Job cell merging method, device, computer equipment and storage medium

Abstract

The present application relates to a method, apparatus, computer device, and storage medium for merging operation cells. The method includes: obtaining virtual wall parameters of adjacent cells, estimating the operable area of adjacent cells using the cobweb node method based on the boundaries of adjacent cells, and obtaining a preset area threshold corresponding to the merged cell. Based on the estimation result of the operable area of adjacent cells and the preset area threshold, it is determined whether to merge adjacent cells. Throughout the process, the cobweb node method is used to estimate the operable area of adjacent cells, which is different from the traditional method of directly calculating the area based on the X-axis and Y-axis distances of adjacent cells. Considering the situation that there may be obstacles and other objects in adjacent cells resulting in a reduction in the actual operable area, accurate determination of merging operation cells can be achieved, supporting efficient operation.

Description

Technical Field

[0001] This application relates to the field of intelligent control technology, and particularly to a method and device for merging operation cells, a computer device, and a storage medium. Background Art

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

[0003] In the operation control process of the above-mentioned devices, the merging of operation areas is very important, which will directly affect the operation efficiency and operation effect of the devices. Taking a cleaning robot as an example, in the absence of a map, a traditional cleaning robot uses a nine-square grid for virtual area detection and adjacent edge division and merging. The main content is to use a lidar to measure the distance in the X-axis and -Y-axis directions for adjacent units in the central area. If it is detected that the area of adjacent units in the central area is greater than or equal to Am 2 then it is judged as a large area without merging. If it is detected that the area of adjacent units in the central area is less than Am 2 then it is judged as a small area for merging. This merging algorithm can adapt to the surrounding environment in the absence of a map, achieving the effect of improving the cleaning efficiency. However, when applied to an actual room, since the area of adjacent units in the central area is only determined by the lengths of the X-axis and -Y-axis of the units, for some "L"-shaped / trapezoidal areas with obstacles, non-cleanable areas such as solid walls, the product of the X-axis and -Y-axis areas is greater than or equal to Am 2 but due to the presence of non-cleanable areas such as intermediate obstacles and solid walls, their actual area is less than Am 2 resulting in a situation where it is misjudged as a large area without merging, leading to a reduction in cleaning efficiency.

[0004] It can be understood that the same problem exists in the merging of operation cells of other devices. Due to unreasonable cell merging, the operation efficiency of the devices is ultimately low. Summary of the Invention

[0005] Based on this, in view of the problem that the traditional operation cell merging scheme is unreasonable and leads to low device operation efficiency, it is necessary to provide a reasonable method and device for merging operation cells, a computer device, and a storage medium to support efficient device operation.

[0006] An operation cell merging method, the method includes:

[0007] Obtain virtual wall parameters of adjacent cells;

[0008] According to the virtual wall parameters of adjacent cells, use the cobweb node method to estimate the operable area of adjacent cells;

[0009] Obtain the preset area threshold corresponding to the merged cell;

[0010] Judge whether to merge adjacent cells according to the estimated result of the workable area of adjacent cells and the preset area threshold.

[0011] In one embodiment, estimating the workable area of adjacent cells by using the cobweb node method according to the virtual wall parameters of adjacent cells includes:

[0012] Determine the virtual wall of adjacent cells according to the virtual wall parameters of adjacent cells;

[0013] Determine N rays emitted at equal angular distances with the virtual wall as the boundary, and M arcs divided in the adjacent cell based on the radius r. The radius r divides the virtual wall into M equal parts. N and M are positive integers not less than 2, and the rays can be blocked by obstacles;

[0014] Identify the intersection points of the N rays and the M arcs;

[0015] Estimate the workable area of adjacent cells according to the intersection points.

[0016] In one embodiment, estimating the workable area of adjacent cells according to the intersection points includes:

[0017] Obtain the number of intersection points;

[0018] Estimate the workable area of adjacent cells according to the number of intersection points.

[0019] In one embodiment, estimating the workable area of adjacent cells according to the number of intersection points includes:

[0020] Obtain the number of intersection points corresponding to the shortest arc among the M arcs;

[0021] Obtain the area of the sector region enclosed by the adjacent intersection points, the origin of the arc, and the virtual wall on the shortest arc among the M arcs to obtain the reference unit area;

[0022] Estimate the workable area of adjacent cells according to the reference unit area and the number of intersection points corresponding to the shortest arc among the M arcs.

[0023] In one embodiment, estimating the workable area of adjacent cells according to the reference unit area and the number of intersection points corresponding to the shortest arc among the M arcs includes:

[0024] Obtain the increased estimated area of the adjacent cell corresponding to each arc according to the reference unit area and the number of intersection points on each arc;

[0025] Accumulate the increased estimated areas of the adjacent cells corresponding to each arc to estimate the workable area of the adjacent cell.

[0026] In one embodiment, before determining N rays emitted at equal angular intervals with a virtual wall as the boundary and M arcs divided in adjacent cells based on a radius r, the following steps are further included:

[0027] Taking any corner point of an adjacent cell as the origin, emitting N lidar rays at equal angular intervals.

[0028] In one embodiment, determining whether to merge adjacent cells according to the estimated result of the workable area of adjacent cells and a preset area threshold includes:

[0029] If the estimated result of the workable area of adjacent cells is not less than the preset area threshold, then merge the adjacent cells;

[0030] If the estimated result of the workable area of adjacent cells is less than the preset area threshold, then do not merge the adjacent cells.

[0031] A work cell merging device, the device includes:

[0032] A parameter acquisition module, configured to acquire virtual wall parameters of adjacent cells;

[0033] An area estimation module, configured to estimate the workable area of adjacent cells by using the cobweb node method according to the virtual wall parameters of adjacent cells;

[0034] A threshold acquisition module, configured to acquire the preset area threshold corresponding to the merged cells;

[0035] A merging judgment module, configured to determine whether to merge adjacent cells according to the estimated result of the workable area of adjacent cells and the preset area threshold.

[0036] A computer device, including a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0037] Acquire virtual wall parameters of adjacent cells;

[0038] Estimate the workable area of adjacent cells by using the cobweb node method according to the virtual wall parameters of adjacent cells;

[0039] Acquire the preset area threshold corresponding to the merged cells;

[0040] Determine whether to merge adjacent cells according to the estimated result of the workable area of adjacent cells and the preset area threshold.

[0041] A computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0042] Acquire virtual wall parameters of adjacent cells;

[0043] Estimate the workable area of adjacent cells using the cobweb node method based on the virtual wall parameters of adjacent cells;

[0044] Obtain the preset area threshold corresponding to the merged cell;

[0045] Judge whether to merge adjacent cells according to the estimated result of the workable area of adjacent cells and the preset area threshold.

[0046] The above-mentioned work cell merging method, device, computer device and storage medium obtain the virtual wall parameters of adjacent cells, estimate the workable area of adjacent cells using the cobweb node method based on the boundaries of adjacent cells, and obtain the preset area threshold corresponding to the merged cell. Based on the estimated result of the workable area of adjacent cells and the preset area threshold, it is judged whether to merge adjacent cells. Throughout the process, the cobweb node method is used to estimate the workable area of adjacent cells, which is different from the traditional method of directly calculating the area based on the X-axis and Y-axis distances of adjacent cells. It takes into account the situation where there may be obstacles and other objects in adjacent cells that cause the actual workable area to decrease, and can achieve accurate judgment of work cell merging and support efficient operation. Description of the Drawings

[0047] Figure 1 It is an application environment diagram of the work cell merging method in an embodiment;

[0048] Figure 2 It is a flowchart of the work cell merging method in an embodiment;

[0049] Figure 3 It is a flowchart of the work cell merging method in another embodiment;

[0050] Figure 4 It is a structural block diagram of the work cell merging device in an embodiment;

[0051] Figure 5 It is an internal structure diagram of a computer device in an embodiment. Detailed Embodiments

[0052] In order to make the purpose, technical solutions and advantages of this application clearer, the following further details this application in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain this application and are not used to limit this application.

[0053] The work cell merging method provided by this application can be applied as Figure 1In the application environment shown, that is, in the scenario of the cleaning operation of a cleaning robot. After the cleaning robot completes the edge cleaning of the current community (central area), it will enter the adjacent community (virtual community boundary) to continue the edge cleaning to initially construct a cleaning map. When entering the adjacent community, it obtains the virtual wall parameters of the adjacent community, that is, obtains the two boundaries of the X-axis and Y-axis in the adjacent community, and uses the cobweb node method to estimate the operable area of the adjacent community according to these two boundaries. Compare the estimated operable area of the adjacent community with the preset area threshold corresponding to the merged community to determine whether the adjacent community needs to be merged.

[0054] In one embodiment, as Figure 2 shown, a method for merging working communities is provided, including the following steps:

[0055] S200: Obtain the virtual wall parameters of the adjacent community.

[0056] The adjacent community refers to the virtual community adjacent to the current community. In practical applications, when the device is operating, the entire operation area will be divided into multiple working communities. The community where the device is currently located is the central area, and the community adjacent to the central area is the adjacent community. Here, obtaining the virtual wall parameters of the adjacent community mainly requires obtaining the position of the adjacent community boundary, the length of the X-axis boundary, and the length of the Y-axis boundary, so as to calculate the operable area of the adjacent community in the next step.

[0057] S400: According to the virtual wall parameters of the adjacent community, use the cobweb node method to estimate the operable area of the adjacent community.

[0058] The cobweb node method refers to using the way of rays and arcs to determine the intersection points in the adjacent community, and then using these intersection points to estimate the operable area of the adjacent community. Specifically, as Figure 1 shown, the distribution of these rays, arcs, and intersection points resembles a cobweb, so the method for estimating this area is called the cobweb node method. In practical applications, since there may be obstacles in the adjacent community (for example Figure 1 shown), the actual operable area in the adjacent community is smaller than the area of the adjacent community itself. Obviously, the traditional method of calculating the area based on the length parameters of the X-axis and Y-axis of the adjacent community and then making a judgment on whether to merge cannot consider the situation where the operable area is reduced due to the existence of obstacles. Returning to this application, here when there is an obstacle blocking, the cobweb node method cannot form the intersection points of rays and arcs, that is, the area occupied by the obstacle is not included in the operable area, realizing a more accurate estimation of the operable area.

[0059] S600: Obtain the preset area threshold corresponding to the merged community.

[0060] The preset area threshold corresponding to the merged cell refers to the minimum operable area that meets the merging conditions. Generally speaking, the preset area threshold is related to the area of a completely segmented cell. For example, if a cell area is divided into a 4*4 = 16 square meters based on a nine-square grid, the preset area threshold can be 8 square meters, which is 1 / 2 of the complete cell area; it can also be 16 / 3 square meters, which is 1 / 3 of the complete cell area. The specific value of the preset area threshold can be adjusted according to the actual situation.

[0061] S800: Determine whether to merge adjacent cells according to the estimated results of the operable areas of adjacent cells and the preset area threshold.

[0062] If the estimated operable area of the adjacent cell is not less than the preset area threshold, it indicates that the adjacent cell is a large operable cell, and the adjacent cell can be merged with the central area (the current cell); if the estimated operable area of the adjacent cell is less than the preset area threshold, it indicates that the adjacent cell is a small operable cell, and the adjacent cell is not selected to be merged with the central area.

[0063] In the above method for merging operation cells, obtain the virtual wall parameters of adjacent cells, estimate the operable area of adjacent cells using the spider web node method based on the boundaries of adjacent cells, and obtain the preset area threshold corresponding to the merged cell. Then, determine whether to merge adjacent cells according to the estimated results of the operable areas of adjacent cells and the preset area threshold. Throughout the process, the spider web node method is used to estimate the operable area of adjacent cells, which is different from the traditional method of directly calculating the area based on the X-axis and Y-axis distances of adjacent cells. Considering the situation that there may be obstacles and other objects in adjacent cells resulting in a reduction in the actual operable area, it can achieve accurate judgment of merging operation cells and support efficient operation.

[0064] In one embodiment, estimating the operable area of adjacent cells using the spider web node method according to the virtual wall parameters of adjacent cells includes: determining the virtual wall of the adjacent cell according to the virtual wall parameters of the adjacent cell; determining N rays emitted at equal angular distances with the virtual wall as the boundary, and M arcs divided in the adjacent cell based on the radius r, where the radius r divides the virtual wall into M equal parts, N and M are positive integers not less than 2, and the rays can be blocked by obstacles; identifying the intersection points of the N rays and the M arcs; and estimating the operable area of the adjacent cell according to the intersection points.

[0065] In this embodiment, a detailed scheme for estimating the operable area of adjacent cells using the spider-web node method is provided. Specifically, first, based on the virtual wall parameters of the adjacent cells, the virtual walls of the adjacent cells are determined. For two intersecting virtual walls, N rays are emitted at equal angular distances with them as the boundaries. These rays can be blocked by obstacles. When there is an obstacle in front of a ray, the ray will not continue to extend. The equal angular distance means that the angles between adjacent rays and between the boundary (virtual wall) and adjacent rays are equal. In addition, M arcs are drawn in the adjacent cell with a radius of r. The radius r divides the virtual wall into M equal parts, that is, it can be simply understood that multiple arcs are drawn with an increment of r as the radius. At the places where there are rays, these arcs will intersect with the rays to form intersection points. These rays, arcs, and intersection points form a structure similar to a spider web. Based on these intersection points, the operable area of the adjacent cell is estimated. It can be understood that at the positions blocked by obstacles, since the rays are blocked by the obstacles and will not continue to extend, no intersection points will be formed with the arcs within the space occupied by the obstacles. Therefore, the space (area) occupied by the obstacles within the adjacent cell can be excluded, achieving a more accurate area estimate.

[0066] In one embodiment, estimating the operable area of the adjacent cell based on the intersection points includes:

[0067] Obtaining the number of intersection points; estimating the operable area of the adjacent cell according to the number of intersection points.

[0068] As Figure 1 shown, adjacent intersection points, arcs, and rays enclose small regions. By accumulating the areas corresponding to these small regions, the operable area of the adjacent cell can be estimated. Further, for the first arc (the shortest arc), the region enclosed by adjacent intersection points, arcs, rays, and the corner point (ray origin) of the adjacent cell is a small sector region, and its area can be calculated using the sector area formula. Based on geometric theory, the area ratios of the small regions enclosed within the first arc, second arc, third arc, fourth arc, ……, nth arc are 1:3:5:7:……:2n - 1. Based on the number of intersection points on each arc, the number of enclosed small regions within the current arc can be obtained. Then, based on the above ratio and the area of the small sector region within the first arc, the area increase value corresponding to the current arc is finally estimated through conversion. By accumulating these area increase values, the estimated result of the operable area of the adjacent cell is obtained. It should be noted that in this process, the operable area of the adjacent cell is estimated in an approximate way, and it is not calculated using strict geometric formulas. Compared with the traditional situation where the obstacles within the adjacent cell are not considered directly, the above approximate method can obviously accurately obtain the operable area within the adjacent cell.

[0069] In one embodiment, estimating the operable area of the adjacent cell according to the number of intersection points includes:

[0070] Obtain the number of intersection points corresponding to the shortest arc among the M arcs; obtain the area of the sector region enclosed by adjacent intersection points, the origin of the arc, and the virtual wall on the shortest arc among the M arcs to obtain the reference unit area; estimate the operable area of adjacent communities according to the reference unit area and the number of intersection points corresponding to the shortest arc among the M arcs.

[0071] To elaborate on the process of estimating the operable area of adjacent communities obtained above, the following will continue to use Figure 1 the application example shown below for a detailed expansion. In this specific application example, M = 4; there are a total of 4 arcs, and the radii of each arc are r, 2r, 3r, and 4r in sequence; the position where the equipment body is located uses lidar to emit N rays at equal angular intervals with the virtual walls on both sides of the adjacent units in the central area as the boundaries, divides the virtual walls into N equal parts with a length of r, and makes a circle with a radius of r, takes 1 / 4 of the circle and intersects with the rays to form a spider web (as Figure 1 shown: the area of the 1 / 4 circle in the first circle is the area of the 1 / 4 circle in the second circle is the area of the 1 / 4 circle in the third circle is the area of the 1 / 4 circle in the fourth circle is and so on). It can be known that the area ratio between these 1 / 4 circles is 1:4:9:16, and at the same time, the area ratio between the sector in the first circle and the ring areas of each circle can also be obtained as 1:3:5:7. Since the angles of each sector are the same, let the area of a small sector of the 1 / 4 circle in the first circle (Ⅰ) be a, then the area of a ring in the second circle (Ⅱ) is 3a, the area of a ring in the third circle (Ⅲ) is 5a, and the area of a ring in the fourth circle (Ⅳ) is 7a, that is: the calculation formula for the area of the ring in the nth circle is: (2n - 1)a. Calculate the number of intersection points between the arc on the Y-axis and the rays. Let the areas to be operated in the first circle, the second circle, the third circle... the nth circle be D1, D2, D3... Dn. As Figure 1 shown, the number of intersection points in the first circle is 8, the estimated area D1 = 8a, the number of intersection points in the second circle is 5, the estimated area D2 = 5a, the number of intersection points in the third circle is 2, the estimated area D3 = 2a, the number of intersection points in the fourth circle is 2, the estimated area D4 = 2a, and the total operable area of the adjacent communities in the central area is D total = D1 + D2 + D3 + D4.

[0072] In one of the embodiments, before determining the N rays emitted at equal angular intervals with the virtual wall as the boundary and the M arcs divided in the adjacent community based on the radius r, it further includes:

[0073] Taking any corner point of the adjacent community as the origin, emit N lidar rays at equal angular intervals.

[0074] In this embodiment, N lidar devices are emitted with any corner point of an adjacent cell as the origin. Any corner point specifically refers to any one of the upper left, lower left, upper right, and lower right corner points in the adjacent cell. The lidar rays are emitted in an equal angular distance manner, such as at an equal angular distance of 3 degrees, 9 degrees, 15 degrees, etc. When the lidar rays encounter an obstacle, they will be blocked and cannot continue to extend, that is, they cannot intersect with the arc. Therefore, the intersection points can be used to reflect the operable area within the adjacent area.

[0075] As Figure 3 shown, in one of the embodiments, S800 includes:

[0076] S820: If the estimated result of the operable area of the adjacent cell is not less than the preset area threshold, then merge the adjacent cells;

[0077] S840: If the estimated result of the operable area of the adjacent cell is less than the preset area threshold, then do not merge the adjacent cells.

[0078] As described above, the preset area threshold is a preset threshold, which may have a certain correlation with the area of the adjacent cell, or there may be a fixed ratio, such as 1 / 2 or 1 / 3. Its specific value can be adjusted according to the actual situation. If the estimated operable area of the adjacent cell is not less than the preset area threshold, it indicates that the adjacent cell is a large operation cell, and the adjacent cell can be merged with the central area (the current cell); if the estimated operable area of the adjacent cell is less than the preset area threshold, it indicates that the adjacent cell is a small operation cell, and it is selected not to merge the adjacent cell with the central area.

[0079] It should be understood that although the steps in the above flowcharts are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least a part of the steps in the above flowcharts may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0080] As Figure 4 shown, the present application also provides an operation cell merging device, and the device includes:

[0081] A parameter acquisition module 200, configured to acquire adjacent cell virtual wall parameters;

[0082] The area estimation module 400 is used to estimate the workable area of the adjacent cells using the spider web node method based on the virtual wall parameters of the adjacent cells;

[0083] A threshold acquisition module 600 is used to obtain a preset area threshold corresponding to the merged cell;

[0084] The merging judgment module 800 is used to judge whether to merge adjacent cells according to the estimated results of the operable areas of the adjacent cells and a preset area threshold.

[0085] The aforementioned work cell merging device obtains the parameters of the virtual walls of adjacent cells, estimates the workable area of the adjacent cells using the spider web node method based on the boundaries of the adjacent cells, and obtains the preset area threshold corresponding to the merged cells. Based on the estimated workable area of the adjacent cells and the preset area threshold, it determines whether to merge the adjacent cells. Throughout the entire process, the spider web node method is used to estimate the workable area of adjacent cells. Different from the traditional method of directly calculating the area based on the X-axis and Y-axis distance of adjacent cells, it takes into account the possibility that obstacles and other objects in the adjacent cells may reduce the actual workable area. This can achieve accurate work cell merging judgments and support efficient operations.

[0086] In one embodiment, the area estimation module 400 is further used to determine the virtual wall of the adjacent cell based on the virtual wall parameters of the adjacent cell; determine N rays emitted at equal angular intervals with the virtual wall as the boundary, and M arcs divided in the adjacent cell based on the radius r, the radius r divides the virtual wall into M equal parts, N and M are positive integers not less than 2, and the rays can be blocked by obstacles; identify the intersection of the N rays and the M arcs; and estimate the operable area of the adjacent cell based on the intersection.

[0087] In one embodiment, the area estimation module 400 is further configured to obtain the number of intersections; and estimate the operable area of adjacent cells based on the number of intersections.

[0088] In one embodiment, the area estimation module 400 is further used to obtain the number of intersection points corresponding to the shortest arc among the M arcs; obtain the area of the sector-shaped area enclosed by adjacent intersection points on the shortest arc among the M arcs, the arc origin, and the virtual wall to obtain a reference unit area; and estimate the operable area of the adjacent cell based on the reference unit area and the number of intersection points corresponding to the shortest arc among the M arcs.

[0089] In one embodiment, the area estimation module 400 is further used to obtain the estimated area increase of the adjacent cells corresponding to each arc based on the benchmark unit area and the number of intersection points on each arc; and to accumulate the estimated area increase of the adjacent cells corresponding to each arc to estimate the operable area of the adjacent cells.

[0090] In one embodiment, the area estimation module 400 is further configured to emit N lidar rays at an equal angular distance with any corner point of an adjacent cell as the origin.

[0091] In one embodiment, the merging determination module 800 is further configured to merge adjacent cells when the estimated result of the operable area of an adjacent cell is not less than a preset area threshold; and not merge adjacent cells when the estimated result of the operable area of an adjacent cell is less than the preset area threshold.

[0092] For the specific embodiments of the operating cell merging device, reference may be made to the embodiments of the operating cell merging method described above, which will not be elaborated here. Each module in the above operating cell merging device can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or be independent of it, or be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above respective modules.

[0093] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structural diagram may be as Figure 5 shown. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected through 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. The wireless manner can be achieved through WIFI, a carrier network, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements an operating cell merging method. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, a trackball, or a touchpad provided on the housing of the computer device, or an external keyboard, a touchpad, or a mouse, etc.

[0094] Those skilled in the art can understand that Figure 5 the structure shown in

[0095] In one embodiment, a computer device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the following steps are implemented:

[0096] Obtain the virtual wall parameters of adjacent cells;

[0097] According to the virtual wall parameters of adjacent cells, estimate the operable area of adjacent cells using the cobweb node method;

[0098] Obtain the preset area threshold corresponding to the merged cell;

[0099] Judge whether to merge adjacent cells according to the estimated result of the operable area of adjacent cells and the preset area threshold.

[0100] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0101] According to the virtual wall parameters of adjacent cells, determine the virtual wall of adjacent cells; determine N rays emitted at equal angular distances with the virtual wall as the boundary, and M arcs divided in the adjacent cell based on a radius r. The radius r divides the virtual wall into M equal parts. N and M are positive integers not less than 2. The rays can be blocked by obstacles; identify the intersection points of the N rays and the M arcs; estimate the operable area of adjacent cells according to the intersection points.

[0102] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0103] Obtain the number of intersection points; estimate the operable area of adjacent cells according to the number of intersection points.

[0104] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0105] Obtain the number of intersection points corresponding to the shortest arc among the M arcs; obtain the area of the sector region enclosed by adjacent intersection points, the origin of the arc, and the virtual wall on the shortest arc among the M arcs to obtain the reference unit area; estimate the operable area of adjacent cells according to the reference unit area and the number of intersection points corresponding to the shortest arc among the M arcs.

[0106] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0107] According to the reference unit area and the number of intersection points on each arc, obtain the increased estimated area of adjacent cells corresponding to each arc; accumulate the increased estimated areas of adjacent cells corresponding to each arc to estimate the operable area of adjacent cells.

[0108] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0109] Taking any corner point of an adjacent cell as the origin, emit N lidar rays at equal angular distances.

[0110] In one embodiment, when the processor executes the computer program, the following steps are also implemented:

[0111] If the estimated result of the workable area of the adjacent cell is not less than the preset area threshold, merge the adjacent cells; if the estimated result of the workable area of the adjacent cell is less than the preset area threshold, do not merge the adjacent cells.

[0112] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0113] Obtain the virtual wall parameters of the adjacent cell;

[0114] According to the virtual wall parameters of the adjacent cell, estimate the workable area of the adjacent cell using the cobweb node method;

[0115] Obtain the preset area threshold corresponding to the merged cell;

[0116] According to the estimated result of the workable area of the adjacent cell and the preset area threshold, determine whether to merge the adjacent cells.

[0117] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented:

[0118] According to the virtual wall parameters of the adjacent cell, determine the virtual wall of the adjacent cell; determine N rays emitted at equal angular distances with the virtual wall as the boundary, and M arcs divided in the adjacent cell based on the radius r. The radius r divides the virtual wall into M equal parts. N and M are positive integers not less than 2, and the rays can be blocked by obstacles; identify the intersection points of the N rays and the M arcs; estimate the workable area of the adjacent cell according to the intersection points.

[0119] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented:

[0120] Obtain the number of intersection points; estimate the workable area of the adjacent cell according to the number of intersection points.

[0121] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented:

[0122] Obtain the number of intersection points corresponding to the shortest arc among the M arcs; obtain the area of the sector region enclosed by the adjacent intersection points, the origin of the arc, and the virtual wall on the shortest arc among the M arcs to obtain the reference unit area; estimate the workable area of the adjacent cell according to the reference unit area and the number of intersection points corresponding to the shortest arc among the M arcs.

[0123] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0124] According to the reference unit area and the number of intersection points on each arc, obtain the estimated increased area of adjacent cells corresponding to each arc; accumulate the estimated increased areas of adjacent cells corresponding to each arc to estimate the operable area of adjacent cells.

[0125] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0126] Taking any corner point of an adjacent cell as the origin, emit N lidar rays at equal angular intervals.

[0127] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0128] If the estimated result of the operable area of the adjacent cell is not less than the preset area threshold, merge the adjacent cells; if the estimated result of the operable area of the adjacent cell is less than the preset area threshold, do not merge the adjacent cells.

[0129] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The above 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 methods. Among them, any reference to a memory, storage, database, or other medium used in the various embodiments provided in the present application can include at least one of non-volatile and volatile memories. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0130] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered to be within the scope described in this specification.

[0131] The above embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several variations and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A method for merging operation cells, characterized in that, The method includes: Obtaining adjacent cell virtual wall parameters; Estimating the operable area of adjacent cells using the cobweb node method according to the adjacent cell virtual wall parameters; Obtaining a preset area threshold corresponding to the merged cell; Judging whether to merge adjacent cells according to the estimated result of the operable area of adjacent cells and the preset area threshold; The estimating the operable area of adjacent cells using the cobweb node method according to the adjacent cell virtual wall parameters includes: determining the virtual wall of the adjacent cell according to the adjacent cell virtual wall parameters; determining N rays emitted at equal angular distances with the virtual wall as the boundary, and M arcs divided in the adjacent cell based on a radius r, the radius r divides the virtual wall into M equal parts, N and M are positive integers not less than 2, and the rays can be blocked by obstacles; the radius r is the radius increment when dividing the arcs; identifying the intersection points of the N rays and the M arcs; estimating the operable area of the adjacent cell according to the number of the intersection points.

2. The method according to claim 1, characterized in that The estimating the operable area of adjacent cells according to the number of the intersection points includes: Obtaining the number of intersection points corresponding to the shortest arc among the M arcs; Obtaining the area of the sector region enclosed by adjacent intersection points, the origin of the arc, and the virtual wall on the shortest arc among the M arcs to obtain a reference unit area; Estimating the operable area of adjacent cells according to the reference unit area and the number of intersection points corresponding to the shortest arc among the M arcs.

3. The method according to claim 2, wherein The estimating the operable area of adjacent cells according to the reference unit area and the number of intersection points corresponding to the shortest arc among the M arcs includes: Obtaining the increased estimated area of the adjacent cell corresponding to each arc according to the reference unit area and the number of intersection points on each arc; Accumulating the increased estimated areas of the adjacent cells corresponding to each arc to estimate the operable area of the adjacent cell.

4. The method according to claim 1, wherein Before determining the N rays emitted at equal angular distances with the virtual wall as the boundary and the M arcs divided in the adjacent cell based on the radius r, it further includes: Emitting N lidar rays at equal angular distances with any corner point of the adjacent cell as the origin.

5. The method according to claim 1, wherein The judging whether to merge adjacent cells according to the estimated result of the operable area of adjacent cells and the preset area threshold includes: If the estimated result of the operable area of the adjacent cell is not less than the preset area threshold, then merge the adjacent cells; If the estimated result of the operable area of the adjacent cell is less than the preset area threshold, then do not merge the adjacent cells.

6. An operation cell merging device, characterized in that, The device includes: A parameter acquisition module for obtaining adjacent cell virtual wall parameters; An area estimation module for estimating the operable area of adjacent cells using the cobweb node method according to the adjacent cell virtual wall parameters; A threshold acquisition module for obtaining a preset area threshold corresponding to the merged cell; A merge judgment module for judging whether to merge adjacent cells according to the estimated result of the operable area of adjacent cells and the preset area threshold; The area estimation module is further configured to determine the virtual wall of an adjacent cell according to the virtual wall parameters of the adjacent cell; determine N rays emitted at an equal angular distance with the virtual wall as the boundary, and M arcs divided in the adjacent cell based on a radius r, where the radius r divides the virtual wall into M equal parts, N and M are positive integers not less than 2, and the rays can be blocked by obstacles; the radius r is the radius increment when dividing the arcs; identify the intersection points of the N rays and the M arcs; and estimate the operable area of the adjacent cell according to the number of the intersection points.

7. The device according to claim 6, characterized in that, The area estimation module is further configured to obtain the number of intersection points corresponding to the shortest arc among the M arcs; obtain the area of the sector region enclosed by the adjacent intersection points, the origin of the arc, and the virtual wall on the shortest arc among the M arcs to obtain the reference unit area; and estimate the operable area of the adjacent cell according to the reference unit area and the number of intersection points corresponding to the shortest arc among the M arcs.

8. The device according to claim 7, wherein The area estimation module is further configured to obtain the increased estimated area of the adjacent cell corresponding to each arc according to the reference unit area and the number of intersection points on each arc; and accumulate the increased estimated areas of the adjacent cell corresponding to each arc to estimate the operable area of the adjacent cell.

9. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1 to 5.

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