CN117308923A

CN117308923A - Interactive rapid mapping method and device, medium and electronic equipment

Info

Publication number: CN117308923A
Application number: CN202311283071.2A
Authority: CN
Inventors: 张少华; 吴兴伟; 任娟娟; 叶力荣
Original assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Current assignee: Shenzhen Silver Star Intelligent Group Co Ltd
Priority date: 2023-09-28
Filing date: 2023-09-28
Publication date: 2023-12-29

Abstract

The embodiment of the invention provides an interactive rapid mapping method, an interactive rapid mapping device, a medium and electronic equipment. The method comprises the following steps: the mapping equipment explores and maps the area; when an autonomous map building instruction input by a user is detected, the map building equipment pauses map building, and acquires a plane map which is explored by the area; detecting whether a user selects a designated navigation point on the explored planar map; if yes, determining a map building sequence of the map building equipment according to the designated navigation point selection sequence; and the mapping equipment performs mapping according to the mapping sequence to obtain an updated planar map of the current area. The invention can improve man-machine interaction experience in the process of drawing and shorten drawing time under special conditions.

Description

Interactive rapid mapping method and device, medium and electronic equipment

Technical Field

The embodiment of the invention relates to the technical field of drawing construction, in particular to an interactive rapid drawing construction method, device, medium and electronic equipment.

Background

In the prior art, in the rapid mapping process, the map is lost due to the fact that a narrow area is not closed and the effective distance measurement distance of the radar is exceeded, or the map is repeatedly folded, explored and updated due to the fact that the reflectivity of obstacle materials to radar data is low, and the like, the mapping time is overlong and the mapping is incomplete.

At present, the machine can be controlled by a remote control mode to build a map. However, in practice, it is found that in the case of a large home area, the remote control mode is not convenient enough to operate the machine, and the impact or the directional deviation is easy to occur, so that the human-computer interaction experience is poor.

Disclosure of Invention

In this context, the embodiments of the present invention desire to provide an interactive rapid mapping method, apparatus, medium, and electronic device.

In a first aspect of the embodiments of the present invention, an interactive rapid mapping method is provided, including the following steps:

the mapping equipment explores and maps the area;

when an autonomous mapping instruction input by a user is detected, the mapping equipment pauses mapping and acquires a plane map of which the area is explored;

detecting whether a user selects a designated navigation point on the explored planar map;

if yes, determining the mapping sequence of the mapping equipment according to the designated navigation point selection sequence;

and the mapping equipment performs mapping according to the mapping sequence to obtain an updated planar map of the current area.

In one example of this embodiment, the method includes:

displaying a plurality of candidate navigation points on the explored planar map;

the user selects the designated navigation point from the plurality of candidate navigation points.

In one example of this embodiment, after detecting that a navigation point is selected from the plurality of candidate navigation points, the method further includes:

judging the appointed navigation point;

if the designated navigation points can successfully navigate, determining the selection sequence of each designated navigation point;

if the problem navigation points which cannot be navigated exist in the appointed navigation points, prompting a user to reselect or automatically selecting a candidate navigation point closest to the problem navigation points by the mapping equipment as a target point to go to exploration.

In an example of this embodiment, after obtaining the updated planar map of the area, the method further includes:

comparing the updated planar map of the area with the explored planar map to obtain a comparison result;

and if the comparison result shows that the updated planar map of the area is completely matched with the explored planar map, determining that the updated planar map of the area is a complete planar map corresponding to the explored planar map.

In a second aspect of the embodiments of the present invention, an interactive rapid mapping apparatus is provided, including:

a judging unit for judging whether the area has a history map;

the searching unit is used for searching and mapping the area when the judging unit judges that the historical map of the area is absent;

the acquisition unit is used for suspending drawing construction when an autonomous drawing construction instruction input by a user is detected, and acquiring a plane map which is explored by the area;

the detection unit is used for detecting whether a user selects a designated navigation point on the explored planar map;

the navigation determining unit is used for determining the mapping sequence of the mapping equipment according to the designated navigation point selection sequence when the result of the detecting unit is yes;

and the map construction unit is used for carrying out map construction according to the map construction sequence to obtain an updated planar map of the current area.

In an example of this embodiment, the determining unit is further configured to display a plurality of candidate navigation points on the explored planar map; the user selects the designated navigation point from the plurality of candidate navigation points.

In one example of this embodiment, the navigation determining unit is further configured to:

after detecting that a user selects a designated navigation point from the plurality of candidate navigation points, judging the designated navigation point;

if the designated navigation points can successfully navigate, determining the selection sequence of each designated navigation point by the navigation determining unit;

if the problem navigation points which cannot be navigated exist in the appointed navigation points, prompting a user to reselect or selecting a candidate navigation point closest to the problem navigation points as a target point to search by the navigation determining unit.

In an example of this embodiment, the mapping unit is further configured to:

after the updated planar map of the area is obtained, comparing the updated planar map of the area with the explored planar map to obtain a comparison result;

In a third aspect of the embodiments of the present invention, there is provided an electronic apparatus including: at least one processor, a memory, an input unit, and an output unit; wherein the memory is for storing a computer program and the processor is for invoking the computer program stored in the memory to perform the method of any of the first aspects.

In a fourth aspect of the embodiments of the present invention, there is provided a computer readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the method of any of the first aspects.

According to the interactive rapid mapping method, device, medium and electronic equipment, the current mapping process can be stopped after the autonomous mapping instruction input by the user is received, and the plane map containing the candidate navigation points is output, so that the user can select the target navigation points to be explored from the candidate navigation points, and the mapping equipment can finish mapping work based on the target navigation points selected by the user, thereby improving man-machine interaction experience in the mapping process.

Drawings

The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. Several embodiments of the present invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:

FIG. 1 is a flow chart of an interactive rapid mapping method according to an embodiment of the present invention;

FIG. 2a is a schematic diagram of a planar map according to an embodiment of the present invention;

FIG. 2b is a schematic diagram of another planar map according to an embodiment of the present invention;

FIG. 2c is a schematic diagram of another planar map according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of an interactive rapid mapping apparatus according to an embodiment of the present invention;

FIG. 4 schematically illustrates a schematic structural diagram of a medium according to an embodiment of the present invention;

fig. 5 schematically shows a schematic structural diagram of an electronic device according to an embodiment of the present invention.

In the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

Detailed Description

The principles and spirit of the present invention will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are presented merely to enable those skilled in the art to better understand and practice the invention and are not intended to limit the scope of the invention in any way. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

Those skilled in the art will appreciate that embodiments of the invention may be implemented as a system, apparatus, device, method, or computer program product. Accordingly, the present disclosure may be embodied in the following forms, namely: complete hardware, complete software (including firmware, resident software, micro-code, etc.), or a combination of hardware and software.

According to the embodiment of the invention, an interactive rapid mapping method, an interactive rapid mapping device, a medium and electronic equipment are provided.

It should be noted that any number of elements in the figures are for illustration and not limitation, and that any naming is used for distinction only and not for limitation.

The principles and spirit of the present invention are explained in detail below with reference to several representative embodiments thereof.

Exemplary method

Referring now to fig. 1, fig. 1 is a flowchart illustrating an interactive fast mapping method according to an embodiment of the present invention. It should be noted that embodiments of the present invention may be applied to any scenario where applicable.

The flow of the interactive rapid mapping method provided in an embodiment of the present invention shown in fig. 1 includes:

in step S101, the mapping apparatus determines whether there is a history map in the area.

Step S102, if there is no history map of the area, the mapping device performs exploration mapping on the area.

Step S103, when the autonomous mapping instruction input by the user is detected, the mapping equipment pauses mapping and acquires the plane map of the area explored.

In the embodiment of the invention, the embodiment of the invention can be applied to any image building equipment (such as a sweeping robot and the like) capable of building images. The embodiment of the invention can also be applied to autonomous map building of robots or unmanned vehicles in residential areas, factories and other scenes.

In the embodiment of the invention, before step S101, it is determined whether a new environment map is currently created; if yes, starting to build a map in a new environment without an offline map, and entering a quick map building logic; if not, the quick mapping is started under the environment of the existing offline map, and the relocation is performed first. If the failure occurs, the environment is a new environment, and the quick mapping logic is started to enter; if the relocation is successful, indicating that the environment is not a new environment, the relocated offline map can be loaded through the mapping equipment. The mapping equipment enters a quick mapping logic, and new region expansion and navigation point selection are carried out according to a normal quick mapping algorithm.

In the embodiment of the invention, the user can input the autonomous mapping instruction through the voice or the platform corresponding to the mapping equipment, and the embodiment of the invention is not limited to the autonomous mapping instruction. The specific interface can also include a click triggering mode of the area to be explored, a click triggering mode at the boundary line, a mode that a user directly lines to reach the area to be explored, and an interaction mode for displaying the sequence to be explored.

In the embodiment of the invention, when a user inputs an autonomous mapping instruction, autonomous mapping logic is entered. If the offline map is available: the drawing building equipment pauses, does not display any suggested navigation points, directly waits for the user to select points, and is equivalent to fixed-point cleaning of a designated position; if in the new environment map: the mapping equipment pauses the current exploration and visualizes to display a plurality of navigation points to be explored in the rapid mapping algorithm as candidate navigation points for the user to reference or select. The navigation points to which the drawing building equipment is going when the drawing building equipment is suspended can be specially marked to show the positions to which the drawing building equipment is going to build the drawings, and the navigation points are recorded according to the selection sequence of the user.

Step S104, detecting whether the user selects a designated navigation point on the explored planar map.

As an alternative embodiment, the following steps may also be performed:

In the embodiment of the invention, when the map building equipment explores the map, navigation points (such as a JPS (joint point and position) searching algorithm) are automatically searched to the area to be explored through the algorithm. Sometimes in complex environments, the mapping apparatus may go around where it is unnecessary to explore, affect efficiency, and cause missed exploration. When the human intervention mode is started, the mapping equipment selects corresponding candidate navigation points for users to select, wherein the candidate navigation points are selected and displayed by the mapping equipment according to the automatic selection of better navigation points in all navigation points, and the specific logic is as follows: the mapping device can judge through the grid map, for example, the grid value of the explored area is 0, the explored area is 2, the obstacle is 1, the explored area is not blocked by the obstacle and is a passable channel, and the candidate navigation points can be channels of the explored area, boundaries of the explored area and the explored area, and the like.

In the embodiment of the invention, the output form of the candidate navigation points is different from the output form of the appointed navigation points. The candidate navigation points are map-building paths which are formed by the sweeper according to the map-building algorithm, when the user selects the map-building mode, the point on the path which the sweeper needs to travel is displayed on the APP when the sweeper is suspended, the candidate navigation points are the candidate navigation points, the main purpose of displaying the candidate navigation points is to tell the user that the candidate navigation points are the paths which the user needs to travel by the map-building equipment, and the user can refer to when selecting the paths of the designated navigation points.

Therefore, the designated navigation points selected by the user can be one or a plurality of selected candidate navigation points, then the points to be moved by the mapping equipment are determined by the user, a plurality of designated navigation points are formed, and then the designated navigation points form a designated route customized by the user.

And step 105, if yes, determining the mapping sequence of the mapping equipment according to the designated navigation point selection sequence.

As an alternative embodiment, after detecting that a navigation point is selected from the plurality of candidate navigation points, the method further comprises:

judging the appointed navigation point;

In the embodiment of the invention, whether the target navigation point given by the user can navigate is judged, and if so, the target navigation point can go to exploration in sequence according to the selection sequence; if the navigation point is not navigable, the user is prompted to be non-navigable, and the user is recommended to reselect or the mapping equipment directly selects the navigation point to be traveled by the next original mapping equipment, or the nearest navigation point is used as a target navigation point to go to exploration.

Specific: the integrity of the map can be judged in real time in the exploration process of the map building equipment, and after judging that the map is complete, a reminding map is popped up (the autonomous map building and the rapid map building mode are exited), and intelligent partitioning and map storage are directly carried out.

When the offline map is available and repositioning is successful, the mapping equipment does not give a recommended navigation point, directly waits for a user to select a point, then goes to the navigation point given by the user, and performs 1*1 edge cleaning/fixed-point cleaning with the navigation point as a center to update obstacle information near the navigation point, and recharges or sleeps in situ after cleaning is completed. The logic is used for manually assisting in perfecting the map when the home of the user changes after the map is built or the map building effect is not satisfied at a certain position of the map.

Under the condition of a new environment, entering the next navigation point after reaching the navigation point until the navigation point given by a user is explored, popping up a reminder if the map is complete after the exploration process, storing the map and exiting the autonomous building map; if the points given by the user are explored, the map is still incomplete, and the user does not exit the autonomous mapping mode, step S103 is executed, a plurality of candidate navigation points are continuously given, and exploration is performed according to the points selected by the user next until the map is detected to be complete.

And S106, the mapping equipment performs mapping according to the mapping sequence to obtain an updated planar map of the current area.

In the embodiment of the present invention, the mapping sequence includes the specified navigation point and the target navigation point, where the specified navigation point is a navigation point reached by the mapping device first, and the sequence in which the mapping device reaches the target navigation point is the same as the selection sequence.

As an alternative embodiment, after step S106, the following steps may also be performed:

As an alternative embodiment, the user may also input a self-build drawing exit command. When an autonomous map building exit command input by a user is received, if the map is complete before the user exits, the autonomous map building is exited, and intelligent partitioning and map saving are performed; if the user exits and builds the map autonomously, the map is not built, the map is automatically switched back to the rapid map building mode to continue to explore until the map is complete, and then intelligent partition and map storage are performed.

Referring to fig. 2a, fig. 2b and fig. 2c together, fig. 2a is a schematic diagram of a planar map according to an embodiment of the present invention; FIG. 2b is a schematic diagram of another planar map according to an embodiment of the present invention; fig. 2c is a schematic diagram of another planar map according to an embodiment of the present invention. The shaded portion in the figure is an updated planar map obtained by mapping, the white line is a travel route of mapping equipment, and as can be seen from fig. 2a, neither room 2 nor room 6 is mapped, and a in fig. 2a is an obstacle, which prevents the mapping equipment from entering room 2 for mapping. So the user can apply for active mapping. As shown in fig. 2b, after the obstacle is cleared, the target navigation points a and b selected by the user may be acquired, so that the mapping device may implement mapping according to the target navigation points a and b, and obtain the updated planar map in fig. 2c, where the obtained updated planar map is completely matched with the planar map.

The method and the device can complete the mapping work based on the target navigation point selected by the user, thereby improving the man-machine interaction experience in the mapping process.

Exemplary apparatus

Having described the method of an exemplary embodiment of the present invention, an interactive rapid mapping apparatus of an exemplary embodiment of the present invention is described next with reference to fig. 3, the apparatus comprising:

a judging unit 301 for judging whether the area has a history map;

the exploration unit 302 is configured to explore and build a map of the area when the determination unit determines that there is no history map of the area;

an obtaining unit 303, configured to suspend drawing when an autonomous drawing instruction input by a user is detected, and obtain a plane map where a region is explored;

a detection unit 304, configured to detect whether a user selects a specified navigation point on the explored planar map;

a navigation determining unit 305, configured to determine a mapping sequence of the mapping device according to the designated navigation point selection sequence when the detection unit results in yes;

and a mapping unit 306, configured to perform mapping according to the mapping sequence, and obtain an updated planar map of the current area.

As an alternative embodiment, the navigation determining unit 305 is further configured to:

displaying a plurality of candidate navigation points on the explored planar map; the user selects the designated navigation point from the plurality of candidate navigation points.

if the problem navigation points which cannot be navigated exist in the designated navigation points, prompting a user to reselect or selecting a candidate navigation point closest to the problem navigation points as a target point to search by the determining unit.

As an alternative embodiment, the mapping unit 306 is further configured to:

Exemplary Medium

Having described the method and apparatus of the exemplary embodiment of the present invention, reference is next made to fig. 4 for describing a computer readable storage medium of the exemplary embodiment of the present invention, and referring to fig. 4, the computer readable storage medium is shown as an optical disc 40, on which a computer program (i.e., a program product) is stored, which when executed by a processor, implements the steps described in the above-mentioned method embodiment, for example, when an autonomous mapping instruction input by a user is detected, controls a mapping apparatus to pause mapping, and obtains a planar map of an area to be mapped; determining a plurality of candidate navigation points and designated navigation points on the planar map; outputting a plane map containing candidate navigation points and designated navigation points so that a user selects target navigation points to be explored from the candidate navigation points; when detecting a selection operation triggered by a user, determining a target navigation point selected by the user and a selection sequence of each target navigation point; determining a map building sequence of map building equipment according to the designated navigation points, the target navigation points and the selection sequence; the image construction equipment is controlled to carry out image construction according to the image construction sequence, and an updated planar map of the area to be image constructed is obtained; the specific implementation of each step is not repeated here.

It should be noted that examples of the computer readable storage medium may also include, but are not limited to, a phase change memory (PRAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), a Read Only Memory (ROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory, or other optical or magnetic storage medium, which will not be described in detail herein.

Exemplary electronic device

Having described the method, apparatus and medium of exemplary embodiments of the present invention, an electronic device for interactive quick mapping of exemplary embodiments of the present invention is next described with reference to fig. 5.

Fig. 5 shows a block diagram of an exemplary electronic device 50 suitable for use in implementing embodiments of the invention, the electronic device 50 may be a computer system or a server. The electronic device 50 shown in fig. 5 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present invention.

As shown in fig. 5, components of electronic device 50 may include, but are not limited to: one or more processors or processing units 501, a system memory 502, and a bus 503 that connects the various system components (including the system memory 502 and processing units 501).

Electronic device 50 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by electronic device 50 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 502 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 5021 and/or cache memory 5022. Electronic device 50 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, ROM5023 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5 and commonly referred to as a "hard drive"). Although not shown in fig. 5, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media), may be provided. In such cases, each drive may be coupled to bus 503 through one or more data medium interfaces. The system memory 502 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of embodiments of the invention.

A program/utility 5025 having a set (at least one) of program modules 5024 may be stored in, for example, system memory 502, and such program modules 5024 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 5024 generally perform the functions and/or methods of the described embodiments of the present invention.

The electronic device 50 may also communicate with one or more external devices 504 (e.g., keyboard, pointing device, display, etc.). Such communication may occur through an input/output (I/O) interface 505. Also, electronic device 50 may communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the Internet, through network adapter 506. As shown in fig. 5, network adapter 506 communicates with other modules of electronic device 50, such as processing unit 501, etc., via bus 503. It should be appreciated that although not shown in fig. 5, other hardware and/or software modules may be used in connection with electronic device 50.

The processing unit 501 executes various functional applications and data processing by running a program stored in the system memory 502, for example, when an autonomous mapping instruction input by a user is detected, controls the mapping apparatus to pause mapping, and acquires a planar map of an area to be mapped; determining a plurality of candidate navigation points and designated navigation points on the planar map; outputting a plane map containing candidate navigation points and designated navigation points so that a user selects target navigation points to be explored from the candidate navigation points; when detecting a selection operation triggered by a user, determining a target navigation point selected by the user and a selection sequence of each target navigation point; determining a map building sequence of map building equipment according to the designated navigation points, the target navigation points and the selection sequence; and controlling the mapping equipment to map according to the mapping sequence to obtain an updated planar map of the area to be mapped. The specific implementation of each step is not repeated here. It should be noted that while in the above detailed description several units/modules or sub-units/sub-modules of the interactable fast mapping device are mentioned, such a division is only exemplary and not mandatory. Indeed, the features and functionality of two or more units/modules described above may be embodied in one unit/module in accordance with embodiments of the present invention. Conversely, the features and functions of one unit/module described above may be further divided into ones that are embodied by a plurality of units/modules.

In the description of the present invention, it should be noted that the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Furthermore, although the operations of the methods of the present invention are depicted in the drawings in a particular order, this is not required to either imply that the operations must be performed in that particular order or that all of the illustrated operations be performed to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform.

Claims

1. An interactive rapid mapping method is characterized by comprising the following steps:

the mapping equipment explores and maps the area;

2. The interactive rapid mapping method of claim 1, comprising:

3. The interactive rapid mapping method of claim 2, wherein upon detecting a selection of a designated navigation point from the plurality of candidate navigation points, the method further comprises:

judging the appointed navigation point;

4. The interactive rapid mapping method according to claim 1, wherein after obtaining the updated planar map of the area, the method further comprises:

5. An interactive rapid mapping apparatus, comprising:

a judging unit for judging whether the area has a history map;

6. The interactive rapid mapping apparatus of claim 5, wherein,

the navigation determining unit is further used for displaying a plurality of candidate navigation points on the explored planar map; the user selects the designated navigation point from the plurality of candidate navigation points.

7. The interactive rapid mapping apparatus of claim 6, wherein the navigation determining unit is further configured to:

8. The interactive rapid mapping apparatus of claim 5, wherein the mapping unit is further configured to:

9. An electronic device, the electronic device comprising:

at least one processor, a memory, an input unit, and an output unit;

wherein the memory is for storing a computer program and the processor is for invoking the computer program stored in the memory to perform the method of any of claims 1-4.

10. A computer readable storage medium comprising instructions which, when run on a computer, cause the computer to perform the method of any of claims 1-4.