Region division method and device, electronic equipment and computer readable storage medium
A technology for area division and designation, which is applied in the field of computer-readable storage media, and can solve the problems of low cleaning efficiency of sweeping robots and long time-consuming of sweeping robots.
Pending Publication Date: 2020-05-26
BEIJING QIHOO TECH CO LTD
5 Cites 2 Cited by
AI-Extracted Technical Summary
Problems solved by technology
[0004] The present application provides a method, device, electronic device, and computer-readable storage medium for area division, which can solve the pr...
Method used
For the embodiment of the present application, by fitting the wall points in each preset range into straight lines respectively, to carry out regional division to the designated area according to the horizontal and vertical lines after fitting, improve the efficiency of carrying out regional division to the designated area rationality.
For the embodiment of the present application, if the area of the divided block is particularly small, the sweeping robot may not be able to clean the block, or the cleaning is not clean, so the smaller area of the divided block is compared with other Blocks are synthesized to facilitate the sweeping robot to perform cleaning work, which can improve the cleanliness of the sweeping robot cleaning the designated area, thereby improving user experience.
[0105] The embodiment of the present application provides a method of area division. Before the sweeping robot performs cleaning work on the area, the area to be cleaned is divided into multiple blocks according to 4*4, and the sweeping robot is controlled to perform the cleaning work. In contrast, the embodiment of the present application determines each horizontal line composed of wall point information and each vertical line composed of wall point information in the environmental map corresponding to the specified area, and then based on the horizontal lines composed of wall point information and each vertical line Each of the vertical lines composed of wall point information divides the designated area into blocks, and controls the sweeping robot to perform cleaning work based on the divided blocks. That is to say, in the embodiment of the present application, the division of the area is carried out by dividing the horizontal lines composed of wall point information and the vertical lines composed of wall point information determined by the environmental map corresponding to the specified area. The implementation of this application The method of area division in the example does not divide a block into multiple rooms, which can save the time-consuming cleaning of the sweeping robot based on the block, and further improve the cleaning efficiency of the sweeping robot.
[0172] For the embodiment of the present application, by determining the area that does not contain obstacle points in the boundary area of the environment map, and determining the area composed of wall points based on the area that does not contain obstacles, the wall of the specified area can be based on The point information divides the designated area, which can improve the rationality of the designated area division, and will not divide a block into multiple rooms, thereby reducing the time-consuming cleaning of the designated area by the sweeping robot , Improve cleaning efficiency.
[0210] The embodiment of the present application provides a device for area division, which divides the area to be cleaned into multiple blocks according to 4*4 before the sweeping robot performs cleaning work on the area, and controls the sweeping robot to perform cleaning work. For example, in the embodiment of the present application, each horizontal line composed of wall point information and each vertical line composed of wall point information are determined in the environmental map corresponding to the specified area, and then based on each horizontal line composed of wall point information and each vertical line composed of wall point information The vertical line c...
Abstract
The embodiment of the invention provides a region division method and device, electronic equipment and a computer readable storage medium, and relates to the technical field of smart home. The methodcomprises the steps: transverse lines composed of wall point information and vertical lines composed of wall point information are determined in an environment map corresponding to a designated area;and then, based on the transverse lines composed of the wall point information and the vertical lines composed of the wall point information, block division is carried out on the designated area, anda sweeping robot is controlled to execute sweeping work based on the divided blocks. According to the embodiment of the invention, the time consumed by the sweeping robot for sweeping based on the blocks is saved, and the sweeping efficiency of the sweeping robot can be further improved.
Application Domain
Automatic obstacle detectionTravelling automatic control +5
Technology Topic
Mechanical engineeringRoboty +3
Image
Examples
- Experimental program(1)
Example Embodiment
[0096] The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary, and are only used to explain the present application, and cannot be construed as limiting the present invention.
[0097] Those skilled in the art can understand that, unless specifically stated otherwise, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of this application refers to the presence of the described features, integers, steps, operations, elements and/or components, but does not exclude the presence or addition of one or more other features, Integers, steps, operations, elements, components, and/or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or intervening elements may also be present. In addition, “connected” or “coupled” used herein may include wireless connection or wireless coupling. The term "and/or" used herein includes all or any unit and all combinations of one or more associated listed items.
[0098] In order to make the objectives, technical solutions, and advantages of the present application clearer, the following will further describe the embodiments of the present application in detail with reference to the accompanying drawings.
[0099] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the drawings.
[0100] The embodiment of the present application provides a method of area division, such as figure 1 As shown, the method includes:
[0101] Step S101: Determine each horizontal line composed of wall point information and each vertical line composed of wall point information in the environmental map corresponding to the designated area.
[0102] Step S102, based on each horizontal line composed of wall point information and each vertical line composed of wall point information, partition the designated area.
[0103] Step S103: Control the cleaning robot to perform cleaning work based on the divided blocks.
[0104] For the embodiment of the present application, after the designated area is divided into blocks, the sweeping robot is controlled to perform cleaning work in each divided block.
[0105] The embodiment of the application provides a method of area division. Compared with the area to be cleaned according to 4*4, the area to be cleaned is divided into multiple blocks and the cleaning robot is controlled to perform the cleaning work before the cleaning robot performs the cleaning work on the area. The application embodiment determines each horizontal line composed of wall point information and each vertical line composed of wall point information in the environmental map corresponding to the designated area, and then is based on each horizontal line composed of wall point information and each The vertical line composed of wall point information divides the designated area into blocks, and controls the sweeping robot to perform cleaning work based on the divided blocks. That is to say, the division of the area in the embodiment of this application is based on each horizontal line composed of wall point information and each vertical line composed of wall point information determined by the environmental map corresponding to the designated area. The area division method of the example does not divide a block into multiple rooms, which can save the time-consuming cleaning of the robot cleaner based on the blocks, and further improve the cleaning efficiency of the robot cleaner.
[0106] In a possible implementation manner of this Shenqing embodiment, step S102 may specifically include step S1021 (not shown in the figure), wherein:
[0107] In step S1021, each horizontal line composed of wall point information and each vertical line composed of wall point information are respectively extended by a preset length to partition the designated area.
[0108] For example, such as Figure 4 As shown, the horizontal lines A1, A2, A3 composed of wall point information, and the vertical lines B1, B2, B3 composed of wall point information are respectively extended by a preset length, dividing the designated area into block 1 and block 2.
[0109] For the embodiment of the present application, the preset length is determined based on the structure of a general house type.
[0110] For example, the preset length can be 1 meter (m), 1.2m, 1.5m.
[0111] For the embodiments of the present application, each horizontal line composed of wall point information and each vertical line composed of wall point information are actually horizontal lines after straight line fitting and vertical lines after straight line fitting.
[0112] Among them, the end points of each line in the horizontal line after straight line fitting and the vertical line after straight line fitting are obstacle points (wall points).
[0113] In the embodiment of the present application, when the area is divided, the two ends of each fitted horizontal line and each fitted vertical line are extended by a preset length, so that these fitted line segments can intersect and divide the space. Into different regions to achieve regional division.
[0114] Another possible implementation of this Shenqing embodiment may further include step Sa (not shown in the figure) and step Sb (not shown in the figure) after step S102, wherein,
[0115] Step Sa: Determine whether there is a block that meets the first preset condition in each block after the area division.
[0116] Wherein, the block that meets the first preset condition is a block whose occupied area is less than the first preset threshold.
[0117] For the embodiment of the present application, the first preset threshold may be set by the user, or may be set by the sweeping robot. It is not limited in the embodiments of this application.
[0118] For example, the first preset threshold may be 0.5 square meters (m 2 ), 0.4m 2 , 0.2m 2.
[0119] Step Sb: If there is a block that meets the first preset condition, determine the block to be synthesized with the block that meets the first preset condition, and perform block synthesis.
[0120] For the embodiment of the present application, if the area of the divided block is particularly small, the sweeping robot may not be able to clean the block, or the cleaning is not clean, so the divided block with a relatively small area is combined with other blocks. Synthesized to facilitate the sweeping robot to perform cleaning work, so as to improve the cleanliness of the sweeping robot in the designated area, thereby improving the user experience.
[0121] Another possible implementation of this Shenqing embodiment, in step Sb, determining the block to be combined with the first block that meets the preset condition includes: step Sb1 (not shown in the figure) and step Sb2( Not shown in the figure), where
[0122] Step Sb1: Determine from the blocks meeting the second preset condition that there is a block with the most connection points with the block meeting the first preset condition.
[0123] Among them, the second preset condition includes:
[0124] There is a connection point with a block meeting the first preset condition;
[0125] The occupied area is not less than the first preset threshold.
[0126] Step Sb2: Determine the block with the most connection points with the block meeting the first preset condition as the block to be synthesized with the block meeting the first preset condition.
[0127] For example, the block that meets the first preset condition is block 3, and the block that meets the second preset condition includes block 1 and block 2, where the connection point between block 1 and block 3 is 10. , The connection point between block 2 and block 3 is 15, then it is determined that block 2 is the block with the most connection points with area 3, then block 2 and block 3 are merged, such as Figure 5 Shown.
[0128] In another possible implementation manner of the embodiment of the present application, the method further includes step Sc (not shown in the figure) and step Sd (not shown in the figure), wherein,
[0129] Step Sc: Determine a block with an area greater than a second preset threshold from each block.
[0130] For the embodiment of the present application, step Sc may include: determining a block with an area greater than a second preset threshold from each block after the block is divided; or determining the block from each block after the block is synthesized. Blocks occupying an area greater than the second preset threshold.
[0131] For the embodiment of the present application, the second preset threshold may be set by the user, or may be set by the sweeping robot. It is not limited in the embodiments of this application.
[0132] For example, the second preset threshold may be 6m 2 , 7m 2.
[0133] For the embodiment of the present application, step Sc may be performed after step S102, or after step Sb, which is not limited in the embodiment of the present application.
[0134] Step Sd: Divide the determined block with an area larger than the second preset threshold into at least two blocks.
[0135] For the embodiment of the present application, a block occupying an area greater than the second preset threshold and less than the third preset threshold may be divided into two blocks, and a block not greater than the third preset threshold may be divided into three blocks Piece. It is not limited in the embodiments of this application.
[0136] For the embodiment of the present application, the third preset threshold may be set by the user or the cleaning robot, which is not limited in the embodiment of the present application.
[0137] For example, the third preset threshold may be 10m 2 , 12m 2.
[0138] For example, if the second preset threshold can be 6m 2 , The third preset threshold is 10m 2 , A block is 8m 2 , The block is divided into two blocks, 4m each 2 , 4m 2; If a block is 12m 2 , The block is divided into three blocks, each 4m 2 , 4m 2 , 4m 2.
[0139] In another possible implementation manner of the embodiment of the present application, step S101 may specifically include: step S1011 (not shown in the figure), step S1012 (not shown in the figure), and step S1013 (not shown in the figure), where ,
[0140] Step S1011: Determine each wall point and the location information corresponding to each wall point from the environmental map corresponding to the designated area.
[0141] For the embodiment of this application, the method of determining each wall point from the environmental map corresponding to the designated area in step S1011 can be detailed in step S1011a, step S1011b (not shown in the figure), step S1011c (not shown in the figure), and step S1011d (not shown in the figure), will not be repeated here.
[0142] Step S1012: Fit the wall points in each preset range into straight lines based on the corresponding position information of each wall point.
[0143] For the embodiment of the present application, the fitted straight line has two end points, which are actual obstacle points (wall points).
[0144] For the embodiment of this application, because the obstacle points (wall points) on the map cannot accurately form a straight line, for example, there may be a deviation of several pixels, the straight line fitting will be directly fitted to a straight line, so that these Obstacle points are on this straight line as much as possible, and points that deviate too far are not considered as points on the straight line.
[0145] For the embodiments of the present application, the wall points in each preset range are respectively fitted into straight lines to divide the designated area according to the fitted horizontal and vertical lines, thereby improving the rationality of the division of the designated area.
[0146] For the embodiment of the present application, step S1012 may specifically include: step S1012a (not shown in the figure), step S1012b (not shown in the figure), and step S1012c (not shown in the figure), in which,
[0147] Step S1012a: Based on the location information corresponding to each wall point, a grid containing wall point information is determined in the environmental map corresponding to the designated area.
[0148] Step S1012b: Determine horizontal lines passing through each grid containing wall point information and vertical lines passing through each wall point information.
[0149] Step S1012c: Fit the horizontal lines that meet the third preset condition in each first preset range, and fit the vertical lines that meet the third preset condition in each second preset range.
[0150] Wherein, the horizontal line of the third preset condition is a horizontal line passing through each grid containing wall point information; the vertical line of the third preset condition is a vertical line passing through each grid containing wall point information.
[0151] For the embodiment of the present application, the first preset range and the second preset range may be the same or different. It is not limited in the embodiments of this application.
[0152] For the embodiment of the present application, the first preset range and the second preset range may be set by the user, or may be set by the cleaning robot, which is not limited in the embodiment of the present application.
[0153] For the embodiments of the present application, fitting horizontal lines that meet the third preset condition in each first preset range may specifically include: from horizontal lines that meet the third preset condition in each first preset range Determine the horizontal line that contains the most wall point information grid, and merge other horizontal lines in the corresponding preset range into the horizontal line that contains the most wall point information grid as the fitted horizontal line.
[0154] For the embodiments of the present application, fitting the vertical lines that meet the third preset condition in each first preset range may specifically include: from the vertical lines that meet the third preset condition in each first preset range Determine the vertical line containing the most wall point information grid, and merge other vertical lines in the corresponding preset range into the vertical line containing the most wall point information grid as the fitted vertical line.
[0155] For example, such as Image 6 As shown, the vertical line A4, the vertical line A5 and the vertical line A6, where the vertical line A4 passes through the grid containing the wall point information is 3, the vertical line A5 passes through the grid containing the wall point information is 6, and the vertical The number of line A6 passing through the grid containing the wall point information is 2, so the vertical line after fitting is vertical line A5.
[0156] Step S1013: Determine each horizontal line composed of wall point information and each vertical line composed of wall point information from the fitted straight line.
[0157] Another possible implementation manner of the embodiment of the present application may further include step Se (not shown in the figure) and step Sf (not shown in the figure) before step S1011, wherein:
[0158] Step Se: Determine obstacle points in the designated area based on the laser radar historical detection data of the sweeping robot.
[0159] Step Sf: Generate an environment map corresponding to the designated area based on the determined obstacle points in the designated area.
[0160] For the embodiment of this application, the historical detection data of the lidar of the cleaning robot in the designated area is acquired, and the obstacle information of the designated area is determined based on the acquired historical detection data of the lidar of the cleaning robot in the designated area, and then based on the determined The obstacle information in the designated area generates an environmental map corresponding to the designated area.
[0161] For example, the environmental map corresponding to the designated area may be a raster map, a geometric map, or a topological map. In general, the environmental map corresponding to the designated area is a raster map.
[0162] For the embodiment of this application, the obstacle points of the designated area are determined based on the historical data of the sweeping robot lidar, and then the environmental map corresponding to the designated area is generated, so that the environmental map corresponding to the designated area can be given, and the designated area can be zoned. Divide the blocks and control the sweeping robot to perform work based on the environment map.
[0163] In another possible implementation manner of the embodiment of the present application, in step S1011, each wall point is determined from the environmental map corresponding to the designated area, which may specifically include: step S1011a (not shown in the figure), step S1011b (not shown in the figure) Out), step S 1011c (not shown in the figure), and step S 1011d (not shown in the figure), where
[0164] Step S1011a: Determine each boundary from the environmental map corresponding to the designated area.
[0165] For the embodiment of the present application, the method of generating the environment map corresponding to the designated area is detailed in step Se and step Sf, which will not be repeated here.
[0166] Step S1011b, searching for areas that do not contain obstacle point information on each boundary.
[0167] Step S1011c: Search for an area containing data within a third preset range corresponding to the area that does not contain obstacle point information.
[0168] For the embodiment of the present application, the area where the boundary area does not contain obstacle information may be the area where the doorway is located. Therefore, the area containing data is searched in the area around the area where the doorway is located, which is generally an area composed of wall points.
[0169] For the embodiment of the present application, the third preset range may be set by the user according to the actual house type in the designated area, or may also be set by the sweeping robot, which is not limited in the embodiment of the present application.
[0170] Step S 1011d: Determine the area containing data as an area composed of wall points.
[0171] For the embodiment of the present application, the step S1011d to determine the area composed of wall points is to determine the corresponding wall points in the designated area.
[0172] For the embodiment of the present application, by determining the area that does not contain obstacle points in the boundary area of the environment map, and determining the area composed of wall points based on the area that does not contain obstacles, the wall point information of the designated area can be paired The designated area is divided into areas, which can improve the rationality of the designated area, and will not divide a block into multiple rooms, which can reduce the time-consuming cleaning of the designated area by the sweeping robot and improve the cleaning effectiveness.
[0173] A schematic diagram of the structure of an area division device provided in an embodiment of the present application, such as figure 2 As shown, the device 20 of the embodiment of the present application may include: a first determining module 21, a first block dividing module 22, and a cleaning control module 23, where:
[0174] The first determining module 21 is used to determine each horizontal line composed of wall point information and each vertical line composed of wall point information in the environmental map corresponding to the designated area.
[0175] The first block division module 22 is configured to block the designated area based on each horizontal line composed of wall point information and each vertical line composed of wall point information determined by the first determining module 21.
[0176] The cleaning control module 23 is used to control the cleaning robot to perform cleaning tasks based on the blocks divided by the first block dividing module 22.
[0177] In a possible implementation manner of the embodiment of the present application, the device 30 further includes: a second determination module (not shown in the figure), a third determination module (not shown in the figure), and a block synthesis module (not shown in the figure) Shown), where
[0178] The second determining module is used to determine whether there is a block that meets the first preset condition in each of the blocks divided by the first block dividing module.
[0179] The third determining module is configured to determine a block to be combined with a block that meets the first preset condition when there is a block that meets the first preset condition.
[0180] The block synthesis module is used for block synthesis.
[0181] Wherein, the block that meets the first preset condition is a block whose occupied area is less than the first preset threshold.
[0182] In another possible implementation manner of the embodiment of the present application, the third determining module is specifically configured to determine, from the blocks that meet the second preset condition, the block that has the most connection points with the block that meets the first preset condition. .
[0183] Among them, the second preset condition includes:
[0184] There is a connection point with a block meeting the first preset condition;
[0185] The occupied area is not less than the first preset threshold.
[0186] The third determining module is specifically used to determine the block with the most connection points with the block meeting the first preset condition as the block to be synthesized with the block meeting the first preset condition.
[0187] In another possible implementation manner of the embodiment of the present application, the device 30 may further include: a fourth determining module (not shown in the figure) and a second block dividing module (not shown in the figure), where
[0188] The fourth determining module is used for determining a block with an area greater than a second preset threshold from each block.
[0189] The second block dividing module is configured to divide the block whose area is greater than the second preset threshold determined by the fourth determining module into at least two blocks.
[0190] For the embodiment of the present application, the first block division module and the second block division module may be the same module, or may be two different modules, which are not limited in the embodiment of the present application.
[0191] In another possible implementation manner of the embodiment of the present application, the first determining module 21 includes: a first determining unit (not shown in the figure), a fitting unit (not shown in the figure), and a second determining unit (not shown in the figure) Not shown), where
[0192] The first determining unit is used to determine each wall point and the location information corresponding to each wall point from the environmental map corresponding to the designated area.
[0193] The fitting unit is used to fit the wall points in each preset range into straight lines based on the corresponding position information of each wall point.
[0194] The second determining unit is used to determine each horizontal line composed of wall point information and each vertical line composed of wall point information from the straight line fitted by the fitting unit.
[0195] For the embodiments of the present application, the first determining unit and the second determining unit may be the same determining unit, or may be different determining units, which are not limited in the embodiments of the present application.
[0196] Another possible implementation of the embodiment of the present application, the fitting unit, is specifically used to determine the grid containing the wall point information in the environment map corresponding to the designated area based on the location information corresponding to each wall point.
[0197] The fitting unit is also specifically used to determine horizontal lines passing through each grid containing wall point information and vertical lines passing through each wall point information.
[0198] The fitting unit is specifically also used to respectively fit the horizontal lines that meet the third preset condition in each first preset range, and respectively perform the vertical lines that meet the third preset condition in each second preset range Fitting.
[0199] Wherein, the horizontal line of the third preset condition is a horizontal line passing through each grid containing wall point information; the vertical line of the third preset condition is a vertical line passing through each grid containing wall point information.
[0200] In another possible implementation manner of the embodiment of the present application, the device 20 further includes: a fifth determining module (not shown in the figure) and a generating module (not shown in the figure), where
[0201] The fifth determination module is used to determine the obstacle points in the designated area based on the laser radar historical detection data of the sweeping robot.
[0202] For the embodiment of the present application, the first determining module, the second determining module, the third determining module, the fourth determining module, and the fifth determining module may be the same determining module, or may be different determining modules, or at least The two determining modules are the same determining module. It is not limited in the embodiments of this application.
[0203] The generating module is configured to generate an environment map corresponding to the designated area based on the obstacle points in the designated area determined by the fifth determining module.
[0204] In another possible implementation manner of the embodiment of the present application, the first determining unit includes: a first determining subunit (not shown in the figure), a first searching subunit (not shown in the figure), and a second searching subunit (Not shown in the figure), a second determining subunit (not shown in the figure), wherein
[0205] The first determining subunit is used to determine each boundary from the environmental map corresponding to the designated area.
[0206] The first search subunit is used to search for areas that do not contain obstacle point information on each boundary.
[0207] The first searching subunit is configured to search for an area containing data within a third preset range corresponding to the area not containing obstacle point information.
[0208] The second determining subunit is used to determine the area containing the data as an area composed of wall points.
[0209] For the embodiment of the present application, the first determining subunit and the second determining subunit may be the same determining subunit, or may be different determining subunits. It is not limited in the embodiments of this application.
[0210] The embodiment of the present application provides a device for dividing an area. Compared with the area to be cleaned divided into multiple blocks according to 4*4 by the sweeping robot before performing the cleaning work on the area, the cleaning robot is controlled to perform the cleaning work. The application example determines each horizontal line composed of wall point information and each vertical line composed of wall point information in the environmental map corresponding to the designated area, and then is based on each horizontal line composed of wall point information and each wall point information The vertical line composed of the designated area is divided into blocks, and the sweeping robot is controlled to perform cleaning work based on the divided blocks. That is to say, the division of the area in the embodiment of this application is based on each horizontal line composed of wall point information and each vertical line composed of wall point information determined by the environmental map corresponding to the designated area. The area division method of the example does not divide a block into multiple rooms, which can save the time-consuming cleaning of the robot cleaner based on the blocks, and further improve the cleaning efficiency of the robot cleaner.
[0211] The area division apparatus of the embodiment of the present application can execute the area division method provided in the foregoing method embodiment, and its implementation principles are similar, and will not be repeated here.
[0212] The embodiment of the application provides an electronic device, such as image 3 As shown, image 3 The illustrated electronic device 3000 includes: a processor 3001 and a memory 3003. Among them, the processor 3001 and the memory 3003 are connected, for example, through a bus 3002. Optionally, the electronic device 3000 may further include a transceiver 3004. It should be noted that in actual applications, the transceiver 3004 is not limited to one, and the structure of the electronic device 3000 does not constitute a limitation to the embodiment of the present application.
[0213] The processor 3001 may be a CPU, a general-purpose processor, DSP, ASIC, FPGA or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logical blocks, modules and circuits described in conjunction with the disclosure of this application. The processor 3001 may also be a combination that implements computing functions, for example, includes a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and so on.
[0214] The bus 3002 may include a path for transferring information between the aforementioned components. The bus 3002 may be a PCI bus or an EISA bus. The bus 3002 can be divided into an address bus, a data bus, a control bus, and so on. For ease of presentation, image 3 It is represented by only a thick line, but it does not mean that there is only one bus or one type of bus.
[0215] The memory 3003 can be ROM or other types of static storage devices that can store static information and instructions, RAM or other types of dynamic storage devices that can store information and instructions, or it can be EEPROM, CD-ROM or other optical disk storage, or optical disk storage. (Including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or can be used to carry or store desired program codes in the form of instructions or data structures and can be used by a computer Any other media accessed, but not limited to this.
[0216] The memory 3003 is used to store application program codes for executing the solutions of the present application, and the processor 3001 controls the execution. The processor 3001 is configured to execute the application program code stored in the memory 3003 to implement the content shown in any of the foregoing method embodiments.
[0217] The embodiment of the application provides an electronic device, which is compared with that before the cleaning robot performs cleaning work on the area, the area to be cleaned is divided into multiple blocks according to 4*4, and the cleaning robot is controlled to perform the cleaning work. For example, by determining each horizontal line composed of wall point information and each vertical line composed of wall point information in the environmental map corresponding to the specified area, and then based on each horizontal line composed of wall point information and each wall point information composed of The vertical line divides the designated area into blocks and controls the sweeping robot to perform cleaning work based on the divided blocks. That is to say, the division of the area in the embodiment of this application is based on each horizontal line composed of wall point information and each vertical line composed of wall point information determined by the environmental map corresponding to the designated area. The area division method of the example does not divide a block into multiple rooms, which can save the time-consuming cleaning of the robot cleaner based on the blocks, and further improve the cleaning efficiency of the robot cleaner.
[0218] The electronic device of the embodiment of the present application can execute the method of area division provided in the above method embodiment, and its implementation principle is similar, and will not be repeated here.
[0219] The embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the area division method shown in the foregoing method embodiment is implemented.
[0220] The embodiment of the application provides a computer-readable storage medium, which is compared with dividing the area to be cleaned into multiple blocks according to 4*4 before the cleaning robot performs cleaning work on the area, and controlling the cleaning robot to perform the cleaning work. The embodiment of this application determines each horizontal line composed of wall point information and each vertical line composed of wall point information in the environmental map corresponding to the designated area, and then based on each horizontal line composed of wall point information and each wall point The vertical line composed of information divides the designated area into blocks, and controls the sweeping robot to perform cleaning work based on the divided blocks. That is to say, the division of the area in the embodiment of this application is based on each horizontal line composed of wall point information and each vertical line composed of wall point information determined by the environmental map corresponding to the designated area. The area division method of the example does not divide a block into multiple rooms, which can save the time-consuming cleaning of the robot cleaner based on the blocks, and further improve the cleaning efficiency of the robot cleaner.
[0221] The embodiment of the present application provides a computer-readable storage medium suitable for any embodiment of the foregoing method. I will not repeat them here.
[0222] It should be understood that although the various steps in the flowchart of the drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily performed in sequence in the order indicated by the arrows. Unless explicitly stated in this article, there is no strict order for the execution of these steps, and they can be executed in other orders. Moreover, at least part of the steps in the flowchart of the drawings may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and the order of execution is also It is not necessarily performed sequentially, but may be performed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.
[0223] The above are only part of the embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications are also It should be regarded as the protection scope of the present invention.
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