the operation interface, wherein the second map is a map corresponding to the selection instruction.

In an alternative embodiment, as shown in fig. 7, the first map is a small garden map, after detecting the instruction to select the extended map, a plurality of stored maps, such as the small garden map, the underground garage, the second industrial garden, etc., are displayed on the operation interface, and the inspector selects the second industrial garden-small garden map, that is, determines that the second map is the second industrial garden-small garden map.

Optionally, after the second map corresponding to the selection instruction is displayed on the operation interface, the method further includes: under the condition that the positioning instruction is detected, displaying a position corresponding to the positioning instruction on a second map; and under the condition that the confirmation instruction is detected, determining the position corresponding to the positioning instruction as the target position.

The positioning instruction in the above steps may be an instruction generated by the inspection staff clicking on the map, and at this time, the position of the positioning instruction on the map may be used as the current positioning information of the robot. The confirmation instruction may be an instruction generated by clicking a corresponding button when the inspection staff confirms that the positioning information is accurate, for example, as shown in fig. 10, the inspection staff may generate the confirmation instruction by clicking a "complete" button.

In an alternative embodiment, after selecting the second map, when the positioning information of the robot is lost, the polling person needs to send a positioning instruction on the operating device, the operation process is as shown in fig. 8 to fig. 10, a prompt message "please click the current position of the robot on the map" is displayed on the operation interface, the polling person can determine the current positioning information of the robot by clicking on the map, then a prompt message "rotation angle is displayed on the operation interface, so that the red laser roughly matches the map", the polling person can control the robot to rotate by dragging the button displayed on the operation interface, and click the "next step" after the rotation is completed, finally, the prompt message "loading position information, please confirm whether the position is correct" is displayed on the operation interface, when the polling person determines the position is incorrect, the "repositioning" button can be clicked, returning to the operation interface shown in FIG. 8 for repositioning; when the patrol inspection personnel determines that the position is correct, the 'finish' button can be clicked, at the moment, the position designated by the patrol inspection personnel can be used as the target position, namely, the position information of the starting position of the second map can be determined in the above mode.

In an alternative embodiment, as shown in fig. 11, when the inspector controls the robot to move in the first map, construct the map, record the route, and the like, the robot is controlled to move, and after entering a predetermined extension point range (i.e., the target position), a map switching prompt is triggered, and the operation interface displays: the method comprises the steps that an expansion point is detected, and prompt information about whether to switch to the underground garage is detected, inspection personnel can select whether to switch to a corresponding underground garage map or not according to the prompt, namely, switch to a second map, and if the inspection personnel need to switch the map, the inspection personnel can click a map switching button, so that the underground garage map is displayed on an operation interface, namely, the second map is displayed.

In an optional embodiment, when the robot executes a task or automatically inspects the map, the robot can work according to a first preset route, if the robot encounters a route crossing the map, after the position of the robot enters a target position, the robot can be automatically switched to a second map, and the robot can move in a second space according to a second preset route, so that the robot can automatically work across the map and across the scene.

Four preferred embodiments of the present invention are described in detail below with reference to fig. 2 to 11, which are shown separately: expanding a new map to a new map, expanding an existing map to a new map, expanding a new map to an existing map, expanding a new map to a new map.

In a first optional embodiment, when the new map is expanded to the new map, as shown in fig. 2, the inspector may control the robot to move by clicking "up", "down", "left" and "right" buttons on the operation interface, construct the first map by laser scanning, and after the first map is constructed, the inspector may save the constructed first map by clicking "save map" button, or reconstruct the first map by clicking "cancel" button. When the patrol inspector needs to expand the map, the patrol inspector can click an 'expanded map' button on the operation interface, at this time, the current positioning information on the map is recorded, as shown in fig. 3, a target position is added on the map, and the target position is the termination position of the first map. After the target position is added, two buttons shown in fig. 4 are popped up on the operation interface, namely a "new map" button and a "map selection button", respectively, an inspector can click the "new map" button, a page shown in fig. 5 is popped up on the operation interface, the name of a second map needs to be input by the inspector, the first map is stored by default, the inspector inputs an "underground parking lot" and clicks a "confirm" button, the operation interface enters a scanning construction page of the expanded second map, as shown in fig. 6, the target position is used as the initial position of the second map construction process, wherein in the scanning construction process of the expanded second map, if construction is cancelled manually, second map information is not stored, no expansion point of the first map has available expansion, the map expansion is considered as a map expansion failure, and the target position is not stored. By analogy, the map expansion is not limited, multiple times of expansion can be completed, and maps in different scenes and spaces are connected in series.

In a second optional embodiment, when an existing map is expanded to a new map, because the existing first map is available, when an inspector needs to expand the map, the "expand map" button on the operation interface may be clicked, at this time, the positioning position of the robot on the current map is used as a target position to expand the map, the map is expanded, the add target position is clicked on the operation interface, as shown in fig. 4, the "new map" button is clicked, the current positioning information is recorded on the map, the target position is added on the map, a page as shown in fig. 5 is popped up on the operation interface, a new map name is input, the operation interface enters a scan construction page of a second map as shown in fig. 6, the target position is a starting point of a second map construction process, and if the robot has no positioning information on the first map, the target position cannot be added.

In a third alternative embodiment, when a new map is expanded to an existing map, a first map is scanned and constructed, an "expand map" button is clicked on an operation interface, as shown in fig. 7, the patrol inspector selects a name of the map to be expanded (i.e., the name of the second map), current positioning information is recorded on the first map, and a target position is added to the first map and is the termination position of the first map. After the target position is added to the first map, when the current use of the first map is switched to the second map, the positioning information of the robot is lost, at this time, through the operation processes shown in fig. 8 to fig. 10, the manual positioning is completed on the second map, and the corresponding position of the robot on the second map is found, and the position is the position of the target position on the second map.

In a fourth optional embodiment, when the existing map is expanded to the existing map, the target position is added in the overlapped area range, and the two maps are expanded in an associated manner. The robot is located on the first map, the robot has positioning information, the "map expansion" button is clicked on the operation interface, as shown in fig. 7, the patrol inspector selects a map name to be expanded (namely, the name of the second map), the current positioning information is recorded on the first map, and a target position is added on the first map. After the target position is added to the first map, the first map currently used is switched to the second map, the robot positioning information is lost, at this time, the manual positioning is completed on the second map through the operation processes shown in fig. 8 to fig. 10, and the position of the robot corresponding to the second map at present is found, and the position is the position of the target position on the second map.

In the case where the first map is an existing map, if the robot has no positioning information on the first map, the target position cannot be added.

After map extension points are added on a map, the robot has two modes of cross-map routing inspection and operation in the operation process: manual expansion and automatic expansion.

For the manual expansion mode: when the patrol inspector manually controls the robot to walk on the map a (first map), construct the map, record the route and the like, after the robot is controlled to move and enter a set extension point range, as shown in fig. 11, a map switching prompt of "detecting an extension point and switching to XX (second map)" is triggered, and the patrol inspector can select whether to switch to the corresponding map (second map) according to the prompt.

For the auto-expansion mode: when the robot executes tasks or automatically patrols on the first map, the robot can carry out work according to a set route, if a route crossing the map is encountered, when the position of the robot enters a set extension point range, the robot can automatically switch to the next map route according to the route, and the robot can automatically cross the map and cross the scene to carry out work.

In the above embodiment, it should be noted that, in the map processing method in the present application, after maps of different spaces are constructed, bridges connected to maps of different spaces are erected by determining target positions, where an expanded map may have a new map expanded to a new map, the new map expanded to an existing map, the existing map expanded to the new map, and the existing map expanded to the existing map, and at the same time, after determining an end position of a first map and a start position of a second map, multiple maps may be expanded through the above position information.

Example 2

There is also provided a map processing method in accordance with an embodiment of the present application, it should be noted that the steps illustrated in the flowchart of the figure may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be performed in an order different than that.

Fig. 12 is a schematic diagram of another map processing method according to an embodiment of the present application, as shown in fig. 12, the method includes:

step S1202, a first map corresponding to the first space and a first positioning position of the robot on the first map are obtained.

Wherein the first map is a map constructed by scanning a first space when the robot is in the first space.

In step S1204, when the map expansion instruction is detected, the first positioning position is determined as the target position.

Wherein the target position is the termination position of the first map.

In step S1206, a second map corresponding to the second space is obtained.

The second map is a map constructed by scanning a second space when the robot is in the second space, and the target position is an initial position of the second map.

Optionally, when the map building instruction is detected, the obtaining of the second map corresponding to the second space includes: controlling the robot to move in the second space; a second map is constructed by scanning a second space.

Optionally, when the instruction to select a map is detected, acquiring a second map corresponding to the second space includes: outputting the stored plurality of maps; and under the condition that the selection instruction is detected, determining that the map corresponding to the selection instruction is the second map.

Optionally, in the process that the robot moves in the first space according to the first preset route corresponding to the first map, the method further includes: and when the robot reaches the target position, the robot moves in a second space according to a second preset route corresponding to the second map.

Example 3

According to the embodiment of the present application, a map processing apparatus is further provided, where the apparatus may perform the map processing method in the foregoing embodiment, and a specific implementation manner and a preferred application scenario are the same as those in the foregoing embodiment, and are not described herein again.

Fig. 13 is a schematic diagram of a map processing apparatus according to an embodiment of the present application, as shown in fig. 13, the apparatus including:

a first display module 1302, configured to display, on an operation interface, a first map corresponding to a first space and a first positioning position of the robot on the first map, where the first map is a map constructed by scanning the first space when the robot is in the first space;

a determining module 1304, configured to determine that the first location is a target location when the map expansion instruction is detected, where the target location is an end location of the first map;

the second display module 1306 displays a second map corresponding to the second space on the operation interface, where the second map is a map constructed by scanning the second space when the robot is located in the second space, and the target position is a start position of the second map.

Optionally, the second display module comprises: the first construction unit is used for displaying a map construction page on the operation interface and displaying a target position in the map construction page; the first control unit is used for controlling the robot to move in the second space and constructing a second map by scanning the second space; and a first display unit displaying the second map on the map construction page.

Optionally, the second display module further comprises: the second display unit is used for displaying a map construction page on the operation interface and displaying a target position in the map construction page; the second control unit is used for controlling the robot to move in a second space and constructing a second map by scanning the second space; and the second construction unit is used for displaying a second map on the map construction page.

Optionally, the second building element comprises: a first detection subunit, configured to store the target position and the second map in a case where the save instruction is detected; a second detection subunit operable to prohibit storage of the target position and the second map in a case where the cancel instruction is detected.

Optionally, the second display module further comprises: a first storage unit configured to display a plurality of stored maps on an operation interface; and the third display unit is used for displaying a second map on the operation interface under the condition that the selection instruction is detected, wherein the second map is a map corresponding to the selection instruction.

Optionally, the third display unit comprises: the display subunit is used for displaying a position corresponding to the positioning instruction on the second map under the condition that the positioning instruction is detected; and the determining unit is used for determining the position corresponding to the positioning instruction as the target position under the condition that the confirmation instruction is detected.

Optionally, the determining module includes: and the second storage unit is used for scanning the map constructed by the first space at the current moment through the robot or storing the map corresponding to the first space.

Optionally, the first display module further comprises: the fourth display subunit is used for displaying the first map and the current position of the robot on the first map on the operation interface; the fifth display subunit is used for displaying prompt information on the operation interface under the condition that the robot is detected to reach the target position, wherein the prompt information is used for prompting whether to switch the first map or not; and the sixth display subunit is used for displaying the second map corresponding to the target position on the operation interface under the condition that the switching instruction is detected.

Optionally, the first display module further comprises: the seventh display subunit is used for displaying the first map and the position of the robot on the first map on the operation interface; and the eighth display subunit is used for displaying a second map corresponding to the target position and the position of the robot on the second map on the operation interface under the condition that the robot reaches the target position, wherein the robot moves in the second space according to a second preset route corresponding to the second map.

Example 4

According to the embodiment of the present application, another map processing apparatus is further provided, and the apparatus can execute the map processing method in the foregoing embodiment, and a specific implementation manner and a preferred application scenario are the same as those in the foregoing embodiment, which are not described herein again.

Fig. 14 is a schematic diagram of another map processing apparatus according to an embodiment of the present application, as shown in fig. 14, the apparatus including:

a first obtaining module 1402, configured to obtain a first map corresponding to the first space and a first positioning location of the robot on the first map, where the first map is a map constructed by scanning the first space when the robot is in the first space;

a detecting module 1404, configured to determine that the first location is a target location when the map expansion instruction is detected, where the target location is a termination location of the first map;

the second obtaining module 1406 is configured to obtain a second map corresponding to a second space, where the second map is a map constructed by scanning the second space when the robot is located in the second space, and the target position is an initial position of the second map.

Optionally, the second obtaining module includes: the control unit is used for controlling the robot to move in the second space; a construction unit for constructing a second map by scanning the second space.

Optionally, the second obtaining module further includes: a first output unit for outputting the stored plurality of maps; and the determining unit is used for determining that the map corresponding to the selection instruction is the second map under the condition that the selection instruction is detected.

Optionally, the first obtaining module includes: the acquisition unit is used for acquiring the current position of the robot on a first map; the second output unit is used for outputting prompt information under the condition that the current position is the target position, wherein the prompt information is used for prompting whether to switch the first map; and the control unit is used for controlling the robot to move in the second space based on the control instruction under the condition that the switching instruction is detected.

Example 5

The embodiment of the present application further provides a computer storage medium, where the computer storage medium may store a plurality of instructions, and the instructions are suitable for being loaded by a processor and executing the method steps in the embodiment shown in fig. 1, and a specific execution process may refer to specific descriptions of the above embodiment, which is not described herein again.

Example 6

An embodiment of the present application further provides a robot, including: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the map processing method of the above embodiments.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application 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 so forth) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams 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 a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

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 computer storage media 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 that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

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 an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A map processing method, comprising:

displaying a first map corresponding to a first space and a first positioning position of the robot on the first map on an operation interface, wherein the first map is a map constructed by scanning the first space when the robot is in the first space;

under the condition that a map expansion instruction is detected, determining that the first positioning position is a target position, wherein the target position is an end position of the first map;

and displaying a second map corresponding to a second space on the operation interface, wherein the second map is a map constructed by scanning the second space when the robot is located in the second space, and the target position is a starting position of the second map.

2. The method according to claim 1, wherein in the case that the map building instruction is detected, displaying a second map corresponding to a second space on the operation interface comprises:

displaying a map construction page on the operation interface, and displaying the target position in the map construction page;

controlling the robot to move in the second space and constructing the second map by scanning the second space;

displaying the second map on the map construction page.

3. The method of claim 2, wherein after displaying the second map on the map build page, the method further comprises:

storing the target location and the second map if a save instruction is detected;

in a case where a cancel instruction is detected, the target position and the second map are prohibited from being stored.

4. The method according to claim 1, wherein in the case that the selection of the map command is detected, displaying a second map corresponding to a second space on the operation interface comprises:

displaying a plurality of stored maps on the operation interface;

and displaying the second map on the operation interface under the condition that a selection instruction is detected, wherein the second map is a map corresponding to the selection instruction.

5. The method according to claim 4, wherein after the second map corresponding to the selection instruction is displayed on the operation interface, the method further comprises:

under the condition that a positioning instruction is detected, displaying a position corresponding to the positioning instruction on the second map;

and under the condition that a confirmation instruction is detected, determining the position corresponding to the positioning instruction as the target position.

6. The method of any of claims 1-5, wherein the first map comprises at least one of: and the robot scans the map constructed by the first space at the current moment or the stored map corresponding to the first space.

7. The method of claim 6, wherein in controlling the robot to move in the first space based on the control instructions, the method further comprises:

displaying the first map and the current position of the robot on the first map on the operation interface;

under the condition that the robot is detected to reach the target position, displaying prompt information on the operation interface, wherein the prompt information is used for prompting whether to switch the first map;

and displaying a second map corresponding to the target position on the operation interface under the condition that a switching instruction is detected.

8. The method of claim 6, wherein during the movement of the robot in the first space according to the first preset route corresponding to the first map, the method further comprises:

displaying the first map and the position of the robot on the first map on the operation interface;

and under the condition that the robot reaches the target position, displaying the second map corresponding to the target position and the position of the robot on the second map on the operation interface, wherein the robot moves in the second space according to a second preset route corresponding to the second map.

9. A map processing method, comprising:

the method comprises the steps of obtaining a first map corresponding to a first space and a first positioning position of a robot on the first map, wherein the first map is a map constructed by scanning the first space when the robot is located in the first space;

and acquiring a second map corresponding to a second space, wherein the second map is a map constructed by scanning the second space when the robot is in the second space, and the target position is a starting position of the second map.

10. The method of claim 9, wherein in the case that the map building instruction is detected, acquiring a second map corresponding to a second space comprises:

controlling the robot to move in the second space;

constructing the second map by scanning the second space.

11. The method of claim 9, wherein in the case that the instruction for selecting a map is detected, acquiring a second map corresponding to a second space comprises:

outputting the stored plurality of maps;

and under the condition that a selection instruction is detected, determining that the map corresponding to the selection instruction is the second map.

12. The method according to any one of claims 9 to 11, wherein in controlling the robot to move in the first space based on the control instruction, the method further comprises:

acquiring the current position of the robot on the first map;

outputting prompt information under the condition that the current position is the target position, wherein the prompt information is used for prompting whether to switch the first map;

and controlling the robot to move in the second space based on the control instruction when the switching instruction is detected.

13. The method according to any one of claims 9 to 11, wherein during the movement of the robot in the first space according to a first preset route corresponding to the first map, the method further comprises:

and when the robot reaches the target position, the robot moves in the second space according to a second preset route corresponding to the second map.

14. A map processing apparatus, comprising:

the robot positioning system comprises a first display module, a second display module and a control module, wherein the first display module is used for displaying a first map corresponding to a first space and a first positioning position of the robot on the first map on an operation interface, and the first map is a map constructed by scanning the first space when the robot is located in the first space;

the determining module is used for determining that the first positioning position is a target position under the condition that a map expansion instruction is detected, wherein the target position is an end position of the first map;

and the second display module is used for displaying a second map corresponding to a second space on the operation interface, wherein the second map is a map constructed by scanning the second space when the robot is located in the second space, and the target position is the initial position of the second map.

15. A map processing apparatus, comprising:

the robot positioning system comprises a first acquisition module, a second acquisition module and a positioning module, wherein the first acquisition module is used for acquiring a first map corresponding to a first space and a first positioning position of the robot on the first map, and the first map is a map constructed by scanning the first space when the robot is in the first space;

the detection module is used for determining that the first positioning position is a target position under the condition that a map expansion instruction is detected, wherein the target position is an end position of the first map;

the second obtaining module is configured to obtain a second map corresponding to a second space, where the second map is a map constructed by scanning the second space when the robot is located in the second space, and the target position is an initial position of the second map.

16. A computer storage medium, characterized in that it stores a plurality of instructions adapted to be loaded by a processor and to carry out the method steps according to any one of claims 1 to 13.

17. A robot, comprising: a processor and a memory; wherein the memory stores a computer program adapted to be loaded by the processor and to perform the method steps of any of claims 1 to 13.