WO2020244121A1

WO2020244121A1 - Map information processing method and apparatus, and mobile device

Info

Publication number: WO2020244121A1
Application number: PCT/CN2019/111736
Authority: WO
Inventors: 孙淑萍; 徐晓明; 华润民; 李九翔; 金方明
Original assignee: 江苏美的清洁电器股份有限公司; 美的集团股份有限公司
Priority date: 2019-06-03
Filing date: 2019-10-17
Publication date: 2020-12-10
Also published as: CN112034830A

Abstract

A map information processing method and apparatus (70), and a mobile device (100). The method comprises: acquiring, during the process of the mobile device (100) moving according to a specific path, a first image containing an obstacle, and position information of the obstacle (S101); determining, on the basis of the first image, first category information of the obstacle, and obtaining a first graph identifier corresponding to the first category information of the obstacle (S102); and obtaining target map data on the basis of the position information of the obstacle and the first graph identifier (S103).

Description

一种地图信息处理方法、装置及移动设备Method, device and mobile equipment for processing map information

相关申请的交叉引用Cross references to related applications

本申请基于申请号为201910477713.X，申请日为2019年06月03日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。This application is filed based on a Chinese patent application with an application number of 201910477713.X and an application date of June 3, 2019, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby incorporated by reference into this application.

技术领域Technical field

本申请涉及机器人技术领域，尤其涉及一种地图信息处理方法、装置及移动设备。This application relates to the field of robotics, and in particular to a method, device and mobile equipment for processing map information.

背景技术Background technique

随着生活水平的提高，机器人能够代替人工完成一些工作，因此得到广泛的应用，比如扫地机器人、送货机器人等。但目前机器人在工作过程中，仅能以简单的点、线或者色块显示对于行走区域(或者行走路径)以及障碍物。采用上述方式，一方面显示的地图比较抽象，不能直观形象的显示障碍物真实的样子，用户难以理解，导致用户的体验感比较差；另一方面，机器人不能准确的区分不同的工作区域，无法完成特定的语音指令。With the improvement of living standards, robots can replace humans to complete some tasks, so they are widely used, such as sweeping robots and delivery robots. However, at present, the robot can only display the walking area (or walking path) and obstacles with simple dots, lines or color blocks in the working process. Using the above method, on the one hand, the displayed map is relatively abstract, and it cannot visually display the real appearance of the obstacles. It is difficult for the user to understand, resulting in a poor user experience; on the other hand, the robot cannot accurately distinguish different working areas. Complete specific voice commands.

发明内容Summary of the invention

为解决现有存在的技术问题，本申请实施例提供一种地图信息处理方法、装置及移动设备。In order to solve the existing technical problems, the embodiments of the present application provide a map information processing method, device and mobile equipment.

为达到上述目的，本申请实施例的技术方案是这样实现的：In order to achieve the foregoing objectives, the technical solutions of the embodiments of the present application are implemented as follows:

本申请实施例的提供一种地图信息处理方法，所述方法包括：An embodiment of the present application provides a method for processing map information, and the method includes:

在移动设备按照特定路径移动过程中，获取包含障碍物的第一图像和所述障碍物的位置信息；Acquiring the first image containing the obstacle and the position information of the obstacle when the mobile device moves along a specific path;

基于所述第一图像确定所述障碍物的第一类别信息，获得与所述障碍物的第一类别信息对应的第一图形标识；Determining the first category information of the obstacle based on the first image, and obtaining a first graphic identifier corresponding to the first category information of the obstacle;

基于所述障碍物的位置信息及所述第一图形标识，获得目标地图数据。Based on the location information of the obstacle and the first graphic identifier, target map data is obtained.

在上述方案中，所述在移动设备按照特定路径移动过程中，获取包含障碍物的第一图像和所述障碍物的位置信息，包括：In the above solution, the acquiring the first image containing the obstacle and the position information of the obstacle during the movement of the mobile device along a specific path includes:

在移动设备按照第一初始地图数据指示的路径移动过程中，或者，在移动设备按照预设算法指示的路径移动过程中，获取包含障碍物的第一图像和所述障碍物的位置信息；Acquiring the first image containing the obstacle and the location information of the obstacle during the movement of the mobile device according to the path indicated by the first initial map data, or during the movement of the mobile device according to the path indicated by the preset algorithm;

所述基于所述障碍物的位置信息及所述第一图形标识，获得目标地图数据，包括：The obtaining target map data based on the location information of the obstacle and the first graphic identifier includes:

基于所述障碍物的位置信息，确定所述障碍物在所述第一初始地图数据中的位置坐标；Determine the position coordinates of the obstacle in the first initial map data based on the position information of the obstacle;

将所述第一图形标识添加在所述第一初始地图数据中的所述位置坐标处，获得目标地图数据；Adding the first graphic identifier to the position coordinates in the first initial map data to obtain target map data;

或者，or,

基于所述障碍物的位置信息确定区域边界信息，基于所述区域边界信息获得第二初始地图数据；Determining area boundary information based on the location information of the obstacle, and obtaining second initial map data based on the area boundary information;

基于所述障碍物的位置信息，确定所述障碍物在所述第二初始地图数据中的位置坐标；Determine the position coordinates of the obstacle in the second initial map data based on the position information of the obstacle;

将所述第一图形标识添加在所述第二初始地图数据中的所述位置坐标处，获得目标地图数据。The first graphic identifier is added at the position coordinates in the second initial map data to obtain target map data.

在上述方案中，在所述基于所述第一图像确定所述障碍物的第一类别信息之后，所述方法还包括：In the above solution, after the first category information of the obstacle is determined based on the first image, the method further includes:

基于所述第一初始地图数据、所述第二初始地图数据或所述目标地图数据确定所述障碍物所在的子区域；其中，所述第一初始地图数据、第二初始地图数据及目标地图数据对应的区域均包括至少一个子区域；Determine the sub-region where the obstacle is located based on the first initial map data, the second initial map data, or the target map data; wherein, the first initial map data, the second initial map data, and the target map The regions corresponding to the data all include at least one subregion;

获得所述子区域内的至少一个障碍物的第二类别信息；Obtaining second category information of at least one obstacle in the sub-area;

基于所述至少一个障碍物的第二类别信息，确定所述子区域的属性标识。Based on the second category information of the at least one obstacle, the attribute identifier of the sub-area is determined.

获得所述子区域内的至少一个障碍物的第二类别信息和所述子区域的尺寸数据；Obtaining second category information of at least one obstacle in the sub-region and size data of the sub-region;

基于所述至少一个障碍物的第二类别信息和所述子区域的尺寸数据，确定所述子区域的属性标识。Based on the second category information of the at least one obstacle and the size data of the sub-region, the attribute identifier of the sub-region is determined.

在上述方案中，在确定所述子区域的属性标识之后，所述方法还包括：In the above solution, after determining the attribute identifier of the sub-region, the method further includes:

确定与所述属性标识对应的所述子区域的工作模式。Determine the working mode of the sub-region corresponding to the attribute identifier.

在上述方案中，所述方法还包括：In the above solution, the method further includes:

接收包含有第一属性标识的第一指令，基于所述第一指令控制所述移动设备移动至所述第一属性标识对应的第一子区域。Receiving a first instruction including a first attribute identifier, and controlling the mobile device to move to a first sub-area corresponding to the first attribute identifier based on the first instruction.

接收包含有第二属性标识的第二指令，基于所述第二指令控制所述移动设备移动至所述第二属性标志对应的第二子区域；Receiving a second instruction including a second attribute identifier, and controlling the mobile device to move to a second sub-area corresponding to the second attribute identifier based on the second instruction;

获得所述第二属性标识对应的工作模式，基于所述工作模式对所述第二子区域执行相应的操作；其中，所述工作模式包括清洁工作模式，所述操作包括清洁操作。A working mode corresponding to the second attribute identifier is obtained, and a corresponding operation is performed on the second sub-region based on the working mode; wherein the working mode includes a cleaning working mode, and the operation includes a cleaning operation.

在上述方案中，所述基于所述第一图像确定所述障碍物的第一类别信息，获得与所述障碍物的第一类别信息对应的第一图形标识，包括：In the above solution, the determining the first category information of the obstacle based on the first image and obtaining the first graphic identifier corresponding to the first category information of the obstacle includes:

基于所述第一图像和预先训练获得的神经网络模型确定所述第一图像中障碍物的第一类别信息；Determining first category information of obstacles in the first image based on the first image and a neural network model obtained by pre-training;

基于预先存储的图形标识和类别信息的映射关系，获得与所述第一类别信息对应的第一图形标识。Based on the pre-stored mapping relationship between the graphic identifier and the category information, a first graphic identifier corresponding to the first category information is obtained.

本申请实施例的提供一种地图信息处理装置，所述装置应用于移动设备中；所述装置包括：第一获取单元、第二获取单元和第三获取单元，其中：An embodiment of the application provides a map information processing device, the device is applied to a mobile device; the device includes: a first acquisition unit, a second acquisition unit, and a third acquisition unit, wherein:

所述第一获取单元，用于在移动设备按照特定路径移动过程中，获取包含障碍物的第一图像和所述障碍物的位置信息；The first acquiring unit is configured to acquire a first image containing an obstacle and location information of the obstacle when the mobile device moves along a specific path;

所述第二获取单元，用于基于所述第一获取单元获取的所述第一图像确定所述障碍物的第一类别信息，获得与所述障碍物的第一类别信息对应的第一图形标识；The second acquisition unit is configured to determine first category information of the obstacle based on the first image acquired by the first acquisition unit, and obtain a first graphic corresponding to the first category information of the obstacle Logo

所述第三获取单元，用于基于所述第一获取单元获取的所述障碍物的位置信息和第二获取单元获取的所述第一图形标识，获得目标地图数据。The third acquiring unit is configured to acquire target map data based on the location information of the obstacle acquired by the first acquiring unit and the first graphic identifier acquired by the second acquiring unit.

在上述方案中，所述第一获取单元，用于在移动设备按照第一初始地图数据指示的路径移动过程中，或者，在移动设备按照预设算法指示的路径移动过程中，获取包含障碍物的第一图像和所述障碍物的位置信息；In the above solution, the first acquiring unit is configured to acquire obstacles that are included when the mobile device moves according to the path indicated by the first initial map data, or when the mobile device moves according to the path indicated by a preset algorithm. The first image of and the location information of the obstacle;

所述第三获取单元，用于基于所述障碍物的位置信息，确定所述障碍物在所述第一初始地图数据中的位置坐标；将所述第一图形标识添加在所述第一初始地图数据中的所述位置坐标处，获得目标地图数据；The third acquiring unit is configured to determine the position coordinates of the obstacle in the first initial map data based on the position information of the obstacle; add the first graphic identifier to the first initial map data; Obtain target map data at the position coordinates in the map data;

或者，or,

用于基于所述障碍物的位置信息确定区域边界信息，基于所述区域边界信息获得第二初始地图数据；基于所述障碍物的位置信息，确定所述障碍物在所述第二初始地图数据中的位置坐标；将所述第一图形标识添加在所述第二初始地图数据中的所述位置坐标处，获得目标地图数据。It is used to determine area boundary information based on the location information of the obstacle, and obtain second initial map data based on the area boundary information; and determine that the obstacle is in the second initial map data based on the location information of the obstacle Add the first graphic identifier to the position coordinates in the second initial map data to obtain target map data.

在上述方案中，所述装置还包括：第一确定单元、第四获取单元和第二确定单元，其中：In the above solution, the device further includes: a first determining unit, a fourth acquiring unit, and a second determining unit, wherein:

所述第一确定单元，用于在所述基于所述第一图像确定所述障碍物的第一类别信息之后，基于所述第一初始地图数据、所述第二初始地图数据或所述目标地图数据确定所述障碍物所在的子区域；其中，所述第一初始地图数据、第二初始地图数据及目标地图数据对应的区域均包括至少一个子区域；The first determining unit is configured to, after the first category information of the obstacle is determined based on the first image, based on the first initial map data, the second initial map data, or the target The map data determines the sub-region where the obstacle is located; wherein the regions corresponding to the first initial map data, the second initial map data, and the target map data all include at least one sub-region;

第四获取单元，用于获得第一确定单元确定的所述子区域内的至少一个障碍物的第二类别信息；A fourth acquiring unit, configured to acquire second category information of at least one obstacle in the sub-area determined by the first determining unit;

所述第二确定单元，用于依据所述第四获取单元获取的所述第二类别信息，确定所述子区域的属性标识。The second determining unit is configured to determine the attribute identifier of the sub-region according to the second category information acquired by the fourth acquiring unit.

在上述方案中，所述装置还包括：第三确定单元、第五获取单元和第四确定单元，其中：In the above solution, the device further includes: a third determining unit, a fifth acquiring unit, and a fourth determining unit, wherein:

所述第三确定单元，用于在所述基于所述第一图像确定所述障碍物的第一类别信息之后，基于所述第一初始地图数据、所述第二初始地图数据或所述目标地图数据确定所述障碍物所在的子区域；其中，所述第一初始地图数据、第二初始地图数据及目标地图数据对应的区域均包括至少一个子区域；The third determining unit is configured to, after the first category information of the obstacle is determined based on the first image, based on the first initial map data, the second initial map data, or the target The map data determines the sub-region where the obstacle is located; wherein the regions corresponding to the first initial map data, the second initial map data, and the target map data all include at least one sub-region;

第五获取单元，用于获得第三确定单元确定的所述子区域内的至少一个障碍物的第二类别信息和所述子区域的尺寸数据；A fifth acquiring unit, configured to acquire second category information of at least one obstacle in the sub-region determined by the third determining unit and size data of the sub-region;

所述第四确定单元，用于依据第五获取单元获取的所述第二类别信息和所述子区域的尺寸数据，确定所述子区域的属性标识。The fourth determining unit is configured to determine the attribute identifier of the sub-region according to the second category information and the size data of the sub-region acquired by the fifth acquiring unit.

在上述方案中，所述装置还包括：第五确定单元，用于确定与所述属性标识对应的所述子区域的工作模式。In the above solution, the device further includes: a fifth determining unit, configured to determine the working mode of the subregion corresponding to the attribute identifier.

在上述方案中，所述装置还包括：第一控制单元，用于接收包含有第一属性标识的第一指令，基于所述第一指令控制所述移动设备移动至所述第一属性标识对应的第一子区域。In the above solution, the device further includes: a first control unit, configured to receive a first instruction including a first attribute identifier, and control the mobile device to move to the corresponding first attribute identifier based on the first instruction The first sub-area.

在上述方案中，所述装置还包括：第二控制单元和执行单元，其中：In the above solution, the device further includes: a second control unit and an execution unit, wherein:

所述第二控制单元，用于接收包含有第二属性标识的第二指令，基于所述第二指令控制所述移动设备移动至所述第二属性标志对应的第二子区域；The second control unit is configured to receive a second instruction including a second attribute identifier, and control the mobile device to move to a second sub-area corresponding to the second attribute identifier based on the second instruction;

所述执行单元，用于基于所述第二控制单元将所述移动设备移动至所述第二子区域，获得所述第二属性标识对应的工作模式，基于所述工作模式对所述第二子区域执行相应的操作；其中，所述工作模式包括清洁工作模式，所述操作包括清洁操作。The execution unit is configured to move the mobile device to the second sub-area based on the second control unit, obtain the working mode corresponding to the second attribute identifier, and perform the operation on the second sub-area based on the working mode. The sub-region performs corresponding operations; wherein, the working mode includes a cleaning working mode, and the operation includes a cleaning operation.

在上述方案中，所述第二获取单元，用于基于所述第一图像和预先训练获得的神经网络模型确定所述第一图像中障碍物的第一类别信息；In the above solution, the second acquisition unit is configured to determine the first category information of the obstacle in the first image based on the first image and the neural network model obtained by pre-training;

本申请还提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现上述所述方法的任一步骤。The present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, any step of the foregoing method is implemented.

本申请实施例提供一种移动设备，包括：处理器和用于存储能够在处理器上运行的计算机程序的存储器，其中，所述处理器用于运行所述计算机程序时，执行上述所述方法的任一步骤。An embodiment of the present application provides a mobile device, including: a processor and a memory configured to store a computer program that can run on the processor, where the processor is configured to execute the above method when the computer program is running Any step.

本申请实施例提供一种地图信息处理方法、装置及移动设备，所述方法包括：在移动设备按照特定路径移动过程中，获取包含障碍物的第一图像和所述障碍物的位置信息；基于所述第一图像确定所述障碍物的第一类别信息，获得与所述障碍物的第一类别信息对应的第一图形标识；基于所述障碍物的位置信息及所述第一图形标识，获得目标地图数据。基于此，通过采用本申请实施例所提供的地图信息处理方法、装置及移动设备，能够形象化的展现移动设备行走区域，比如，可形象化的展现行走区域中包含的障碍物，实现地图的个性化及趣味性等。此外，还可对地图中包含的各子区域进行命名，获取的每个子区域的属性标识，基于包含属性标识的语音指令，使得用户能够直接控制移动设备完成相应的操作。The embodiments of the present application provide a map information processing method, device, and mobile device. The method includes: acquiring a first image containing an obstacle and location information of the obstacle when the mobile device moves along a specific path; The first image determines the first category information of the obstacle, and obtains a first graphic identifier corresponding to the first category information of the obstacle; based on the location information of the obstacle and the first graphic identifier, Obtain target map data. Based on this, by using the map information processing method, device, and mobile device provided by the embodiments of the present application, the walking area of the mobile device can be visually displayed, for example, the obstacles contained in the walking area can be visualized to realize the map Personalization and fun, etc. In addition, the sub-regions included in the map can be named, and the acquired attribute identification of each sub-region can be based on the voice command including the attribute identification, so that the user can directly control the mobile device to complete the corresponding operation.

附图说明Description of the drawings

图1为本申请实施例的一种地图信息处理方法流程示意图；FIG. 1 is a schematic flowchart of a map information processing method according to an embodiment of the application;

图2a-图2c为本申请实施例的床的样式图形的示意图；2a-2c are schematic diagrams of the pattern graphics of the bed in the embodiment of the application;

图3A-图3B为相关技术下第一初始地图数据的展现示意图；3A-3B are schematic diagrams showing the first initial map data under the related technology;

图4为基于本申请实施例获得的工作区域的目标地图数据示意图；4 is a schematic diagram of target map data of a working area obtained based on an embodiment of the present application;

图5为本申请实施例的一种确定子区域属性标识方法流程示意图；FIG. 5 is a schematic flowchart of a method for determining a sub-area attribute identification according to an embodiment of the application;

图6为本申请实施例的另一种确定子区域属性标识方法流程示意图；FIG. 6 is a schematic flowchart of another method for determining an attribute identifier of a sub-area according to an embodiment of the application;

图7为本申请实施例的地图信息处理装置的一种结构示意图；FIG. 7 is a schematic structural diagram of a map information processing device according to an embodiment of the application;

图8为本申请实施例的地图信息处理装置的另一种结构示意图；FIG. 8 is a schematic diagram of another structure of a map information processing device according to an embodiment of the application;

图9为本申请实施例的地图信息处理装置的又一种结构示意图；FIG. 9 is a schematic diagram of another structure of the map information processing device according to an embodiment of the application;

图10为本申请实施例的移动设备的一种硬件结构示意图。FIG. 10 is a schematic diagram of a hardware structure of a mobile device according to an embodiment of the application.

具体实施方式Detailed ways

下面结合附图及具体实施例对本申请作进一步详细的说明。The application will be further described in detail below in conjunction with the drawings and specific embodiments.

如图1所示，其示出一种地图信息处理方法，所述方法包括：As shown in FIG. 1, it shows a method for processing map information, and the method includes:

S101：在移动设备按照特定路径移动过程中，获取包含障碍物的第一图像和所述障碍物的位置信息；S101: Acquire a first image containing an obstacle and location information of the obstacle during the movement of the mobile device along a specific path;

S102：基于所述第一图像确定所述障碍物的第一类别信息，获得与所述障碍物的第一类别信息对应的第一图形标识；S102: Determine first category information of the obstacle based on the first image, and obtain a first graphic identifier corresponding to the first category information of the obstacle;

S103：基于所述障碍物的位置信息及所述第一图形标识，获得目标地图数据。S103: Obtain target map data based on the location information of the obstacle and the first graphic identifier.

这里，移动设备包括具备构建地图功能的任何可移动的设备，比如，扫地机器人、送货机器人等。所述障碍物表示在移动设备在工作区域游走过程中检测到的阻挡移动设备前进的物体，比如，桌子、床、柜子等。Here, mobile devices include any movable devices that have the function of building a map, such as sweeping robots, delivery robots, etc. The obstacles refer to objects that block the movement of the mobile device, such as tables, beds, cabinets, etc., that are detected during the movement of the mobile device in the work area.

在本实施例中，对于步骤S101，包括：In this embodiment, step S101 includes:

在移动设备按照第一初始地图数据指示的路径移动过程中，或者，在移动设备按照预设算法指示的路径移动过程中，获取包含障碍物的第一图像和所述障碍物的位置信息。During the movement of the mobile device according to the path indicated by the first initial map data, or during the movement of the mobile device according to the path indicated by the preset algorithm, the first image containing the obstacle and the position information of the obstacle are acquired.

这里，第一初始地图数据用于表示移动设备中已经存储的工作区域的地图数据，也就是说，移动设备已经在工作区域进行过全覆盖游走，且形成了工作区域的初始地图；所述全覆盖游走是指移动设备在工作区域按照一定的轨迹进行游走，直到移动设备遍历工作区域的每一角落，且按照一定的规则生成工作区域的初始地图，比如，按照移动设备游走过程中遇到的障碍物的坐标生成工作区域的初始地图。Here, the first initial map data is used to represent the map data of the working area that has been stored in the mobile device, that is, the mobile device has performed a full-coverage wandering in the working area, and the initial map of the working area is formed; Full coverage roaming means that the mobile device walks in the work area according to a certain trajectory until the mobile device traverses every corner of the work area and generates an initial map of the work area according to certain rules, for example, according to the mobile device's roaming process The coordinates of the obstacles encountered in generate an initial map of the work area.

以扫地机器人为例，第一初始地图数据可在使用扫地机器人的过程中建立。比如，在使用过程中，以扫地充电桩为坐标原点，利用扫地机器人上安装的定位***记录在清扫过程中的障碍物的坐标，然后采用扫地机器人上安装的地图构建***，比如，即时定位与地图构建(SLAM，Simultaneous Localization and Mapping)***，依据记录的障碍物的坐标生成房间的地图。Taking the sweeping robot as an example, the first initial map data can be established during the process of using the sweeping robot. For example, during use, take the sweeping charging pile as the coordinate origin, use the positioning system installed on the sweeping robot to record the coordinates of the obstacles during the sweeping process, and then use the map construction system installed on the sweeping robot, such as instant positioning and The map construction (SLAM, Simultaneous Localization and Mapping) system generates a map of the room according to the coordinates of the recorded obstacles.

在本实施例中，预设算法指示的路径是指，移动设备中没有存储工作区域的初始地图，移动设备依据内置的算法(比如，即时定位与地图构建算法)在工作区域进行全覆盖游走过程中可边游走边绘制该工作区域的地图。In this embodiment, the path indicated by the preset algorithm means that the mobile device does not store the initial map of the working area, and the mobile device performs full coverage wandering in the working area according to the built-in algorithm (for example, real-time positioning and map construction algorithm) In the process, you can draw a map of the work area while walking.

在实际应用中，第一图像可利用移动设备上搭载的摄像头装置进行采集；所述障碍物的位置信息可利用移动设备上安装的定位***获得。应该理解，此处的摄像头及定位***，可根据工作区域实际情况进行选择，可不作限定。In practical applications, the first image can be collected using a camera device mounted on a mobile device; the location information of the obstacle can be obtained using a positioning system installed on the mobile device. It should be understood that the camera and positioning system here can be selected according to the actual situation of the working area, and may not be limited.

作为可选的一个实施例，对于步骤S102，包括：As an optional embodiment, step S102 includes:

S1021：基于所述第一图像和预先训练获得的神经网络模型确定所述第一图像中障碍物的第一类别信息；S1021: Determine first category information of obstacles in the first image based on the first image and a neural network model obtained by pre-training;

S1022：基于预先存储的图形标识和类别信息的映射关系，获得与所述第一类别信息对应的第一图形标识。S1022: Obtain a first graphic identifier corresponding to the first category information based on the pre-stored mapping relationship between the graphic identifier and the category information.

需要说明的是，第一图像、第一类别信息及第一图形标识仅是为了区分不同的描述并不是意在限制本申请。It should be noted that the first image, the first category information, and the first graphic logo are only for distinguishing different descriptions and are not intended to limit the application.

在本实施例中，障碍物的第一类别信息至少包括障碍物所属的种类信息，比如，桌子类、茶几类、柜子类等等；还可包括障碍物的尺寸信息等，也就是说，在障碍物属于同一种类时，根据不同尺寸再进行分类，比如，同属柜子类，根据不同尺寸大小，可将其分成大柜子和小柜子。应该理解，所述类别信息还可包括障碍物的其他的特征信息，比如，障碍物的用途信息，以更加清楚的确定障碍物的种类，通俗来讲，以使用户更加清楚的知道是什么样的障碍物。第一图形标识是对所述障碍物的图形表示，比如，障碍物类别为床，则可采用如图2a、图2b及图2c所示的几种样式的图形来表示。应该理解，所述障碍物对应的第一图形标识可根据用户的选择而灵活的配置，可不做限定。所述预先获得的神经网络模型可经神经网络训练获得，即：基于已知类型的各种障碍物图片进行学习训练，获得神经网络模型。In this embodiment, the first category information of the obstacle includes at least the category information to which the obstacle belongs, such as table, coffee table, cabinet, etc.; it can also include size information of the obstacle, that is, in When obstacles belong to the same category, they are classified according to different sizes. For example, they belong to the cabinet category. According to different sizes, they can be divided into large cabinets and small cabinets. It should be understood that the category information may also include other characteristic information of the obstacle, for example, information about the purpose of the obstacle, so as to more clearly determine the type of the obstacle, in general, so that the user knows what it is more clearly. Obstacles. The first graphic mark is a graphic representation of the obstacle. For example, if the obstacle category is a bed, it can be represented by several styles of graphics as shown in Figs. 2a, 2b and 2c. It should be understood that the first graphic identifier corresponding to the obstacle can be flexibly configured according to the user's selection, and it is not limited. The neural network model obtained in advance can be obtained through neural network training, that is, learning and training are performed based on various obstacle pictures of known types to obtain the neural network model.

在本实施例中，图形标识与障碍物的类别信息已经预先存储了映射关系，也就是说，在服务器或者移动设备自身的数据库中存储有图形标识与障碍物的类别信息的映射关系，只要对移动设备采集的第一图像中包含的障碍物的第一类别信息进行识别，再依据存储的映射关系，就能获取与障碍物的第一类别信息对应的第一图形标识。In this embodiment, the mapping relationship between the graphic identifier and the category information of the obstacle has been pre-stored, that is, the mapping relationship between the graphic identifier and the category information of the obstacle is stored in the server or the database of the mobile device itself. The first category information of the obstacle contained in the first image collected by the mobile device is identified, and then according to the stored mapping relationship, the first graphic identifier corresponding to the first category information of the obstacle can be obtained.

基于上述移动设备可按照第一初始地图数据指示的路径和按照预设算法指示的路径两种方式，在工作区域进行行走，因此，对于步骤S103，一种可选的实施方式，其可包括：Based on the foregoing, the mobile device can walk in the work area in two ways: the path indicated by the first initial map data and the path indicated by the preset algorithm. Therefore, for step S103, an optional implementation manner may include:

S1031：基于所述障碍物的位置信息，确定所述障碍物在所述第一初始地图数据中的位置坐标；S1031: Determine the position coordinates of the obstacle in the first initial map data based on the position information of the obstacle;

S1032：将所述第一图形标识添加在所述第一初始地图数据中的所述位置坐标处，获得目标地图数据。S1032: Add the first graphic identifier to the position coordinates in the first initial map data to obtain target map data.

在此场景中，移动设备按照第一初始地图数据指示的路径行走。其中，第一初始地图数据已经包括工作区域的轮廓线以及工作区域内的障碍物的坐标位置，其可通过应用程序(Application，APP)上展示工作区域地图和移动设备的行走路径。In this scenario, the mobile device walks along the path indicated by the first initial map data. Wherein, the first initial map data already includes the contour lines of the working area and the coordinate positions of obstacles in the working area, and the working area map and the walking path of the mobile device can be displayed on the application (APP).

以扫地机器人为例，其第一初始地图数据在APP中的展现，可如图3A和图3B所示。由图3A和图3B可知，第一初始地图数据在APP中以点、线或者色块形式，简单绘制了房屋的大致边界、障碍物及行走轨迹，用户只能看到分块的空间，非常的抽象，使得用户难以理解，进而导致用户的体验感及交互感很差。Taking the sweeping robot as an example, the display of its first initial map data in the APP can be as shown in Figure 3A and Figure 3B. From Figure 3A and Figure 3B, it can be seen that the first initial map data in the APP in the form of points, lines or color blocks, simply draws the rough boundaries, obstacles and walking trajectories of the house. The user can only see the divided space, which is very The abstraction makes it difficult for users to understand, which in turn leads to poor user experience and interaction.

此时，获取目标地图数据的过程，就是将工作区域内的每一障碍物及其对应的图形标识，添加在第一初始地图数据中每一障碍物所在的位置，更新第一初始地图数据成为目标地图数据的过程，也就是说，在移动设备按照第一初始地图数据指示的路径行进的过程中，移动设备获取障碍物的位置信息；然后，基于障碍物的位置信息确定障碍物在第一初始地图数据中的位置坐标；最后，将与此障碍物对应的图形标识添加在所述位置坐标处，以获得目标地图数据。应该理解，获得的目标地图数据是移动设备按照第一初始地图数据指示的路径在工作区域中全覆盖的游走，将工作区域中每一障碍物对应的图形标识均显示在第一初始地图数据上所形成的地图数据。At this time, the process of obtaining target map data is to add each obstacle in the work area and its corresponding graphic identifier to the location of each obstacle in the first initial map data, and update the first initial map data to become The target map data process, that is, when the mobile device follows the path indicated by the first initial map data, the mobile device obtains the location information of the obstacle; then, based on the location information of the obstacle, it is determined that the obstacle is in the first The position coordinates in the initial map data; finally, the graphic identifier corresponding to the obstacle is added at the position coordinates to obtain the target map data. It should be understood that the obtained target map data is the full coverage of the mobile device in the work area according to the path indicated by the first initial map data, and the graphic identification corresponding to each obstacle in the work area is displayed in the first initial map data. The map data formed on the

对于步骤S103，另一种可选的实施方式，其可包括：For step S103, another optional implementation manner may include:

S1033：基于所述障碍物的位置信息确定区域边界信息，基于所述区域边界信息获得第二初始地图数据；S1033: Determine area boundary information based on the location information of the obstacle, and obtain second initial map data based on the area boundary information;

S1034：基于所述障碍物的位置信息，确定所述障碍物在所述第二初始地图数据中的位置坐标；S1034: Determine the position coordinates of the obstacle in the second initial map data based on the position information of the obstacle;

S1035：将所述第一图形标识添加在所述第二初始地图数据中的所述位置坐标处，获得目标地图数据。S1035: Add the first graphic identifier to the position coordinates in the second initial map data to obtain target map data.

在此场景中，移动设备按照预设算法指示的路径行走。应该理解，此时，移动设备中没有表示工作区域的完整地图，也就是说，移动设备不知道工作区域中包含的障碍物分布及工作区域的尺寸信息，需要基于识别到障碍物的位置坐标信息确定所在区域的边界信息，然后基于该区域的边界信息确定一个第二初始地图数据。应该理解，第二初始地图数据可用于表示工作区域中的某区域，比如，第二初始地图数据可以表示一个房间中的卧室。In this scenario, the mobile device walks along the path indicated by the preset algorithm. It should be understood that at this time, the mobile device does not have a complete map representing the work area, that is, the mobile device does not know the distribution of obstacles contained in the work area and the size information of the work area, and needs to be based on the position coordinate information of the recognized obstacles Determine the boundary information of the area, and then determine a second initial map data based on the boundary information of the area. It should be understood that the second initial map data may be used to represent a certain area in the work area, for example, the second initial map data may represent a bedroom in a room.

示例性的，可利用移动设备中搭载的测距元件，以所述障碍物为圆心，360度扫描周边以获取区域的边界信息，比如，以扫地机器人为例，可采用扫地机器人上携带的激光测距传感器(LDS，Laser Distance Sensor)以所述障碍物为圆心，360度扫描周边以获取区域的边界信息。获取区域边界信息的方式不限于此。Exemplarily, the distance measuring element carried in the mobile device can be used to scan the periphery 360 degrees to obtain the boundary information of the area with the obstacle as the center. For example, taking the sweeping robot as an example, the laser carried on the sweeping robot can be used. The laser distance sensor (LDS) takes the obstacle as the center and scans the periphery 360 degrees to obtain boundary information of the area. The method of obtaining area boundary information is not limited to this.

此时，获取目标地图数据的过程，就是，移动设备按照内置的算法指示的路径，在工作区域全覆盖的游走，在游走过程中，当移动设备遇到某一障碍物时，会基于此障碍物的位置信息获取障碍物所在区域的边界信息，然后基于此区域的边界信息建立第二初始地图数据；然后，再基于此障碍物的位置信息确定障碍物在第二初始地图数据中的位置坐标；最后，将与此障碍物对应的图形标识添加在所述位置坐标处，以获得目标地图数据。At this time, the process of obtaining target map data is that the mobile device walks around the work area according to the path indicated by the built-in algorithm. During the wandering process, when the mobile device encounters an obstacle, it will be based on The location information of the obstacle obtains the boundary information of the area where the obstacle is located, and then establishes the second initial map data based on the boundary information of this area; then, based on the location information of the obstacle, determines the location of the obstacle in the second initial map data. Position coordinates; finally, the graphic identifier corresponding to the obstacle is added at the position coordinates to obtain target map data.

应该理解，在建立整个工作区域的目标地图数据的过程中，应该有多个第二初始地图数据，也就是，移动设备在按照预设算法指示的路径移动建立整个工作区域的目标地图数据时，移动设备在工作区域中边行走边绘制第二初始地图数据，进而获得部分目标地图数据，直到移动设备在工作区域全覆盖行走一周，完成整个工作区域的目标地图数据的绘制。It should be understood that in the process of establishing the target map data of the entire work area, there should be multiple second initial map data, that is, when the mobile device moves according to the path indicated by the preset algorithm to establish the target map data of the entire work area, The mobile device draws the second initial map data while walking in the work area, and then obtains part of the target map data, until the mobile device walks in the work area for one week, and completes the drawing of the target map data of the entire work area.

在本实施例中，不论在何种场景下，获得的目标地图数据可形象化的展现各障碍物，以使用户能够直观的了解工作区域内各障碍物的分布和类型。比如，以扫地机器人为例，获得的扫地机器人工作区域的目标地图数据，如图4所示。在图4中，扫地机器人的工作区域就是这样一个房间，包括厨房、次卧、主卧、客厅、卫生间以及阳台，其包含的障碍物有墙体结构、床、沙发等，且各障碍物在工作区域的位置一目了然，清晰可见。另外，应该理解，获得的目标地图数据的颜色可根据用户的选择而设定，比如，彩色或者黑白。In this embodiment, regardless of the scene, the obtained target map data can visually display the obstacles, so that the user can intuitively understand the distribution and types of the obstacles in the work area. For example, taking a sweeping robot as an example, the obtained target map data of the working area of the sweeping robot is shown in Figure 4. In Figure 4, the working area of the sweeping robot is such a room, including the kitchen, the second bedroom, the master bedroom, the living room, the bathroom, and the balcony. The obstacles included are wall structures, beds, sofas, etc., and the obstacles are in The location of the work area is clear at a glance and clearly visible. In addition, it should be understood that the color of the obtained target map data can be set according to the user's selection, for example, color or black and white.

通过采用上述的地图信息处理方法，获得的目标地图数据能够形象化的展现机器人行走区域及工作区域的各障碍物，能够实现地图的个性化及趣味性等。By adopting the above-mentioned map information processing method, the obtained target map data can visually show the obstacles in the walking area and working area of the robot, and can realize the personalized and interesting map of the map.

如图5所示，其示出一种可选的确定子区域属性标识方法。在所述基于所述第一图像确定所述障碍物的第一类别信息之后，所述方法还包括：As shown in Figure 5, it shows an optional method for determining the attribute identification of the sub-region. After the first category information of the obstacle is determined based on the first image, the method further includes:

S501：基于所述第一初始地图数据、所述第二初始地图数据或所述目标地图数据确定所述障碍物所在的子区域；其中，所述第一初始地图数据、第二初始地图数据及目标地图数据对应的区域均包括至少一个子区域；S501: Determine the sub-area where the obstacle is located based on the first initial map data, the second initial map data, or the target map data; wherein, the first initial map data, the second initial map data, and the All regions corresponding to the target map data include at least one subregion;

S502：获得所述子区域内的至少一个障碍物的第二类别信息；S502: Obtain second category information of at least one obstacle in the sub-area;

S503：基于所述至少一个障碍物的第二类别信息，确定所述子区域的属性标识。S503: Determine the attribute identifier of the sub-region based on the second category information of the at least one obstacle.

应该理解，移动设备在建立第一初始地图数据、第二初始地图数据或目标地图数据时或者之后，可基于移动设备预置的分区域算法，比如，可基于激光测距传感器(LDS，Laser Distance Sensor)和SLAM建模技术构建出工作区域的布局，也就是将工作区域进行划分成多个子区域。应该理解，对于上述划分好的各子区域可存储在以下设备至少之一：移动设备、服务器、终端，且存储形式也是多种多样，可不作限定。It should be understood that when or after the mobile device establishes the first initial map data, the second initial map data, or the target map data, it can be based on the regional algorithm preset by the mobile device. For example, it can be based on the laser distance sensor (LDS, Laser Distance). Sensor) and SLAM modeling technology build the layout of the work area, that is, divide the work area into multiple sub-areas. It should be understood that the above-mentioned divided sub-regions can be stored in at least one of the following devices: mobile devices, servers, and terminals, and the storage forms are also various, which are not limited.

在本实施例中，由于根据分区域算法将工作区域划分成不同子区域，且存储形式多种多样，因此，对于步骤S501的方式也相应的有多种。可选的，当利用在第一初始地图数据、第二初始地图数据或目标地图数据中的边界位置坐标所形成的封闭区域表示子区域时，也就是，在根据分区域算法将第一初始地图数据、第二初始地图数据或目标地图数据分成多个子区域后，采集每一个子区域的边界坐标值，并且将这些边界坐标值存储在移动设备，以便移动设备识别每一子区域。基于此，步骤S501，可包括：In this embodiment, since the work area is divided into different sub-areas according to the sub-area algorithm, and the storage forms are various, there are also multiple ways for step S501. Optionally, when the closed area formed by the boundary position coordinates in the first initial map data, the second initial map data, or the target map data is used to represent the sub-area, that is, the first initial map After the data, the second initial map data or the target map data are divided into multiple sub-regions, the boundary coordinate values of each sub-region are collected, and these boundary coordinate values are stored in the mobile device so that the mobile device can identify each sub-region. Based on this, step S501 may include:

基于所述障碍物的位置信息，获取所述障碍物在所述第一初始地图数据、第二初始地图数据或目标地图数据中的位置坐标信息；Acquiring, based on the location information of the obstacle, location coordinate information of the obstacle in the first initial map data, the second initial map data, or the target map data;

基于所述位置坐标信息，确定所述障碍物所在的子区域。Based on the position coordinate information, determine the sub-region where the obstacle is located.

这里，将所述位置坐标信息与每一子区域的边界坐标值进行比较，基于比较结果判断所述位置坐标信息所处的子区域。Here, the position coordinate information is compared with the boundary coordinate value of each subregion, and the subregion where the position coordinate information is located is determined based on the comparison result.

举例来说，假设以第一初始地图数据分成四个子区域，其中四个子区域分别为：A1＝{0<＝x<＝5，0<＝y<＝5}；A2＝{-5<＝x<＝0，0<＝y<＝5}；A3＝{-5<＝x<＝0，-5<＝y<＝0}；A4＝{0<＝x<＝5，-5<＝y<＝0}为例。此时，若所述障碍物的位置坐标为Z＝(3，4)，在判断所述障碍物所处的子区域，就要遍历所有子区域的边界坐标值，且将这些边界坐标值与所述障碍物的位置坐标信息进行比较，以判断所述障碍物的位置坐标信息处于哪个子区域内，这里，所述障碍物处于A1子区域。For example, suppose that the first initial map data is divided into four sub-areas, and the four sub-areas are: A1={0<=x<=5, 0<=y<=5}; A2={-5<= x<=0, 0<=y<=5}; A3={-5<=x<=0, -5<=y<=0}; A4={0<=x<=5, -5< =y<=0} as an example. At this time, if the position coordinate of the obstacle is Z=(3, 4), in determining the sub-area where the obstacle is located, it is necessary to traverse the boundary coordinate values of all sub-areas, and compare these boundary coordinate values with The position coordinate information of the obstacle is compared to determine which sub-area the position coordinate information of the obstacle is in. Here, the obstacle is in the A1 sub-area.

另一种可选的实施方式，当采用包含的障碍物进行区分不同的子区域。利用此种方式进行区分，还可包含多种方式，比如，可利用每个子区域包含障碍物的类别信息进行区分；再比如，可利用每一子区域包含障碍物的尺寸信息进行区分。Another optional implementation is when the included obstacles are used to distinguish different sub-areas. Using this method to distinguish can also include multiple methods, for example, the classification information of obstacles contained in each subregion can be used to distinguish; for another example, the size information of obstacles contained in each subregion can be used to distinguish.

可选的，当采用每个子区域包含障碍物的类别信息进行区分时，首先，在根据分区域算法将第一初始地图数据、第二初始地图数据或目标地图数据分成多个子区域后，获取每一个子区域中包含的障碍物的类别信息，并且将这些障碍物的类别信息存储在移动设备或者服务器的数据库中，以便移动设备后续能够识别每一子区域。基于此，步骤S501，可包括：将所述障碍物的第一类别信息与预先存储的每一子区域中包含障碍物的类别信息进行匹配；基于匹配结果确定所述障碍物所处的子区域。Optionally, when the category information of each sub-area containing obstacles is used to distinguish, firstly, after dividing the first initial map data, the second initial map data or the target map data into multiple sub-areas according to the sub-area algorithm, each sub-area is obtained. The category information of obstacles contained in a sub-area, and the category information of these obstacles is stored in the database of the mobile device or the server, so that the mobile device can subsequently identify each sub-area. Based on this, step S501 may include: matching the first category information of the obstacle with the pre-stored category information of the obstacle in each sub-region; and determining the sub-region where the obstacle is located based on the matching result .

举例来说，假设以第一初始地图数据分成四个子区域，其中所述四个子区域分别为：B1＝{b ₁₁，b ₁₂，b ₁₃}；B2＝{b ₂₁，b ₂₂，b ₂₃}；B3＝{b ₃₁，b ₃₂，b ₃₃}；B4＝{b ₄₁，b ₄₂，b ₄₃}，其中，b ₁₁，b ₁₂，b ₁₃用于表示B1子区域中包含障碍物的类别信息；b ₂₁，b ₂₂，b ₂₃用于表示B2子区域中包含障碍物的类别信息；b ₃₁，b ₃₂，b ₃₃用于表示B3子区域中包含障碍物的类别信息；b ₄₁，b ₄₂，b ₄₃用于表示B4子区域中包含障碍物的类别信息为例。此时，若所述障碍物的第一类别信息为b _12，则将此第一类别信息b ₁₂与子区域B1、B2、B3、B4中包含的障碍物的类别信息进行比对，然后基于比对结果确定所述障碍物处于子区域B1中。 For example, suppose that the first initial map data is divided into four sub-regions, where the four sub-regions are respectively: B1 = {b ₁₁ , b ₁₂ , b ₁₃ }; B2 = {b ₂₁ , b ₂₂ , b ₂₃ } ; B3 = {b ₃₁ , b ₃₂ , b ₃₃ }; B4 = {b ₄₁ , b ₄₂ , b ₄₃ }, where b ₁₁ , b ₁₂ , b _{13 are} used to indicate the category information of obstacles contained in the B1 subregion ; B ₂₁ , b ₂₂ , b _{23 are} used to indicate the category information of obstacles in the B2 subarea; b ₃₁ , b ₃₂ , b _{33 are} used to indicate the category information of obstacles in the B3 subarea; b ₄₁ , b ₄₂ , B _{43 is} used to indicate the category information of obstacles in the B4 sub-area as an example. At this time, if the first category information of the obstacle is b _12, then the first category information b _{12 is} compared with the category information of the obstacles contained in the sub-regions B1, B2, B3, B4, and then based on The comparison result determines that the obstacle is in the sub-region B1.

可选的，当利用每一子区域包含障碍物的尺寸信息进行区分时，首先，在根据分区域算法将第一初始地图数据、第二初始地图数据或目标地图数据分成多个子区域后，获取每一个子区域中包含的障碍物的尺寸信息，并且将这些障碍物的尺寸信息存储在移动设备或者服务器的数据库中，以便移动设备后续能够识别每一子区域。基于此，步骤S501，可包括：基于图像处理技术，对获取的包含障碍物的第一图像进行处理，获得所述障碍物的尺寸信息；将所述尺寸信息与预先存储的每一子区域中包含障碍物的尺寸信息进行比对；基于比对结果确定所述障碍物所处的子区域。Optionally, when using the size information of the obstacles contained in each sub-area to distinguish, firstly, after dividing the first initial map data, the second initial map data or the target map data into multiple sub-areas according to the sub-area algorithm, obtain The size information of the obstacles contained in each sub-area, and the size information of these obstacles is stored in the database of the mobile device or the server, so that the mobile device can subsequently identify each sub-area. Based on this, step S501 may include: processing the acquired first image containing the obstacle based on image processing technology to obtain size information of the obstacle; and combining the size information with each sub-region stored in advance Comparing the size information of the obstacle; and determining the sub-area where the obstacle is located based on the comparison result.

举例来说，假设以第一初始地图数据分成四个子区域，其中所述四个子区域分别为：C1＝{C ₁₁，C ₁₂}；C2＝{C ₂₁，C ₂₂，C ₂₃}；C3＝{C ₃₁，C ₃₂，C ₃₃}；C4＝{C ₄₁，C ₄₂，C ₄₃}，其中，C ₁₁，C ₁₂用于表示C1子区域中包含障碍物的尺寸信息；C ₂₁，C ₂₂，C ₂₃用于表示C2子区域中包含障碍物的尺寸信息；C ₃₁，C ₃₂，C ₃₃用于表示C3子区域中包含障碍物的尺寸信息；C ₄₁，C ₄₂，C ₄₃用于表示C4子区域中包含障碍物的尺寸信息为例。此时，若所述障碍物的尺寸信息为C _23，则将此第一类别信息C ₂₃与子区域C1、C2、C3、C4中包含的障碍物的尺寸信息进行比对，然后基于比对结果确定所述障碍物处于子区域C2中。 For example, suppose that the first initial map data is divided into four sub-regions, where the four sub-regions are respectively: C1={C ₁₁ , C ₁₂ }; C2={C ₂₁ , C ₂₂ , C ₂₃ }; C3= {C ₃₁ , C ₃₂ , C ₃₃ }; C4 = {C ₄₁ , C ₄₂ , C ₄₃ }, where C ₁₁ , C _{12 are} used to indicate the size information of obstacles included in the C1 subregion; C ₂₁ , C ₂₂ , C _{23 is} used to indicate the size information of obstacles in the C2 sub-region; C ₃₁ , C ₃₂ , C _{33 are} used to indicate the size information of obstacles in the C3 sub-region; C ₄₁ , C ₄₂ , C _{43 are} used to indicate Take the size information of obstacles in the C4 subregion as an example. At this time, if the size information of the obstacle is C _23, then the first category information C _{23 is} compared with the size information of the obstacles contained in the sub-regions C1, C2, C3, C4, and then based on the comparison As a result, it is determined that the obstacle is in the sub-region C2.

在本实施例中，在确定所述障碍物所处的子区域后，虽然移动设备能够区分不同子区域，但移动设备不能灵活的基于用户的语音指令，在指定的子区域进行工作，因此，需要对每一个子区域进行命名，以使移动设备能够灵活的基于用户的语音指令移动到相应的子区域进行工作。In this embodiment, after determining the sub-region where the obstacle is located, although the mobile device can distinguish different sub-regions, the mobile device cannot flexibly work in the designated sub-region based on the user's voice instructions. Therefore, Each sub-area needs to be named, so that the mobile device can move to the corresponding sub-area to work flexibly based on the user's voice command.

这里，所述至少一个障碍物可以包括第一图像中的包含的障碍物；也可以不包括第一图像中包含的障碍物。Here, the at least one obstacle may include an obstacle included in the first image; or may not include an obstacle included in the first image.

应该理解，对于采用至少一个障碍物的第二类别信息，确定所述子区域的属性标识，究竟利用多少个障碍物的第二类别信息来确定某子区域的属性标识，可根据实际情况进行选择。It should be understood that for using the second category information of at least one obstacle to determine the attribute identifier of the sub-area, how many second category information of obstacles are used to determine the attribute identifier of a certain sub-area can be selected according to actual conditions .

可选的，当仅基于某一子区域包含的一个障碍物的第二类别信息不能准确的为该子区域确定属性标识时，就需要采用此子区域中多个障碍物的第二类别信息为该子区域确定属性标识，比如，假设为一个房间确定属性标识，比如，主卧，若仅基于获取到的障碍物的第二类别信息进行分析，确定此障碍物是床，就将此房间的属性标识定义为“主卧”就不是很妥当，因为主卧与次卧中可能均包含床这种障碍物，因此，需要获取所述障碍物所处子区域中包含至少一个障碍物的第二类别信息，利用某一子区域中多个的障碍物的第二类别信息共同为此子区域确定属性标识，以更精确的确定每一子区域的属性标识。Optionally, when only the second category information of an obstacle contained in a certain sub-area cannot accurately determine the attribute identifier for the sub-area, the second-category information of multiple obstacles in this sub-area needs to be used as This sub-area determines the attribute identification. For example, if it is a room to determine the attribute identification, for example, the master bedroom, if the analysis is based only on the second category information of the obtained obstacle, and the obstacle is determined to be a bed, then the room’s It is not appropriate to define the attribute identification as "master bedroom", because both the master bedroom and the second bedroom may contain obstacles such as beds. Therefore, it is necessary to obtain the second category of the sub-region where the obstacle is located and contains at least one obstacle. Information, using the second category information of multiple obstacles in a certain sub-area to jointly determine the attribute identification for this sub-area, so as to more accurately determine the attribute identification of each sub-area.

可选的，当基于某一子区域包含的一个障碍物的第二类别信息能够准确的为该子区域确定属性标识时，就可仅基于此障碍物的第二类别信息为子区域确定属性标识，比如，假设为客厅确定属性标识，当识别到此子区域中的障碍物为茶几或者电视柜等标识性障碍物就可为此子区域的属性标识定义为“客厅”。Optionally, when the attribute identifier can be accurately determined for the sub-area based on the second category information of an obstacle contained in a certain sub-area, the attribute identifier can be determined for the sub-region based only on the second category information of the obstacle For example, suppose that the attribute identification is determined for the living room. When the obstacle in this sub-area is identified as an identifying obstacle such as a coffee table or a TV cabinet, the attribute identification of this sub-area can be defined as "living room".

需要说明的是，属性标识，通俗来讲，就是对每一子区域进行角色命名，比如，某一子区域为客厅，则其属性标识就是“客厅”。应该理解，此属性标识可根据用户自己的喜好在以下设备至少之一：移动设备、服务器、终端上进行修改。It should be noted that the attribute identification, in general, refers to the role naming of each sub-area. For example, if a sub-area is a living room, the attribute identification is "living room". It should be understood that this attribute identification can be modified on at least one of the following devices: mobile devices, servers, and terminals according to the user's own preferences.

在实际应用中，对于每一子区域的属性标识的确定，如图6所示，其示出一种可选的确定子区域属性标识方法。在所述基于所述第一图像确定所述障碍物的第一类别信息之后，所述方法还包括：In practical applications, for the determination of the attribute identification of each sub-region, as shown in FIG. 6, it shows an optional method for determining the attribute identification of the sub-region. After the first category information of the obstacle is determined based on the first image, the method further includes:

S601：基于所述第一初始地图数据、所述第二初始地图数据或所述目标地图数据确定所述障碍物所在的子区域；其中，所述第一初始地图数据、第二初始地图数据及目标地图数据对应的区域均包括至少一个子区域；S601: Determine the sub-area where the obstacle is located based on the first initial map data, the second initial map data, or the target map data; wherein, the first initial map data, the second initial map data, and the All regions corresponding to the target map data include at least one subregion;

S602：获得所述子区域内的至少一个障碍物的第二类别信息和所述子区域的尺寸数据；S602: Obtain second category information of at least one obstacle in the sub-region and size data of the sub-region;

S603：基于所述至少一个障碍物的第二类别信息和所述子区域的尺寸数据，确定所述子区域的属性标识。S603: Determine the attribute identifier of the sub-region based on the second category information of the at least one obstacle and the size data of the sub-region.

这里，对于步骤S601，与上述步骤S501相同，在此不再赘述。Here, the step S601 is the same as the above step S501, and will not be repeated here.

应该理解，对于步骤S602，可基于安装在移动设备上测量元件进行测量每一子区域的尺寸数据，比如，当移动设备为扫地机器人时，可基于安装在扫地机器人上的LDS和SLAM配合使用计算出某一子区域的尺寸数据。这里，尺寸数据可包括子区域的面积值和/或周长值。第二类别信息的识别与第一类别信息的识别方式相同，在此可不再赘述。It should be understood that for step S602, the size data of each sub-area can be measured based on the measuring element installed on the mobile device. For example, when the mobile device is a sweeping robot, it can be calculated based on the combination of LDS and SLAM installed on the sweeping robot. Output the size data of a certain sub-region. Here, the size data may include the area value and/or the perimeter value of the sub-region. The identification of the second category of information is the same as the identification of the first category of information, and will not be repeated here.

在本实施例中，对于步骤S603，可包括：In this embodiment, for step S603, it may include:

S6031：基于预先存储的尺寸数据和属性标识的第一映射关系，确定与所述尺寸数据对应的尺寸属性标识；S6031: Determine a size attribute identifier corresponding to the size data based on the first mapping relationship between the pre-stored size data and the attribute identifier;

S6032：基于预先存储的类别信息与属性标识的第二映射关系，确定与所述至少一个障碍物的第二类别信息对应的类别属性标识；S6032: Determine the category attribute identifier corresponding to the second category information of the at least one obstacle based on the pre-stored second mapping relationship between the category information and the attribute identifier;

S6033：将所述尺寸属性标识与所述类别属性标识进行比较，基于比较结果，确定所述子区域的属性标识。S6033: Compare the size attribute identifier with the category attribute identifier, and determine the attribute identifier of the subregion based on the comparison result.

应该理解，在确定某一子区域的属性标识之前，可预先在移动设备或者服务器中存储有各个子区域的尺寸数据与属性标识的第一映射关系；还预先存储有各个障碍物类别信息与属性标识的第二映射关系。这里，第一映射关系、第二映射关系仅用于表示不同的映射关系，并没有限制作用。It should be understood that before determining the attribute identifier of a certain sub-area, the first mapping relationship between the size data of each sub-area and the attribute identifier can be stored in the mobile device or server in advance; and the information and attributes of each obstacle category are also stored in advance. The identified second mapping relationship. Here, the first mapping relationship and the second mapping relationship are only used to indicate different mapping relationships, and have no limiting effect.

需要说明的是，此处的尺寸属性标识可能对应一个集合，也就是说，在仅基于子区域的尺寸数据确定的属性标识可能对应多个，比如，主卧和客厅的尺寸数据均为50m2时，则仅基于某一子区域的尺寸数据确定的此子区域对应的属性标识就包含“主卧”和“客厅”；同样的，类别属性标识也可能对应一个集合，也就是说，仅基于子区域中的第二类别信息确定的属性标识也可能对应对个，比如，主卧和次卧均包含床这类障碍物，则基于此障碍物的第二类别信息，确定的此子区域对应的属性标识就包含“主卧”和“次卧”。因此，需要将尺寸属性标识与类别属性标识进行比较，以确定二者共同拥有的该子区域的属性标识，比如，上述的尺寸属性标识包括：“主卧”和“客厅”；而类别属性标识包括：“主卧”和“次卧”，则此子区域的属性标识就应该是“主卧”。It should be noted that the size attribute identification here may correspond to one set, that is, the attribute identification determined based only on the size data of the sub-area may correspond to multiple, for example, when the size data of the master bedroom and the living room are both 50m2 , The attribute identifiers corresponding to this sub-area determined based on the size data of a certain sub-area only include "master bedroom" and "living room"; similarly, the category attribute identifier may also correspond to a set, that is, only based on the sub-region The attribute identifiers determined by the second category information in the area may also correspond to each other. For example, if the master bedroom and the second bedroom both contain obstacles such as beds, based on the second category information of the obstacle, determine the corresponding sub-area The attribute identification includes "master bedroom" and "second bedroom". Therefore, it is necessary to compare the size attribute identification with the category attribute identification to determine the attribute identification of the sub-area shared by the two. For example, the above-mentioned size attribute identification includes: "master bedroom" and "living room"; and the category attribute identification Including: "Master bedroom" and "Second bedroom", the attribute identification of this sub-area should be "Master bedroom".

在申请实施例中，在确定所述子区域的属性标识之后，所述方法还可包括：In the application embodiment, after determining the attribute identifier of the sub-region, the method may further include:

这里，工作模式可包括任何形式，可根据实际情况而定。Here, the working mode can include any form, which can be determined according to the actual situation.

以扫地机器人为例，此处的工作模式就可以为各种不同的清扫策略，也就是说，不同的子区域可对应着不同的清扫策略，如，随机清扫策略、弓形清扫策略等。Take the sweeping robot as an example, the working mode here can be a variety of different cleaning strategies, that is, different sub-areas can correspond to different cleaning strategies, such as random cleaning strategies, bow cleaning strategies, etc.

当确定了子区域的属性标识之后，用户就直接的利用包含属性标识的指令，控制移动设备移动至指定的子区域进行相关的操作。After determining the attribute identification of the sub-area, the user directly uses the instruction containing the attribute identification to control the mobile device to move to the designated sub-area to perform related operations.

作为可选的一个实施例，所述方法还可包括：As an optional embodiment, the method may further include:

作为可选的另一个实施例，所述方法还可包括：As another optional embodiment, the method may further include:

应该理解，这里的第一指令和第二指令可为包含属性标识的任何形式，比如，包含属性标识语音指令。It should be understood that the first instruction and the second instruction here can be in any form including attribute identification, for example, including attribute identification voice instructions.

以扫地机器人为例，用户可直接利用“去清扫主卧”等语音指令，控制移动设备移动至主卧等指定的子区域进行相应的操作，比如，清扫。Taking the sweeping robot as an example, the user can directly use voice commands such as "to clean the main bedroom" to control the mobile device to move to a designated sub-area such as the main bedroom to perform corresponding operations, such as cleaning.

在实际应用中，若对不同的子区域设置不同的工作模式，则用户在利用包含属性标识的语音指令，控制移动设备移动到相应的子区域后，可按照预先设置的工作模式进行工作。比如，以扫地机器人为例，当用户发出“去清扫主卧”时，扫地机器人就会移动到主卧，并且获取与“去清扫主卧”对应的清扫策略，比如随机清扫方式，然后按照随机清扫方式对主卧进行清扫。In practical applications, if different working modes are set for different sub-areas, the user can work according to the preset working mode after controlling the mobile device to move to the corresponding sub-areas by using a voice command containing attribute identification. For example, take the sweeping robot as an example. When the user sends out "Go to clean the main bedroom", the sweeping robot will move to the main bedroom and obtain the cleaning strategy corresponding to "Go to clean the main bedroom", such as random cleaning method, and then follow the random cleaning method. The cleaning method cleans the master bedroom.

本申请实施例提供的一种地图信息处理方法，不仅能够形象化的展现机器人行走区域，实现地图的个性化及趣味性；并且还可为地图中的每一子区域分配不同的属性标识，以使用户可灵活的利用语音指令控制移动设备移动至指定的子区域进行相关的操作，比如，采用上述的方法对扫地机器人的地图信息进行处理之后，用户可利用语音指令控制扫地机器人到指定的房间进行清扫。The map information processing method provided by the embodiment of the application can not only visually display the robot walking area, and realize the personalized and interesting map; but also can assign different attribute identifiers to each sub-area in the map. The user can flexibly use voice commands to control the mobile device to move to the designated sub-area for related operations. For example, after using the above method to process the map information of the sweeping robot, the user can use the voice command to control the sweeping robot to the designated room Clean up.

基于相同的申请构思，本申请还提供一种地图信息处理装置，如图7所示，所述地图信息处理装置70，包括：第一获取单元71、第二获取单元72和第三获取单元73，其中：Based on the same application concept, this application also provides a map information processing device. As shown in FIG. 7, the map information processing device 70 includes: a first acquiring unit 71, a second acquiring unit 72, and a third acquiring unit 73 ,among them:

所述第一获取单元71，用于在移动设备按照特定路径移动过程中，获取包含障碍物的第一图像和所述障碍物的位置信息；The first acquiring unit 71 is configured to acquire a first image containing an obstacle and location information of the obstacle when the mobile device moves along a specific path;

所述第二获取单元72，用于基于所述第一获取单元71获取的所述第一图像确定所述障碍物的第一类别信息，获得与所述障碍物的第一类别信息对应的第一图形标识；The second acquiring unit 72 is configured to determine the first category information of the obstacle based on the first image acquired by the first acquiring unit 71, and obtain the first category information corresponding to the first category information of the obstacle A graphic logo;

所述第三获取单元73，用于基于所述第一获取单元71获取的所述障碍物的位置信息和第二获取单元72获取的所述第一图形标识，获得目标地图数据。The third acquiring unit 73 is configured to acquire target map data based on the location information of the obstacle acquired by the first acquiring unit 71 and the first graphic identifier acquired by the second acquiring unit 72.

可选的，所述第一获取单元71，用于在移动设备按照第一初始地图数据指示的路径移动过程中，或者，在移动设备按照预设算法指示的路径移动过程中，获取包含障碍物的第一图像和所述障碍物的位置信息；Optionally, the first acquiring unit 71 is configured to acquire obstacles contained in the mobile device during the movement of the path indicated by the first initial map data, or during the movement of the mobile device according to the path indicated by the preset algorithm. The first image of and the location information of the obstacle;

所述第三获取单元73，用于基于所述障碍物的位置信息，确定所述障碍物在所述第一初始地图数据中的位置坐标；将所述第一图形标识添加在所述第一初始地图数据中的所述位置坐标处，获得目标地图数据；The third acquiring unit 73 is configured to determine the position coordinates of the obstacle in the first initial map data based on the position information of the obstacle; add the first graphic identifier to the first Obtain target map data at the position coordinates in the initial map data;

或者，or,

可选的，所述第二获取单元72，用于基于所述第一图像和预先训练获得的神经网络模型确定所述第一图像中障碍物的第一类别信息；Optionally, the second acquiring unit 72 is configured to determine first category information of obstacles in the first image based on the first image and a neural network model obtained by pre-training;

参见图8，其示出地图信息处理装置70的另一种结构示意图，所述装置还包括：第一确定单元74、第四获取单元75和第二确定单元76，其中：Refer to FIG. 8, which shows another schematic diagram of the structure of the map information processing device 70. The device further includes: a first determining unit 74, a fourth acquiring unit 75, and a second determining unit 76, wherein:

所述第一确定单元74，用于在所述基于所述第一图像确定所述障碍物的第一类别信息之后，基于所述第一初始地图数据、所述第二初始地图数据或所述目标地图数据确定所述障碍物所在的子区域；其中，所述第一初始地图数据、第二初始地图数据及目标地图数据对应的区域均包括至少一个子区域；The first determining unit 74 is configured to, after the first category information of the obstacle is determined based on the first image, based on the first initial map data, the second initial map data, or the The target map data determines the sub-region where the obstacle is located; wherein the first initial map data, the second initial map data, and the region corresponding to the target map data all include at least one sub-region;

第四获取单元75，用于获得第一确定单元74确定的所述子区域内的至少一个障碍物的第二类别信息；The fourth obtaining unit 75 is configured to obtain second category information of at least one obstacle in the sub-area determined by the first determining unit 74;

所述第二确定单元76，用于依据所述第四获取单元75获取的所述第二类别信息，确定所述子区域的属性标识。The second determining unit 76 is configured to determine the attribute identifier of the sub-region according to the second category information acquired by the fourth acquiring unit 75.

参见图9，其示出地图信息处理装置70的又一种结构示意图，所述装置还包括：第三确定单元77、第五获取单元78和第四确定单元79，其中：Refer to FIG. 9, which shows another structural schematic diagram of the map information processing device 70. The device further includes: a third determining unit 77, a fifth acquiring unit 78, and a fourth determining unit 79, wherein:

所述第三确定单元77，用于在所述基于所述第一图像确定所述障碍物的第一类别信息之后，基于所述第一初始地图数据、所述第二初始地图数据或所述目标地图数据确定所述障碍物所在的子区域；其中，所述第一初始地图数据、第二初始地图数据及目标地图数据对应的区域均包括至少一个子区域；The third determining unit 77 is configured to, after the first category information of the obstacle is determined based on the first image, based on the first initial map data, the second initial map data, or the The target map data determines the sub-region where the obstacle is located; wherein the first initial map data, the second initial map data, and the region corresponding to the target map data all include at least one sub-region;

第五获取单元78，用于获得第三确定单元77确定的所述子区域内的至少一个障碍物的第二类别信息和所述子区域的尺寸数据；The fifth obtaining unit 78 is configured to obtain the second category information of the at least one obstacle in the sub-area determined by the third determining unit 77 and the size data of the sub-area;

所述第四确定单元79，用于依据第五获取单元78获取的所述第二类别信息和所述子区域的尺寸数据，确定所述子区域的属性标识。The fourth determining unit 79 is configured to determine the attribute identifier of the sub-region according to the second category information and the size data of the sub-region acquired by the fifth acquiring unit 78.

在实际应用时，第一确定单元和第三确定单元可由移动设备中的同一结构实现，这里仅是为了描述的方便，其具体实现可不做限定。In practical applications, the first determining unit and the third determining unit may be implemented by the same structure in the mobile device, which is only for convenience of description here, and the specific implementation may not be limited.

在本实施例中，所述装置还可包括：第五确定单元，用于确定与所述属性标识对应的所述子区域的工作模式。In this embodiment, the device may further include: a fifth determining unit, configured to determine the working mode of the sub-region corresponding to the attribute identifier.

可选的，所述装置还可包括：第一控制单元，用于接收包含有第一属性标识的第一指令，基于所述第一指令控制所述移动设备移动至所述第一属性标识对应的第一子区域。Optionally, the apparatus may further include: a first control unit, configured to receive a first instruction including a first attribute identifier, and control the mobile device to move to the corresponding first attribute identifier based on the first instruction The first sub-area.

可选的，所述装置还可包括：第二控制单元和执行单元，其中：Optionally, the device may further include: a second control unit and an execution unit, wherein:

本申请实施例提供的一种地图信息处理装置，不仅能够形象化的展现机器人行走区域，实现地图的个性化及趣味性；并且还可为地图中的每一子区域分配不同的属性标识，以使用户可灵活的利用语音指令控制移动设备移动至指定的子区域进行相关的操作，比如，采用上述的方法对扫地机器人的地图信息进行处理之后，用户可利用语音指令控制扫地机器人到指定的房间进行清扫。The map information processing device provided by the embodiment of this application can not only visually display the robot walking area, and realize the personalization and interestingness of the map; it can also assign different attribute identifiers to each sub-region in the map to The user can flexibly use voice commands to control the mobile device to move to the designated sub-area for related operations. For example, after using the above method to process the map information of the sweeping robot, the user can use the voice command to control the sweeping robot to the designated room Clean up.

上述实施例中提供的地图信息处理装置在进行信息处理时，仅以上述各程序模块的划分进行举例说明，实际应用中，可以根据需要而将上述处理分配由不同的程序模块完成，即将装置的内部结构划分成不同的程序模块，以完成以上描述的全部或者部分处理。另外，上述实施例提供的地图信息处理装置与信息处理方法实施例属于同一构思，其具体实现过程详见方法实施例，这里不再赘述。When the map information processing device provided in the above embodiment performs information processing, only the division of the above-mentioned program modules is used as an example for illustration. In actual applications, the above-mentioned processing can be allocated by different program modules as needed, that is, The internal structure is divided into different program modules to complete all or part of the processing described above. In addition, the map information processing device and the information processing method embodiments provided in the above embodiments belong to the same concept. For the specific implementation process, please refer to the method embodiments, which will not be repeated here.

本申请提供一种计算机可读介质，其上存储有计算机程序，所述计算机程序处理器被处理器执行时实现上述方法实施例的步骤，而前述的存储介质包括：移动存储设备、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。The present application provides a computer-readable medium on which a computer program is stored. When the computer program processor is executed by a processor, the steps of the foregoing method embodiment are implemented, and the foregoing storage medium includes: a removable storage device, a read-only memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes.

本申请实施例还提供一种移动设备，包括：处理器和用于存储能够在处理器上运行的计算机程序的存储器，其中，所述处理器用于运行所述计算机程序时，执行存储在存储器中的上述方法实施例的步骤。An embodiment of the present application further provides a mobile device, including: a processor and a memory for storing a computer program that can run on the processor, wherein when the processor is used to run the computer program, the execution is stored in the memory The steps of the above method embodiment.

图10是本申请实施例一种移动设备的硬件结构示意图，该移动设备100包括：至少一个处理器101和存储器102；可选地，所述移动设备100还可包括至少一个通信接口103；移动设备100中的各个组件可通过总线***104耦合在一起，可理解，总线***104用于实现这些组件之间的连接通信。总线***104除包括数据总线之外，还包括电源总线、控制总线和状态信号总线。但是为了清楚说明起见，在图10中将各种总线都标为总线***104。10 is a schematic diagram of the hardware structure of a mobile device according to an embodiment of the present application. The mobile device 100 includes: at least one processor 101 and a memory 102; optionally, the mobile device 100 may also include at least one communication interface 103; The various components in the device 100 may be coupled together through the bus system 104. It is understandable that the bus system 104 is used to implement connection and communication between these components. In addition to the data bus, the bus system 104 also includes a power bus, a control bus, and a status signal bus. However, for clear description, various buses are marked as the bus system 104 in FIG. 10.

可以理解，存储器102可以是易失性存储器或非易失性存储器，也可包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(ROM，Read Only Memory)、可编程只读存储器(PROM，Programmable Read-Only Memory)、可擦除可编程只读存储器(EPROM，Erasable Programmable Read-Only Memory)、电可擦除可编程只读存储器(EEPROM，Electrically Erasable Programmable Read-Only Memory)、磁性随机存取存储器(FRAM，ferromagnetic random access memory)、快闪存储器(Flash Memory)、磁表面存储器、光盘、或只读光盘(CD-ROM，Compact Disc Read-Only Memory)；磁表面存储器可以是磁盘存储器或磁带存储器。易失性存储器可以是随机存取存储器(RAM，Random Access Memory)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(SRAM，Static Random Access Memory)、同步静态随机存取存储器(SSRAM，Synchronous Static Random Access Memory)、动态随机存取存储器(DRAM，Dynamic Random Access Memory)、同步动态随机存取存储器(SDRAM，Synchronous Dynamic Random Access Memory)、双倍数据速率同步动态随机存取存储器(DDRSDRAM，Double Data Rate Synchronous Dynamic Random Access Memory)、增强型同步动态随机存取存储器(ESDRAM，Enhanced Synchronous Dynamic Random Access Memory)、同步连接动态随机存取存储器(SLDRAM，SyncLink Dynamic Random Access Memory)、直接内存总线随机存取存储器(DRRAM，Direct Rambus Random Access Memory)。本申请实施例描述的存储器102旨在包括但不限于这些和任意其它适合类型的存储器。It is understood that the memory 102 may be a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memory. Among them, the non-volatile memory can be a read only memory (ROM, Read Only Memory), a programmable read only memory (PROM, Programmable Read-Only Memory), an erasable programmable read only memory (EPROM, Erasable Programmable Read- Only Memory, Electrically Erasable Programmable Read-Only Memory (EEPROM, Electrically Erasable Programmable Read-Only Memory), magnetic random access memory (FRAM, ferromagnetic random access memory), flash memory (Flash Memory), magnetic surface memory , CD-ROM, or CD-ROM (Compact Disc Read-Only Memory); magnetic surface memory can be magnetic disk storage or tape storage. The volatile memory may be random access memory (RAM, Random Access Memory), which is used as an external cache. By way of exemplary but not restrictive description, many forms of RAM are available, such as static random access memory (SRAM, Static Random Access Memory), synchronous static random access memory (SSRAM, Synchronous Static Random Access Memory), and dynamic random access Memory (DRAM, Dynamic Random Access Memory), Synchronous Dynamic Random Access Memory (SDRAM, Synchronous Dynamic Random Access Memory), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM, Double Data Rate Synchronous Dynamic Random Access Memory), enhanced -Type synchronous dynamic random access memory (ESDRAM, Enhanced Synchronous Dynamic Random Access Memory), synchronous connection dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), direct memory bus random access memory (DRRAM, Direct Rambus Random Access Memory) ). The memory 102 described in the embodiment of the present application is intended to include, but is not limited to, these and any other suitable types of memory.

本申请实施例中的存储器102用于存储各种类型的数据以支持移动设备100的操作。这些数据的示例包括：用于在移动设备100上操作的任何计算机程序，如确定所述障碍物所处的子区域的程序等，实现本申请实施例方法的程序可以包含在存储器102中。The memory 102 in the embodiment of the present application is used to store various types of data to support the operation of the mobile device 100. Examples of these data include: any computer program used to operate on the mobile device 100, such as a program for determining the subarea where the obstacle is located, and the program for implementing the method of the embodiment of the present application may be contained in the memory 102.

上述本申请实施例揭示的方法可以应用于处理器101中，或者由处理器101实现。处理器101可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法的各步骤可以通过处理器101中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器101可以是通用处理器、数字信号处理器(DSP，Digital Signal Processor)，或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。处理器101可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者任何常规的处理器等。结合本申请实施例所公开的方法的步骤，可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于存储介质中，该存储介质位于存储器102，处理器101读取存储器中的信息，结合其硬件完成前述方法的步骤。The method disclosed in the foregoing embodiments of the present application may be applied to the processor 101 or implemented by the processor 101. The processor 101 may be an integrated circuit chip with signal processing capability. In the implementation process, the steps of the foregoing method can be completed by an integrated logic circuit of hardware in the processor 101 or instructions in the form of software. The aforementioned processor 101 may be a general-purpose processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor 101 may implement or execute various methods, steps, and logical block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed and completed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, and the storage medium is located in the memory 102. The processor 101 reads the information in the memory and completes the steps of the foregoing method in combination with its hardware.

在示例性实施例中，移动设备100可以被一个或多个应用专用集成电路(ASIC， Application Specific Integrated Circuit)、DSP、可编程逻辑器件(PLD，Programmable Logic Device)、复杂可编程逻辑器件(CPLD，Complex Programmable Logic Device)、现场可编程门阵列(FPGA，Field-Programmable Gate Array)、通用处理器、控制器、微控制器(MCU，Micro Controller Unit)、微处理器(Microprocessor)、或其他电子元件实现，用于执行上述方法。In an exemplary embodiment, the mobile device 100 may be used by one or more application specific integrated circuits (ASIC, Application Specific Integrated Circuit), DSP, programmable logic device (PLD, Programmable Logic Device), and complex programmable logic device (CPLD). , Complex Programmable Logic Device, Field-Programmable Gate Array (FPGA, Field-Programmable Gate Array), general-purpose processor, controller, microcontroller (MCU, Micro Controller Unit), microprocessor (Microprocessor), or other electronics Component implementation, used to implement the above method.

在本申请所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，如：多个单元或组件可以结合，或可以集成到另一个***，或一些特征可以忽略，或不执行。另外，所显示或讨论的各组成部分相互之间的耦合、或直接耦合、或通信连接可以是通过一些接口，设备或单元的间接耦合或通信连接，可以是电性的、机械的或其它形式的。In the several embodiments provided in this application, it should be understood that the disclosed device and method may be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other divisions in actual implementation, such as: multiple units or components can be combined, or It can be integrated into another system, or some features can be ignored or not implemented. In addition, the coupling, or direct coupling, or communication connection between the components shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may be electrical, mechanical or other forms of.

上述作为分离部件说明的单元可以是、或也可以不是物理上分开的，作为单元显示的部件可以是、或也可以不是物理单元，即可以位于一个地方，也可以分布到多个网络单元上；可以根据实际的需要选择其中的部分或全部单元来实现本实施例方案的目的。The units described above as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units; Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

另外，在本申请各实施例中的各功能单元可以全部集成在一个处理单元中，也可以是各单元分别单独作为一个单元，也可以两个或两个以上单元集成在一个单元中；上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。In addition, the functional units in the embodiments of the present application can all be integrated into one processing unit, or each unit can be individually used as a unit, or two or more units can be integrated into one unit; The unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.

本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：移动存储设备、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。A person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware. The foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: removable storage devices, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks, etc. A medium that can store program codes.

或者，本申请上述集成的单元如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请实施例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中，包括若干指令用以使得一台计算机设备(可以是个人计算机、服务器、或者网络设备等)执行本申请各个实施例所述方法的全部或部分。而前述的存储介质包括：移动存储设备、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。Alternatively, if the above-mentioned integrated unit of this application is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the embodiments of the present application essentially or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for A computer device (which may be a personal computer, a server, or a network device, etc.) executes all or part of the methods described in the various embodiments of the present application. The aforementioned storage media include: removable storage devices, ROM, RAM, magnetic disks, or optical disks and other media that can store program codes.

以上所述，仅为本申请的具体实施方式，但本申请的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本申请揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本申请的保护范围之内。因此，本申请的保护范围应以所述权利要求的保护范围为准。The above are only specific implementations of this application, but the protection scope of this application is not limited to this. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in this application. Should be covered within the scope of protection of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

一种地图信息处理方法，其特征在于，所述方法包括：A method for processing map information, characterized in that the method includes:

在移动设备按照特定路径移动过程中，获取包含障碍物的第一图像和所述障碍物的位置信息；Acquiring the first image containing the obstacle and the position information of the obstacle when the mobile device moves along a specific path;

基于所述第一图像确定所述障碍物的第一类别信息，获得与所述障碍物的第一类别信息对应的第一图形标识；Determining the first category information of the obstacle based on the first image, and obtaining a first graphic identifier corresponding to the first category information of the obstacle;

基于所述障碍物的位置信息及所述第一图形标识，获得目标地图数据。Based on the location information of the obstacle and the first graphic identifier, target map data is obtained.
根据权利要求1所述的方法，其特征在于，所述在移动设备按照特定路径移动过程中，获取包含障碍物的第一图像和所述障碍物的位置信息，包括：The method according to claim 1, wherein the acquiring the first image containing the obstacle and the position information of the obstacle during the movement of the mobile device according to a specific path comprises:

在移动设备按照第一初始地图数据指示的路径移动过程中，或者，在移动设备按照预设算法指示的路径移动过程中，获取包含障碍物的第一图像和所述障碍物的位置信息；Acquiring the first image containing the obstacle and the location information of the obstacle during the movement of the mobile device according to the path indicated by the first initial map data, or during the movement of the mobile device according to the path indicated by the preset algorithm;

所述基于所述障碍物的位置信息及所述第一图形标识，获得目标地图数据，包括：The obtaining target map data based on the location information of the obstacle and the first graphic identifier includes:

基于所述障碍物的位置信息，确定所述障碍物在所述第一初始地图数据中的位置坐标；Determine the position coordinates of the obstacle in the first initial map data based on the position information of the obstacle;

将所述第一图形标识添加在所述第一初始地图数据中的所述位置坐标处，获得目标地图数据；Adding the first graphic identifier to the position coordinates in the first initial map data to obtain target map data;

或者，or,

基于所述障碍物的位置信息确定区域边界信息，基于所述区域边界信息获得第二初始地图数据；Determining area boundary information based on the location information of the obstacle, and obtaining second initial map data based on the area boundary information;

基于所述障碍物的位置信息，确定所述障碍物在所述第二初始地图数据中的位置坐标；Determine the position coordinates of the obstacle in the second initial map data based on the position information of the obstacle;

将所述第一图形标识添加在所述第二初始地图数据中的所述位置坐标处，获得目标地图数据。The first graphic identifier is added at the position coordinates in the second initial map data to obtain target map data.
根据权利要求2所述的方法，其特征在于，在所述基于所述第一图像确定所述障碍物的第一类别信息之后，所述方法还包括：The method according to claim 2, wherein after the first category information of the obstacle is determined based on the first image, the method further comprises:

基于所述第一初始地图数据、所述第二初始地图数据或所述目标地图数据确定所述障碍物所在的子区域；其中，所述第一初始地图数据、第二初始地图数据及目标地图数据对应的区域均包括至少一个子区域；Determine the sub-region where the obstacle is located based on the first initial map data, the second initial map data, or the target map data; wherein, the first initial map data, the second initial map data, and the target map The regions corresponding to the data all include at least one subregion;

获得所述子区域内的至少一个障碍物的第二类别信息；Obtaining second category information of at least one obstacle in the sub-area;

基于所述至少一个障碍物的第二类别信息，确定所述子区域的属性标识。Based on the second category information of the at least one obstacle, the attribute identifier of the sub-area is determined.
根据权利要求2或3所述的方法，其特征在于，在所述基于所述第一图像确定所述障碍物的第一类别信息之后，所述方法还包括：The method according to claim 2 or 3, wherein after the first category information of the obstacle is determined based on the first image, the method further comprises:

基于所述第一初始地图数据、所述第二初始地图数据或所述目标地图数据确定所述障碍物所在的子区域；其中，所述第一初始地图数据、第二初始地图数据及目标地图数据对应的区域均包括至少一个子区域；Determine the sub-region where the obstacle is located based on the first initial map data, the second initial map data, or the target map data; wherein, the first initial map data, the second initial map data, and the target map The regions corresponding to the data all include at least one subregion;

获得所述子区域内的至少一个障碍物的第二类别信息和所述子区域的尺寸数据；Obtaining second category information of at least one obstacle in the sub-region and size data of the sub-region;

基于所述至少一个障碍物的第二类别信息和所述子区域的尺寸数据，确定所述子区域的属性标识。Based on the second category information of the at least one obstacle and the size data of the sub-region, the attribute identifier of the sub-region is determined.
根据权利要求3或4所述的方法，其特征在于，在确定所述子区域的属性标识之后，所述方法还包括：The method according to claim 3 or 4, wherein after determining the attribute identifier of the sub-region, the method further comprises:

确定与所述属性标识对应的所述子区域的工作模式。Determine the working mode of the sub-region corresponding to the attribute identifier.
根据权利要求1至5任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1 to 5, wherein the method further comprises:

接收包含有第一属性标识的第一指令，基于所述第一指令控制所述移动设备移动至所述第一属性标识对应的第一子区域。Receiving a first instruction including a first attribute identifier, and controlling the mobile device to move to a first sub-area corresponding to the first attribute identifier based on the first instruction.
根据权利要求1至6任一项所述的方法，其特征在于，所述方法还包括：The method according to any one of claims 1 to 6, wherein the method further comprises:

接收包含有第二属性标识的第二指令，基于所述第二指令控制所述移动设备移动至所述第二属性标志对应的第二子区域；Receiving a second instruction including a second attribute identifier, and controlling the mobile device to move to a second sub-area corresponding to the second attribute identifier based on the second instruction;

获得所述第二属性标识对应的工作模式，基于所述工作模式对所述第二子区域执行相应的操作；其中，所述工作模式包括清洁工作模式，所述操作包括清洁操作。A working mode corresponding to the second attribute identifier is obtained, and a corresponding operation is performed on the second sub-region based on the working mode; wherein the working mode includes a cleaning working mode, and the operation includes a cleaning operation.
根据权利要求1至7任一项所述的方法，其特征在于，所述基于所述第一图像确定所述障碍物的第一类别信息，获得与所述障碍物的第一类别信息对应的第一图形标识，包括：The method according to any one of claims 1 to 7, wherein the first category information of the obstacle is determined based on the first image, and the information corresponding to the first category information of the obstacle is obtained The first graphic logo includes:

基于所述第一图像和预先训练获得的神经网络模型确定所述第一图像中障碍物的第一类别信息；Determining first category information of obstacles in the first image based on the first image and a neural network model obtained by pre-training;

基于预先存储的图形标识和类别信息的映射关系，获得与所述第一类别信息对应的第一图形标识。Based on the pre-stored mapping relationship between the graphic identifier and the category information, a first graphic identifier corresponding to the first category information is obtained.
一种地图信息处理装置，其特征在于，所述装置应用于移动设备中；所述装置包括：第一获取单元、第二获取单元和第三获取单元，其中：A map information processing device, characterized in that the device is applied to a mobile device; the device includes: a first acquisition unit, a second acquisition unit, and a third acquisition unit, wherein:

所述第一获取单元，用于在移动设备按照特定路径移动过程中，获取包含障碍物的第一图像和所述障碍物的位置信息；The first acquiring unit is configured to acquire a first image containing an obstacle and location information of the obstacle when the mobile device moves along a specific path;

所述第二获取单元，用于基于所述第一获取单元获取的所述第一图像确定所述障碍物的第一类别信息，获得与所述障碍物的第一类别信息对应的第一图形标识；The second acquisition unit is configured to determine first category information of the obstacle based on the first image acquired by the first acquisition unit, and obtain a first graphic corresponding to the first category information of the obstacle Logo

所述第三获取单元，用于基于所述第一获取单元获取的所述障碍物的位置信息和第二获取单元获取的所述第一图形标识，获得目标地图数据。The third acquiring unit is configured to acquire target map data based on the location information of the obstacle acquired by the first acquiring unit and the first graphic identifier acquired by the second acquiring unit.
根据权利要求9所述的装置，其特征在于，所述第一获取单元，用于在移动设备按照第一初始地图数据指示的路径移动过程中，或者，在移动设备按照预设算法指示的路径移动过程中，获取包含障碍物的第一图像和所述障碍物的位置信息；The apparatus according to claim 9, wherein the first acquiring unit is configured to move the mobile device according to the path indicated by the first initial map data, or when the mobile device moves according to the path indicated by the preset algorithm. During the movement, acquiring the first image containing the obstacle and the position information of the obstacle;

所述第三获取单元，用于基于所述障碍物的位置信息，确定所述障碍物在所述第一初始地图数据中的位置坐标；将所述第一图形标识添加在所述第一初始地图数据中的所述位置坐标处，获得目标地图数据；The third acquiring unit is configured to determine the position coordinates of the obstacle in the first initial map data based on the position information of the obstacle; add the first graphic identifier to the first initial map data; Obtain target map data at the position coordinates in the map data;

或者，or,

用于基于所述障碍物的位置信息确定区域边界信息，基于所述区域边界信息获得第二初始地图数据；基于所述障碍物的位置信息，确定所述障碍物在所述第二初始地图数据中的位置坐标；将所述第一图形标识添加在所述第二初始地图数据中的所述位置坐标处，获得目标地图数据。It is used to determine area boundary information based on the location information of the obstacle, and obtain second initial map data based on the area boundary information; and determine that the obstacle is in the second initial map data based on the location information of the obstacle Add the first graphic identifier to the position coordinates in the second initial map data to obtain target map data.
根据权利要求10所述的装置，其特征在于，所述装置还包括：第一确定单元、第四获取单元和第二确定单元，其中：The device according to claim 10, wherein the device further comprises: a first determining unit, a fourth acquiring unit, and a second determining unit, wherein:

所述第一确定单元，用于在所述基于所述第一图像确定所述障碍物的第一类别信息之后，基于所述第一初始地图数据、所述第二初始地图数据或所述目标地图数据确定所述障碍物所在的子区域；其中，所述第一初始地图数据、第二初始地图数据及目标地图数据对应的区域均包括至少一个子区域；The first determining unit is configured to, after the first category information of the obstacle is determined based on the first image, based on the first initial map data, the second initial map data, or the target The map data determines the sub-region where the obstacle is located; wherein the regions corresponding to the first initial map data, the second initial map data, and the target map data all include at least one sub-region;

第四获取单元，用于获得第一确定单元确定的所述子区域内的至少一个障碍物的第二类别信息；A fourth acquiring unit, configured to acquire second category information of at least one obstacle in the sub-area determined by the first determining unit;

所述第二确定单元，用于依据所述第四获取单元获取的所述第二类别信息，确定所述子区域的属性标识。The second determining unit is configured to determine the attribute identifier of the sub-region according to the second category information acquired by the fourth acquiring unit.
根据权利要求10或11所述的装置，其特征在于，所述装置还包括：第三确定单元、第五获取单元和第四确定单元，其中：The device according to claim 10 or 11, wherein the device further comprises: a third determining unit, a fifth acquiring unit, and a fourth determining unit, wherein:

所述第三确定单元，用于在所述基于所述第一图像确定所述障碍物的第一类别信息之后，基于所述第一初始地图数据、所述第二初始地图数据或所述目标地图数据确定所述障碍物所在的子区域；其中，所述第一初始地图数据、第二初始地图数据及目标地图数据对应的区域均包括至少一个子区域；The third determining unit is configured to, after the first category information of the obstacle is determined based on the first image, based on the first initial map data, the second initial map data, or the target The map data determines the sub-region where the obstacle is located; wherein the regions corresponding to the first initial map data, the second initial map data, and the target map data all include at least one sub-region;

第五获取单元，用于获得第三确定单元确定的所述子区域内的至少一个障碍物的第二类别信息和所述子区域的尺寸数据；A fifth acquiring unit, configured to acquire second category information of at least one obstacle in the sub-region determined by the third determining unit and size data of the sub-region;

所述第四确定单元，用于依据第五获取单元获取的所述第二类别信息和所述子区域的尺寸数据，确定所述子区域的属性标识。The fourth determining unit is configured to determine the attribute identifier of the sub-region according to the second category information and the size data of the sub-region acquired by the fifth acquiring unit.
根据权利要求11或12所述的装置，其特征在于，所述装置还包括：第五确定单元，用于确定与所述属性标识对应的所述子区域的工作模式。The device according to claim 11 or 12, wherein the device further comprises: a fifth determining unit, configured to determine a working mode of the sub-region corresponding to the attribute identifier.
根据权利要求9至13任一项所述的装置，其特征在于，所述装置还包括：第一控制单元，用于接收包含有第一属性标识的第一指令，基于所述第一指令控制所述移动设备移动至所述第一属性标识对应的第一子区域。The device according to any one of claims 9 to 13, wherein the device further comprises: a first control unit, configured to receive a first instruction including a first attribute identifier, and control based on the first instruction The mobile device moves to the first sub-area corresponding to the first attribute identifier.
根据权利要求9至14任一项所述的装置，其特征在于，所述装置还包括：第二控制单元和执行单元，其中：The device according to any one of claims 9 to 14, wherein the device further comprises: a second control unit and an execution unit, wherein:

所述第二控制单元，用于接收包含有第二属性标识的第二指令，基于所述第二指令控制所述移动设备移动至所述第二属性标志对应的第二子区域；The second control unit is configured to receive a second instruction including a second attribute identifier, and control the mobile device to move to a second sub-area corresponding to the second attribute identifier based on the second instruction;

所述执行单元，用于基于所述第二控制单元将所述移动设备移动至所述第二子区域，获得所述第二属性标识对应的工作模式，基于所述工作模式对所述第二子区域执行相应的操作；其中，所述工作模式包括清洁工作模式，所述操作包括清洁操作。The execution unit is configured to move the mobile device to the second sub-area based on the second control unit, obtain the working mode corresponding to the second attribute identifier, and perform the operation on the second sub-area based on the working mode. The sub-region performs corresponding operations; wherein, the working mode includes a cleaning working mode, and the operation includes a cleaning operation.
根据权利要求9至15任一项所述的装置，其特征在于，所述第二获取单元，用于基于所述第一图像和预先训练获得的神经网络模型确定所述第一图像中障碍物的第一类别信息；The device according to any one of claims 9 to 15, wherein the second acquisition unit is configured to determine the obstacle in the first image based on the first image and a neural network model obtained by pre-training The first category of information;

基于预先存储的图形标识和类别信息的映射关系，获得与所述第一类别信息对应的第一图形标识。Based on the pre-stored mapping relationship between the graphic identifier and the category information, a first graphic identifier corresponding to the first category information is obtained.
一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1至8任一项所述方法的步骤。A computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of any one of claims 1 to 8 when the computer program is executed by a processor.
一种移动设备，其特征在于，包括：处理器和用于存储能够在处理器上运行的计算机程序的存储器，其中，所述处理器用于运行所述计算机程序时，执行权利要求1至8任一项所述方法的步骤。A mobile device, characterized by comprising: a processor and a memory for storing a computer program that can run on the processor, wherein when the processor is used to run the computer program, any of claims 1 to 8 is executed. One of the steps of the described method.