[go: up one dir, main page]

CN113822995B - Method, device and storage medium for creating navigation map of mobile device - Google Patents

Method, device and storage medium for creating navigation map of mobile device Download PDF

Info

Publication number
CN113822995B
CN113822995B CN202111128379.0A CN202111128379A CN113822995B CN 113822995 B CN113822995 B CN 113822995B CN 202111128379 A CN202111128379 A CN 202111128379A CN 113822995 B CN113822995 B CN 113822995B
Authority
CN
China
Prior art keywords
area
map
navigation
floor
navigation map
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202111128379.0A
Other languages
Chinese (zh)
Other versions
CN113822995A (en
Inventor
李翔远
阳叶文
黄泽
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Taizhou Qinglang Intelligent Technology Co ltd
Original Assignee
Taizhou Qinglang Intelligent Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Taizhou Qinglang Intelligent Technology Co ltd filed Critical Taizhou Qinglang Intelligent Technology Co ltd
Priority to CN202111128379.0A priority Critical patent/CN113822995B/en
Publication of CN113822995A publication Critical patent/CN113822995A/en
Application granted granted Critical
Publication of CN113822995B publication Critical patent/CN113822995B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05—Geographic models
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Databases & Information Systems (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Data Mining & Analysis (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Graphics (AREA)
  • Navigation (AREA)

Abstract

The application discloses a method, a device and a storage medium for creating a navigation map of mobile equipment, relates to the technical field of artificial intelligence, and aims to reduce the calculation pressure of the mobile equipment and improve the efficiency of executing tasks by navigating the navigation map created based on the technical scheme of the application. The method comprises the following steps: the method comprises the steps of obtaining a scanning map of a region to be built, wherein the region to be built at least comprises a first floor region, a second floor region and a communication region, the first floor region and the second floor region are the same floor region of different buildings, and the first floor region is connected with the second floor region through the communication region; and creating at least two navigation maps for the map area to be built according to the scanned map, wherein the at least two navigation maps are created with overlapping areas, and the overlapping areas are used for switching the navigation maps by the mobile equipment.

Description

Method, device and storage medium for creating navigation map of mobile device
Technical Field
The embodiment of the application relates to the technical field of artificial intelligence, in particular to a method and a device for creating a navigation map of mobile equipment and a storage medium.
Background
Currently, intelligent mobile devices, such as service robots, are increasingly used in life. For example, the robot can replace manual work to carry out the distribution task of the articles gradually. Currently, a robot plans a navigation path according to a pre-created navigation map in the process of executing a task, so the robot needs to create the navigation map for an application scene of the robot before executing the task.
In the prior art, when mapping application scenes with complex environments such as a large mall, an office building and the like, all buildings of the application scenes may be communicated. In order to ensure that the robot can run in the communication area, a navigation large map comprising the current floors of all communication buildings in the application scene is created for the floors comprising the communication area. However, when the robot performs a task, the robot performs navigation according to the navigation map, which causes an increase in calculation pressure of the robot and affects the efficiency of the robot in performing the task.
Disclosure of Invention
The application provides a method, a device and a storage medium for creating a navigation map of mobile equipment, which are used for navigating based on the navigation map created by the technical scheme of the application, so that the calculation pressure of the mobile equipment can be reduced, and the efficiency of executing tasks is improved.
In order to achieve the above purpose, the application adopts the following technical scheme:
In a first aspect, the present application provides a method for creating a navigation map of a mobile device, including: the method comprises the steps of obtaining a scanning map of a region to be built, wherein the region to be built at least comprises a first floor region, a second floor region and a communication region, the first floor region and the second floor region are the same floor region of different buildings, and the first floor region is connected with the second floor region through the communication region; and creating at least two navigation maps for the map area to be built according to the scanned map, wherein the at least two navigation maps are created with overlapping areas, and the overlapping areas are used for switching the navigation maps by the mobile equipment.
In a second aspect, the present application provides a device for creating a navigation map of a mobile device, including: an acquisition module and a creation module;
The system comprises an acquisition module, a storage module and a display module, wherein the acquisition module is used for acquiring a scanning map of an area to be built, the area to be built at least comprises a first floor area, a second floor area and a communication area, the first floor area and the second floor area are the same floor area of different buildings, and the first floor area is connected with the second floor area through the communication area;
The creation module is used for creating at least two navigation maps for the map area to be created according to the scanning map acquired by the acquisition module, wherein the at least two navigation maps are created with overlapping areas, and the overlapping areas are used for switching the navigation maps by the mobile equipment.
In a third aspect, the present application provides an apparatus for creating a navigation map of a mobile device, including a memory, a processor, a bus, and a communication interface; the memory is used for storing computer execution instructions, and the processor is connected with the memory through a bus; when the means for creating a mobile device navigation map is running, the processor executes computer-executable instructions stored in the memory to cause the means for creating a mobile device navigation map to perform the method for creating a mobile device navigation map as provided in the first aspect above.
Alternatively, in one possible design manner, the device for creating the navigation map of the mobile device may be the mobile device itself or a part of the devices in the mobile device. For example, may be a system-on-chip in a mobile device. The chip system is configured to support the mobile device navigation map creation apparatus to implement the functions involved in the first aspect, for example, to receive, transmit, or process data and/or information involved in the mobile device navigation map creation method described above. The chip system includes a chip, and may also include other discrete devices or circuit structures. Further optionally, the mobile device further includes an acquisition sub-device, configured to acquire a scan map of the area to be mapped, and send the scan map to a chip system in the mobile device, where the chip system creates at least two navigation maps according to the scan map.
Alternatively, in another possible design manner, the device for creating the navigation map of the mobile device may be a physical machine for creating the navigation map of the mobile device, or may be a part of a device in the physical machine, for example, may be a chip system in the physical machine. The chip system is configured to support the mobile device navigation map creation apparatus to implement the functions involved in the first aspect, for example, to receive, transmit, or process data and/or information involved in the mobile device navigation map creation method described above. The chip system includes a chip, and may also include other discrete devices or circuit structures. Further optionally, the apparatus for creating a navigation map of a mobile device may further include a transceiver, where the transceiver is configured to perform the step of transceiving data, signaling or information under control of a processor of the apparatus for creating a navigation map of a mobile device, for example, acquiring a scan map of an area to be mapped from an acquisition sub-device of the mobile device.
In a fourth aspect, the present application provides a computer-readable storage medium having instructions stored therein, which when executed by a computer, cause the computer to perform the method of creating a navigation map for a mobile device as provided in the first aspect.
In a fifth aspect, the present application provides a computer program product comprising computer instructions which, when run on a computer, cause the computer to perform the method of creating a navigation map for a mobile device as provided in the first aspect.
It should be noted that the above-mentioned computer instructions may be stored in whole or in part on a computer-readable storage medium. The computer readable storage medium may be packaged together with the processor of the mobile device navigation map creating apparatus or may be packaged separately from the processor of the mobile device navigation map creating apparatus, which is not limited in this application.
In the present application, the names of the creation means of the navigation map of the mobile device do not constitute a limitation on the devices or function modules themselves, and in actual implementation, these devices or function modules may appear under other names. Insofar as the function of each device or function module is similar to that of the present application, it falls within the scope of the claims of the present application and the equivalents thereof.
In the technical scheme provided by the application, when a floor map comprising a communication area is built, a scanning map comprising the communication floor area (namely a first floor area and a second floor area in the application) and the communication area is acquired, and then the acquired scanning map is segmented and recombined to create at least two navigation maps. In order to ensure that the mobile device can better switch the navigation maps when driving among the three areas, namely the first floor area, the second floor area and the communication area, a superposition area is created in at least two navigation maps, so that the mobile device can realize the switching of the navigation maps in the superposition area, and the situation that the mobile device is lost to be positioned due to the switching of the maps can be avoided. It can be seen that, in the technical scheme provided by the application, the navigation map created for the floor comprising the communication area not only can ensure the mobile equipment to run between the first floor area, the second floor area and the communication area, but also creates at least two navigation maps for the small map of the communication floor area and the communication area instead of the navigation large map of the whole communication building. In this way, the mobile device can reduce the computing pressure of the mobile device when navigating at least two relatively smaller navigation maps created according to the application, thereby improving the efficiency of performing tasks. Furthermore, the application creates the small map aiming at the communication floor area and the communication area, and the small map occupies less resources during data transmission, is convenient for remote loading, configuration, modification and other operations, so that the application creates at least two navigation maps which are simpler in post maintenance work compared with the existing navigation large map.
These and other aspects of the application will be more readily apparent from the following description.
Drawings
Fig. 1 is a flow chart of a method for creating a navigation map of a mobile device according to an embodiment of the present application;
Fig. 2 is a schematic view of a scene of a connected building according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a scanned map according to an embodiment of the present application;
FIG. 4 is a schematic diagram of another scan map according to an embodiment of the present application;
FIG. 5 is a schematic diagram of another scan map according to an embodiment of the present application;
Fig. 6 is a schematic structural diagram of a device for creating a navigation map of a mobile device according to an embodiment of the present application;
Fig. 7 is a schematic structural diagram of another apparatus for creating a navigation map of a mobile device according to an embodiment of the present application.
Detailed Description
The following describes in detail a method, an apparatus, and a storage medium for creating a navigation map of a mobile device according to an embodiment of the present application with reference to the accompanying drawings.
The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone.
The terms "first" and "second" and the like in the description and in the drawings are used for distinguishing between different objects or between different processes of the same object and not for describing a particular order of objects.
Furthermore, references to the terms "comprising" and "having" and any variations thereof in the description of the present application are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed but may optionally include other steps or elements not listed or inherent to such process, method, article, or apparatus.
It should be noted that, in the embodiments of the present application, words such as "exemplary" or "such as" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g." in an embodiment should not be taken as preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "such as" is intended to present related concepts in a concrete fashion.
In the description of the present application, unless otherwise indicated, the meaning of "a plurality" means two or more.
Currently, a robot plans a navigation path according to a pre-created navigation map in the process of executing a task, so the robot needs to create the navigation map for an application scene of the robot before executing the task.
In the prior art, when mapping application scenes with complex environments such as a large mall, an office building and the like, all buildings of the application scenes may be communicated. In order to ensure that the robot can run in the communication area, a navigation large map comprising the current floors of all communication buildings in the application scene is created for the floors comprising the communication area. However, when the robot performs a task, using the navigation map for navigation may cause that the robot needs a long time to read the map into the memory when being started up, and meanwhile, needs a large enough memory, resulting in high hardware cost. In addition, in the navigation stage, the robot needs to carry out path planning on a navigation large map, and a large CPU (Central processing Unit) calculation amount and a long calculation time are needed, so that the calculation pressure of the robot is increased, and the task execution efficiency of the robot is affected.
In view of the above-mentioned problems in the prior art, an embodiment of the present application provides a method for creating a navigation map of a mobile device, where at least two navigation maps created for floors including a connected area are small maps for the connected floor area and the connected area, instead of a large navigation map for the whole connected building. In this way, the mobile device can reduce the computing pressure of the mobile device when navigating at least two relatively smaller navigation maps created according to the application, thereby improving the efficiency of performing tasks.
The method for creating the navigation map of the mobile device, which is provided by the embodiment of the application, can be applied to a device for creating the navigation map of the mobile device.
In one possible implementation, the means for creating a navigation map of the mobile device may be the mobile device itself or a system-on-chip in the mobile device. Taking the mobile device navigation map creation apparatus as an example, the mobile device may be a mobile device itself, and the mobile device may include a laser acquisition sub-device and a data processing sub-device, where the laser acquisition sub-device is configured to scan an area to be mapped to obtain a scan map of the area to be mapped, and send the scan map to the data processing sub-device. The data processing sub-device may create at least two navigation maps for the region to be mapped according to the scan map.
Wherein the mobile device may be a robot. Of course, in practical applications, the mobile device may also be other mobile artificial intelligence devices.
In another possible implementation, the means for creating the navigation map of the mobile device may be a physical machine (such as a background server of the mobile device), or may be a Virtual Machine (VM) deployed on the physical machine. Taking the mobile device navigation map creating apparatus as an example, the background server may obtain a scan map of the to-be-created map area from the mobile device, and create at least two navigation maps for the to-be-created map area according to the obtained scan map.
The method for creating the navigation map of the mobile device provided by the embodiment of the application is described in detail below.
Referring to fig. 1, a method for creating a navigation map of a mobile device according to an embodiment of the present application may include S101-S102:
S101, acquiring a scanning map of a region to be built.
The area to be built at least comprises a first floor area, a second floor area and a communication area, wherein the first floor area and the second floor area are the same floor area of different buildings, and the first floor area is connected with the second floor area through the communication area.
The method for creating the navigation map of the mobile device can be applied to a scene of creating the navigation map of a connected building, wherein the connected building is a large-scale mall or office building containing a connected region floor.
By way of example, referring to fig. 2, a schematic illustration of a scenario of a connected building is provided. As shown in fig. 2, the communication building comprises three buildings of a building, a building B building and a building C building, wherein each building a, B building and building C comprises 5 floors, namely an overground 4 floors (corresponding to 1F, 2F, 3F and 4F in fig. 2) and an underground one floor (corresponding to B1 in fig. 2). Wherein, the 3F layer area of the A span is connected with the 3F layer area of the B span through the L1 communication area, and the 4F layer area of the B span is connected with the 4F layer area of the C span through the L2 communication area. In the schematic view of the scenario in fig. 2, the area to be mapped may be a 3F layer area (corresponding to the first floor area), an L1 communication area, and a 3F layer area (corresponding to the second floor area) of B, or may be a 4F layer area (corresponding to the first floor area), an L2 communication area, and a 4F layer area (corresponding to the second floor area) of C.
S102, creating at least two navigation maps for the map area to be built according to the scanned map.
The at least two navigation maps are provided with overlapping areas, and the overlapping areas are used for switching the navigation maps by the mobile equipment. The size of the overlapping region corresponding region may be set according to the size of the navigation map corresponding region, the width of the adjacent portion, and the like. For example, if the two navigation map corresponding areas are both 200m 2 and the width of the adjacent portion is 2m, the size of the overlapping area corresponding area may be set to be 4m 2.
In the embodiment of the application, in order to reduce the calculation pressure of the mobile equipment when navigating according to the navigation map, a small navigation map belonging to the area to be built can be created. Because the first floor area and the second floor area in the area to be mapped are the same floor area of different buildings, in order to be convenient for positioning the building where the mobile equipment is located, so that the mobile equipment can be overhauled in time when the mobile equipment fails, and when a small navigation map belonging to the area to be mapped is created, at least two navigation maps belonging to the first floor area and the second floor area can be created.
When the mobile device is in navigation according to at least two navigation maps, if the mobile device is in a cross-region between the starting place and the destination, the navigation maps can be switched. In order to ensure that the mobile device loses positioning because the mobile device is in an edge position and is not in another navigation map when the mobile device switches the navigation maps, the embodiment of the application creates a superposition area for the mobile device to realize the navigation map switching in at least two navigation maps.
Optionally, before at least two navigation maps are created for the map area to be created according to the scan map, the method for creating the navigation map of the mobile device provided by the embodiment of the application may further include: acquiring network quality of a communication area; correspondingly, creating at least two navigation maps for the map area to be built according to the scan map may include: determining a mapping rule of a mapping region to be mapped and a mapping mode of a superposition region according to network quality; based on the scanned map, at least two navigation maps are created for the area to be mapped by combining the mapping rule and the creation mode.
The network quality of the connected areas of different application scenarios may be different, and the network quality of the connected areas of the same application scenario may also be different. Under the condition that the network quality of the communication area is poor, if the overlapping area is only created in the communication area, the mobile equipment switches the navigation map in the communication area, and the mobile equipment is likely to lose positioning due to switching failure caused by unstable network. In the embodiment of the application, the creation mode of the overlapping area can be determined according to the network quality of the communication area so as to determine whether the overlapping area can be created in the communication area, thereby ensuring that the mobile equipment can smoothly switch the navigation map and reducing the positioning loss when the mobile equipment switches the navigation map.
In order to meet the requirements of different creation modes of the overlapping area, different mapping rules can be set to better create the overlapping area, so that a navigation map can be created for the area to be mapped by combining the mapping rules and the creation modes.
Optionally, in the case that it is determined that the network quality meets the preset condition, the mapping rule may be determined as follows: the navigation map of the first floor area, the second floor area and the communication area is respectively established, and the establishment mode can be determined as follows: creating a first overlapping area on the navigation map of the first floor area and the navigation map of the communication area, and creating a second overlapping area on the navigation map of the second floor area and the navigation map of the communication area; wherein the first overlapping region is not overlapped with the second overlapping region; under the condition that the network quality is determined to not meet the preset condition, determining a graph building rule is as follows: the navigation map of the first floor area and the navigation map of the second floor area are respectively established, and the establishment mode is determined as follows: creating a third overlapping area and a fourth overlapping area on the navigation map of the first floor area and the navigation map of the second floor area; wherein the third overlap region and the fourth overlap region do not overlap.
The preset condition may be a preset condition determined in advance to determine whether the network quality of the connected area is stable. For example, the preset condition may be that the network transmission rates of the connected areas are detected to be greater than a preset rate determined in advance within a certain period of time. For another example, the preset condition may be that the network parameter evaluation index is determined to be within a preset numerical range according to the acquired network parameters such as the bandwidth, the packet loss rate, the time delay and the like of the coverage network of the connected area.
Under the condition that the network quality of the communication area is poor, the setting of the superposition area can be further optimized, and the superposition area can be created in the first floor area and the second floor area so as to ensure that the mobile equipment can realize the switching of the navigation map in the first floor area and the second floor area with better network quality, and the switching of the navigation map in the communication area is avoided. The creation of the overlapping area is to enable the mobile device to switch the navigation map, and if the first floor area, the second floor area and the navigation map of the communication area are created respectively in the case that the communication area is not created, the mobile device will lose positioning due to the switching map when the mobile device enters the first floor area from the communication area or enters the second floor area from the communication area, and switches from the navigation map of the communication area to the navigation map of the first floor area or the second floor area. Therefore, in the case that the network quality of the connected area does not meet the preset condition, the mapping rule may be: navigation maps of the first floor area and the second floor area are created, respectively.
In addition, since the mobile device may travel from the first floor area to the second floor area, and may travel from the second floor area to the first floor area, that is, may switch from the navigation map of the first floor area to the navigation map of the second floor area, and may also switch from the navigation map of the second floor area to the navigation map of the first floor area. Therefore, in order to avoid disorder of the switching process of the navigation map caused by frequent graph cutting of the mobile device in the overlapping area, a third overlapping area and a fourth overlapping area which are not overlapped with each other can be respectively created on the navigation map of the first floor area and the navigation map of the second floor area so as to meet different switching requirements.
Under the condition that the network quality of the communication area is good, the setting of the superposition area is not limited, and the superposition area can be created in the first floor area and the second floor area, and also can be created in the communication area. In order to further reduce the size of the created navigation map and thus further reduce the calculation pressure of the mobile device, the number of navigation maps created for the area to be mapped can be increased under the condition that the network quality of the communication area is good, and the navigation maps of the first floor area, the second floor area and the communication area can be created respectively. Correspondingly, in order to avoid the loss of positioning of the mobile device when the map is switched, a first overlapping area can be created on the navigation map of the first floor area and the navigation map of the communication area, and a second overlapping area which is not overlapped with the first overlapping area can be created on the navigation map of the second floor area and the navigation map of the communication area.
Optionally, under the condition that the network quality is determined not to meet the preset condition, the device for creating the navigation map of the mobile device can segment the scanned map according to the first physical boundary and the second physical boundary to respectively obtain initial maps of the first floor area, the second floor area and the communication area; then determining a third overlapping area in the initial map of the first floor area, and determining a fourth overlapping area in the initial map of the second floor area; and then, creating a navigation map of the first floor area according to the initial map of the first floor area, the initial map of the communication area and the map of the fourth overlapping area, and creating a navigation map of the second floor area according to the initial map of the second floor area, the initial map of the communication area and the map of the third overlapping area.
The first physical boundary is a physical boundary of the first floor area and the communication area, and the second physical boundary is a physical boundary of the second floor area and the communication area. For example, the physical boundary may be a region boundary between a floor area divided at the time of building and a communication area, and when the communication area is a corridor, a gate or the like on both sides of the corridor may be a region boundary.
In order to improve the efficiency of creating the navigation map, when the map is scanned, the first floor area, the second floor area and the complete map of the communication area can be continuously scanned. After the scanned map is segmented to obtain initial maps of a first floor area, a second floor area and a communication area, in order to avoid disorder in the switching process, a third overlapping area for switching the navigation map of the second floor area to the navigation map of the first floor area is determined in the initial map of the first floor area, and a fourth overlapping area for switching the navigation map of the first floor area to the navigation map of the second floor area is determined in the initial map of the second floor area.
After the scanned map is segmented and the overlapping area is determined, the overlapping area and the initial map can be combined to obtain the navigation map. In the case that the network quality is determined not to meet the preset condition, the navigation map of the communication area is not created, but the mobile device can travel in the communication area, so that the initial map of the communication area can be merged when the navigation map of the first floor area and the navigation map of the second floor area are determined.
Optionally, when the network quality of the communication area does not meet the preset condition, the creating device of the navigation map of the mobile device may determine a first switching boundary in the initial map of the first floor area according to the first preset width, and determine a second switching boundary in the initial map of the second floor area according to the second preset width; a third overlap region may then be determined from the first switching boundary and the first physical boundary, and a fourth overlap region may be determined from the second switching boundary and the second physical boundary.
The first preset width and the second preset width are widths determined in advance according to the area size of the application scene. The first preset width and the second preset width may be equal or different, which is not limited in the embodiment of the present application.
By way of example, taking a map of the 3F layer area of a, the L1 connected area, and the 3F layer area of B in fig. 2 as an example, after obtaining scan maps of the 3F layer area of a, the L1 connected area, and the 3F layer area of B, if it is determined that the network quality of the L1 connected area does not satisfy the preset condition, navigation maps of the 3F layer area of a and the 3F layer area of B may be created respectively.
Referring to fig. 3, there is provided a schematic diagram of a scanned map of a 3F layer area, an L1 communication area, and a 3F layer area of a span, and as shown in fig. 3, segmentation of the scanned map may be performed according to d1 and d2, to obtain an initial map of the 3F layer area of a span, the L1 communication area, and the 3F layer area of B span. Wherein d1 represents a physical boundary of the 3F layer region of the a span with the L1 communication region, i.e., a first physical boundary in the present application, and d2 represents a physical boundary of the 3F layer region of the B span with the L1 communication region, i.e., a second physical boundary in the present application. If the first preset width and the second preset width are both m, a first switching boundary d3 may be determined at a distance m from d1 in the initial map of the 3F layer area of the a span, and a second switching boundary d4 may be determined at a distance m from d2 in the initial map of the 3F layer area of the B span. Then, the region surrounded by D3, D1, and D2 may be defined as a third overlapping region, and the region surrounded by D4, D2, D1, and D2 may be defined as a fourth overlapping region. D1 and D2 are obstacle boundaries of the area to be mapped, for example, D1 and D2 may be walls of the area to be mapped. After the third overlapping area and the fourth overlapping area are determined, the initial map of the 3F layer area of the A span, the initial map of the communication area and the map of the fourth overlapping area can be combined to obtain a navigation map of the 3F layer area of the A span. And merging the initial map of the 3F layer area of the B span, the initial map of the communication area and the map of the third overlapping area to obtain a navigation map of the 3F layer area of the B span. The specific navigation map includes regions that may be referenced by labels in fig. 3.
The mobile device may be driven into the third blending area from the first building area or driven into the third blending area from the second building area, and the navigation map used by the mobile device before driving into the third blending area may be the navigation map of the second building area or the navigation map of the first building area. Also, the navigation map used by the mobile device before entering the fourth overlap region may be the navigation map of the second floor region or the navigation map of the first floor region. In order to ensure that the mobile device does not generate disorder when switching the navigation map in the third overlapping area and the fourth overlapping area, the embodiment of the application also provides a method for switching the navigation map.
Optionally, after creating at least two navigation maps for the map to be built, if the current navigation map of the mobile device is the navigation map of the second floor area, if it is determined that the mobile device enters the third overlapping area, the current navigation map is switched to the navigation map of the first floor area; and if the mobile device is determined to enter the fourth overlapping area under the condition that the current navigation map of the mobile device is the navigation map of the first floor area, switching the current navigation map to the navigation map of the second floor area.
Optionally, under the condition that the network quality meets the preset condition, creating at least two navigation maps for the map area to be built based on the scan map and combining the map creation rule and the creation mode may include: dividing the scanned map according to the first physical boundary and the second physical boundary to respectively obtain initial maps of a first floor area, a second floor area and a communication area; determining a first subarea of a first overlapping area and a first subarea of a second overlapping area in an initial map of a communication area, determining a second subarea of the first overlapping area in an initial map of a first floor area, and determining a second subarea of the second overlapping area in an initial map of a second floor area; creating a navigation map of the communication area according to the initial map of the communication area, the second sub-area of the first overlapping area and the map of the second sub-area of the second overlapping area, creating a navigation map of the first floor area according to the initial map of the first floor area and the map of the first sub-area of the first overlapping area, and creating a navigation map of the second floor area according to the initial map of the second floor area and the map of the first sub-area of the second overlapping area.
In the case that the map building rule is to create the navigation map of the first floor area, the second floor area and the communication area respectively, the mobile device may switch from the navigation map of the communication area to the navigation map of the first floor area, or may switch from the navigation map of the first floor area to the navigation map of the communication area, in order to ensure that the mobile device does not lose positioning when switching the map and not generate disorder during switching, a second sub-area for realizing the first overlapping area of the navigation map of the first floor area, which is used for realizing the switching from the navigation map of the communication area to the navigation map of the first floor area, may be determined in the initial map of the first floor area, and a second sub-area for realizing the second overlapping area of the navigation map of the second floor area, which is used for realizing the switching from the navigation map of the communication area to the navigation map of the second floor area, may be determined in the initial map of the second floor area, so as to meet different switching requirements. Similarly, a first sub-region of a first overlap region for implementing a switch from the navigation map of the first floor region to the navigation map of the connected region and a first sub-region of a second overlap region for implementing a switch from the navigation map of the second floor region to the navigation map of the connected region may be determined in the initial map of the connected region.
Optionally, when the network quality of the communication area meets a preset condition, the creating device of the navigation map of the mobile device may determine a third switching boundary and a fourth switching boundary in an initial map of the communication area according to a third preset width, determine a fifth switching boundary in an initial map of the first floor area according to a fourth preset width, and determine a sixth switching boundary in an initial map of the second floor area according to the fifth preset width; then a first sub-region of the first overlap region may be determined from the third switching boundary and the first physical boundary, a second sub-region of the first overlap region may be determined from the fifth switching boundary and the first physical boundary, a first sub-region of the second overlap region may be determined from the fourth switching boundary and the second physical boundary, and a second sub-region of the second overlap region may be determined from the sixth switching boundary and the second physical boundary.
The third preset width, the fourth preset width and the fifth preset width are widths determined in advance according to the area size of the application scene. The third preset width, the fourth preset width and the fifth preset width may be equal or different, which is not limited in the embodiment of the present application.
By way of example, taking a map of the 3F layer area, the L1 connected area, and the 3F layer area of the a span and the B span in fig. 2 as still an example, after obtaining the scan maps of the 3F layer area, the L1 connected area, and the 3F layer area of the B span, if it is determined that the network quality of the L1 connected area satisfies the preset condition, the navigation maps of the 3F layer area of the a span, the 3F layer area of the B span, and the L1 connected area may be created respectively.
Referring to fig. 4, there is provided a schematic diagram of a scanned map of a 3F layer area, an L1 connected area, and a 3F layer area of a span, and as shown in fig. 4, map segmentation may be performed according to d1 (first physical boundary) and d2 (second physical boundary) to obtain an initial map of the 3F layer area of a span, the L1 connected area, and the 3F layer area of B span. If the third preset width, the fourth preset width and the fifth preset width are n, a fifth switching boundary d5 can be determined at a distance n from d1 in the initial map of the 3F layer area of the a span, a third switching boundary d6 can be determined at a distance n from d1 in the initial map of the L1 communication area, a fourth switching boundary d7 can be determined at a distance n from d2 in the initial map of the L1 communication area, and a sixth switching boundary d8 can be determined at a distance n from d2 in the initial map of the 3F layer area of the B span. Then, the region surrounded by D5, D1, and D2 may be defined as the second sub-region of the first overlapping region, the region surrounded by D6, D1, and D2 may be defined as the first sub-region of the first overlapping region, the region surrounded by D7, D2, D1, and D2 may be defined as the first sub-region of the second overlapping region, and the region surrounded by D8, D2, D1, and D2 may be defined as the second sub-region of the second overlapping region. And combining the initial map of the 3F layer area of the A span with the map of the first subarea of the first superposition area to obtain a navigation map of the 3F layer area of the A span. And combining the initial map of the 3F layer area of the B span with the map of the first sub-area of the second overlapping area to obtain a navigation map of the 3F layer area of the B span. And combining the initial map of the L1 communication area with the map of the second subarea of the second overlapping area and the map of the second subarea of the first overlapping area to obtain a navigation map of the L1 communication area. The specific navigation map includes regions that may be referenced by labels in fig. 4.
The location of the origin and destination may be located in any of the first floor area, the second floor area, and the connectivity area when the mobile device performs the task. In order to ensure that the mobile equipment does not disorder when switching the navigation maps of the first floor area, the second floor area and the communication area in the first overlapping area and the second overlapping area, the embodiment of the application also provides a switching method of the navigation maps.
Optionally, if the current navigation map of the mobile device is determined to be the navigation map of the first floor area, if the mobile device is determined to enter the first sub-area of the first overlapping area, the current navigation map is switched to the navigation map of the communication area; if the current navigation map of the mobile device is the navigation map of the second floor area, if the mobile device is determined to enter the first subarea of the second overlapping area, the current navigation map is switched to the navigation map of the communication area; in case the current navigation map of the mobile device is the navigation map of the connected region, if it is determined that the mobile device is driving into the second sub-region of the first overlap region, and switching the current navigation map to the navigation map of the first floor area, and switching the current navigation map to the navigation map of the second floor area if the mobile equipment is determined to enter the second sub-area of the second overlapping area.
In the foregoing description of the embodiments of the present application, two floor areas are connected by a communication area as an example to be described, it may be understood that the method for creating a navigation map of a mobile device provided in the embodiments of the present application may be applied to a scene where multiple buildings are connected, and a to-be-created map area may include multiple floor areas and multiple communication areas.
For example, the area to be mapped may include a first floor area, a second floor area, and a third floor area, and the communication area may include a first communication area and a second communication area. As shown in fig. 2, the B1 layer region of the a span is connected to the B1 layer region of the C span through the L3 communication region, the B1 layer region of the B span, and the L4 communication region, the B1 layer region of the a span, the B1 layer region of the B span, and the B1 layer region of the C span correspond to the first, second, and third floor regions, respectively, and the L3 and L4 communication regions correspond to the first and second communication regions, respectively.
Specifically, the patterns of the B1 layer area, the L3 connected area, the B1 layer area, the L4 connected area and the B1 layer area of the C span are as follows: after obtaining the scan maps of the B1 layer area, the L3 communication area, the B1 layer area, the L4 communication area, and the B1 layer area of the C span, the B1 layer area, the L3 communication area, and the B1 layer area of the B span may be mapped with reference to the aforementioned creation method, and the B1 layer area, the L4 communication area, and the B1 layer area of the C span may be mapped with reference to the aforementioned creation method. Thus, the navigation maps of the B1 layer areas of the two B blocks can be obtained, and the obtained navigation maps of the B1 layer areas of the two B blocks can be combined to determine the final navigation map of the B1 layer area of the B block.
Referring to fig. 5, there is provided a schematic diagram of a scan map of a B1 layer region, an L3 communication region, a B1 layer region, an L4 communication region, and a B1 layer region of a C span, d1 being a physical boundary of the B1 layer region and the L3 communication region of the a span, d2 being a physical boundary of the L3 communication region and the B1 layer region of the B span, d3 being a physical boundary of the B1 layer region and the L4 communication region of the B span, d4 being a physical boundary of the B1 layer region and the L4 communication region of the C span. Taking the case that the network quality of the L3 communication area and the network quality of the L4 communication area both meet the preset condition as an example, the created navigation map may include a navigation map of the B1 layer area of A span, the L3 communication area, the B1 layer area of B span, the L4 communication area and the B1 layer area of C span. The specific navigation map includes regions that may be referenced by labels in fig. 5.
Optionally, after at least two navigation maps are created for the map area to be created according to the scan map, the method for creating the navigation map of the mobile device according to the embodiment of the present application may further include: and creating digital identifications for at least two navigation maps, and storing a corresponding relation list of the digital identifications and the navigation maps.
To distinguish between navigation maps of different areas, a unique identification may be created for the navigation map after mapping. If letter identification is adopted, the application scene cannot be distinguished in the case that the application scene comprises tens of buildings. Therefore, in order to avoid the situation that the navigation map cannot be distinguished, a digital identifier can be created for the navigation map, and a corresponding relation list of the digital identifier and the corresponding navigation map is stored.
For example, taking the connected building map in fig. 2 as an example, if the network quality of the connected area does not meet the preset condition, small navigation maps of 15 floors need to be created, the navigation maps of layers B1 to 4 of the a span can be recorded by adopting digital identifications 0 to 4, the navigation maps of layers B1 to 4 of the B span can be recorded by adopting digital identifications 5 to 9, and the navigation maps of layers B1 to 4 of the C span can be recorded by adopting digital identifications 10 to 14.
When the navigation map is recorded by the digital identification, the digital identification is difficult to distinguish specific buildings and floors, and when the mobile equipment fails, the area where the mobile equipment is located cannot be determined, so that a corresponding relation list of the digital identification and the specific buildings and floors can be stored in a background server of the mobile equipment. In addition, a corresponding relation list of the digital identification and the specific building and floor can be stored locally in the mobile equipment, so that the mobile equipment is convenient to be standby when disconnected with a background server. Under the condition that the mobile equipment is in a connection state with the background server, the mobile equipment can periodically acquire an updated corresponding relation list from the background server.
In the method for creating the navigation map of the mobile device, when the floor map including the communication area is created, the communication floor area (namely the first floor area and the second floor area in the embodiment of the application) and the scanning map of the communication area are acquired first, and then the acquired scanning maps are segmented and recombined to create at least two navigation maps. In order to ensure that the mobile equipment can switch the navigation map when traveling among the three areas of the first floor area, the second floor area and the communication area, a superposition area for realizing the navigation map switching of the mobile equipment is created in at least two navigation maps, so that the situation that the mobile equipment is lost to be positioned due to the map switching can be reduced. It can be seen that, in the technical solution provided by the embodiment of the present application, the navigation map created for the floor including the communication area not only can ensure the mobile device to travel between the three areas of the first floor area, the second floor area and the communication area, but also creates at least two navigation maps for the small map of the communication floor area and the communication area, instead of the large navigation map of the whole communication building. In this way, the mobile device can reduce the computing pressure of the mobile device when navigating at least two relatively smaller navigation maps created according to the application, thereby improving the efficiency of performing tasks. Furthermore, the embodiment of the application creates the small map aiming at the communication floor area and the communication area, and the small map occupies less resources during data transmission, is convenient for remote loading, configuration, modification and other operations, so that the at least two navigation maps created by the application are more convenient and faster than the existing navigation large map in later maintenance work.
As shown in fig. 6, the embodiment of the present application further provides a device for creating a navigation map of a mobile device, where the device for creating a navigation map of a mobile device may include: an acquisition module 11 and a creation module 12.
Wherein the acquisition module 11 performs S101 in the above-described method embodiment, and the creation module 12 performs S102 in the above-described method embodiment.
Specifically, the obtaining module 11 is configured to obtain a scan map of an area to be mapped, where the area to be mapped includes a first floor area, a second floor area, and a communication area, where the first floor area and the second floor area are the same floor area of different buildings, and the first floor area is connected to the second floor area through the communication area;
The creating module 12 is configured to create at least two navigation maps for the map area to be created according to the scan map acquired by the acquiring module 11, where the at least two navigation maps are created with overlapping areas, and the overlapping areas are used for the mobile device to realize the switching of the navigation maps.
Optionally, in one possible implementation, the obtaining module 11 is further configured to: before the creating module 12 creates at least two navigation maps for the map area to be created according to the scan map, acquiring the network quality of the connected area;
The creation module 12 is specifically configured to: determining a mapping rule of a mapping region to be mapped and a mapping mode of a superposition region according to network quality; based on the scanned map, at least two navigation maps are created for the area to be mapped by combining the mapping rule and the creation mode.
Alternatively, in another possible implementation, the creation module 12 is specifically configured to:
Under the condition that the network quality meets the preset condition, determining a graph building rule is as follows: the navigation map of the first floor area, the second floor area and the communication area is respectively established, and the establishment mode is determined as follows: creating a first overlapping area on the navigation map of the first floor area and the navigation map of the communication area, and creating a second overlapping area on the navigation map of the second floor area and the navigation map of the communication area; wherein the first overlapping region is not overlapped with the second overlapping region;
Under the condition that the network quality is determined to not meet the preset condition, determining a graph building rule is as follows: the navigation map of the first floor area and the navigation map of the second floor area are respectively established, and the establishment mode is determined as follows: creating a third overlapping area and a fourth overlapping area on the navigation map of the first floor area and the navigation map of the second floor area; wherein the third overlap region and the fourth overlap region do not overlap.
Alternatively, in another possible implementation, the creation module 12 is specifically configured to:
dividing the scanned map according to the first physical boundary and the second physical boundary to respectively obtain initial maps of a first floor area, a second floor area and a communication area; the first physical boundary is the physical boundary of the first floor area and the communication area, and the second physical boundary is the physical boundary of the second floor area and the communication area;
Determining a first subarea of a first overlapping area and a first subarea of a second overlapping area in an initial map of a communication area, determining a second subarea of the first overlapping area in an initial map of a first floor area, and determining a second subarea of the second overlapping area in an initial map of a second floor area;
Creating a navigation map of the communication area according to the initial map of the communication area, the second sub-area of the first overlapping area and the map of the second sub-area of the second overlapping area, creating a navigation map of the first floor area according to the initial map of the first floor area and the map of the first sub-area of the first overlapping area, and creating a navigation map of the second floor area according to the initial map of the second floor area and the map of the first sub-area of the second overlapping area.
Optionally, in another possible implementation manner, the creating device of the navigation map of the mobile device may further switch a module, where the switching module is configured to:
if the current navigation map of the mobile device is the navigation map of the first floor area, if the mobile device is determined to enter the first subarea of the first overlapping area, the current navigation map is switched to the navigation map of the communication area;
If the current navigation map of the mobile device is the navigation map of the second floor area, if the mobile device is determined to enter the first subarea of the second overlapping area, the current navigation map is switched to the navigation map of the communication area;
In case the current navigation map of the mobile device is the navigation map of the connected region, if it is determined that the mobile device is driving into the second sub-region of the first overlap region, and switching the current navigation map to the navigation map of the first floor area, and switching the current navigation map to the navigation map of the second floor area if the mobile equipment is determined to enter the second sub-area of the second overlapping area.
Alternatively, in another possible implementation, the creation module 12 is specifically configured to:
Under the condition that the network quality is determined to not meet the preset condition, dividing the scanning map according to the first physical boundary and the second physical boundary to respectively obtain initial maps of the first floor area, the second floor area and the communication area; the first physical boundary is the physical boundary of the first floor area and the communication area, and the second physical boundary is the physical boundary of the second floor area and the communication area;
Determining a third overlapping area in the initial map of the first floor area, and determining a fourth overlapping area in the initial map of the second floor area;
Creating a navigation map of the first floor area according to the initial map of the first floor area, the initial map of the communication area and the map of the fourth overlapping area, and creating a navigation map of the second floor area according to the initial map of the second floor area, the initial map of the communication area and the map of the third overlapping area.
Optionally, in another possible implementation manner, the switching module is configured to:
If the current navigation map of the mobile device is the navigation map of the second floor area, if the mobile device is determined to enter the third overlapping area, the current navigation map is switched to the navigation map of the first floor area;
And if the mobile device is determined to enter the fourth overlapping area under the condition that the current navigation map of the mobile device is the navigation map of the first floor area, switching the current navigation map to the navigation map of the second floor area.
Optionally, in another possible implementation manner, the creating device of the navigation map of the mobile device may further store a storage module, where the storage module is configured to: and creating digital identifications for at least two navigation maps, and storing a corresponding relation list of the digital identifications and the navigation maps.
Optionally, in another possible implementation manner, the storage module is further configured to store program codes of the creating device of the navigation map of the mobile device, and the like.
As shown in fig. 7, the embodiment of the present application further provides a device for creating a navigation map of a mobile device, which includes a memory 41, a processor 42 (42-1 and 42-2), a bus 43, and a communication interface 44; the memory 41 is used for storing computer-executable instructions, and the processor 42 is connected with the memory 41 through the bus 43; when the mobile device navigation map creation means is operated, the processor 42 executes computer-executable instructions stored in the memory 41 to cause the mobile device navigation map creation means to execute the mobile device navigation map creation method as provided in the above-described embodiment.
In a particular implementation, processor 42 may include one or more central processing units (central processing unit, CPU), such as CPU0 and CPU1 shown in FIG. 7, as one embodiment. And as one example, the means for creating a mobile device navigation map may include a plurality of processors 42, such as processor 42-1 and processor 42-2 shown in fig. 7. Each of these processors 42 may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). The processor 42 herein may refer to one or more devices, circuits, and/or processing cores for processing data (e.g., computer program instructions).
The memory 41 may be, but is not limited to, a read-only memory 41 (ROM) or other type of static storage device that can store static information and instructions, a random access memory (random access memory, RAM) or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable read-only memory (ELECTRICALLY ERASABLE PROGRAMMABLE READ-only memory, EEPROM), a compact disc read-only memory (compact disc read-only memory) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 41 may be stand alone and be coupled to the processor 42 via a bus 43. Memory 41 may also be integrated with processor 42.
In a specific implementation, the memory 41 is used for storing data in the present application and computer-executable instructions corresponding to a software program for executing the present application. The processor 42 may navigate the various functions of the map creation means of the mobile device by running or executing a software program stored in the memory 41 and invoking data stored in the memory 41.
Communication interface 44, using any transceiver-like device, is used to communicate with other devices or communication networks, such as a control system, a radio access network (radio access network, RAN), a wireless local area network (wireless local area networks, WLAN), etc. The communication interface 44 may include a receiving unit to implement a receiving function and a transmitting unit to implement a transmitting function.
Bus 43 may be an industry standard architecture (industry standard architecture, ISA) bus, an external device interconnect (PERIPHERAL COMPONENT INTERCONNECT, PCI) bus, or an extended industry standard architecture (extended industry standard architecture, EISA) bus, among others. The bus 43 may be classified into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in fig. 7, but not only one bus or one type of bus.
As an example, in connection with fig. 6, the function implemented by the acquisition module in the creation means of the mobile device navigation map is the same as the function implemented by the receiving unit in fig. 7, the function implemented by the creation module in the creation means of the mobile device navigation map is the same as the function implemented by the processor in fig. 7, and the function implemented by the storage module in the creation means of the mobile device navigation map is the same as the function implemented by the memory in fig. 7.
The explanation of the related content in this embodiment may refer to the above method embodiment, and will not be repeated here.
From the foregoing description of the embodiments, it will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of functional modules is illustrated, and in practical application, the above-described functional allocation may be implemented by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to implement all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.
The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores instructions, and when the computer executes the instructions, the computer executes the method for creating the navigation map of the mobile device provided by the embodiment.
The computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a RAM, a ROM, an erasable programmable read-only memory (erasable programmable read only memory, EPROM), a register, a hard disk, an optical fiber, a CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing, or any other form of computer readable storage medium known in the art. An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuit (ASIC). In embodiments of the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The foregoing is merely illustrative of specific embodiments of the present application, and the scope of the present application is not limited thereto, but any changes or substitutions within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims (9)

1. A method for creating a navigation map for a mobile device, comprising:
The method comprises the steps of obtaining a scanning map of a region to be built, wherein the region to be built at least comprises a first floor region, a second floor region and a communication region, the first floor region and the second floor region are the same floor region of different buildings, and the first floor region is connected with the second floor region through the communication region;
creating at least two navigation maps for the map area to be built according to the scanning map, wherein the at least two navigation maps are created with overlapping areas, and the overlapping areas are used for switching the navigation maps by mobile equipment;
before the at least two navigation maps are created for the map area to be created according to the scan map, the method further includes:
Acquiring the network quality of the communication area;
the creating at least two navigation maps for the map area to be built according to the scan map comprises:
Under the condition that the network quality meets the preset condition, determining a graph building rule is as follows: the navigation maps of the first floor area, the second floor area and the communication area are respectively established, and the establishment mode is determined as follows: creating a first overlapping area on the navigation map of the first floor area and the navigation map of the communication area, and creating a second overlapping area on the navigation map of the second floor area and the navigation map of the communication area; wherein the first overlap region is not overlapped with the second overlap region;
And under the condition that the network quality is determined to not meet the preset condition, determining a graph building rule as follows: the navigation maps of the first floor area and the second floor area are respectively established, and the establishment mode is determined as follows: creating a third overlapping area and a fourth overlapping area on the navigation map of the first floor area and the navigation map of the second floor area; wherein the third overlap region is not coincident with the fourth overlap region;
And based on the scanned map, combining the map creation rule and the creation mode to create the at least two navigation maps for the map to be created area.
2. The method for creating a navigation map of a mobile device according to claim 1, wherein, in a case where it is determined that the network quality satisfies the preset condition, the creating the at least two navigation maps for the area to be mapped based on the scan map in combination with the mapping rule and the creation manner includes:
Dividing the scanned map according to a first physical boundary and a second physical boundary to respectively obtain initial maps of the first floor area, the second floor area and the communication area; the first physical boundary is a physical boundary of the first floor area and the communication area, and the second physical boundary is a physical boundary of the second floor area and the communication area;
Determining a first subarea of the first overlapping area and a first subarea of the second overlapping area in an initial map of the communication area, determining a second subarea of the first overlapping area in an initial map of the first floor area, and determining a second subarea of the second overlapping area in an initial map of the second floor area;
Creating a navigation map of the communication area according to the initial map of the communication area, the second sub-area of the first overlapping area and the map of the second sub-area of the second overlapping area, creating the navigation map of the first floor area according to the initial map of the first floor area and the map of the first sub-area of the first overlapping area, and creating the navigation map of the second floor area according to the initial map of the second floor area and the map of the first sub-area of the second overlapping area.
3. The method for creating a navigation map of a mobile device according to claim 2, wherein after the at least two navigation maps are created for the area to be mapped based on the scan map in combination with the mapping rule and the creation mode, the method further comprises:
if the current navigation map of the mobile device is the navigation map of the first floor area, if the mobile device is determined to enter the first subarea of the first overlapping area, the current navigation map is switched to the navigation map of the communication area;
If the current navigation map of the mobile device is the navigation map of the second floor area, if the mobile device is determined to enter the first subarea of the second overlapping area, the current navigation map is switched to the navigation map of the communication area;
And when the current navigation map of the mobile device is the navigation map of the communication area, if the mobile device is determined to drive into the second subarea of the first overlapping area, switching the current navigation map into the navigation map of the first floor area, and if the mobile device is determined to drive into the second subarea of the second overlapping area, switching the current navigation map into the navigation map of the second floor area.
4. The method for creating a navigation map of a mobile device according to claim 1, wherein, in a case where it is determined that the network quality does not meet the preset condition, the creating the at least two navigation maps for the area to be mapped based on the scan map in combination with the mapping rule and the creation manner includes:
Dividing the scanned map according to a first physical boundary and a second physical boundary to respectively obtain initial maps of the first floor area, the second floor area and the communication area; the first physical boundary is a physical boundary of the first floor area and the communication area, and the second physical boundary is a physical boundary of the second floor area and the communication area;
Determining the third overlapping area in an initial map of the first floor area, and determining the fourth overlapping area in an initial map of the second floor area;
Creating a navigation map of the first floor area according to the initial map of the first floor area, the initial map of the communication area and the map of the fourth overlapping area, and creating a navigation map of the second floor area according to the initial map of the second floor area, the initial map of the communication area and the map of the third overlapping area.
5. The method for creating a navigation map of a mobile device according to claim 4, wherein after the at least two navigation maps are created for the area to be mapped based on the scan map in combination with the mapping rule and the creation mode, the method further comprises:
If the current navigation map of the mobile device is the navigation map of the second floor area, if the mobile device is determined to enter the third overlapping area, the current navigation map is switched to the navigation map of the first floor area;
and if the mobile equipment is determined to enter the fourth overlapping area under the condition that the current navigation map of the mobile equipment is the navigation map of the first floor area, switching the current navigation map to the navigation map of the second floor area.
6. The method for creating a navigation map of a mobile device according to any one of claims 1 to 5, wherein after the creating at least two navigation maps for the map area to be created according to the scan map, the method further comprises:
And creating digital identifications for the at least two navigation maps, and storing a corresponding relation list of the digital identifications and the navigation maps.
7. A mobile device navigation map creation apparatus, comprising:
the system comprises an acquisition module, a storage module and a display module, wherein the acquisition module is used for acquiring a scanning map of an area to be built, the area to be built at least comprises a first floor area, a second floor area and a communication area, the first floor area and the second floor area are the same floor area of different buildings, and the first floor area is connected with the second floor area through the communication area;
The creation module is used for creating at least two navigation maps for the map area to be created according to the scanning map acquired by the acquisition module, wherein the at least two navigation maps are created with overlapping areas, and the overlapping areas are used for switching the navigation maps by the mobile equipment;
wherein, the acquisition module includes:
A network quality acquisition unit for acquiring the network quality of the communication area;
Wherein the creation module comprises:
A first determining unit for mapping rules and creating modes, configured to determine, when determining that the network quality meets a preset condition, that the mapping rules are: the navigation maps of the first floor area, the second floor area and the communication area are respectively established, and the establishment mode is determined as follows: creating a first overlapping area on the navigation map of the first floor area and the navigation map of the communication area, and creating a second overlapping area on the navigation map of the second floor area and the navigation map of the communication area; wherein the first overlap region is not overlapped with the second overlap region;
A second determining unit for mapping rule and creating mode, configured to determine, when it is determined that the network quality does not meet the preset condition, that the mapping rule is: creating navigation maps of the first floor area and the second floor area respectively, and determining that the creation mode is as follows: creating a third overlapping area and a fourth overlapping area on the navigation map of the first floor area and the navigation map of the second floor area; wherein the third overlap region is not coincident with the fourth overlap region;
And the navigation map creation unit is used for creating the at least two navigation maps for the region to be created by combining the map creation rule and the creation mode based on the scanning map.
8. The device for creating the navigation map of the mobile equipment is characterized by comprising a memory, a processor, a bus and a communication interface; the memory is used for storing computer execution instructions, and the processor is connected with the memory through the bus;
When the mobile device navigation map creation apparatus is operated, the processor executes the computer-executable instructions stored in the memory to cause the mobile device navigation map creation apparatus to perform the mobile device navigation map creation method of any one of claims 1-6.
9. A computer readable storage medium having instructions stored therein, which when executed by a computer, cause the computer to perform the method of creating a navigation map for a mobile device according to any one of claims 1-6.
CN202111128379.0A 2021-09-26 2021-09-26 Method, device and storage medium for creating navigation map of mobile device Active CN113822995B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111128379.0A CN113822995B (en) 2021-09-26 2021-09-26 Method, device and storage medium for creating navigation map of mobile device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111128379.0A CN113822995B (en) 2021-09-26 2021-09-26 Method, device and storage medium for creating navigation map of mobile device

Publications (2)

Publication Number Publication Date
CN113822995A CN113822995A (en) 2021-12-21
CN113822995B true CN113822995B (en) 2024-09-06

Family

ID=78921329

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111128379.0A Active CN113822995B (en) 2021-09-26 2021-09-26 Method, device and storage medium for creating navigation map of mobile device

Country Status (1)

Country Link
CN (1) CN113822995B (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114459462B (en) * 2022-01-29 2024-06-11 京东方科技集团股份有限公司 Electronic map switching and processing method, terminal, server and storage medium
CN115388876B (en) * 2022-08-22 2025-08-22 达闼机器人股份有限公司 Intelligent mobile device navigation method, device, equipment and storage medium

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111121753A (en) * 2019-12-30 2020-05-08 炬星科技（深圳）有限公司 Robot joint graph building method and device and computer readable storage medium
CN111750862A (en) * 2020-06-11 2020-10-09 深圳优地科技有限公司 Multi-region-based robot path planning method, robot and terminal equipment

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9216508B2 (en) * 2014-01-14 2015-12-22 Qualcomm Incorporated Connectivity maintenance using a quality of service-based robot path planning algorithm
US10459450B2 (en) * 2017-05-12 2019-10-29 Autonomy Squared Llc Robot delivery system
KR102275300B1 (en) * 2019-07-05 2021-07-08 엘지전자 주식회사 Moving robot and control method thereof
CN111854757A (en) * 2020-06-30 2020-10-30 深圳优地科技有限公司 Navigation method, navigation device, electronic equipment and storage medium
CN111831773A (en) * 2020-07-14 2020-10-27 中励信(厦门)科技有限公司 Intelligent route planning system for large transportation
CN113032511A (en) * 2021-04-02 2021-06-25 上海景吾智能科技有限公司 Method, system and medium for switching maps of robot navigation floors

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111121753A (en) * 2019-12-30 2020-05-08 炬星科技（深圳）有限公司 Robot joint graph building method and device and computer readable storage medium
CN111750862A (en) * 2020-06-11 2020-10-09 深圳优地科技有限公司 Multi-region-based robot path planning method, robot and terminal equipment

Also Published As

Publication number Publication date
CN113822995A (en) 2021-12-21

Similar Documents

Publication Publication Date Title
JP7005794B2 (en) Robot scheduling, robot routing methods, servers and storage media
CN108958241B (en) Robot path control method, device, server and storage medium
CN113822995B (en) Method, device and storage medium for creating navigation map of mobile device
US10994418B2 (en) Dynamically adjusting roadmaps for robots based on sensed environmental data
WO2019141222A1 (en) Conflict management method and system for multiple mobile robots
CN105704195B (en) method and equipment for determining road network partition boundary line
CN111121753A (en) Robot joint graph building method and device and computer readable storage medium
CN111459100B (en) Dispatching method and system for automatic guided vehicles
US12347314B2 (en) Vehicle scheduling method, apparatus, and system
KR102701277B1 (en) Logistics automation system and operation method thereof
CN103631651A (en) Method and system for closing application programs
CN114140520B (en) Method, device and storage medium for determining location information
CN112748739B (en) Control method and device of mobile equipment, computer readable storage medium and system
CN109726841B (en) AGV path calculation method based on unmanned cabin and AGV driving path control method
CN114216470B (en) Semantic map loading method and device, vehicle and storage medium
CN112702431B (en) Industrial mobile device positioning system and method based on distributed edge computing
US11842640B2 (en) Computing system and method for operating a computing system
Xia et al. Lane scheduling around crossroads for edge computing based autonomous driving
CN113243100B (en) Device for outsourcing computing processes for a vehicle
CN109598974A (en) A kind of parking stall management method and device based on wisdom garden
CN111722629A (en) Path planning method and device, storage medium and electronic device
US20230311941A1 (en) Server device, control circuit, storage medium, and traffic support method
CN116718189A (en) Mobile robot and building-crossing path planning method for same
CN112770292A (en) Unmanned aerial vehicle communication system, unmanned aerial vehicle communication method and device
CN115047858A (en) Path planning method, path planning device, mobile robot and storage medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20240801

Address after: No. 688 Chenzhuang West Road, Sanshui Street, Jiangyan District, Taizhou City, Jiangsu Province, 225599

Applicant after: Taizhou Qinglang Intelligent Technology Co.,Ltd.

Country or region after: China

Address before: 201206 11th floor, building 56, 1000 Jinhai Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai

Applicant before: SHANGHAI KEENLON INTELLIGENT TECHNOLOGY Co.,Ltd.

Country or region before: China

GR01 Patent grant
GR01 Patent grant