Method, device, computer equipment and storage medium for merging operation units

Abstract

The present application relates to a method, device, computer equipment, storage medium and computer program product for merging operation units, which start edge operation; preliminarily detect the area of ​​adjacent operation units before reaching the critical point of the current operation unit to obtain a preliminary detection area; if the preliminary detection area is not greater than the preset area threshold corresponding to the merged operation unit, then detect the area of ​​the adjacent operation unit again when reaching the critical point of the current operation unit to obtain a secondary detection area; determine whether to merge the adjacent operation units based on the secondary detection area and the preset area threshold. In the whole process, a preliminary area detection is performed before the device reaches the critical point, and a secondary area detection is performed when reaching the critical point. The area of ​​the adjacent operation units is accurately detected by two detections, thereby achieving reasonable operation unit merging.

Description

Technical Field

[0001] The present application relates to the field of intelligent control technology, and in particular to a method, device, computer equipment, storage medium and computer program product for merging operation units. Background Art

[0002] With the development of science and technology, more and more devices currently support automatic operation path planning, such as cleaning robots, automatic lawn mowers, and plant protection drones. These devices can automatically plan operation paths and methods, bringing convenience to people.

[0003] The merging of operating units in the operation control process of the above-mentioned devices is very important, which will directly affect the operating efficiency and operating effect of the equipment. Taking the cleaning robot as an example, the path planning cleaning robot in the industry will divide the cleaning area in the form of virtual operating units when there is no historical map for the first cleaning, and the unit will not be switched to the next unit until the current virtual operating unit is cleaned, and the new unit cleaning will start. The virtual operating unit usually takes a square area with a fixed range, but the actual home environment is complex and diverse. Using solidified logic to start cleaning will cause a narrow area formed by adjacent units, reducing the cleaning efficiency. If the group of narrow areas is defined as a mergeable unit, unified cleaning will effectively improve the cleaning efficiency. However, in the face of a complex home environment, the presence of obstacles will affect the judgment of narrow areas, and false narrow areas are prone to occur, resulting in misjudgment of the merging of operating units, which ultimately affects the operating efficiency of the cleaning robot.

[0004] It is understandable that the above-mentioned problems also exist in the merger of other equipment operating units, and unreasonable merger of operating units will eventually lead to low equipment operating efficiency. Summary of the invention

[0005] Based on this, it is necessary to provide a reasonable operation unit merging method, device, computer equipment and storage medium to support efficient operation of equipment in order to address the problem of low equipment operation efficiency caused by unreasonable traditional operation unit merging schemes.

[0006] In a first aspect, the present application provides a method for merging operation units. The method comprises:

[0007] Start edge work;

[0008] Before reaching the critical point of the current operation unit, the area of ​​the adjacent operation unit is preliminarily detected to obtain a preliminary detection area;

[0009] If the initial detection area is not greater than the preset area threshold corresponding to the merged operation unit, then the area of ​​the adjacent operation unit is detected again when reaching the critical point of the current operation unit to obtain a secondary detection area;

[0010] Whether to merge the adjacent operation units is determined according to the secondary detection area and the preset area threshold.

[0011] In one embodiment, the operation unit merging method further includes:

[0012] If the preliminary detected area is larger than the preset area threshold, the adjacent operation units are not merged.

[0013] In one embodiment, the preliminary detection of the area of ​​the adjacent operation unit before reaching the critical point of the current operation unit to obtain the preliminary detection area includes:

[0014] Determine a preliminary detection point, wherein the preliminary detection point includes any point between the starting point and the critical point of the current operation unit;

[0015] When working along the edge to the preliminary detection point, the area of ​​the adjacent working unit is preliminarily detected.

[0016] In one embodiment, before starting the edge operation, the method further includes:

[0017] Power on and start to determine whether there is a global operation map;

[0018] If it exists, executing the job according to the global job map;

[0019] If it does not exist, proceed to the step of starting edge operation.

[0020] In one embodiment, if the initial detection area is not greater than the preset area threshold corresponding to the merged operation unit, the area of ​​the adjacent operation unit is detected again when the critical point of the current operation unit is reached, and the secondary detection area is obtained, including:

[0021] If the preliminary detected area is not larger than the preset area threshold corresponding to the merged operation unit, continue to operate along the edge;

[0022] When reaching the critical point of the current operation unit, identifying whether the critical point is a virtual area corner point;

[0023] If not, then based on the coordinates of the critical point on the virtual edge of the current edge operation, the secondary detection area of ​​the adjacent operation unit is obtained;

[0024] If so, the distance between the adjacent operating units is measured, and the secondary detection area of ​​the adjacent operating units is obtained according to the distance measurement result.

[0025] In one embodiment, judging whether to merge the adjacent operation units according to the secondary detection area and the preset area threshold comprises:

[0026] If the secondary detection area is not greater than the preset area threshold, merging the adjacent operation units;

[0027] If the secondary detection area is larger than the preset area threshold, the adjacent operation units are not merged.

[0028] In a second aspect, the present application further provides a device for merging operation units, the device comprising:

[0029] The edge operation module is used to start the edge operation;

[0030] A preliminary detection module is used to preliminarily detect the area of ​​adjacent operating units before reaching the critical point of the current operating unit to obtain a preliminary detection area;

[0031] A secondary detection module, for detecting the area of ​​the adjacent operation unit again when reaching the critical point of the current operation unit when the initial detection area is not greater than the preset area threshold corresponding to the merged operation unit, to obtain a secondary detection area;

[0032] The merging judgment module is used to judge whether to merge the adjacent operation units according to the secondary detection area and the preset area threshold.

[0033] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0034] Start edge work;

[0035] Before reaching the critical point of the current operation unit, the area of ​​the adjacent operation unit is preliminarily detected to obtain a preliminary detection area;

[0036] If the initial detection area is not greater than the preset area threshold corresponding to the merged operation unit, then the area of ​​the adjacent operation unit is detected again when reaching the critical point of the current operation unit to obtain a secondary detection area;

[0037] Whether to merge the adjacent operation units is determined according to the secondary detection area and the preset area threshold.

[0038] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0039] Start edge work;

[0040] Before reaching the critical point of the current operation unit, the area of ​​the adjacent operation unit is preliminarily detected to obtain a preliminary detection area;

[0041] If the initial detection area is not greater than the preset area threshold corresponding to the merged operation unit, then the area of ​​the adjacent operation unit is detected again when reaching the critical point of the current operation unit to obtain a secondary detection area;

[0042] Whether to merge the adjacent operation units is determined according to the secondary detection area and the preset area threshold.

[0043] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0044] Start edge work;

[0045] Before reaching the critical point of the current operation unit, the area of ​​the adjacent operation unit is preliminarily detected to obtain a preliminary detection area;

[0046] If the initial detection area is not greater than the preset area threshold corresponding to the merged operation unit, then the area of ​​the adjacent operation unit is detected again when reaching the critical point of the current operation unit to obtain a secondary detection area;

[0047] Whether to merge the adjacent operation units is determined according to the secondary detection area and the preset area threshold.

[0048] The above-mentioned method, device, computer equipment, storage medium and computer program product for merging operation units start the edge operation; before reaching the critical point of the current operation unit, the area of ​​the adjacent operation unit is preliminarily detected to obtain the preliminary detection area; if the preliminary detection area is not greater than the preset area threshold corresponding to the merged operation unit, the area of ​​the adjacent operation unit is detected again when reaching the critical point of the current operation unit to obtain the secondary detection area; according to the secondary detection area and the preset area threshold, it is determined whether to merge the adjacent operation units. In the whole process, the preliminary area detection is performed before the equipment reaches the critical point, and the secondary area detection is performed again when reaching the critical point. The area of ​​the adjacent operation unit is accurately detected by the two detection methods, thereby realizing reasonable operation unit merging. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A schematic diagram of merging operation units in an embodiment;

[0050] Figure 2 This is a schematic diagram of the application scenario of the method for merging work units in this application;

[0051] Figure 3 A schematic diagram of a process flow of a method for merging operation units in one embodiment;

[0052] Figure 4 A schematic diagram of a process flow of a method for merging operation units in another embodiment;

[0053] Figure 5 A schematic diagram of merging operating units in another embodiment;

[0054] Figure 6 A schematic diagram of a job path after executing a non-merging strategy in one embodiment;

[0055] Figure 7 A schematic diagram of a job path after executing a merge strategy in one embodiment;

[0056] Figure 8 A schematic diagram of an operation path after executing a merging strategy in another embodiment;

[0057] Fig. 9 A schematic diagram of a process flow of a method for merging operation units in an application example;

[0058] Fig.10 It is a structural block diagram of the operation unit merging device in the embodiment;

[0059] Fig.11 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0061] In order to explain in detail the technical principle, technical scheme and effect of the operation unit merging technology of the present application, the following will first take the cleaning robot as an example to explain in detail the scheme of merging operation units (cleaning units) in the prior art and its existing defects.

[0062] In the conventional technology, the solution for merging cleaning units can be found in Figure 1, the cleaning robot will detect the area of ​​the adjacent cleaning unit (unit 2) only when it cleans along the edge to the inflection point (critical point) C of the current cleaning unit (unit 1), and then judge whether to merge unit 2 based on the detected area. Although this method can realize the judgment of the merging of cleaning units, in-depth research has found that if the judgment is only made at this inflection point, there will be inefficient cleaning such as erroneous merging due to obstacles or incomplete area detection, or the adjacent cleaning unit will be detected as a large area and divided after the merger. This is the opposite of the efficiency improvement effect. Therefore, the present application further optimizes the traditional technical solution, adds preliminary area detection before reaching the critical point, and based on the preliminary area detection and the secondary area detection at the critical point, accurate area detection of adjacent cleaning units can be achieved, thereby realizing reasonable merging of cleaning units and supporting efficient cleaning of the cleaning robot.

[0063] The method for merging operation units provided in the embodiment of the present application can be applied to Figure 2 In the application environment shown. The user needs to clean the whole house, the user presses the start button on the cleaning robot, and the cleaning robot starts cleaning along the edge. Before reaching the critical point of the current cleaning unit, the area of ​​the adjacent cleaning unit is preliminarily detected to obtain the preliminary detection area; if the preliminary detection area is not greater than the preset area threshold corresponding to the merged cleaning unit, the area of ​​the adjacent cleaning unit is detected again when reaching the critical point of the current cleaning unit to obtain the secondary detection area; according to the secondary detection area and the preset area threshold, it is determined whether to merge the adjacent cleaning units.

[0064] In one embodiment, Figure 3 As shown, a method for merging operation units is provided, comprising the following steps:

[0065] S200: Start edge operation.

[0066] Edge operation refers to the operation of the equipment along the boundary of the operation area. Based on edge operation, the equipment can explore the entire operation area and build an initial operation map. Taking the cleaning robot as an example, the cleaning robot is powered on to respond to the user's operation and perform the cleaning task. The cleaning robot starts to perform edge cleaning of the whole house and collect edge cleaning data.

[0067] S400: Preliminarily detect the area of ​​adjacent operating units before reaching the critical point of the current operating unit to obtain a preliminary detection area.

[0068] The critical point of an operation unit refers to the "inflection point" from the current operation unit to the boundary of the adjacent operation unit or the "inflection point" of the boundary of the entire operation area. For example Figure 1There are two critical points, point B and point C. Specifically, the boundary below unit 1 overlaps with the boundary of the entire working area. When the equipment works along the edge to point B, it cannot continue to go straight down and needs to change direction. That is, point B is the "inflection point" of the boundary, that is, the corner point; point C is the inflection point on units 1 and 2. When the equipment works along the boundary of unit 1 and drives to point C, if the direction is not adjusted, it will enter unit 2. At this time, the equipment needs to adjust the direction (turn), that is, point C is the "inflection point". Since point C is the inflection point on the boundary between units 1 and 2, point C is the corner point of the virtual area.

[0069] Here, when the equipment is working along the edge to the critical point, a preliminary area detection is performed on the adjacent operating unit, for example Figure 1 In the figure, the equipment preliminarily detects the area of ​​the adjacent operation unit (unit 2) before it operates along the edge to point B. Specifically, it can detect the distance from the operation boundary (obstacle) in the Y-axis direction (direction perpendicular to the direction of travel) and the distance from the operation boundary in the X-axis direction (direction of travel) by radar detection, and then further consider the area (distance) occupied by the current operation unit (unit 1), and then obtain the preliminary detection area of ​​the adjacent operation unit.

[0070] S600: If the initial detection area is not greater than the preset area threshold corresponding to the merged operation unit, the area of ​​the adjacent operation unit is detected again when the critical point of the current operation unit is reached to obtain a secondary detection area.

[0071] If the preliminary detection area is not greater than the preset area threshold corresponding to the merged operation unit, it indicates that the adjacent operation unit is initially detected as a small area, and there is a possibility of merging. In this case, when the critical point is reached, the area of ​​the adjacent operation unit is detected again to obtain a secondary detection area. Specifically, the preset area threshold is a pre-set value, based on which it can be determined whether the adjacent operation unit is a large area or a small area. If the area of ​​the adjacent operation unit is not greater than the preset area threshold, it indicates that the adjacent operation unit is a smaller area, and it needs to be merged with the current operation unit; conversely, if the area of ​​the adjacent operation unit is greater than the preset area threshold, it indicates that the adjacent operation unit is a larger area. At this time, the adjacent operation unit is set independently and does not need to be merged with the current operation unit. Furthermore, the preset area threshold can be an area of ​​a fixed size, or it can be an area of ​​a fixed ratio of the entire operation unit. The ratio can also be set according to the needs of the actual situation, such as 1 / 2 or 1 / 3. For example, if the area of ​​a single operating unit is 4*4=16, and the ratio is fixed to 1 / 2, then the preset area threshold is 8; that is, if the area of ​​the adjacent operating unit is initially detected to be no greater than 8, then the area of ​​the adjacent operating unit is detected again when the critical point of the current operating unit is reached to obtain a secondary detection area. It should be further pointed out that since there are multiple critical points of the current operating unit, the area of ​​the adjacent operating unit can be detected twice when each critical point is reached to ensure the accuracy of the detection result.

[0072] S800: Determine whether to merge adjacent operation units according to the secondary detection area and a preset area threshold.

[0073] As mentioned above, compare the secondary detection area with the preset area threshold. If the secondary detection area is larger than the preset area threshold, it indicates that the adjacent work unit is a large area and will not be merged. If the secondary detection area is not larger than the preset area threshold, it indicates that the adjacent work unit is a small area, and the current work unit will be merged with the adjacent work unit, and the equipment will enter the adjacent work unit to continue working along the edge.

[0074] The above-mentioned method for merging operation units starts the operation along the edge; before reaching the critical point of the current operation unit, the area of ​​the adjacent operation unit is preliminarily detected to obtain the preliminary detection area; if the preliminary detection area is not greater than the preset area threshold corresponding to the merged operation unit, the area of ​​the adjacent operation unit is detected again when reaching the critical point of the current operation unit to obtain the secondary detection area; according to the secondary detection area and the preset area threshold, it is determined whether to merge the adjacent operation units. In the whole process, the preliminary area detection is performed before the equipment reaches the critical point, and the secondary area detection is performed again when reaching the critical point. The area of ​​the adjacent operation unit is accurately detected by the two detection methods, thereby realizing reasonable operation unit merging.

[0075] like Figure 4As shown, in one embodiment, the above-mentioned operation unit merging method further includes:

[0076] S500: If the initially detected area is larger than the preset area threshold, adjacent operation units are not merged.

[0077] If the preliminary detection area is larger than the preset area threshold, it indicates that the adjacent operation unit is a large area and there is no need to perform area detection again. The adjacent operation units are directly selected not to be merged, and the equipment continues to perform edge operations along the boundary of the current operation unit.

[0078] In one embodiment, the area of ​​the adjacent operation unit is preliminarily detected before reaching the critical point of the current operation unit, and obtaining the preliminarily detected area includes:

[0079] Determine the preliminary detection points, which include any points between the starting point and the critical point of the current operation unit; when working along the edge to the preliminary detection points, preliminarily detect the area of ​​the adjacent operation unit.

[0080] The preliminary detection point is a point pre-set for starting the detection of the area of ​​the adjacent work unit. It can select any point between the starting point of the edge operation (i.e., the equipment starting point) and the critical point of the current work unit. It can specifically include a starting point, that is, when the equipment starts the edge operation, it starts to detect the area of ​​the adjacent work unit. Furthermore, the number of preliminary detection points can be multiple, that is, multiple detection points are set to detect the area of ​​the adjacent cells, and the specific number can be set based on the needs of the actual situation. More specifically, the preliminary detection point can preferably be the midpoint of the current virtual edge in the edge operation, that is, assuming that the current work unit is a virtual work unit of 4*4 meters, when the equipment moves 2 meters along the edge operation, it starts to detect the area of ​​the adjacent work unit. For details, please refer to Figure 1 Point A in .

[0081] In one of the embodiments, before starting the edge operation, it also includes: powering on and starting, determining whether there is a global operation map; if there is, performing the operation according to the global operation map; if not, entering S200.

[0082] The global operation map refers to the map corresponding to the entire operation area. Taking the cleaning robot cleaning the whole house as an example, the global operation map is the whole house cleaning map. If the device has a global operation map, it means that the device has known the entire operation area / environment, and the current operation area belongs to the known operation area. The device can perform operations directly according to the global operation map without working along the edges to explore the entire operation area; conversely, if there is no global operation map, it means that the device is unknown to the current operation area / environment. In order to ensure effective operation, it needs to perform working along the edges to complete the global exploration of the operation area.

[0083] In one embodiment, if the initial detection area is not greater than the preset area threshold corresponding to the merged operation unit, the area of ​​the adjacent operation unit is detected again when the critical point of the current operation unit is reached, and the secondary detection area includes:

[0084] If the preliminary detection area is not larger than the preset area threshold corresponding to the merged operation unit, continue to operate along the edge; when reaching the critical point of the current operation unit, identify whether the critical point is a corner point of the virtual area; if not, based on the coordinates of the critical point on the virtual edge of the current operation along the edge, obtain the secondary detection area of ​​the adjacent operation unit; if so, measure the distance to the adjacent operation unit, and obtain the secondary detection area of ​​the adjacent operation unit based on the distance measurement results.

[0085] The virtual zone corner points refer to the two corner points of the four corner points of the work unit that are close to the adjacent work unit. If the initial detection area is not greater than the preset area threshold, it means that the adjacent work units may be small areas and need to be merged. However, it is also possible that the initial detection area is abnormal / wrong, resulting in an inaccurate initial detection area. Based on this, the device continues to work along the edge. When it reaches the critical point of the current work unit, it determines whether the critical point is a virtual zone corner point. If not, it means that the device is currently at one of the two corner points far away from the adjacent work unit. At this time, the area of ​​the adjacent work unit can be detected again based on the coordinates of the critical point on the virtual edge of the current work along the edge, for example Figure 1 In the figure, point B does not belong to the corner point of the virtual area. The area of ​​the adjacent operating unit is obtained based on the coordinates of point B on the virtual edge (the left virtual edge in unit 1). Specifically, the distance from the previous critical point to the current critical point is the length of the virtual edge where the two points are located, that is, the length of the adjacent operating unit in the X-axis direction; then the distance in the Y-axis direction is detected, and the distance (width) of the current virtual unit in the Y-axis direction is subtracted to obtain the length of the adjacent operating unit in the Y-axis direction. The length in the X-axis direction is multiplied by the length in the Y-axis direction, which is the area of ​​the adjacent operating unit. Figure 1 The length of the adjacent operation unit (unit 2) detected by point B in the Y-axis direction is 3m, and the distance of the operation along the edge on the X-axis is 4m. The secondary detection of the adjacent operation unit is 12 square meters, which is a large area. If the critical point is a virtual area corner point, the distance measurement method can be directly used to measure the distance of the adjacent operation unit in the X-axis and Y-axis directions. The distance measurement can be specifically carried out by radar laser distance measurement, for example Figure 1 In the radar laser ranging measurement performed at point C, the adjacent working unit is 3m in the Y-axis direction and 4m in the X-axis direction. The secondary detection adjacent working unit is 12 square meters, which is a large area.

[0086] To further explain the technical solution of the method for combining the operation units of the present application in detail, the following will take a cleaning robot as an example and adopt two embodiments to combine Figure 1 and Figure 5 , explain the whole process in detail, and combine Figure 6 and Figure 7 Describes the cleaning path of the cleaning robot after merging.

[0087] Embodiment 1

[0088] like Figure 1 ,When the cleaning robot starts from the charging pile and starts to clean along the edge, this cleaning unit 1 is defined. When it reaches point A while cleaning along the edge of unit 1, it detects that there are other open areas outside the range of this unit, which belong to another adjacent unit, defined as unit 2. At this time, the cleaning robot scans the basic map information of the unit 2 area through the radar. Since point A is not a corner point of the virtual area, it can calculate the current coordinates on the virtual edge and use the virtual edge coordinates as the calculation basis for distance measurement. It is judged that the maximum -Y axial distance of the adjacent unit 2 is 3m. Continue to reach point B along the wall, continue to calculate the coordinates on the current virtual edge, and use the virtual edge coordinates as the calculation basis for side distance measurement. It is judged that the maximum X axial distance of the adjacent unit 2 is 4m. It can be preliminarily concluded that the area prediction result of the adjacent unit 2 is 12 square meters, which belongs to a large area. The robot does not merge. When it reaches the critical point C of unit 1, the robot executes the non-merge strategy, such as Figure 6 As shown, the steering completion unit 1 is used for edge and area cleaning.

[0089] Embodiment 2

[0090] like Figure 5 , when the cleaning robot starts from the charging pile and starts to clean along the edge, this cleaning unit 1 is defined. When it reaches point A while cleaning along the edge of unit 1, it detects that there are other open areas outside the range of this unit, which belong to another adjacent unit, defined as unit 2. At this time, the cleaning robot scans the basic map information of the unit 2 area through the radar. Since point A is not a corner point of the virtual area, it can calculate the current coordinates on the virtual edge and use the virtual edge coordinates as the calculation basis for distance measurement. It is judged that the maximum -Y axial distance of the adjacent unit 2 is 1m. Continue to reach point B along the wall, continue to calculate the coordinates on the current virtual edge, and use the virtual edge coordinates as the calculation basis for side distance measurement. It is judged that the maximum X axial distance of the adjacent unit 2 is 4m, so the preliminary prediction result of the area of ​​the adjacent unit 2 can be obtained as 4m 2 It belongs to a narrow area. The robot is in the state of unit 2 to be merged. When it reaches the critical point C of unit 1, which is the corner point of the virtual area and the distance measurement 0 point, the laser radar is used to calibrate the X-axis and -Y-axis distance measurement of the adjacent unit 2. The X-axis distance measurement is 4m, and the Y-axis distance is 1m. It can be measured that the area of ​​unit 2 is still 4m 2 , then the virtual area of ​​unit 2 is merged, and the cleaning robot does not turn and extends into the adjacent unit 2. Figure 7As shown, the cleaning robot merges unit 1 and unit 2 and continues to run along the wall. When the cleaning robot reaches point D along the obstacle, it needs to continue to maintain the merging strategy after supplementing the map information of the blocked area of ​​unit 2. Figure 8 The cleaning robot completes the edge and area cleaning of unit 1 and unit 2.

[0091] like Fig. 9 As shown, when the operation unit merging method of the present application is applied to a cleaning robot, it specifically includes the following steps:

[0092] 1. The cleaning robot starts working;

[0093] 2. Determine whether there is current historical map information. If yes, clean the room by dividing it into units; if no, go to step 3;

[0094] 3. Detect the current map information and start cleaning with a fixed range of virtual units;

[0095] 4. Perform edge cleaning and preliminarily judge the area of ​​adjacent units. If it is a large area, the merging strategy will not be executed until the end, and the current unit will be cleaned; if it is a small area, the cleaning robot will continue to clean along the edge to make a secondary judgment when reaching the critical point;

[0096] 5. Arriving at the critical point of the virtual area, determine whether it is a corner point of the virtual area. If so, proceed to step 6; if not, proceed to step 7;

[0097] 6. To measure the distance at the zero point, use the laser radar to calibrate the distance in the X-axis and -Y-axis directions, and then go to step 8;

[0098] 7. Use the coordinates on the virtual edge as the calculation basis to measure the distance and go to step 8;

[0099] 8. Based on the area calculated by distance measurement, determine whether the adjacent cleaning units are small areas. If not, execute the non-merging strategy. If yes, proceed to step 9.

[0100] 9. Merge cells, merge adjacent cells into the current cell, and clean up the merged cells.

[0101] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0102] Based on the same inventive concept, the embodiment of the present application also provides a work unit merging device for implementing the work unit merging method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more work unit merging device embodiments provided below can refer to the limitations of the work unit merging method above, and will not be repeated here.

[0103] In one embodiment, Fig.10 As shown, a working unit merging device is provided, comprising:

[0104] The edge operation module 200 is used to start the edge operation;

[0105] A preliminary detection module 400 is used to preliminarily detect the area of ​​adjacent operating units before reaching the critical point of the current operating unit to obtain a preliminary detection area;

[0106] A secondary detection module 600 is used to detect the area of ​​the adjacent operation unit again when reaching the critical point of the current operation unit when the initial detection area is not greater than the preset area threshold corresponding to the merged operation unit, to obtain a secondary detection area;

[0107] The merging judgment module 800 is used to judge whether to merge adjacent operation units according to the secondary detection area and a preset area threshold.

[0108] The operating unit merging device of the present application starts the operation along the edge; before reaching the critical point of the current operating unit, the area of ​​the adjacent operating unit is preliminarily detected to obtain the preliminary detection area; if the preliminary detection area is not greater than the preset area threshold corresponding to the merged operating unit, the area of ​​the adjacent operating unit is detected again when reaching the critical point of the current operating unit to obtain the secondary detection area; based on the secondary detection area and the preset area threshold, it is determined whether to merge the adjacent operating units. In the whole process, a preliminary area detection is performed before the equipment reaches the critical point, and a secondary area detection is performed when reaching the critical point. The area of ​​the adjacent operating units is accurately detected by means of two detections, thereby achieving reasonable merging of operating units.

[0109] In one embodiment, the preliminary detection module 400 is further configured to not merge adjacent operation units when the preliminary detection area is larger than a preset area threshold.

[0110] In one embodiment, the preliminary detection module 400 is also used to determine a preliminary detection point, which includes any point between the starting point and the critical point of the current operation unit; when working along the edge to the preliminary detection point, the area of ​​the adjacent operation unit is preliminarily detected.

[0111] In one embodiment, the edge operation module 200 is also used to power on and start, and determine whether there is a global operation map; if so, perform the operation according to the global operation map; if not, start the edge operation.

[0112] In one of the embodiments, the secondary detection module 600 is also used to continue the edge operation if the preliminary detection area is not greater than the preset area threshold corresponding to the merged operation unit; when reaching the critical point of the current operation unit, identify whether the critical point is a corner point of the virtual area; if not, based on the coordinates of the critical point on the virtual edge of the current edge operation, obtain the secondary detection area of ​​the adjacent operation unit; if so, measure the distance to the adjacent operation unit, and obtain the secondary detection area of ​​the adjacent operation unit based on the distance measurement result.

[0113] In one embodiment, the merging judgment module 800 is further used to merge adjacent operation units when the secondary detection area is not greater than a preset area threshold; and not merge adjacent operation units when the secondary detection area is greater than the preset area threshold.

[0114] Each module in the above-mentioned operation unit merging device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each module.

[0115] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.11 As shown. The computer device includes a processor, a memory, a communication interface, a display screen and an input device connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for merging operation units is implemented.

[0116] Those skilled in the art will understand that Fig.11 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0117] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0118] Start edge work;

[0119] Before reaching the critical point of the current operation unit, the area of ​​the adjacent operation unit is preliminarily detected to obtain a preliminary detection area;

[0120] If the initial detection area is not greater than the preset area threshold corresponding to the merged operation unit, the area of ​​the adjacent operation unit is detected again when the critical point of the current operation unit is reached to obtain a secondary detection area;

[0121] Based on the secondary detection area and the preset area threshold, determine whether to merge adjacent operation units.

[0122] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0123] If the initial detection area is larger than the preset area threshold, the adjacent operation units will not be merged.

[0124] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0125] Determine the preliminary detection points, which include any points between the starting point and the critical point of the current operation unit; when working along the edge to the preliminary detection points, preliminarily detect the area of ​​the adjacent operation unit.

[0126] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0127] After power-on, determine whether there is a global operation map; if so, perform the operation according to the global operation map; if not, enter the step of starting the edge operation.

[0128] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0129] If the preliminary detection area is not larger than the preset area threshold corresponding to the merged operation unit, continue to operate along the edge; when reaching the critical point of the current operation unit, identify whether the critical point is a corner point of the virtual area; if not, based on the coordinates of the critical point on the virtual edge of the current operation along the edge, obtain the secondary detection area of ​​the adjacent operation unit; if so, measure the distance to the adjacent operation unit, and obtain the secondary detection area of ​​the adjacent operation unit based on the distance measurement results.

[0130] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0131] If the secondary detection area is not greater than the preset area threshold, the adjacent operation units are merged; if the secondary detection area is greater than the preset area threshold, the adjacent operation units are not merged.

[0132] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0133] Start edge work;

[0134] Before reaching the critical point of the current operation unit, the area of ​​the adjacent operation unit is preliminarily detected to obtain a preliminary detection area;

[0135] If the initial detection area is not greater than the preset area threshold corresponding to the merged operation unit, the area of ​​the adjacent operation unit is detected again when the critical point of the current operation unit is reached to obtain a secondary detection area;

[0136] Based on the secondary detection area and the preset area threshold, determine whether to merge adjacent operation units.

[0137] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0138] If the initial detection area is larger than the preset area threshold, the adjacent operation units will not be merged.

[0139] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0140] Determine the preliminary detection points, which include any points between the starting point and the critical point of the current operation unit; when working along the edge to the preliminary detection points, preliminarily detect the area of ​​the adjacent operation unit.

[0141] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0142] After power-on, determine whether there is a global operation map; if so, perform the operation according to the global operation map; if not, enter the step of starting the edge operation.

[0143] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0144] If the preliminary detection area is not larger than the preset area threshold corresponding to the merged operation unit, continue to operate along the edge; when reaching the critical point of the current operation unit, identify whether the critical point is a corner point of the virtual area; if not, based on the coordinates of the critical point on the virtual edge of the current operation along the edge, obtain the secondary detection area of ​​the adjacent operation unit; if so, measure the distance to the adjacent operation unit, and obtain the secondary detection area of ​​the adjacent operation unit based on the distance measurement results.

[0145] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0146] If the secondary detection area is not greater than the preset area threshold, the adjacent operation units are merged; if the secondary detection area is greater than the preset area threshold, the adjacent operation units are not merged.

[0147] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0148] Start edge work;

[0149] Before reaching the critical point of the current operation unit, the area of ​​the adjacent operation unit is preliminarily detected to obtain a preliminary detection area;

[0150] If the initial detection area is not greater than the preset area threshold corresponding to the merged operation unit, the area of ​​the adjacent operation unit is detected again when the critical point of the current operation unit is reached to obtain a secondary detection area;

[0151] Based on the secondary detection area and the preset area threshold, determine whether to merge adjacent operation units.

[0152] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0153] If the initial detection area is larger than the preset area threshold, the adjacent operation units will not be merged.

[0154] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0155] Determine the preliminary detection points, which include any points between the starting point and the critical point of the current operation unit; when working along the edge to the preliminary detection points, preliminarily detect the area of ​​the adjacent operation unit.

[0156] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0157] After power-on, determine whether there is a global operation map; if so, perform the operation according to the global operation map; if not, enter the step of starting the edge operation.

[0158] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0159] If the preliminary detection area is not larger than the preset area threshold corresponding to the merged operation unit, continue to operate along the edge; when reaching the critical point of the current operation unit, identify whether the critical point is a corner point of the virtual area; if not, based on the coordinates of the critical point on the virtual edge of the current operation along the edge, obtain the secondary detection area of ​​the adjacent operation unit; if so, measure the distance to the adjacent operation unit, and obtain the secondary detection area of ​​the adjacent operation unit based on the distance measurement results.

[0160] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0161] If the secondary detection area is not greater than the preset area threshold, the adjacent operation units are merged; if the secondary detection area is greater than the preset area threshold, the adjacent operation units are not merged.

[0162] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0163] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0164] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0165] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for merging operation units, characterized in that: The method comprises: Start edge work; Before reaching the critical point of the current operation unit, the area of ​​the adjacent operation unit is preliminarily detected to obtain a preliminary detection area; If the preliminary detection area is not larger than the preset area threshold corresponding to the merged work unit, the area of ​​the adjacent work unit is detected again when reaching the critical point of the current work unit to obtain a secondary detection area; based on the secondary detection area and the preset area threshold, it is determined whether to merge the adjacent work units; the work unit critical point is the inflection point from the current work unit to the boundary of the adjacent work unit, or the inflection point of the global work area boundary.

2. The method according to claim 1, characterized in that Also includes: If the preliminary detected area is larger than the preset area threshold, the adjacent operation units are not merged.

3. The method according to claim 1, characterized in that The preliminary detection of the area of ​​the adjacent operating unit before reaching the critical point of the current operating unit to obtain the preliminary detection area includes: Determine a preliminary detection point, wherein the preliminary detection point includes any point between the starting point and the critical point of the current operation unit; When working along the edge to the preliminary detection point, the area of ​​the adjacent working unit is preliminarily detected.

4. The method according to claim 1, characterized in that: Before starting the edge operation, the method further includes: Power on and start to determine whether there is a global operation map; If it exists, executing the job according to the global job map; If it does not exist, proceed to the step of starting edge operation.

5. The method according to claim 1, characterized in that If the initial detection area is not greater than the preset area threshold corresponding to the merged operation unit, the area of ​​the adjacent operation unit is detected again when the critical point of the current operation unit is reached, and the secondary detection area is obtained, including: If the preliminary detected area is not larger than the preset area threshold corresponding to the merged operation unit, continue to operate along the edge; When reaching the critical point of the current operation unit, identifying whether the critical point is a virtual area corner point; If not, then based on the coordinates of the critical point on the virtual edge of the current edge operation, the secondary detection area of ​​the adjacent operation unit is obtained; If so, the distance between the adjacent operating units is measured, and the secondary detection area of ​​the adjacent operating units is obtained according to the distance measurement result.

6. The method according to claim 1, characterized in that The determining whether to merge the adjacent operation units according to the secondary detection area and the preset area threshold comprises: If the secondary detection area is not greater than the preset area threshold, merging the adjacent operation units; If the secondary detection area is larger than the preset area threshold, the adjacent operation units are not merged.

7. A working unit merging device, characterized in that: The device comprises: Edge operation module, used to start edge operation; A preliminary detection module is used to preliminarily detect the area of ​​adjacent operating units before reaching the critical point of the current operating unit to obtain a preliminary detection area; A secondary detection module, for detecting the area of ​​the adjacent operation unit again when reaching the critical point of the current operation unit when the initial detection area is not greater than the preset area threshold corresponding to the merged operation unit, to obtain a secondary detection area; A merging judgment module is used to judge whether to merge the adjacent operation units according to the secondary detection area and the preset area threshold; the operation unit critical point is the inflection point from the current operation unit to the boundary of the adjacent operation unit, or the inflection point of the global operation area boundary.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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