Method, device, and terminal equipment for indoor area division and identification
A technology of area identification and identification method, applied in the field of robotics, can solve problems such as low work efficiency, and achieve the effect of improving work efficiency
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Embodiment 1
[0029] figure 1 It shows the implementation process of an indoor area division and identification method provided by an embodiment of the present invention, and the process is described in detail as follows:
[0030] In S101, the indoor area is scanned, and an initial map is generated according to the scanned indoor area information.
[0031] In this embodiment, the process subject of this embodiment may be a robot, or other computer equipment including a positioning sensor. The cleaning robot is taken as an example below to further explain the indoor area division and identification method provided in this embodiment.
[0032] In this embodiment, when cleaning the indoor area for the first time, the cleaning robot starts to move from an unknown position, and performs real-time positioning and mapping during the movement process based on pose estimation and sensor data acquired by the sensor installed on the cleaning robot itself. Get an initial map of the indoor area.
[0...
Embodiment 2
[0079] Such as Figure 4 As shown, an indoor area division and identification device 100 provided by an embodiment of the present invention is used to perform figure 1 The method step in the corresponding embodiment, it comprises:
[0080] An initial map acquisition module 110, configured to scan the indoor area, and generate an initial map according to the scanned indoor area information;
[0081] The room area acquisition module 120 is configured to use morphological image processing technology to perform area division on the initial map to obtain at least one room area of the indoor area image;
[0082] The area identification result acquisition module 130 is configured to determine the area identification results corresponding to each room area according to the graphic information and preset identification information of each room area.
[0083] It can be seen from the above embodiments that in the embodiment of the present invention, the indoor area is first scanned, ...
Embodiment 3
[0107] The embodiment of the present invention also provides a terminal device 6, including a memory 61, a processor 60, and a computer program 62 stored in the memory 61 and operable on the processor 60, and the processor 60 executes the computer program 62 When realizing the steps in each embodiment as described in embodiment 1, for example figure 1 Step S101 to step S103 are shown. Alternatively, when the processor 60 executes the computer program 62, it realizes the functions of each module in each device embodiment as described in Embodiment 2, for example Figure 4 The functions of modules 110 to 130 are shown.
[0108] The terminal device 6 may be computing devices such as desktop computers, notebooks, palmtop computers, and cloud servers. The terminal device 6 may include, but not limited to, a processor 60 and a memory 61 . For example, the terminal device 6 may also include an input and output device, a network access device, a bus, and the like.
[0109] The so-...
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