WO2022198926A1 - 禁行区域的设置方法和装置、存储介质、电子装置 - Google Patents

禁行区域的设置方法和装置、存储介质、电子装置 Download PDF

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Publication number
WO2022198926A1
WO2022198926A1 PCT/CN2021/116142 CN2021116142W WO2022198926A1 WO 2022198926 A1 WO2022198926 A1 WO 2022198926A1 CN 2021116142 W CN2021116142 W CN 2021116142W WO 2022198926 A1 WO2022198926 A1 WO 2022198926A1
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WIPO (PCT)
Prior art keywords
target
area
endpoint
map
displayed
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PCT/CN2021/116142
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English (en)
French (fr)
Inventor
孟佳
吕庶白
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追觅创新科技(苏州)有限公司
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Publication of WO2022198926A1 publication Critical patent/WO2022198926A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • G06F3/0483—Interaction with page-structured environments, e.g. book metaphor
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G06F3/04842—Selection of displayed objects or displayed text elements

Definitions

  • the present invention relates to the field of communications, and in particular, to a method and device for setting a forbidden area, a storage medium, and an electronic device.
  • Embodiments of the present invention provide a method and device, a storage medium, and an electronic device for setting a prohibited area, so as to at least solve the problem in the related art that the user cannot accurately set the prohibited area on the map because the map displayed by the terminal is too small. Endpoint locations, etc.
  • a method for setting a prohibited area including: acquiring a map of a working area of a mobile robot; determining one or more endpoints of the prohibited area in the map, wherein the prohibited area is
  • the row area includes at least one of the following: a virtual wall, a forbidden area; in response to the adjustment operation of the target object on the target end point, the target map area corresponding to the target end point is enlarged and displayed according to a preset magnification factor, so that the target object is based on the enlarged display.
  • the target map area is set to the forbidden area, wherein the target endpoint is set on a partial area of the target map area, and the one or more endpoints include: the target endpoint.
  • the target map area corresponding to the target endpoint is enlarged and displayed according to a preset magnification, so that the target object sets the forbidden area based on the enlarged and displayed target map area, including: determining whether the adjustment operation satisfies a preset condition, wherein the preset condition includes at least one of the following: the time when the adjustment operation is detected at the same position of the target endpoint exceeds a first threshold, and the adjustment is detected Operation and adjustment: the target endpoint is located in the preset area of the map, and the adjustment operation of the target endpoint by the target object is detected; in the case of satisfying the preset condition, the target is enlarged and displayed according to the preset magnification factor the target map area corresponding to the endpoint, so that the target object sets the forbidden area based on the enlarged and displayed target map area.
  • the preset condition includes at least one of the following: the time when the adjustment operation is detected at the same position of the target endpoint exceeds a first threshold, and the adjustment is detected Operation and adjustment: the target end
  • the target map area corresponding to the target endpoint is enlarged and displayed according to a preset magnification, so that the target object sets the forbidden area based on the enlarged and displayed target map area, including: Obtain the first display position of the target endpoint on the terminal, wherein the terminal is used to enlarge and display the target map area corresponding to the target endpoint according to a preset magnification factor; determine the second display position corresponding to the first display position. A second display position with a preset distance; at the second display position, the target map area corresponding to the target endpoint is enlarged and displayed according to a preset magnification, so that the target object is set based on the enlarged display of the target map area the prohibited area.
  • determining the second display position corresponding to the first display position includes: determining the second display position that is a second preset distance from the first display position, wherein the Both the first display position and the second display position are displayed on the display interface of the terminal.
  • the target map area corresponding to the target endpoint is enlarged and displayed according to a preset magnification, so that the target object sets the forbidden area based on the enlarged and displayed target map area, including: In the case of detecting that the target endpoint has moved to a preset area, generate a first recommended point position for the target endpoint in the preset area; in response to the connection operation of the target object, the target endpoint Move to the first recommended point position.
  • the method further includes: displaying the target map area according to the preset magnification in the target map area. Describe the location of the first recommended point.
  • prompt content is displayed through a floating frame, wherein the prompt content is used to prompt the target object
  • the target end point cannot be set to the area in which the target end point is currently moved.
  • displaying the prompt content through a floating frame includes: displaying prompt text through a floating frame, so as to prompt the target object through the prompt text that the target endpoint cannot be set in the region where the target endpoint is currently located.
  • the method further includes generating a second recommended point location for the target endpoint upon detecting that the target endpoint has moved to an area where the target endpoint cannot be set, wherein, The second recommended point position includes: the intersection of the forbidden area and the area where the target endpoint cannot be set; directly moving the target endpoint to the second recommended point position, or responding to the target object The connection operation is performed, and the target endpoint is moved to the second recommended point position.
  • the forbidden area includes at least one of the following: a virtual wall, a forbidden area.
  • a device for setting a prohibited area includes: an acquisition module for acquiring a map of a working area of a mobile robot; a determination module for determining prohibited areas in the map One or more endpoints of the row area; the zooming module is used to enlarge and display the target map area corresponding to the target endpoint according to the preset magnification in response to the adjustment operation of the target object on the target endpoint, so that the target object is displayed based on the enlarged display
  • the prohibited area is set in the target map area afterward, wherein the target endpoint is set on a partial area of the target map area, and the one or more endpoints include: the target endpoint.
  • a computer-readable storage medium is also provided, where a computer program is stored in the computer-readable storage medium, wherein the computer program is configured to execute any of the above when running Steps in Method Examples.
  • an electronic device comprising a memory and a processor, wherein the memory stores a computer program, the processor is configured to run the computer program to execute any of the above Steps in Method Examples.
  • a map of the working area of the mobile robot is obtained; one or more endpoints of the forbidden area in the map are determined; in response to the adjustment operation of the target endpoint by the target object, the corresponding target endpoint is enlarged and displayed according to the preset magnification
  • the target map area so that the target object sets the forbidden area based on the target map area after zooming in, wherein the target endpoint is set on a partial area of the target map area, and the one or The multiple endpoints include: the target endpoint, that is, when the user adjusts the target endpoint, the target map area corresponding to the target endpoint is displayed in a magnified manner.
  • the present invention has the following beneficial effects: when setting the progress area on the map of the working area of the mobile robot, the target map area corresponding to the end position of the forbidden area can be enlarged and displayed, and the accuracy of setting the forbidden area by the user can be improved, so as to achieve the best forbidden area set up.
  • FIG. 1 is a block diagram of a hardware structure of a mobile terminal according to a method for setting a forbidden area according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a method for setting a prohibited area according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of setting up a virtual wall according to an exemplary embodiment of the present invention.
  • FIG. 4 is a schematic diagram of setting a prohibited area according to an exemplary embodiment of the present invention.
  • FIG. 5 is a schematic diagram of setting a plurality of prohibited areas according to an exemplary embodiment of the present invention.
  • FIG. 6 is a structural block diagram of an apparatus for setting a forbidden area according to an embodiment of the present invention.
  • FIG. 1 is a hardware structural block diagram of a mobile terminal according to a method for setting a forbidden area according to an embodiment of the present invention.
  • the mobile terminal may include one or more (only one is shown in FIG.
  • processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) As well as the memory 104 for storing data, in an exemplary embodiment, the above-mentioned mobile terminal may further include a transmission device 106 and an input-output device 108 for communication functions.
  • the structure shown in FIG. 1 is only a schematic diagram, which does not limit the structure of the above-mentioned mobile terminal.
  • the mobile terminal may also include more or fewer components than those shown in FIG. 1 , or have a different configuration with equivalent or more functions than those shown in FIG. 1 .
  • the memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer programs corresponding to the method for setting the forbidden area of the mobile terminal in the embodiment of the present invention.
  • a computer program thereby executing various functional applications and data processing, implements the above-mentioned method.
  • Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory.
  • the memory 104 may further include memory located remotely from the processor 102, and these remote memories may be connected to the mobile terminal through a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • Transmission means 106 are used to receive or transmit data via a network.
  • the specific example of the above-mentioned network may include a wireless network provided by a communication provider of the mobile terminal.
  • the transmission device 106 includes a network adapter (Network Interface Controller, NIC for short), which can be connected to other network devices through a base station so as to communicate with the Internet.
  • the transmission device 106 may be a radio frequency (Radio Frequency, RF for short) module, which is used to communicate with the Internet in a wireless manner.
  • RF Radio Frequency
  • FIG. 2 is a flowchart of a method for setting a forbidden area according to an embodiment of the present invention, and the flow includes the following steps:
  • Step S202 obtaining a map of the working area of the mobile robot
  • Step S204 Determine one or more endpoints of the forbidden area in the map
  • Step S206 In response to the adjustment operation of the target object on the target end point, the target map area corresponding to the target end point is enlarged and displayed according to a preset magnification, so that the target object sets the prohibited map area based on the enlarged and displayed target map area.
  • a map of the working area of the mobile robot is obtained; one or more endpoints of the forbidden area in the map are determined; in response to the adjustment operation of the target endpoint by the target object, the target is enlarged and displayed according to a preset magnification factor the target map area corresponding to the endpoint, so that the target object sets the forbidden area based on the enlarged display target map area, wherein the target endpoint is set on a partial area of the target map area, and the One or more endpoints include: the target endpoint, that is, when the user adjusts the target endpoint, the target map area corresponding to the target endpoint is enlarged and displayed, and the above technical solution solves the problem in the related art because the map is too small.
  • the forbidden area includes at least one of the following: a virtual wall and a forbidden area.
  • the virtual wall is a virtual wall used to block the mobile robot from entering the area.
  • the forbidden area is a closed area where the mobile robot is prohibited from entering.
  • the shape of the forbidden area can be any shape such as square, circle, rectangle, etc. This embodiment of the invention does not limit this.
  • setting the forbidden area includes but not limited to the following two application scenarios: 1) Setting the forbidden area before the mobile robot starts to work (walk); 2) During the working process of the mobile robot, suspend the work of the mobile robot and set the forbidden area The mobile robot is then instructed to start working after the area, and this application scenario is not limited in this embodiment of the present invention.
  • the target map area corresponding to the target endpoint is enlarged and displayed according to a preset magnification factor, so that the target object sets the forbidden area based on the enlarged and displayed target map area, and needs to be determined.
  • the adjustment operation satisfies a preset condition, wherein the preset condition includes at least one of the following: the time when the adjustment operation is detected at the same position of the target endpoint exceeds a first threshold, and the adjustment operation is detected Adjust the target endpoint to be located in the preset area of the map, and detect the adjustment operation of the target endpoint by the target object; under the condition that the preset condition is satisfied, zoom in and display the target endpoint according to the preset magnification The corresponding target map area, so that the target object sets the forbidden area based on the enlarged and displayed target map area.
  • the target object may preset the magnification of the magnification area on the terminal as required, and then enlarge and display the target map corresponding to the target endpoint on the terminal according to the preset magnification of the target object.
  • the adjustment operation time of the target object on the target endpoint exceeds the first threshold, and within the first threshold time.
  • the position of the target endpoint has not changed; it is detected that the adjustment operation adjusts that the target endpoint is located in the preset area of the map "in the preset area of the map", it can be understood that the mobile robot is located in the preset area of the map.
  • the target map area corresponding to the target endpoint is enlarged and displayed according to a preset magnification factor, so that the target object sets the forbidden area based on the enlarged and displayed target map area, and further needs to be Obtain the first display position of the target endpoint on the terminal, wherein the terminal is used to enlarge and display the target map area corresponding to the target endpoint according to a preset magnification factor; determine the second display position corresponding to the first display position. A second display position with a preset distance; at the second display position, the target map area corresponding to the target endpoint is enlarged and displayed according to a preset magnification, so that the target object is set based on the enlarged display of the target map area the prohibited area.
  • the first display position of the target endpoint on the terminal is obtained, the second display position is determined according to the first display position, and the target map corresponding to the target endpoint enlarged and displayed according to the preset magnification is displayed in the second display position,
  • the second display position may be located above the first display position, and according to the actual operation situation or the operation habit of the target object, etc., the second display position may also be located below, left and right of the first display position.
  • determining the second display position that is a second preset distance from the first display position wherein both the first display position and the second display position are displayed on the display interface of the terminal .
  • the content displayed on the terminal display interface includes at least one of the following: a map of the working area of the mobile robot, a forbidden area, a target map corresponding to the target endpoint enlarged and displayed according to a preset magnification, and a first display position and the second display position, the numerical value of the second display position from the first display position is a fixed value, and the numerical target object of the second display position from the first display position can be adjusted at will according to the actual situation.
  • a first recommended point position is generated for the target endpoint within the preset area; A connection operation is performed to move the target endpoint to the position of the first recommendation point.
  • the target endpoint has moved to a preset area, which can be understood as an area where the target endpoint is located within a preset distance range from edges, corners, etc. in the map, and the first target object is generated within the preset area.
  • Recommendation point In an example, a first recommendation point is generated at a corner position in a preset area, where the first recommendation point may be one recommendation point or multiple recommendation points.
  • the target object can move the target endpoint to the position of the first recommendation point, and can also set an automatic mode to automatically move the target endpoint to the position of the first recommendation point.
  • the method for generating the first recommendation point includes: when it is detected that the target endpoint has moved to the preset area, generating the first recommendation point at the edge position of the preset area according to the principle of equal division, and in the preset area. Set the corner position of the region to generate the first recommendation point.
  • the first recommended point position is generated for the target endpoint in the preset area
  • the first recommended point position is displayed in the target map area according to the preset magnification.
  • the position of the first recommendation point needs to be displayed in the target map area according to the preset magnification, so that the target object can move the target endpoint to the location of the first recommendation point more accurately. s position.
  • prompt content is displayed through a floating frame, wherein the prompt content is used to prompt the target object
  • the target end point cannot be set to the area in which the target end point is currently moved.
  • prompt text is displayed through a floating frame, so as to prompt the target object through the prompt text that the target endpoint cannot be set in the area where the target endpoint is currently located.
  • the text of the target endpoint cannot be set in the area where the target endpoint is currently located.
  • the terminal displays "The endpoint cannot be set in this area", and the target graphics can also be displayed on the terminal to prompt The target endpoint cannot be set in the current region of the target object.
  • a second recommended point location is generated for the target endpoint, wherein the second recommended point The position includes: the intersection of the forbidden area and the area where the target end point cannot be set; directly move the target end point to the second recommended point position, or in response to the connection operation of the target object, move the target end point. moving the target endpoint to the second recommended point position.
  • a second recommended point is automatically generated for the target object, and the target object can move the target endpoint to the first recommended point.
  • an automatic mode can also be set to automatically move the target endpoint to the position where the second recommendation point is located.
  • An optional embodiment of the present invention takes a sweeping robot as an example.
  • a map of the working area (equivalent to the map of the working area of the mobile robot in the above embodiment) is displayed on the interface of the client.
  • a virtual wall or forbidden area (equivalent to the forbidden area in the above embodiment) can be set on the map, and the area restricted by the virtual wall or forbidden area is the area that the cleaning robot cannot enter.
  • FIG. 3 is a schematic diagram of setting a virtual wall according to an exemplary embodiment of the present invention. When setting the virtual wall, a line segment is displayed on the map, and the line segment can be a straight line or a curve.
  • the target endpoint in the example can be displayed as two small circles (other forms can also be used, such as small solid dots, other non-circular shapes, or the endpoints are not processed), and the user can adjust the line segment by dragging one of the endpoints. Location.
  • FIG. 4 is a schematic diagram of setting a prohibited area according to an exemplary embodiment of the present invention.
  • FIG. 4 is a schematic diagram of setting a prohibited area according to an exemplary embodiment of the present invention.
  • FIG. 5 It is a schematic diagram of setting multiple prohibited areas according to an exemplary embodiment of the present invention.
  • the two prohibited areas can be set to different modes. For example, one area indicates that the cleaning robot is prohibited from cleaning, and the other area indicates that the cleaning robot is prohibited from mopping the floor. .
  • a local magnification interface (similar to a magnifying glass) will be displayed on the interface, and the magnified image of the map where the endpoint is located will be displayed in the partial magnification interface, which can help the user to set the virtual wall more accurately. and restricted areas. Further, when the partial zoom-in interface is displayed, small circles may not be displayed on the corresponding endpoints of the virtual wall or restricted area.
  • the partial zoom-in interface may be displayed only when a preset zoom-in condition is triggered.
  • the preset zoom-in conditions include at least one of the following: long-pressing the endpoint for a preset time (for example, 1 second) during the process of detecting that the user is adjusting the endpoint, detecting that the endpoint dragged by the user is located at the preset edge/corner of each area in the map A preset area within the distance range, the end point of user dragging is detected.
  • the zoomed-in interface displayed on the client will move with the user's finger (ie, follow the end point dragged by the user's finger), for example, always keep at a preset position above the end point dragged by the user's finger. Specifically, by recognizing the first position of the endpoint dragged by the user's finger, calculating a second position with a preset distance directly above the first position, and generating a partial zoom-in interface at the second position.
  • one or more recommended points can be automatically generated on the local zoom interface, and the user can connect the end points to the recommended points or automatically connect the end points. Connect to recommended points. Since virtual walls and restricted areas are usually set at positions such as door frames and walls, it is difficult for users to accurately align the door frames and walls when dragging the endpoints to align with the door frames. Therefore, the recommended points can be the virtual walls and the endpoints of the restricted area. In the figure, the end of the door frame closest to the end point, the point of the wall edge closest to the end point, etc.
  • the endpoint of the virtual wall or the restricted area dragged by the user is in an area that is not suitable for setting endpoints, the user can be reminded on the partial zoom-in interface, for example, a floating frame is used to display text.
  • a recommended point can also be provided for the user on the partial zoom interface.
  • Area suitable for setting endpoints”, or the endpoint of a virtual wall or exclusion zone can be automatically moved to the intersection.
  • a map of the working area of the mobile robot is obtained; one or more endpoints of the forbidden area in the map are determined; in response to the adjustment operation of the target endpoint by the target object, the target is enlarged and displayed according to a preset magnification factor the target map area corresponding to the endpoint, so that the target object sets the forbidden area based on the enlarged display target map area, wherein the target endpoint is set on a partial area of the target map area, and the One or more endpoints include: the target endpoint, that is, when the user adjusts the target endpoint, the target map area corresponding to the target endpoint is enlarged and displayed, and the above technical solution solves the problem in the related art due to the The map is too small, so that the user cannot accurately set the end point of the forbidden area on the map, etc., and then by zooming in on the target map area corresponding to the target end point, the user can set the forbidden area on the target map area more accurately. endpoint position.
  • a device for setting a prohibited area is also provided, and the device is used to implement the above-mentioned embodiments and implementation manners, which have been described and will not be repeated.
  • the term "module” may be a combination of software and/or hardware that implements a predetermined function.
  • the apparatus described in the following embodiments is preferably implemented in software, implementations in hardware, or a combination of software and hardware, are also possible and contemplated.
  • FIG. 6 is a structural block diagram of a device for setting a forbidden area according to an embodiment of the present invention, as shown in FIG. 6 , including:
  • an acquisition module 62 for acquiring a map of the working area of the mobile robot
  • a determination module 64 configured to determine one or more endpoints of the forbidden area in the map area
  • the enlargement module 66 is used for responding to the adjustment operation of the target object on the target endpoint, and according to the preset magnification factor, the target map area corresponding to the target endpoint is enlarged and displayed, so that the target object is set based on the enlarged display of the target map area In the forbidden area, the target endpoint is set on a partial area of the target map area, and the one or more endpoints include: the target endpoint.
  • a map of the working area of the mobile robot is obtained; multiple endpoints of the forbidden area in the map are determined; in response to the adjustment operation of the target endpoint by the target object, the corresponding target endpoint is enlarged and displayed according to the preset magnification
  • the target map area so that the target object sets the forbidden area based on the target map area after zooming in, wherein the target endpoint is set on a partial area of the target map area, and the one or
  • the multiple endpoints include: the target endpoint, that is, when the user adjusts the target endpoint, the target map area corresponding to the target endpoint is displayed in a magnified manner.
  • the forbidden area includes at least one of the following: a virtual wall and a forbidden area.
  • the virtual wall is a virtual wall used to block the mobile robot from entering the area.
  • the forbidden area is a closed area where the mobile robot is prohibited from entering.
  • the shape of the forbidden area can be any shape such as square, circle, rectangle, etc. This embodiment of the invention does not limit this.
  • setting the forbidden area includes but not limited to the following two application scenarios: 1) Setting the forbidden area before the mobile robot starts to work (walk); 2) During the working process of the mobile robot, suspend the work of the mobile robot and set the forbidden area The mobile robot is then instructed to start working after the area, and this application scenario is not limited in this embodiment of the present invention.
  • the determining module is further configured to determine whether the adjustment operation satisfies a preset condition, wherein the preset condition includes at least one of the following: it is detected that the adjustment operation is performed at the target endpoint. The time at the same location exceeds the first threshold, it is detected that the adjustment operation adjusts the target endpoint to be located in the preset area of the map, and the adjustment operation of the target endpoint by the target object is detected; In the case of , the target map area corresponding to the target endpoint is enlarged and displayed according to a preset magnification, so that the target object sets the forbidden area based on the enlarged and displayed target map area.
  • the target object may preset the magnification of the magnification area on the terminal as required, and then enlarge and display the target map corresponding to the target endpoint on the terminal according to the preset magnification of the target object.
  • the adjustment operation time of the target object on the target endpoint exceeds the first threshold, and within the first threshold time.
  • the position of the target endpoint has not changed; it is detected that the adjustment operation adjusts that the target endpoint is located in the preset area of the map "in the preset area of the map", it can be understood that the mobile robot is located in the preset area of the map.
  • the area within the preset distance range from edges, corners, etc. in the map; when the adjustment operation of the target endpoint by the target object is detected, it can be understood that when the terminal detects that the target object starts to adjust the target endpoint
  • the obtaining module is further configured to obtain the first display position of the target endpoint on the terminal, wherein the terminal is configured to zoom in and display the target map corresponding to the target endpoint according to a preset magnification factor area; determine a second display position at a second preset distance corresponding to the first display position; magnify and display the target map area corresponding to the target endpoint at the second display position according to the preset magnification, so that all The target object sets the forbidden area based on the enlarged and displayed target map area.
  • the first display position of the target endpoint on the terminal is obtained, the second display position is determined according to the first display position, and the target map corresponding to the target endpoint enlarged and displayed according to the preset magnification is displayed in the second display position,
  • the second display position may be located above the first display position, and according to the actual operation situation or the operation habit of the target object, etc., the second display position may also be located below, left and right of the first display position.
  • the determining module is further configured to determine the second display position that is at a second preset distance from the first display position, wherein both the first display position and the second display position are displayed in the second display position. on the display interface of the terminal.
  • the content displayed by the terminal includes: the map of the working area of the mobile robot, the forbidden area, the target map corresponding to the target endpoint enlarged and displayed according to the preset magnification, the first display position and the second display position , the numerical value of the second display position from the first display position is a fixed value, and the numerical target object of the second display position from the first display position can be adjusted at will according to the actual situation.
  • the above-mentioned apparatus further includes: a generating module, configured to generate a first generation module for the target endpoint in the preset region under the condition that it is detected that the target endpoint has moved to a preset region a recommendation point position; in response to the connection operation of the target object, the target endpoint is moved to the first recommendation point position.
  • a generating module configured to generate a first generation module for the target endpoint in the preset region under the condition that it is detected that the target endpoint has moved to a preset region a recommendation point position; in response to the connection operation of the target object, the target endpoint is moved to the first recommendation point position.
  • the target endpoint has moved to a preset area, which can be understood as an area where the target endpoint is located within a preset distance range from edges, corners, etc. in the map, and the first target object is generated within the preset area.
  • Recommendation point In an example, a first recommendation point is generated at a corner position in a preset area, where the first recommendation point may be one recommendation point or multiple recommendation points.
  • the target object can move the target endpoint to the position of the first recommendation point, and can also set an automatic mode to automatically move the target endpoint to the position of the first recommendation point.
  • the method for generating the first recommendation point includes: when it is detected that the target endpoint has moved to the preset area, at the edge position of the preset area, according to the principle of equal division, generating the first recommendation point, The angular position of the preset area generates the first recommendation point.
  • the enlargement module is further configured to display the first recommended point position in the target map according to the preset magnification after generating the first recommended point position for the target endpoint in the preset area .
  • the position of the first recommendation point needs to be displayed on the target map according to the preset magnification, so that the target object can move the target endpoint to the location where the first recommendation point is located more accurately. Location.
  • the above apparatus further includes: a reminder module, configured to display the reminder content through a floating frame when it is detected that the target endpoint has moved to an area where the target endpoint cannot be set, wherein, The prompt content is used to prompt the target object that the target end point cannot be set in an area where the target end point has currently moved.
  • the reminder method can include: The floating frame displays the text, that is, the terminal interface shows that the target endpoint cannot be set in this area or displays the prompt content according to the preset magnification to remind the target object that the target endpoint cannot be set in the area where the target endpoint has currently moved. . Further, the target object can also be reminded by voice that the target end point cannot be set in the area to which the target end point is currently moved, for example, a preset voice such as "the target end point cannot be set in this area" is played.
  • a reminder module is configured to display prompt text through a floating frame, so as to prompt the target object through the prompt text that the target endpoint cannot be set in the area where the target endpoint is currently located.
  • the text of the target endpoint cannot be set in the area where the target endpoint is currently located.
  • the terminal displays "The endpoint cannot be set in this area", and the target graphics can also be displayed on the terminal to prompt The target endpoint cannot be set in the current region of the target object.
  • the generating module is further configured to generate a second recommended point position for the target endpoint when it is detected that the target endpoint has moved to an area where the target endpoint cannot be set, wherein, The second recommended point position includes: the intersection of the forbidden area and the area where the target endpoint cannot be set; directly moving the target endpoint to the second recommended point position, or responding to the target object The connection operation is performed, and the target endpoint is moved to the second recommended point position.
  • the target endpoint In the case where it is detected that the target endpoint has moved to an area where the target endpoint cannot be set, because the target endpoint cannot be set in the region, a second recommended point is automatically generated for the target object, and a second recommended point can be generated for the target endpoint , the position of the second recommendation point can be the intersection of the forbidden area and the area where the target endpoint cannot be set, the target object can move the target endpoint to the position where the second recommendation point is located, and an automatic mode can be set to automatically The target endpoint moves to the position where the second recommendation point is located.
  • An embodiment of the present invention further provides a storage medium, where the storage medium includes a stored program, wherein the above-mentioned program executes any one of the above-mentioned methods when running.
  • the above-mentioned storage medium may be configured to store program codes for executing the following steps:
  • An embodiment of the present invention also provides an electronic device, comprising a memory and a processor, where a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any of the above method embodiments.
  • the above-mentioned electronic device may further include a transmission device and an input-output device, wherein the transmission device is connected to the above-mentioned processor, and the input-output device is connected to the above-mentioned processor.
  • the above-mentioned processor may be configured to execute the following steps through a computer program:
  • the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (Read-Only Memory, referred to as ROM), a random access memory (Random Access Memory, referred to as RAM), Various media that can store program codes, such as removable hard disks, magnetic disks, or optical disks.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • modules or steps of the present invention can be implemented by a general-purpose computing device, which can be centralized on a single computing device, or distributed in a network composed of multiple computing devices Alternatively, they may be implemented in program code executable by a computing device, such that they may be stored in a storage device and executed by the computing device, and in some cases, in a different order than here
  • the steps shown or described are performed either by fabricating them separately into individual integrated circuit modules, or by fabricating multiple modules or steps of them into a single integrated circuit module.
  • the present invention is not limited to any particular combination of hardware and software.

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Abstract

一种禁行区域的设置方法和装置、存储介质、电子装置，该方法包括：获取移动机器人的工作区域的地图（S202）；确定地图中禁行区域的一个或多个端点（S204）；响应目标对象对目标端点的调整操作，按照预设放大倍数放大显示目标端点对应的目标地图区域，以使目标对象基于放大显示后的目标地图区域设置禁行区域，其中，所述目标端点设置在所述目标地图区域的部分区域上，所述一个或多个端点包括：目标端点（S206）。采用上述方案，解决了相关技术中，由于终端显示的地图太小，导致用户无法精确地在地图上设置禁行区域的端点位置等问题。

Description

禁行区域的设置方法和装置、存储介质、电子装置 技术领域
本发明涉及通信领域，具体而言，涉及一种禁行区域的设置方法和装置、存储介质、电子装置。
背景技术
随着科学技术的进步和人工智能的发展，智能机器人也应用到了各个领域，机器人的使用率也大大提高，例如，在餐饮界中，进行送餐的配送机器人；在家居领域中，进行清洁的扫地机器人等。
目前用户可以在与移动机器人对应的客户端对目标地图设置虚拟墙及禁区，但由于地图太小，导致手指会覆盖到地图上需要设置虚拟墙或禁区的端点，导致用户无法精确地在地图上设置虚拟墙或禁区的端点位置，影响虚拟墙及禁区设置的精确性。
相关技术中，由于终端显示的地图太小，导致用户无法精确地在地图上设置禁行区域的端点位置等问题，尚未提出有效的技术方案。
因此，有必要对相关技术予以改良以克服相关技术中的所述缺陷。
发明内容
本发明实施例提供了一种禁行区域的设置方法和装置、存储介质、电子装置，以至少解决相关技术中由于终端显示的地图太小，导致用户无法精确地在地图上设置禁行区域的端点位置等问题。
根据本发明的一个实施例，提供了一种禁行区域的设置方法，包括：获取移动机器人的工作区域的地图；确定所述地图中禁行区域的一个或多个端点，其中，所述禁行区域至少包括以下之一：虚拟墙，禁区；响应目标对象对目标端点的调整操作，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域，其中，所述目标端点设置在所述目标地图区域的部分区域上，所述一个或多个端点包括：所述目标端点。
在一个示例性实施例中，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域，包括：确定所述 调整操作是否满足预设条件，其中，所述预设条件包括以下至少之一：检测到所述调整操作在所述目标端点的同一位置的时间超过第一阈值，检测到所述调整操作调整所述目标端点位于所述地图的预设区域内，检测到目标对象对所述目标端点的调整操作；在满足所述预设条件的情况下，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域。
在一个示例性实施例中，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域，包括：获取所述目标端点在终端上的第一显示位置，其中，所述终端用于按照预设放大倍数放大显示所述目标端点对应的目标地图区域；确定与所述第一显示位置对应的第二预设距离的第二显示位置；在所述第二显示位置按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域。
在一个示例性实施例中，确定与所述第一显示位置对应的第二显示位置，包括：确定与所述第一显示位置距离第二预设距离的所述第二显示位置，其中，所述第一显示位置和所述第二显示位置均显示在所述终端的显示界面上。
在一个示例性实施例中，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域，包括：在检测到所述目标端点已移动到预设区域的情况下，在所述预设区域内为所述目标端点生成第一推荐点位置；响应所述目标对象的连接操作，将所述目标端点移动至所述第一推荐点位置。
在一个示例性实施例中，在所述预设区域内为所述目标端点生成第一推荐点位置之后，所述方法还包括：在所述目标地图区域中按照所述预设放大倍数显示所述第一推荐点位置。
在一个示例性实施例中，在检测到所述目标端点已移动到无法设置所述目标端点的区域的情况下，通过浮框显示提示内容，其中，所述提示内容用于提示所述目标对象所述目标端点当前已移动的区域无法设置所述目标端点。
在一个示例性实施例中，按照通过浮框显示提示内容，包括：通过浮框显示提示文字，以通过所述提示文字提示所述目标对象所述目标端点当前所在区域无法设置所述目标端点。
在一个示例性实施例中，所述方法还包括：在检测到所述目标端点已移动到无法设置所述目标端点的区域的情况下，为所述目标端点生成第二推荐点位置，其中，所述第二推荐点位置包括：所述禁行区域和所述无法设置所述目标端点的区域的交点；直接将所述目标端点移动至所述第二推荐点位置，或响应所述目标对象的连接操作，将所述目标端点移动至所述第二推荐点位置。
在一个示例性实施例中，所述禁行区域至少包括以下之一：虚拟墙，禁区。
根据本发明的另一个实施例，提供了一种禁行区域的设置装置，所述装置包括：获取模块，用于获取移动机器人的工作区域的地图；确定模块，用于确定所述地图中禁行区域的一个或多个端点；放大模块，用于响应目标对象对目标端点的调整操作，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域，其中，所述目标端点设置在所述目标地图区域的部分区域上，所述一个或多个端点包括：所述目标端点。
根据本发明实施例的又一方面，还提供了一种计算机可读的存储介质，该计算机可读的存储介质中存储有计算机程序，其中，该计算机程序被设置为运行时执行上述任一项方法实施例中的步骤。
根据本发明的又一个实施例，还提供了一种电子装置，包括存储器和处理器，所述存储器中存储有计算机程序，所述处理器被设置为运行所述计算机程序以执行上述任一项方法实施例中的步骤。
通过本发明，获取移动机器人的工作区域的地图；确定所述地图中禁行区域的一个或多个端点；响应目标对象对目标端点的调整操作，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域，其中，所述目标端点设置在所述目标地图区域的部分区域上，所述一个或多个端点包括：所述目标端点，即在用户对目标端点的调整操作时，放大显示所述目标端点对应的目标地图区域，采用上述技术方案，解决了相关技术中，由于终端显示的地图太小，导致用户无法精确地在地图上设置禁行区域的端点位置等问题，进而通过放大显示所述目标端点对应的目标地图区域，使得用户更加准确地在目标地图区域上设置禁行区域的端点位置。
本发明具有如下有益效果：在移动机器人的工作区域的地图上设置进行区域时，可以放大显示禁行区域的端点位置对应的目标地图区域，可提高用户设置禁区的准确性，从而达到最佳禁区设置。
附图说明
此处所说明的附图用来提供对本发明的进一步理解，构成本申请的一部分，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中：
图1是本发明实施例的一种禁行区域的设置方法的移动终端的硬件结构框图；
图2是根据本发明实施例的禁行区域的设置方法的流程图；
图3是根据本发明示例性实施例的设置虚拟墙的示意图；
图4是根据本发明示例性实施例的设置禁行区域的示意图；
图5是根据本发明示例性实施例的设置多个禁行区域的示意图；
图6是根据本发明实施例的禁行区域的设置装置的结构框图。
具体实施方式
下文中将参考附图并结合实施例来详细说明本发明。需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。
本申请实施例所提供的方法实施例可以在移动终端，计算机终端或者类似的运算装置中执行。以运行在移动终端上为例，图1是本发明实施例的一种禁行区域的设置方法的移动终端的硬件结构框图。如图1所示，移动终端可以包括一个或多个(图1中仅示出一个)处理器102(处理器102可以包括但不限于微处理器MCU或可编程逻辑器件FPGA等的处理装置)和用于存储数据的存储器104，在一个示例性实施例中，上述移动终端还可以包括用于通信功能的传输设备106以及输入输出设备108。本领域普通技术人员可以理解，图1所示的结构仅为示意，其并不对上述移动终端的结构造成限定。例如，移动终端还可包括比图1中所示更多或者更少的组件，或者具有与图1所示等同功能或比图1所示功能更多的不同的配置。
存储器104可用于存储计算机程序，例如，应用软件的软件程序以及模块，如本发明实施例中的移动终端的禁行区域的设置方法对应的计算机程序，处理器102通过运行存储在存储器104内的计算机程序，从而执行各种功能应用以及数据处理，即实现上述的方法。存储器104可包括高速随机存储器，还可包括非易失性存储器，如一个或者多个磁性存储装置、闪存、或者其他非易失性固态存储器。在一些实例中，存储器104可进一步包括相对于处理器102远程设置的存储器，这些远程存储器可以通过网络连接至移动终端。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
传输装置106用于经由一个网络接收或者发送数据。上述的网络具体实例可包括移动终端的通信供应商提供的无线网络。在一个实例中，传输装置106包括一个网络适配器(Network Interface Controller，简称为NIC)，其可通过基站与其他网络设备相连从而可与互联网进行通讯。在一个实例中，传输装置106可以为射频(Radio Frequency，简称为RF)模块，其用于通过无线方式与互联网进行通讯。
在本实施例中提供了一种禁行区域的设置方法，应用于移动终端中，图2是根据本发明实施例的禁行区域的设置方法的流程图，该流程包括如下步骤：
步骤S202：获取移动机器人的工作区域的地图；
步骤S204：确定所述地图中禁行区域的一个或多个端点；
步骤S206：响应目标对象对目标端点的调整操作，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域，其中，所述目标端点设置在所述目标地图区域的部分区域上，所述一个或多个端点包括：所述目标端点。
通过本发明实施例，获取移动机器人的工作区域的地图；确定所述地图中禁行区域的一个或多个端点；响应目标对象对目标端点的调整操作，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域，其中，所述目标端点设置在所述目标地图区域的部分区域上，所述一个或多个端点包括：所述目标端点，即在用户对目标端点的调整操作时，放大显示所述目标端点对应的目标地图区域，采用上述技术方案，解决了相关技术中，由于地图太小，导致用户无法精确地在地图上设置禁行区域的端点位置等问题，进而通过放大显示所述目标端点对应的目标地图区域，使得用户更加准确地在目标地图区域上设置禁行区域的端点位置。
在一示例性实施例中，所述禁行区域至少包括以下之一：虚拟墙，禁区。
需要说明的是，虚拟墙是用于阻隔移动机器人进入区域的一道虚拟的墙，禁区是禁止移动机器人进去的闭合的区域，禁区的形状可以是正方形、圆形、矩形等任何一种形状，本发明实施例对此不做限定。此外，设置禁行区域包括但不限于以下两种应用场景：1)移动机器人开始工作(行走)之前就设置禁行区域；2)在移动机器人工作过程中，暂停移动机器人的工作，设置禁行区域后再指示所述移动机器人开始工作，本发明实施例对该应用场景不进行限定。
在一个示例性实施例中，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域，需要确定所述调整操作是否满足预设条件，其中，所述预设条件包括以下至少之一：检测到所述调整操作在所述目标端点的同一位置的时间超过第一阈值，检测到所述调整操作调整所述目标端点位于所述地图的预设区域内，检测到目标对象对所述目标端点的调整操作；在满足所述预设条件的情况下，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域。
目标对象可以根据需要在终端预先设置放大区域的放大倍数，然后根据目标对象预先设置的放大倍数放大在终端显示所述目标端点对应的目标地图。
需要说明的是，检测到所述调整操作在所述目标端点的同一位置的时间超过第一阈值，可以理解为目标对象对目标端点的调整操作时间超过第一阈值，且在第一阈值时间内目标端点的位置没有发生变化；检测到所述调整操作调整所述目标端点位于所述地图的预设区域内中的“位于所述地图的预设区域内”，可以理解为移动机器人位于所述地图中距离边、角等的预设距离范围内的区域；检测到目标对象对所述目标端点的调整操作，可以理解终端检测到目标对象开始调整所述目标端点时。
在一个示例性实施例中，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域，还需要获取所述目标端点在终端上的第一显示位置，其中，所述终端用于按照预设放大倍数放大显示所述目标端点对应的目标地图区域；确定与所述第一显示位置对应的第二预设距离的第二显示位置；在所述第二显示位置按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域。
可以理解为，获取目标端点在终端上的第一显示位置，根据第一显示位置确定第二显示位置，在第二显示位置显示按照预设放大倍数放大显示的所述目标端点对应的目标地图，在一示例性实施例中，第二显示位置可以位于所述第一显示位置的上方，根据实际操作情况或目标对象的操作习惯等，第二显示位置还可以位于第一显示位置的下方、左方等。
进一步的，确定与所述第一显示位置距离第二预设距离的所述第二显示位置，其中，所述第一显示位置和所述第二显示位置均显示在所述终端的显示界面上。
也就是说，终端显示界面上显示的内容包括以下至少之一：移动机器人的工作区域的地图、禁行区域、按照预设放大倍数放大显示的所述目标端点对应的目标地图、第一显示位置和所述第二显示位置，第二显示位置距离第一显示位置的数值为固定值，第二显示位置距离第一显示位置的数值目标对象可以根据实际情况随意调整。
在一个示例性实施例中，在检测到所述目标端点已移动到预设区域的情况下，在所述预设区域内为所述目标端点生成第一推荐点位置；响应所述目标对象的连接操作，将所述目标端点移动至所述第一推荐点位置。
换言之，所述目标端点已移动到预设区域，可以理解为目标端点位于所述地图中距离边、角等的预设距离范围内的区域，在所述预设区域内为目标对象生成第一推荐点，在一示例中，在预设区域中的边角位置生成第一推荐点，其中，所述第一推荐点可以是一个推荐点也可以 是多个推荐点，当出现第一推荐点时，目标对象可以将目标端点移动至第一推荐点所在的位置，还可以设置自动模式，自动将目标端点移动至第一推荐点所在的位置。
进一步的，第一推荐点的生成方法包括：在检测到所述目标端点已移动到预设区域的情况下，在预设区域的边位置，按照等分原则，生成第一推荐点，在预设区域的角位置生成第一推荐点。
进一步的，在所述预设区域内为所述目标端点生成第一推荐点位置之后，在所述目标地图区域中按照所述预设放大倍数显示所述第一推荐点位置。
可以理解为，生成第一推荐点之后，还需要将第一推荐点的位置在目标地图区域按照预设的放大倍数进行显示，以使目标对象更加准确地将目标端点移至第一推荐点所在的位置。
在一个示例性实施例中，在检测到所述目标端点已移动到无法设置所述目标端点的区域的情况下，通过浮框显示提示内容，其中，所述提示内容用于提示所述目标对象所述目标端点当前已移动的区域无法设置所述目标端点。
需要说明的是，在移动机器人待行进的地图中，有些位置不适合设置为禁行区域，因此，当目标端点位于无法设置为禁行区域的区域时，需要提醒目标对象，提醒方式可以为浮框显示文字方式，即在终端界面显示该区域无法设置目标端点，按照所述预设放大倍数显示提示内容，以提示所述目标对象所述目标端点当前已移动的区域无法设置所述目标端点。进一步的，还可以通过语音提醒目标对象目标端点当前移动到的区域无法设置所述目标端点，例如，播放“该区域无法设置目标端点”等预设语音。
进一步的，通过浮框显示提示文字，以通过所述提示文字提示所述目标对象所述目标端点当前所在区域无法设置所述目标端点。
可以理解为，通过在终端显示目标对象所述目标端点当前所在区域无法设置所述目标端点的文字，例如，在终端显示“该区域无法设置端点”，还可以，在终端显示目标图形，以提示目标对象当前区域无法设置所述目标端点。
在一个示例性实施例中，在检测到所述目标端点已移动到无法设置所述目标端点的区域的情况下，为所述目标端点生成第二推荐点位置，其中，所述第二推荐点位置包括：所述禁行区域和所述无法设置所述目标端点的区域的交点；直接将所述目标端点移动至所述第二推荐点位置，或响应所述目标对象的连接操作，将所述目标端点移动至所述第二推荐点位置。
在检测到所述目标端点已移动到无法设置所述目标端点的区域的情况下，因为该区域无法设置目标端点，因此自动为目标对象生成第二推荐点，目标对象可以将目标端点移动至第二推荐点所在的位置，还可以设置自动模式，自动将目标端点移动至第二推荐点所在的位置。
为了更好理解上述禁行区域的设置方法，以下结合可选实施例对上述技术方案进行解释说明，但不用于限定本发明实施例的技术方案。
本发明可选实施例以扫地机器人为例，扫地机机器人在连接至客户端后，在客户端的界面上显示工作区域的地图(相当于上述实施例中的移动机器人的工作区域的地图)，用户(相当于上述实施例中的目标对象)可以在地图上设置虚拟墙或禁区(相当于上述实施例中的禁行区域)，虚拟墙或禁区所限制的区域为扫地机器人无法进入的区域。如图3所示，图3是根据本发明示例性实施例的设置虚拟墙的示意图，设置虚拟墙时在地图上显示一条线段，线段可以是直线或曲线，线段两个端点(相当于上述实施例中的目标端点)可显示为两个小圆圈(也可采用其他形式，例如实心小圆点、其它非圆形形状，或者不对端点进行处理)，用户拖动其中一个端点即可调整线段的位置。设置禁区时在地图上显示一个闭合线框(该闭合线框可以是矩形、三角形等多边形形状，也可以是圆形，在圆形线框上显示多个端点供用户拖动调整)，在闭合线框的各端点可显示小圆圈(同样地，也可采用其他形式，例如实心小圆点、其它非圆形形状，或者不对端点进行处理)，用户拖动其中一个小圆圈即可调整闭合线框的端点的位置。如图4所示，图4是根据本发明示例性实施例的设置禁行区域的示意图，图4设置了一个方形的禁区，指示扫地机器人该区域无法进入清扫，如图5所示，图5是根据本发明示例性实施例的设置多个禁行区域的示意图，图5中两个禁行区域可以设置不同的模式，例如，一个区域指示扫地机器人禁止打扫，一个区域指示扫地机器人禁止拖地。
用户在调整虚拟墙及禁区的端点时，会在界面上显示一个局部放大界面(类似于放大镜)，局部放大界面内会显示端点位置所在的地图的放大图像，可以帮助用户更加准确的设置虚拟墙及禁区。进一步地，显示局部放大界面时，虚拟墙或禁区相应端点上可不显示小圆圈。
在一种可选实施例中，可以是在触发预设的放大条件的情况下，才显示局部放大界面。预设的放大条件至少包括以下之一：检测到用户调整端点的过程中长按端点预设时间(例如1秒)、检测到用户拖动的端点位于与地图中各区域边/角的预设距离范围内的预设区域、检测到用户拖动端点。客户端上显示的局部放大界面会跟随用户手指(即跟随用户手指拖动的端点)移动，例如始终保持在用户手指所拖动的端点上方预设位置处。具体地，可通过识别用户手指所拖动的端点的第一位置，计算与该第一位置的正上方距离预设距离的第二位置，在第二位置处生成局部放大界面。
进一步地，还可以在识别到用户拖动的虚拟墙或禁区端点靠近门框、墙边时，在局部放大界面上自动生成一个或多个推荐点，用户可将端点连接至推荐点或者自动将端点连接至推荐点。由于虚拟墙、禁区等通常设置在门框、墙边等位置，用户在拖动端点对准门框时较难 准确地对准门框、墙边等位置，因此，推荐点可以是虚拟墙及禁区端点所在地图中最接近该端点的门框端点、墙边距离端点最近的点等。
进一步地，在用户拖动的虚拟墙或禁区端点处于不适合设置端点的区域情况下，可以在局部放大界面提醒用户，例如采用浮框显示文字的方式。
进一步地，在用户拖动的虚拟墙或禁区端点处于不适合设置端点的区域范围的情况下，还可以在局部放大界面上为用户提供推荐点，推荐点可以是虚拟墙或禁区线段与“不适合设置端点的区域”的交点，或者可以自动地将虚拟墙或禁区的端点移动至该交点位置。
通过本发明实施例，获取移动机器人的工作区域的地图；确定所述地图中禁行区域的一个或多个端点；响应目标对象对目标端点的调整操作，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域，其中，所述目标端点设置在所述目标地图区域的部分区域上，所述一个或多个端点包括：所述目标端点，即在用户对目标端点的调整操作时，放大显示所述目标端点对应的目标地图区域，采用上述技术方案，解决了相关技术中，由于终端显示的地图太小，导致用户无法精确地在地图上设置禁行区域的端点位置等问题，进而通过放大显示所述目标端点对应的目标地图区域，使得用户更加准确地在目标地图区域上设置禁行区域的端点位置。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到根据上述实施例的方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端设备(可以是手机，计算机，服务器，或者网络设备等)执行本发明各个实施例所述的方法。
在本实施例中还提供了禁行区域的设置装置，该装置用于实现上述实施例及实施方式，已经进行过说明的不再赘述。如以下所使用的，术语“模块”可以实现预定功能的软件和/或硬件的组合。尽管以下实施例所描述的装置较佳地以软件来实现，但是硬件，或者软件和硬件的组合的实现也是可能并被构想的。
图6是根据本发明实施例的禁行区域的设置装置的结构框图，如图6所示，包括：
获取模块62，用于获取移动机器人的工作区域的地图；
确定模块64，用于确定所述地图区域中禁行区域的一个或多个端点；
放大模块66，用于响应目标对象对目标端点的调整操作，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设 置所述禁行区域，其中，所述目标端点设置在所述目标地图区域的部分区域上，所述一个或多个端点包括：所述目标端点。
通过本发明实施例，获取移动机器人的工作区域的地图；确定所述地图中禁行区域的多个端点；响应目标对象对目标端点的调整操作，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域，其中，所述目标端点设置在所述目标地图区域的部分区域上，所述一个或多个端点包括：所述目标端点，即在用户对目标端点的调整操作时，放大显示所述目标端点对应的目标地图区域，采用上述技术方案，解决了相关技术中，由于终端显示的地图太小，导致用户无法精确地在地图上设置禁行区域的端点位置等问题，进而通过放大显示所述目标端点对应的目标地图区域，使得用户更加准确地在目标地图区域上设置禁行区域的端点位置。
在一示例性实施例中，所述禁行区域至少包括以下之一：虚拟墙，禁区。
需要说明的是，虚拟墙是用于阻隔移动机器人进入区域的一道虚拟的墙，禁区是禁止移动机器人进去的闭合的区域，禁区的形状可以是正方形、圆形、矩形等任何一种形状，本发明实施例对此不做限定。此外，设置禁行区域包括但不限于以下两种应用场景：1)移动机器人开始工作(行走)之前就设置禁行区域；2)在移动机器人工作过程中，暂停移动机器人的工作，设置禁行区域后再指示所述移动机器人开始工作，本发明实施例对该应用场景不进行限定。
在一个示例性实施例中，确定模块，还用于确定所述调整操作是否满足预设条件，其中，所述预设条件包括以下至少之一：检测到所述调整操作在所述目标端点的同一位置的时间超过第一阈值，检测到所述调整操作调整所述目标端点位于所述地图的预设区域内，检测到目标对象对所述目标端点的调整操作；在满足所述预设条件的情况下，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域。
目标对象可以根据需要在终端预先设置放大区域的放大倍数，然后根据目标对象预先设置的放大倍数放大在终端显示所述目标端点对应的目标地图。
需要说明的是，检测到所述调整操作在所述目标端点的同一位置的时间超过第一阈值，可以理解为目标对象对目标端点的调整操作时间超过第一阈值，且在第一阈值时间内目标端点的位置没有发生变化；检测到所述调整操作调整所述目标端点位于所述地图的预设区域内中的“位于所述地图的预设区域内”，可以理解为移动机器人位于所述地图中距离边、角等的预设距离范围内的区域；检测到目标对象对所述目标端点的调整操作，可以理解终端检测 到目标对象开始调整所述目标端点时
在一个示例性实施例中，获取模块，还用于获取所述目标端点在终端上的第一显示位置，其中，所述终端用于按照预设放大倍数放大显示所述目标端点对应的目标地图区域；确定与所述第一显示位置对应的第二预设距离的第二显示位置；在所述第二显示位置按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域。
可以理解为，获取目标端点在终端上的第一显示位置，根据第一显示位置确定第二显示位置，在第二显示位置显示按照预设放大倍数放大显示的所述目标端点对应的目标地图，在一示例性实施例中，第二显示位置可以位于所述第一显示位置的上方，根据实际操作情况或目标对象的操作习惯等，第二显示位置还可以位于第一显示位置的下方、左方等。
进一步的，确定模块，还用于确定与所述第一显示位置距离第二预设距离的所述第二显示位置，其中，所述第一显示位置和所述第二显示位置均显示在所述终端的显示界面上。
也就是说，终端显示的内容包括：移动机器人的工作区域的地图、禁行区域、按照预设放大倍数放大显示的所述目标端点对应的目标地图、第一显示位置和所述第二显示位置，第二显示位置距离第一显示位置的数值为固定值，第二显示位置距离第一显示位置的数值目标对象可以根据实际情况随意调整。
在一个示例性实施例中，上述装置，还包括：生成模块，用于在检测到所述目标端点已移动到预设区域的情况下，在所述预设区域内为所述目标端点生成第一推荐点位置；响应所述目标对象的连接操作，将所述目标端点移动至所述第一推荐点位置。
换言之，所述目标端点已移动到预设区域，可以理解为目标端点位于所述地图中距离边、角等的预设距离范围内的区域，在所述预设区域内为目标对象生成第一推荐点，在一示例中，在预设区域中的边角位置生成第一推荐点，其中，所述第一推荐点可以是一个推荐点也可以是多个推荐点，当出现第一推荐点时，目标对象可以将目标端点移动至第一推荐点所在的位置，还可以设置自动模式，自动将目标端点移动至第一推荐点所在的位置。
可以理解为，第一推荐点的生成方法包括：在检测到所述目标端点已移动到预设区域的情况下，在预设区域的边位置，按照等分原则，生成第一推荐点，在预设区域的角位置生成第一推荐点。
进一步的，放大模块，还用于在所述预设区域内为所述目标端点生成第一推荐点位置之后，在所述目标地图中按照所述预设放大倍数显示所述第一推荐点位置。
也就是说，生成第一推荐点之后，还需要将第一推荐点的位置在目标地图按照预设的放 大倍数进行显示，以使目标对象更加准确地将目标端点移至第一推荐点所在的位置。
在一个示例性实施例中，上述装置，还包括：提醒模块，用于在检测到所述目标端点已移动到无法设置所述目标端点的区域的情况下，通过浮框显示提示内容，其中，所述提示内容用于提示所述目标对象所述目标端点当前已移动的区域无法设置所述目标端点。
需要说明的是，在移动机器人待行进的地图中，有些位置不适合设置为禁行区域，因此，当目标端点位于无法设置为禁行区域的区域时，需要提醒目标对象，提醒方式可以包括为浮框显示文字方式，即在终端界面显示该区域无法设置目标端点或者按照所述预设放大倍数显示提示内容，以提示所述目标对象所述目标端点当前已移动的区域无法设置所述目标端点。进一步的，还可以通过语音提醒目标对象目标端点当前移动到的区域无法设置所述目标端点，例如，播放“该区域无法设置目标端点”等预设语音。
进一步的，提醒模块，用于通过浮框显示提示文字，以通过所述提示文字提示所述目标对象所述目标端点当前所在区域无法设置所述目标端点。
可以理解为，通过在终端显示目标对象所述目标端点当前所在区域无法设置所述目标端点的文字，例如，在终端显示“该区域无法设置端点”，还可以，在终端显示目标图形，以提示目标对象当前区域无法设置所述目标端点。
在一个示例性实施例中，生成模块，还用于在检测到所述目标端点已移动到无法设置所述目标端点的区域的情况下，为所述目标端点生成第二推荐点位置，其中，所述第二推荐点位置包括：所述禁行区域和所述无法设置所述目标端点的区域的交点；直接将所述目标端点移动至所述第二推荐点位置，或响应所述目标对象的连接操作，将所述目标端点移动至所述第二推荐点位置。
在检测到所述目标端点已移动到无法设置所述目标端点的区域的情况下，因为该区域无法设置目标端点，因此自动为目标对象生成第二推荐点，可以为目标端点生成第二推荐点，第二推荐点的位置可以是禁行区域和所述无法设置所述目标端点的区域的交点，目标对象可以将目标端点移动至第二推荐点所在的位置，还可以设置自动模式，自动将目标端点移动至第二推荐点所在的位置。
本发明的实施例还提供了一种存储介质，该存储介质包括存储的程序，其中，上述程序运行时执行上述任一项的方法。
可选地，在本实施例中，上述存储介质可以被设置为存储用于执行以下步骤的程序代码：
S1，获取移动机器人的工作区域的地图；
S2，确定所述地图中禁行区域的一个或多个端点；
S3，响应目标对象对目标端点的调整操作，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域，其中，所述目标端点设置在所述目标地图区域的部分区域上，所述一个或多个端点包括：所述目标端点。
本发明的实施例还提供了一种电子装置，包括存储器和处理器，该存储器中存储有计算机程序，该处理器被设置为运行计算机程序以执行上述任一项方法实施例中的步骤。
可选地，上述电子装置还可以包括传输设备以及输入输出设备，其中，该传输设备和上述处理器连接，该输入输出设备和上述处理器连接。
可选地，在本实施例中，上述处理器可以被设置为通过计算机程序执行以下步骤：
S1，获取移动机器人的工作区域的地图；
S2，确定所述地图中禁行区域的多个端点；
S3，响应目标对象对目标端点的调整操作，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域，其中，所述目标端点设置在所述目标地图区域的部分区域上，所述一个或多个端点包括：所述目标端点。
可选地，在本实施例中，上述存储介质可以包括但不限于：U盘、只读存储器(Read-Only Memory，简称为ROM)、随机存取存储器(Random Access Memory，简称为RAM)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。
可选地，本实施例中的具体示例可以参考上述实施例及可选实施方式中所描述的示例，本实施例在此不再赘述。
显然，本领域的技术人员应该明白，上述的本发明的各模块或各步骤可以用通用的计算装置来实现，它们可以集中在单个的计算装置上，或者分布在多个计算装置所组成的网络上，可选地，它们可以用计算装置可执行的程序代码来实现，从而，可以将它们存储在存储装置中由计算装置来执行，并且在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤，或者将它们分别制作成各个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。这样，本发明不限制于任何特定的硬件和软件结合。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (13)

  1. 一种禁行区域的设置方法，其特征在于：包括：
    获取移动机器人的工作区域的地图；
    确定所述地图中禁行区域的一个或多个端点；
    响应目标对象对目标端点的调整操作，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域，其中，所述目标端点设置在所述目标地图区域的部分区域上，所述一个或多个端点包括：所述目标端点。
  2. 根据权利要求1所述的设置方法，其特征在于：按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域，包括：
    确定所述调整操作是否满足预设条件，其中，所述预设条件包括以下至少之一：检测到所述调整操作在所述目标端点的同一位置的时间超过第一阈值，检测到所述调整操作调整所述目标端点位于所述地图的预设区域内，检测到目标对象对所述目标端点的调整操作；
    在满足所述预设条件的情况下，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域。
  3. 根据权利要求1所述的设置方法，其特征在于：按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域，包括：
    获取所述目标端点在终端上的第一显示位置，其中，所述终端用于按照预设放大倍数放大显示所述目标端点对应的目标地图区域；
    确定与所述第一显示位置对应的第二显示位置；
    在所述第二显示位置按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域。
  4. 根据权利要求3所述的设置方法，其特征在于：确定与所述第一显示位置对应的第二显示位置，包括：
    确定与所述第一显示位置距离第二预设距离的所述第二显示位置，其中，所述第一显示位置和所述第二显示位置均显示在所述终端的显示界面上。
  5. 根据权利要求1所述的设置方法，其特征在于：按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域，包括：
    在检测到所述目标端点已移动到预设区域的情况下，在所述预设区域内为所述目标端点生成第一推荐点位置；
    响应所述目标对象的连接操作，将所述目标端点移动至所述第一推荐点位置。
  6. 根据权利要求5所述的设置方法，其特征在于：在所述预设区域内为所述目标端点生成第一推荐点位置之后，所述方法还包括：
    在所述目标地图区域中按照所述预设放大倍数显示所述第一推荐点位置。
  7. 根据权利要求1所述的设置方法，其特征在于：所述方法还包括：
    在检测到所述目标端点已移动到无法设置所述目标端点的区域的情况下，通过浮框显示提示内容，其中，所述提示内容用于提示所述目标对象所述目标端点当前所在区域无法设置所述目标端点。
  8. 根据权利要求7所述的设置方法，其特征在于：按照通过浮框显示提示内容，包括：
    通过浮框显示提示文字，以通过所述提示文字提示所述目标对象所述目标端点当前所在区域无法设置所述目标端点。
  9. 根据权利要求7所述的设置方法，其特征在于：所述方法还包括：
    在检测到所述目标端点已移动到无法设置所述目标端点的区域的情况下，为所述目标端点生成第二推荐点位置，其中，所述第二推荐点位置包括：所述禁行区域和所述无法设置所述目标端点的区域的交点；
    直接将所述目标端点移动至所述第二推荐点位置，或响应所述目标对象的连接操作，将所述目标端点移动至所述第二推荐点位置。
  10. 根据权利要求1至9任一项所述的设置方法，其特征在于：所述禁行区域至少包括以下之一：虚拟墙，禁区。
  11. 一种禁行区域的设置装置，其特征在于：所述装置包括：
    获取模块，用于获取移动机器人的工作区域的地图；
    确定模块，用于确定所述地图中禁行区域的一个或多个端点；
    放大模块，用于响应目标对象对目标端点的调整操作，按照预设放大倍数放大显示所述目标端点对应的目标地图区域，以使所述目标对象基于放大显示后的所述目标地图区域设置所述禁行区域，其中，所述目标端点设置在所述目标地图区域的部分区域上，所述一个或多个端点包括：所述目标端点。
  12. 一种计算机可读的存储介质，其特征在于，所述计算机可读的存储介质包括存储的程序，其中，所述程序运行时执行上述权利要求1至10任一项中所述的方法。
  13. 一种电子装置，包括存储器和处理器，其特征在于，所述存储器中存储有计算机程序，所述处理器被设置为通过所述计算机程序执行所述权利要求1至10任一项中所述的方法。
PCT/CN2021/116142 2021-03-25 2021-09-02 禁行区域的设置方法和装置、存储介质、电子装置 WO2022198926A1 (zh)

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