Patent Publication Number: US-2022228869-A1

Title: Method and apparatus for generating semantic map, and readable storage medium

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims priority to Chinese Patent Application No. 202110057916.0 filed on Jan. 15, 2021, the disclosure of which is hereby incorporated by reference in its entirety. 
     BACKGROUND 
     At present, with the development of smart homes, more and more smart IoT (Internet of Things) devices are entering residences or offices of users. For example, devices such as smart TVs, smart speakers, smart lamps, sweeping robots, etc., can be controlled by instructions from the user, and can also operate according to preset logic. 
     SUMMARY 
     The present disclosure relates generally to the field of smart homes, and more specifically to a method and apparatus for generating a semantic map, and a non-transitory computer-readable storage medium. 
     According to a first aspect of the embodiments of the present disclosure, there is provided a method for generating a semantic map, the method including: acquiring an initial map; determining, based on the initial map, a target space, wherein the target space includes one or more sub-regions; determining, based on the target space, a location of one or more first devices; determining, based on the location of the first devices, a location of one or more second devices and generating the semantic map, wherein the semantic map includes at least the target space, as well as the location of the first devices and the location of the second devices in the target space. 
     According to a second aspect of the embodiments of the present disclosure, there is provided an apparatus, including: a processor; a memory device configured to store processor-executable instructions; wherein the processor is configured to invoke the instructions to execute the method for generating a semantic map according to the first aspect of the present disclosure or according to any implementation modes of the first aspect thereof. 
     According to a third aspect of the embodiments of the present disclosure, there is provided a non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by a processor of a mobile terminal, the mobile terminal will execute the method for generating a semantic map according to the first aspect of the present disclosure or according to any implementation modes of the first aspect thereof. 
     It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The accompanying drawings, which are incorporated in and constitute a part of this description, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure. 
         FIG. 1  is a schematic diagram showing a flow of generating a semantic map according to some embodiments. 
         FIG. 2  is a schematic diagram showing another flow of generating a semantic map according to some embodiments. 
         FIG. 3  is a schematic diagram showing another flow of generating a semantic map according to some embodiments. 
         FIG. 4  is a schematic diagram showing an initial map according to some embodiments. 
         FIG. 5  is a schematic diagram showing a target space according to some embodiments. 
         FIG. 6  is a schematic diagram showing the location of devices in a target space according to some embodiments. 
         FIG. 7  is a schematic diagram showing a way of confirming the location of a device in a target space according to some embodiments. 
         FIG. 8  is a schematic diagram showing another way of confirming the location of a device in a target space according to some embodiments. 
         FIG. 9  is a schematic diagram showing yet another way of confirming the location of a device in a target space according to some embodiments. 
         FIG. 10  is a schematic block diagram showing an apparatus for generating a semantic map according to some embodiments. 
         FIG. 11  is a schematic block diagram showing another apparatus for generating a semantic map according to some embodiments. 
         FIG. 12  is a block diagram showing an apparatus for generating a semantic map according to some embodiments. 
         FIG. 13  is a block diagram showing another apparatus for generating a semantic map according to some embodiments. 
     
    
    
     DETAILED DESCRIPTION 
     Description will now be made in detail to embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations in the following description of exemplary embodiments do not represent all implementations consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims. 
     At present, in some related technologies, the management over IoT devices by the user is carried out in the form of lists. All IoT devices display the device types through text, in the form of a list. It can be very inconvenient for the user to manage and manipulate in this way. 
     In order to solve the above technical problems, various embodiments of the present disclosure provide a method for generating a semantic map. In the semantic map, devices in the target space can be displayed intuitively, which facilitates subsequent management by the user. Since devices can mutually determine their respective location relationships, it is possible to control devices based on location. The method for generating a semantic map of the present disclosure may be applied to cloud servers to achieve better computing effects through high performance of cloud servers; it may also be applied to local devices, such as mobile phones, and computing through local devices can better protect privacy and reduce leakage of information about the target space and related devices. As shown in  FIG. 1 , the method for generating a semantic map provided by the present disclosure includes steps S 11  to S 15 , which will be described in detail below. 
     In step S 11 , an initial map is acquired. 
     In some embodiments of the present disclosure, the initial map may be a map with certain features of the target space, for example, it may be a floor plan of a house, or a picture formed in other ways that can reflect a division of the target space. The target space may be a residence, an office space, or an indoor or outdoor place with a certain range. The initial map may be acquired by receiving the initial map sent by other devices, or the initial map may be generated by a server or a mobile phone. 
     In step S 12 , a target space is determined based on the initial map, wherein the target space includes one or more sub-regions. 
     In some embodiments of the present disclosure, the target space is determined through the features provided by the initial map, and the target space image as shown in  FIG. 3  can be generated. The sub-region may be a certain independent regional space in the target space. Respective sub-regions may be separated by physical or non-physical partitions such as walls, doors, windows, etc., which are used to distinguish each sub-region. In this way, by separating multiple independent sub-regions, the locations and association relationships between devices in the same sub-region or different sub-regions can be determined conveniently and assigned with semantics, such that subsequent location of devices may be more accurately determined. For example, the target space may be the entire dwelling house, and the sub-regions may be respective individual rooms, such as a living room, a bedroom, etc. For example, the target space may also be an office area, and the sub-regions may be office rooms, conference rooms, and so on. For example, through the initial map shown in  FIG. 4  generated by the sweeping robot, the target space  100  shown in  FIG. 5  can be generated. Referring to  FIG. 5 , the target space  100  may include multiple sub-regions  110 ,  120 ,  130 ,  140 ,  150 . According to the initial map, the relationship between the sub-regions  110 ,  120 ,  130 ,  140 , and  150  is determined, such as where the boundaries and connections are. After determining the target space, the user may also manually adjust it to determine accuracy of the target space and avoid errors caused by the initial map. 
     In step S 13 , a location of one or more first devices is determined based on the target space. 
     In some embodiments of the present disclosure, the location of the first device may be a relatively accurate location of the first device in the target space, or may be a rough location. In some embodiments, it is only determined in step S 13  that the first device is located in one of the sub-regions of the target space. 
     In some embodiments of the present disclosure, the first device may be a device that has a positioning function itself, or a device that does not have a positioning function itself but can perform positioning through data interaction. In some scenarios, it may also be called a beacon device or an anchor device. The location of the first device is the basis for the positioning of other devices, and the location of other devices is determined based on the location of the first device. Therefore, in some embodiments, the first device may be a device with a relatively fixed location, such as a TV, so as to prevent the location of the first device being changed, which may lead to inaccurate location confirmation of other devices. In some embodiments of the present disclosure, the first device may be a television with a UWB (Ultra-Wide Band) module, which is relatively fixed in location and can be positioned through the UWB module. The positioning mode is not limited to the UWB mode, and may also be used for distance measurement or positioning through millimeter wave, ultrasonic, radar, Wi-Fi, Bluetooth, laser, infrared, etc. Corresponding to the positioning mode, the device may also be a device with any one or more of the following modules: a millimeter wave module, an ultrasonic module, a radar module, a Wi-Fi module, a Bluetooth module, a laser module, an infrared module. 
     In step S 14 , a location of one or more second devices is determined based on the location of the first devices. 
     In some embodiments of the present disclosure, the location of the second device can be a relatively accurate location in the target space, or can be a relative location with respect to the first device. In some embodiments, after the location of the first device is determined, a coordinate system can be established according to the location of the first device, and the location of the second device can be expressed by the coordinates of the coordinate system. 
     The second device has a positioning function, which may be implemented by any one or more of the following modules: a millimeter wave module, an ultrasonic module, a radar module, a Wi-Fi module, a Bluetooth module, a laser module, an infrared module. 
     In some embodiments of the present disclosure, after the location of the first device is determined, the location of the second device may be determined according to the location of the first device. The second device may be an IoT device in the target space, such as a smart speaker, a smart lamp, etc. In some embodiments of the present application, the location of the second device may be determined based on the location determined by the first device based on the location relationship between the second device and the first device. 
     The location in the present disclosure may be based on any point in the target space as the origin to establish a plane rectangular coordinate system, and the location is expressed through coordinates of the respective devices in the plane rectangular coordinate system. It is also possible to establish, a polar coordinate system or a planar rectangular coordinate system based on the first device, and use the location of the first device as the origin to determine coordinates corresponding to other devices to determine the location. 
     In some embodiments, there is only one first device in all target spaces, or one first device can be provided in each of multiple sub-regions of the target space, or multiple first devices can be provided in some sub-regions. Since the first device has the function of positioning or interaction, more first devices can better locate and can better position the second device. In addition, the barrier of the wall will affect some positioning modes. A first device may be provided in each sub-region, and through the first device in the sub-region, the second device in the same sub-region can be positioned, thereby making the positioning more accurate and reliable. 
     In step S 15 , the semantic map is generated, wherein the semantic map includes at least the target space, as well as the location of the first devices and the location of the second devices in the target space. 
     In some possible embodiments, it can be understood that after determining the location of the first device and the location of the second device in the target space, semantic label data including the location of the first device and the location of the second device is marked in this semantic map. 
     The semantic map generated by the method of the embodiments of the present disclosure may include the target space, that is, it includes information such as distribution of sub-regions of the target space and the size of the region. Meanwhile, the semantic map also contains all the locations of the first devices and the second devices. As shown in  FIG. 6 , an exemplary display mode of a semantic map is shown, which may include the range and area of the target space  100 , and also includes the location of the device, including the first device  211 , the second devices  221 ,  222 ,  223 ,  224 , and  225 , and can also display identifiers of the respective sub-regions  110 ,  120 ,  130 ,  140 ,  150  (not shown in the figure). In this way, the devices in the target space may be displayed intuitively, which is convenient for user management. The location relationship between the devices is determined, such that they can be manipulated based on location. In addition, the semantic map may also include information such as the type of each device. The semantic map obtained by the method for generating a semantic map can give more semantic information to the map and related devices, so as to facilitate control logical settings. 
     In some embodiments of the present disclosure, step S 11  may include: receiving an initial map sent by a third device, where the initial map is generated by the third device; or, acquiring the initial map through image acquisition. 
     In some embodiments of the present disclosure, the third device may be a sweeping robot or other movable devices, and the target space is detected through the radar or photographing device of the third device. For example, when a sweeping robot performs a cleaning task, as shown in  FIG. 4 , it will form a map with a trajectory, and the map with a trajectory can reflect the features of the boundaries of each room. The third device may also be a terminal device such as a computer, an electronic drawing board, etc., and the initial map is generated through some drawing software. In some possible implementation modes, the initial map of the target space may be constructed through the SLAM (Simultaneous Localization And Mapping) system. 
     In some other embodiments of the present disclosure, the initial map may also be acquired through image acquisition. For example, a house plan of the target space can be acquired through an image acquiring module. The house plan may be a picture displayed in a house book or building blueprint, or a picture or video of the target space may be taken through a device&#39;s camera, and an initial map may be further generated. The initial map can be easily obtained through any of the above methods, providing preliminary spatial features for generating the semantic map. 
     In some embodiments of the present disclosure, as shown in  FIG. 2 , step S 12  may include: step S 121 , determining the boundary information of multiple sub-regions based on the initial map; and step S 122 , determining the target space based on the boundary information of the sub-regions. In this embodiment, the boundary information of multiple sub-regions can be determined through the initial map, for example, the boundary location of each sub-region, such as a wall, and the connected locations of each sub-region, such as doors, windows, etc. By determining the boundary information of the each sub-region, the complete layout of the target space can be obtained. 
     In some embodiments of the present disclosure, as shown in  FIG. 2 , step S 12  may include: determining identifiers of the sub-regions, wherein the identifiers are associated with the first device and the second device located in the corresponding sub-regions of the identifiers. In this embodiment, identifiers of some or all of the sub-regions may be determined. The identifiers may be automatically generated, for example, an identifier of a sub-region is generated according to scene of the target space. The identifiers may also be entered manually by the user. The identifiers may be the names of the respective sub-regions, such as living room, bedroom, office, etc. In the semantic map, each device may be associated with the identifier corresponding to the sub-region where it is located, that is, semantics of the identifier of the associated sub-region is assigned to each device. For example, the speaker in the living room and the speaker in the bedroom are respectively assigned semantic information of different regions. This makes it easier to manage devices. 
     In some embodiments of the present disclosure, in step S 13 , the process of determining the location of one or more first devices based on the target space may be determined by the user in the image of the determined target space, for example, clicking the corresponding location to determine the location of the first device. 
     In some other embodiments of the present disclosure, determining the location of one or more first devices based on the target space in step S 13  may only determine the sub-region where the first device is located in the target space. In this embodiment, only the region where the first device is located can be determined, such as the living room, the bedroom, etc. After the sub-region of the first device is determined, the location of the second device may be determined based on the first device. In addition, in this embodiment, the determined location of the second device refers to the location relationship between the second device and the first device, that is, the distance and angle between the second device and the first device. For example, the location of the first device may be used as a pole to establish a polar coordinate system, then the second device can determine location relationship between the second device and the first device by means of polar diameter (the corresponding distance) and polar angle (the corresponding angle) of the polar coordinates. In this embodiment, it is not necessary to determine the precise locations of the first device and the second device in the target space. In this embodiment, after the semantics of location relationship between the second device and the first device are determined, the user can determine the second device according to the user&#39;s current location by pointing in the direction of the second device, that is, the second device can be determined according to the pointing direction of the user. For example, the user points to the second device that needs to be controlled through a mobile terminal such as a mobile phone or a watch. The mobile terminal can determine the relative location with respect to the first device, and the mobile terminal can determine a pointing direction through a pointing action (such as an action of the mobile terminal detected through an acceleration sensor, a gyroscope, etc.). Based on the relative location and the pointing direction determined by the mobile terminal, the second device in the pointing direction can be determined, and corresponding manipulation can be performed. It is convenient for the user to select and control the second device. Through this embodiment, there is no need to determine the precise location of the first device, only the sub-region where it is located, which reduces the amount calculation and improves user experience. 
     The mobile terminal in some embodiments of the present disclosure may include a UWB module, and may perform positioning with the first device having the UWB module to determine the relative location of the two. It may also include any one or more of the following modules: a millimeter wave module, an ultrasonic module, a radar module, a Wi-Fi module, a Bluetooth module, a laser module, an infrared module. The relative location with respect to the first device or the location in the target space is determined through the corresponding module. 
     In other embodiments of the present disclosure, step S 13  may include: 
     receiving location information sent by the first device, and determining the location of the first device based on the location information; wherein the location information is obtained by measuring and calculating through the first devices. In this embodiment, the first device may use its own UWB module, radar module, ultrasonic module, etc., to obtain the location information through its own measurement and calculation, such as detecting the distance between itself and surrounding walls by radar waves. The location of the first device can be determined by reflecting the calculated location information in the target space. The target space may be sent to the first device, and the first device may calculate its own location according to the determined location of the target space, such as a wall. It is also possible to directly perform measurement and calculation through the first device, receive the location information, and then determine the location of the first device in the sub-region based on boundary information of the sub-region in the target space, etc. In this embodiment, the location is determined by the first device itself, which can be more convenient, save user operations, improve user experience, obtain a more accurate location, and avoid manual input errors. 
     In some embodiments of the present disclosure, step S 14  may include: setting a mobile terminal at a location of a second device to be determined currently; and determining the current location of the mobile terminal based on the location of the first device, wherein the mobile terminal can determine a relative location with respect to the first devices through data interaction with the first devices; and taking the current location of the mobile terminal as the current location of the second device to be determined currently. In this embodiment, the mobile terminal may be a mobile phone, a tablet computer, or a wearable device such as a smart watch. The mobile terminal may perform data interaction with the first device, for example, determining mutual location relationship through UWB, or perform data interaction with the first device through Bluetooth communication to perform positioning. In this embodiment, the mobile terminal&#39;s ability to determine the relative location relationship with respect to the first device may be used to move the mobile terminal to the location of the second device, and then the location determined by the mobile terminal with respect to the first device is used as the location of the second device. In this way, the location of each second device can be easily determined, and accurate location determination for the second device can be achieved without any data interaction function. In some cases, it is also possible to check the boundary location of the sub-region in the target space in this way, or determine the location of some objects in the sub-region that need to be reflected in the semantic map. 
     In some embodiments of the present disclosure, step S 14  may also include: determining the location of a mobile terminal based on the location of the first device; and determining the location of the second device to be currently determined based on the location relationship between the second device to be currently determined and the first device, and/or the location relationship between the second device to be currently determined and the mobile terminal, respectively, wherein the location relationship includes distance and/or angle. The mobile terminal is similar to that described in the foregoing embodiments, and may be a mobile phone, a tablet computer, a smart watch, etc., and can perform data interaction with the first device. In this embodiment, the mobile terminal does not need to be placed at the location of the second device whose location is to be determined, instead, the location of the second device may be determined through the location relationship between the second device and the first device, through the location relationship between the second device and the mobile terminal, or based concurrently on both the location relationship between the second device and the first device and the location relationship between the second device and the mobile terminal. In some embodiments of the present disclosure, the angle may refer to direction information between the two devices, which may be reflected by a straight line in the coordinate system of the target space, or reflected by an angle determined between the two devices relative to the pole based on the polar coordinate system. 
     For example, as shown in  FIG. 7 , the distance between the second device  225  and the first device  211  as well as the distance between the second device  225  and the mobile terminal  230  may be acquired through a data interacting module such as Bluetooth on the second device  225  whose location is to be determined, or may be measured by, for example, a distance sensor. Since the locations of the first device  211  and the mobile terminal  230  have been determined, the location of the second device  225  in the target space  100  can be determined. Alternatively, the angle between the second device  225  and the first device  211  and the angle between the second device  225  and the mobile terminal  230  may also be determined separately, such that the location of the second device  225  can also be determined. For another example, as shown in  FIG. 9 , after the distance or angle with respect to the mobile terminal  230  is determined for the first time, the location of the mobile terminal  230  may be changed, and the distance or angle with respect to the mobile terminal  230  may be determined for the second time, and locations of the mobile terminal  230  for the two times can be determined based on the first device  211 , and the location of the second device  225  whose location is to be determined can also be obtained based on the location information with respect to the mobile terminal  230  for two times. 
     In some embodiments of the present disclosure, there are multiple first devices; step S 14  may also include: determining the location of the second device to be determined currently based on a distance and/or angle between the second device to be currently determined and each of the first devices. In this embodiment, multiple first devices may be set in one target space, or multiple first devices may be set in one sub-region. The location of the second device to be determined currently is determined through multiple first devices whose locations have been determined. As shown in  FIG. 8 , the way of determining may be that the location of the second device  225  in the target space  100  can be determined through the distance or angle between the multiple first devices  211 ,  212 ,  213  and the second device  225 . Through the mode in this embodiment, location determination of the second device in the space may be performed by multiple first devices, which can be completed automatically and efficiently, reduce user operations, and improve user experience. 
     In some embodiments of the present disclosure, step S 14  may further include: determining an initial location of the second devices based on the target space,; and determining the location of the second devices based on the location of the first devices and the initial location of the second devices. In this embodiment, the initial location of the second device may be determined first after the target space is determined, and the initial location of the second device may be roughly determined by the user clicking on the displayed target space image. The initial location may be a point or a coarse-grained location range. In the subsequent process of determining the location of the second device, determination may be performed around the initial location or within the location range, which can reduce the amount of calculation for determining the location of the second device and save calculation costs. 
     In some embodiments of the present disclosure, as shown in  FIG. 3 , the method for generating a semantic map further includes: step S 16 , determining, based on the location of the first devices and the location of the second devices in the target space, and/or based on a user instruction, association relationship between any multiple devices in the first devices and the second devices; and step S 17 , adding the association relationship to the semantic map. In this embodiment, it is possible to further determine association relationship between devices to assign more semantic information to devices, and to provide more device application modes. For example, two independent speakers are used as left and right channels to achieve stereo effects. Usually, the user needs to turn on the two speaker devices separately to realize the aforesaid stereo playback function. However, in some embodiments of the present disclosure, the user can set mutual association relationship between the two speakers based on types and locations of devices, such as turning on and turning off at the same time. Therefore, the two speakers set as the left and right channels may be conveniently turned on and off. In another example, it may also be determined that the two speakers are associated based on the location of the two speakers in the target space or the location relationship with other devices, and then the association relationship may be automatically determined or the user is reminded to confirm. For example, if two speakers are located on two sides of the sub-region of the living room, or two speakers are located on two sides of the TV, it may be determined that the two speakers can be associated. Through this embodiment, it is convenient for the user to confirm association relationship between devices in the semantic map, such that the semantic map function is more abundant and the user experience is better. 
     Based on the same inventive concept, the present disclosure further provides an apparatus  300  for generating a semantic map. The apparatus  300  for generating a semantic map may include one or more of the following modules: a millimeter wave module, an ultrasonic module, a radar module, a Wi-Fi module, a Bluetooth module, a laser module, an infrared module. 
     It may be understood that, in order to achieve the above functions, the apparatus  300  for generating a semantic map provided by the embodiments of the present disclosure includes a hardware structure and/or a software module corresponding to each function. With reference to the units and algorithm steps of each example disclosed in some embodiments of the present disclosure, the embodiments of the present disclosure may be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is performed by hardware or computer software-driven hardware depends on the specific application and design constraints of the technical solutions. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to go beyond the scope of the technical solutions of the embodiments of the present disclosure. 
       FIG. 10  is a block diagram showing a semantic map generating apparatus  300  according to some embodiments. 
     As shown in  FIG. 10 , in some embodiments of the present disclosure, the apparatus  300  for generating a semantic map includes: an acquiring module  310  configured to acquire an initial map; a map determining module  320  configured to determine, based on the initial map, a target space, wherein the target space includes one or more sub-regions; a location determining module  330  configured to determine, based on the target space, locations of one or more first devices, and to determine, based on the locations of the first devices, locations of one or more second devices; a generating module  340  configured to generate the semantic map, wherein the semantic map includes at least the target space, as well as the locations of the first devices and the locations of the second devices in the target space. 
     In an embodiment, the acquiring module  310  is further configured to: receive an initial map sent by a third device, wherein the initial map is generated by the third device; or, the initial map is acquired by way of image acquisition. 
     In an embodiment, the map determining module  320  is further configured to: determine, based on the initial map, boundary information of the multiple sub-regions; and determine, based on the boundary information of the sub-regions, the target space. 
     In an embodiment, the map determining module  320  is further configured to: determine identifiers of the sub-regions, wherein the identifiers are associated with the first devices and the second devices located in the sub-regions corresponding to the identifiers. 
     In an embodiment, the location determining module  330  is further configured to: receive location information sent by the first devices, and determine the locations of the first devices based on the location information; wherein the location information is obtained by measuring and calculating through the first devices. 
     In an embodiment, the location determining module  330  is further configured to: determine, based on the target space, an initial location of the second devices; and determine, based on the location of the first devices and the initial location of the second devices, the location of the second devices. 
     In an embodiment, the location determining module  330  is further configured to: set a mobile terminal at a location of a second device to be currently determined; determine, based on the location of the first devices, a current location of the mobile terminal, wherein the mobile terminal can determine a relative location with respect to the first devices through data interaction with the first devices; and take the current location of the mobile terminal as the current location of the second device to be currently determined. 
     In an embodiment, the location determining module  330  is further configured to: determine, based on the location of the first devices, a location of a mobile terminal; and determine, based on location relationship between the second device to be currently determined and the first device and/or the mobile terminal respectively, a location of the second device to be currently determined, wherein the location relationship includes distance and/or angle. 
     In an embodiment, the first devices are multiple; the location determining module  330  is further configured to: determine, based on a distance and/or angle between the second device to be currently determined and each of the first devices respectively, the location of the second device to be currently determined. 
     In an embodiment, as shown in  FIG. 11 , the apparatus  300  for generating a semantic map further includes: a relationship determining module  350  configured to determine, based on the location of the first device and the location of the second device in the target space, and/or based on a user instruction, the association relationship between any multiple devices in the first device and the second device; and the generating modules is specifically configured to: add the association relationship to the semantic map. 
     With respect to the apparatus  300  for generating a semantic map in the above embodiments, the specific manners for performing operations for individual modules therein have been described in detail in some embodiments regarding the methods, which will not be elaborated herein. 
       FIG. 12  is a block diagram of an apparatus  800  for generating a semantic map shown according to some embodiments. For example, the device  800  for generating a semantic map may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a gaming console, a tablet, a medical device, exercise equipment, a personal digital assistant, etc. 
     Referring to  FIG. 12 , the device  800  for generating a semantic map can include one or more of the following components: a processing component  802 , a memory  804 , a power component  806 , a multimedia component  808 , an audio component  810 , an input/output (I/O) interface  812 , a sensor component  814 , and a communication component  816 . 
     The processing component  802  typically controls overall operations of the device  800  for generating a semantic map, such as the operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component  802  can include one or more processors  820  to execute instructions to perform all or part of the steps in the above described methods. Moreover, the processing component  802  can include one or more modules which facilitate the interaction between the processing component  802  and other components. For instance, the processing component  802  can include a multimedia module to facilitate the interaction between the multimedia component  808  and the processing component  802 . 
     The memory  804  is configured to store various types of data to support the operation of the device  800  for generating a semantic map. Examples of such data include instructions for any applications or methods operated on the device  800  for generating a semantic map, contact data, phonebook data, messages, pictures, video, etc. The memory  804  may be implemented using any type of volatile or non-volatile memory devices, or a combination thereof, such as a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic memory, a flash memory, a magnetic or optical disk. 
     The power component  806  provides power to various components of the device  800  for generating a semantic map. The power component  806  can include a power management system, one or more power sources, and any other components associated with the generation, management, and distribution of power in the device  800  for generating a semantic map. 
     The multimedia component  808  includes a screen providing an output interface between the device  800  for generating a semantic map and the user. In some embodiments, the screen can include a liquid crystal display (LCD) and a touch panel (TP). In some implementations, an organic light-emitting diode (OLED) display can be employed. 
     If the screen includes the touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors can not only sense a boundary of a touch or swipe action, but also sense a period of time and a pressure associated with the touch or swipe action. In some embodiments, the multimedia component  808  includes a front camera and/or a rear camera. The front camera and the rear camera can receive an external multimedia datum while the device  800  for generating a semantic map is in an operation mode, such as a photographing mode or a video mode. Each of the front camera and the rear camera may be a fixed optical lens system or have focus and optical zoom capability. 
     The audio component  810  is configured to output and/or input audio signals. For example, the audio component  810  includes a microphone (“MIC”) configured to receive an external audio signal when the device  800  for generating a semantic map is in an operation mode, such as a call mode, a recording mode, or a voice recognition mode. The received audio signal may be further stored in the memory  804  or transmitted via the communication component  816 . In some embodiments, the audio component  810  further includes a speaker to output audio signals. 
     The I/O interface  812  provides an interface between the processing component  802  and peripheral interface modules, such as a keyboard, a click wheel, buttons, etc. The buttons can include, but are not limited to, a home button, a volume button, a starting button, and a locking button. 
     The sensor component  814  includes one or more sensors to provide status assessments of various aspects of the device  800  for generating a semantic map. For instance, the sensor component  814  can detect an open/closed status of the device  800  for generating a semantic map, relative positioning of components, e.g., the display and the keypad, of the device  800 , a change in location of the device  800  for generating a semantic map or a component of the device  800  for generating a semantic map, a presence or absence of user contact with the device  800  for generating a semantic map, an orientation or an acceleration/deceleration of the device  800  for generating a semantic map, and a change in temperature of the device  800  for generating a semantic map. The sensor component  814  can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor component  814  may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component  814  may also include an accelerometer sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor. 
     The communication component  816  is configured to facilitate communication, wired or wirelessly, between the device  800  for generating a semantic map and other devices. The device  800  for generating a semantic map can access a wireless network based on a communication standard, such as Wi-Fi, 2G, 3G, 4G, 5G, etc., and a combination thereof. In one exemplary embodiment, the communication component  816  receives a broadcast signal or broadcast associated information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component  816  further includes a near field communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on a radio frequency identification (RFID) technology, an infrared data association (IrDA) technology, an ultra-wideband (UWB) technology, a Bluetooth (BT) technology, or other technologies. 
     In exemplary embodiments, the device  800  for generating a semantic map may be implemented with one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic components, for performing the above described methods. 
     In some embodiments, there is also provided a non-transitory computer readable storage medium including instructions, such as included in the memory  804 , executable by the processor  820  in the device  800  for generating a semantic map, for performing the above-described methods. For example, the non-transitory computer-readable storage medium may be a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disc, an optical data storage device, etc. 
       FIG. 13  is a block diagram of another apparatus for generating a semantic map according to some embodiments. For example, the device  1100  for generating a semantic map can be provided as a server. Referring to  FIG. 16 , the device  1100  for generating a semantic map includes a processing component  1122  which further includes one or more processors, and a memory resource represented by a memory  1132  for storing instructions that can be executed by the processing component  1122 , such as applications program. The application program stored in the memory  1132  may include one or more modules each corresponding to a set of instructions. In addition, the processing component  1122  is configured to execute instructions to perform the above-described method. 
     The device  1100  for generating a semantic map may further include a power supply component  1126  configured to perform power management of the device  1100  for generating a semantic map, a wired or wireless network interface  1150  configured to connect the device  1100  for generating a semantic map to the network, and an input and output (I/O) interface  1158 . The device  1100  for generating a semantic map can operate based on an operating system stored in the memory  1132 , such as Windows Server™, Mac OS X™, Unix™, Linux, FreeBSD™, etc. 
     Various embodiments of the present disclosure can have one or more of the following advantages. 
     By generating a semantic map, all devices in the target space can be conveniently and accurately positioned, locations of the devices in the target space and their mutual location relationship can be determined, such that the devices can be controlled according to their orientation and location. In addition, generation of the semantic map allows the user to intuitively learn the locations and types of all devices in the target space, also easily manage and edit an operating mode of any device, and set logical association between multiple devices. 
     The various device components, units, circuits, blocks, or portions may have modular configurations, or are composed of discrete components, but nonetheless may be referred to as “modules,” “components” or “circuits” in general. In other words, the components, units, circuits, blocks, or portions referred to herein may or may not be in modular forms, and these phrases may be interchangeably used. 
     The various device components, units, blocks, portions, or modules may be realized with hardware, software, or a combination of hardware and software. 
     In some embodiments of the present disclosure, the terms “installed,” “connected,” “coupled,” “fixed” and the like shall be understood broadly, and can be either a fixed connection or a detachable connection, or integrated, unless otherwise explicitly defined. These terms can refer to mechanical or electrical connections, or both. Such connections can be direct connections or indirect connections through an intermediate medium. These terms can also refer to the internal connections or the interactions between elements. The specific meanings of the above terms In some embodiments of the present disclosure can be understood by those of ordinary skill in the art on a case-by-case basis. 
     In the description of the present disclosure, the terms “one embodiment,” “some embodiments,” “example,” “specific example,” or “some examples,” and the like can indicate a specific feature described in connection with the embodiment or example, a structure, a material or feature included in at least one embodiment or example. In some embodiments of the present disclosure, the schematic representation of the above terms is not necessarily directed to the same embodiment or example. 
     Moreover, the particular features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, various embodiments or examples described in the specification, as well as features of various embodiments or examples, can be combined and reorganized. 
     In some embodiments, the control and/or interface software or app can be provided in a form of a non-transitory computer-readable storage medium having instructions stored thereon is further provided. For example, the non-transitory computer-readable storage medium can be a ROM, a CD-ROM, a magnetic tape, a floppy disk, optical data storage equipment, a flash drive such as a USB drive or an SD card, and the like. 
     Implementations of the subject matter and the operations described in this disclosure can be implemented in digital electronic circuitry, or in computer software, firmware, or hardware, including the structures disclosed herein and their structural equivalents, or in combinations of one or more of them. Implementations of the subject matter described in this disclosure can be implemented as one or more computer programs, i.e., one or more portions of computer program instructions, encoded on one or more computer storage medium for execution by, or to control the operation of, data processing apparatus. 
     Alternatively, or in addition, the program instructions can be encoded on an artificially-generated propagated signal, e.g., a machine-generated electrical, optical, or electromagnetic signal, which is generated to encode information for transmission to suitable receiver apparatus for execution by a data processing apparatus. A computer storage medium can be, or be included in, a computer-readable storage device, a computer-readable storage substrate, a random or serial access memory array or device, or a combination of one or more of them. 
     Moreover, while a computer storage medium is not a propagated signal, a computer storage medium can be a source or destination of computer program instructions encoded in an artificially-generated propagated signal. The computer storage medium can also be, or be included in, one or more separate components or media (e.g., multiple CDs, disks, drives, or other storage devices). Accordingly, the computer storage medium can be tangible. 
     The operations described in this disclosure can be implemented as operations performed by a data processing apparatus on data stored on one or more computer-readable storage devices or retracted from other sources. 
     The devices in this disclosure can include special purpose logic circuitry, e.g., an FPGA (field-programmable gate array), or an ASIC (application-specific integrated circuit). The device can also include, in addition to hardware, code that creates an execution environment for the computer program in question, e.g., code that constitutes processor firmware, a protocol stack, a database management system, an operating system, a cross-platform runtime environment, a virtual machine, or a combination of one or more of them. The devices and execution environment can realize various different computing model infrastructures, such as web services, distributed computing, and grid computing infrastructures. 
     A computer program (also known as a program, software, software application, app, script, or code) can be written in any form of programming language, including compiled or interpreted languages, declarative or procedural languages, and it can be deployed in any form, including as a stand-alone program or as a portion, component, subroutine, object, or other portion suitable for use in a computing environment. A computer program can, but need not, correspond to a file in a file system. A program can be stored in a portion of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more portions, sub-programs, or portions of code). A computer program can be deployed to be executed on one computer or on multiple computers that are located at one site or distributed across multiple sites and interconnected by a communication network. 
     The processes and logic flows described in this disclosure can be performed by one or more programmable processors executing one or more computer programs to perform actions by operating on input data and generating output. The processes and logic flows can also be performed by, and apparatus can also be implemented as, special purpose logic circuitry, e.g., an FPGA, or an ASIC. 
     Processors or processing circuits suitable for the execution of a computer program include, by way of example, both general and special purpose microprocessors, and any one or more processors of any kind of digital computer. Generally, a processor will receive instructions and data from a read-only memory, or a random-access memory, or both. Elements of a computer can include a processor configured to perform actions in accordance with instructions and one or more memory devices for storing instructions and data. 
     Generally, a computer will also include, or be operatively coupled to receive data from or transfer data to, or both, one or more mass storage devices for storing data, e.g., magnetic, magneto-optical disks, or optical disks. However, a computer need not have such devices. Moreover, a computer can be embedded in another device, e.g., a mobile telephone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a Global Positioning System (GPS) receiver, or a portable storage device (e.g., a universal serial bus (USB) flash drive), to name just a few. 
     Devices suitable for storing computer program instructions and data include all forms of non-volatile memory, media and memory devices, including by way of example semiconductor memory devices, e.g., EPROM, EEPROM, and flash memory devices; magnetic disks, e.g., internal hard disks or removable disks; magneto-optical disks; and CD-ROM and DVD-ROM disks. The processor and the memory can be supplemented by, or incorporated in, special purpose logic circuitry. 
     To provide for interaction with a user, implementations of the subject matter described in this specification can be implemented with a computer and/or a display device, e.g., a VR/AR device, a head-mount display (HIVID) device, a head-up display (HUD) device, smart eyewear (e.g., glasses), a CRT (cathode-ray tube), LCD (liquid-crystal display), OLED (organic light emitting diode), TFT (thin-film transistor), plasma, other flexible configuration, or any other monitor for displaying information to the user and a keyboard, a pointing device, e.g., a mouse, trackball, etc., or a touch screen, touch pad, etc., by which the user can provide input to the computer. 
     Implementations of the subject matter described in this specification can be implemented in a computing system that includes a back-end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front-end component, e.g., a client computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the subject matter described in this specification, or any combination of one or more such back-end, middleware, or front-end components. 
     The components of the system can be interconnected by any form or medium of digital data communication, e.g., a communication network. Examples of communication networks include a local area network (“LAN”) and a wide area network (“WAN”), an inter-network (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks). 
     While this specification contains many specific implementation details, these should not be construed as limitations on the scope of any claims, but rather as descriptions of features specific to particular implementations. Certain features that are described in this specification in the context of separate implementations can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination. 
     Moreover, although features can be described above as acting in certain combinations and even initially claimed as such, one or more features from a claimed combination can in some cases be excised from the combination, and the claimed combination can be directed to a subcombination or variation of a subcombination. 
     Similarly, while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. In certain circumstances, multitasking and parallel processing can be advantageous. Moreover, the separation of various system components in the implementations described above should not be understood as requiring such separation in all implementations, and it should be understood that the described program components and systems can generally be integrated together in a single software product or packaged into multiple software products. 
     As such, particular implementations of the subject matter have been described. Other implementations are within the scope of the following claims. In some cases, the actions recited in the claims can be performed in a different order and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In certain implementations, multitasking or parallel processing can be utilized. 
     It is intended that the specification and embodiments be considered as examples only. Other embodiments of the disclosure will be apparent to those skilled in the art in view of the specification and drawings of the present disclosure. That is, although specific embodiments have been described above in detail, the description is merely for purposes of illustration. It should be appreciated, therefore, that many aspects described above are not intended as required or essential elements unless explicitly stated otherwise. 
     Various modifications of, and equivalent acts corresponding to, the disclosed aspects of the example embodiments, in addition to those described above, can be made by a person of ordinary skill in the art, having the benefit of the present disclosure, without departing from the spirit and scope of the disclosure defined in the following claims, the scope of which is to be accorded the broadest interpretation so as to encompass such modifications and equivalent structures. 
     It should be understood that “a plurality” or “multiple” as referred to herein means two or more. “And/or,” describing the association relationship of the associated objects, indicates that there may be three relationships, for example, A and/or B may indicate that there are three cases where A exists separately, A and B exist at the same time, and B exists separately. The character “/” generally indicates that the contextual objects are in an “or” relationship. 
     Moreover, the terms “first” and “second” are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, elements referred to as “first” and “second” may include one or more of the features either explicitly or implicitly. In the description of the present disclosure, “a plurality” indicates two or more unless specifically defined otherwise. 
     Some other embodiments of the present disclosure can be available to those skilled in the art upon consideration of the specification and practice of the various embodiments disclosed herein. The present application is intended to cover any variations, uses, or adaptations of the present disclosure following general principles of the present disclosure and include the common general knowledge or conventional technical means in the art without departing from the present disclosure. The specification and examples can be shown as illustrative only, and the true scope and spirit of the disclosure are indicated by the following claims.