Floor Sweeping Machine Room Partition Correction Method, Device and Equipment

Abstract

A method, device and equipment for correcting room partitioning of a floor sweeper in the present application. By taking out two end points at both ends of an inclined boundary line on a smart partitioning map, and respectively establishing two coordinate axes with these two end points as the coordinate origins. Taking the first end point as the starting point and the area where the second end point is located as the reference direction, select and extend along the directions of the X semi-axis and Y semi-axis of the first orthogonal coordinate axis until hitting the wall to generate a first extension line and a second extension line. Similarly, taking the second end point as the starting point and the area where the first end point is located as the reference direction to make extension lines to generate a third extension line and a fourth extension line. By calculating the lengths of these four extension lines, and using the extension line with the minimum length as the correction boundary line of the inclined boundary line for correction, it can solve the problems in the prior art that lead to incomplete mapping or the appearance of diagonal lines in room partitioning, which will affect aspects such as subsequent cleaning planning or app presentation.

Description

Technical Field

[0001] This application relates to the field of intelligent recognition and correction, and particularly to a method, device, and equipment for correcting room partitioning of a floor sweeper. Background Art

[0002] After the intelligent floor sweeper completes the first cleaning of a room, it will generate a whole-house map based on the cleaning trajectory and partition the whole-house map according to the distribution of the rooms, so that each individual room is divided into a room partition.

[0003] However, currently existing floor sweepers are partitioned based on the scanning results of laser or infrared devices. Affected by factors such as ground reflection or wall inequality, the floor sweeper is prone to incomplete mapping or the appearance of diagonal lines in the room partitioning during mapping, which will have an impact on aspects such as subsequent cleaning planning or app presentation. Summary of the Invention

[0004] This application provides a method, device, and equipment for correcting room partitioning of a floor sweeper, aiming to solve the problem in the prior art that the floor sweeper is prone to being affected by walls during mapping, resulting in incomplete mapping or the appearance of diagonal lines in the room partitioning, which will have an impact on aspects such as subsequent cleaning planning or app presentation.

[0005] To solve the above technical problems, in the first aspect, this application provides a method for correcting room partitioning of a floor sweeper, including:

[0006] Obtain the inclined boundary line in the intelligent partition map;

[0007] Obtain the endpoints of the inclined boundary line, which are the first endpoint and the second endpoint respectively;

[0008] Taking the first endpoint as the origin, the straight line where the wall close to the first endpoint is located as the X-axis, and the straight line perpendicular to the X-axis and passing through the first endpoint as the Y-axis, establish a first orthogonal coordinate axis; taking the second endpoint as the origin, the straight line where the wall close to the second endpoint is located as the X-axis, and the straight line perpendicular to the X-axis and passing through the second endpoint as the Y-axis, establish a second orthogonal coordinate axis;

[0009] In the first orthogonal coordinate axis, with the region where the second endpoint is located as the reference direction, select the X semi-axis and Y semi-axis of the first orthogonal coordinate axis. Starting from the first endpoint, extend lines along the selected X semi-axis and Y semi-axis respectively until they intersect the wall. The extended lines are respectively denoted as the first extended line and the second extended line; in the second orthogonal coordinate axis, with the region where the first endpoint is located as the reference direction, select the X semi-axis and Y semi-axis of the second orthogonal coordinate axis. Starting from the second endpoint, extend lines along the selected X semi-axis and Y semi-axis respectively until they intersect the wall. The extended lines are respectively denoted as the third extended line and the fourth extended line;

[0010] Calculate the length values of the first extended line, the second extended line, the third extended line, and the fourth extended line respectively. Take the extended line corresponding to the minimum length value as the correction boundary line and perform the correction of the inclined boundary line.

[0011] Preferably, the step of in the first orthogonal coordinate axis, with the region where the second endpoint is located as the reference direction, selecting the X semi-axis and Y semi-axis of the first orthogonal coordinate axis, starting from the first endpoint, extending lines along the selected X semi-axis and Y semi-axis respectively until they intersect the wall, and denoting the extended lines as the first extended line and the second extended line; in the second orthogonal coordinate axis, with the region where the first endpoint is located as the reference direction, selecting the X semi-axis and Y semi-axis of the second orthogonal coordinate axis, starting from the second endpoint, extending lines along the selected X semi-axis and Y semi-axis respectively until they intersect the wall, and denoting the extended lines as the third extended line and the fourth extended line includes:

[0012] In the first orthogonal coordinate axis, divide the four quadrants based on the X-axis and Y-axis of the first orthogonal coordinate axis;

[0013] Confirm the quadrant where the second endpoint is located, which is confirmed as the first target quadrant;

[0014] According to the first target quadrant, obtain the X semi-axis and Y semi-axis that divide the first target quadrant, denoted as the first X semi-axis and the first Y semi-axis;

[0015] Starting from the first endpoint, extend lines along the first X semi-axis and the first Y semi-axis respectively until they intersect the wall;

[0016] The extended lines are respectively denoted as the first extended line and the second extended line;

[0017] In the second orthogonal coordinate axis, divide the four quadrants based on the X-axis and Y-axis of the second orthogonal coordinate axis;

[0018] Confirm the quadrant where the first endpoint is located, which is confirmed as the second target quadrant;

[0019] According to the second target quadrant, obtain the X semi-axis and Y semi-axis that divide the second target quadrant, denoted as the second X semi-axis and the second Y semi-axis;

[0020] Taking the second endpoint as the starting point, respectively extend lines along the second X semi-axis and the second Y semi-axis until they intersect the wall;

[0021] The extended lines are respectively denoted as the third extended line and the fourth extended line.

[0022] Preferably, in the first orthogonal coordinate axis, taking the area where the second endpoint is located as the reference direction, select the X semi-axis and Y semi-axis of the first orthogonal coordinate axis. Taking the first endpoint as the starting point, respectively extend lines along the selected X semi-axis and Y semi-axis until they intersect the wall. The extended lines are respectively denoted as the first extended line and the second extended line; in the second orthogonal coordinate axis, taking the area where the first endpoint is located as the reference direction, select the X semi-axis and Y semi-axis of the second orthogonal coordinate axis. Taking the second endpoint as the starting point, respectively extend lines along the selected X semi-axis and Y semi-axis until they intersect the wall. The extended lines are respectively denoted as the third extended line and the fourth extended line. The steps include:

[0023] In the first orthogonal coordinate axis, obtain the two X semi-axes of the first orthogonal coordinate axis. Take the X semi-axis closer to the second endpoint as the selected semi-axis, denoted as the first X semi-axis;

[0024] In the first orthogonal coordinate axis, obtain the two Y semi-axes of the first orthogonal coordinate axis. Take the Y semi-axis closer to the second endpoint as the selected semi-axis, denoted as the first Y semi-axis;

[0025] Taking the first endpoint as the starting point, respectively extend lines along the first X semi-axis and the first Y semi-axis until they intersect the wall;

[0026] The extended lines are respectively denoted as the first extended line and the second extended line;

[0027] In the second orthogonal coordinate axis, obtain the two X semi-axes of the second orthogonal coordinate axis. Take the X semi-axis closer to the first endpoint as the selected semi-axis, denoted as the second X semi-axis;

[0028] Obtain the two Y semi-axes of the second orthogonal coordinate axis. Take the Y semi-axis closer to the first endpoint as the selected semi-axis, denoted as the second Y semi-axis;

[0029] Taking the second endpoint as the starting point, respectively extend lines along the second X semi-axis and the second Y semi-axis until they intersect the wall;

[0030] The extended lines are respectively denoted as the third extended line and the fourth extended line.

[0031] Preferably, the step of obtaining the inclined boundary line in the intelligent partition map includes:

[0032] Obtain the door boundary information in the intelligent partition map;

[0033] Within the preset range of the door boundary information, search for and obtain the inclined boundary line.

[0034] Preferably, the step of obtaining the door boundary information in the intelligent partition map includes:

[0035] Retrieve the whole-house map obtained after the floor sweeper cleans the whole house, where the whole-house map contains multiple room information;

[0036] Based on the room information, obtain the positions of the access channels for each room, and obtain the door boundary information corresponding to each room.

[0037] Preferably, the room information includes colors, each room is filled with a color, and the colors of adjacent rooms are different. Then, the step of searching for and obtaining the inclined boundary line within the preset range of the door boundary information includes:

[0038] In the whole-house map, based on each door boundary information, delineate a preset range;

[0039] Within the preset range, according to the colors of each room, determine whether there is the area boundary line; when there is the area boundary line, extract the area boundary line and judge the line slope;

[0040] If the slope is within the preset range, determine the area boundary line as the inclined boundary line.

[0041] Preferably, the step of determining whether there is the area boundary line within the preset range according to the colors of each room includes:

[0042] Judge whether there are pixel points of different colors within the preset range;

[0043] When there are pixel points of different colors, determine that there is an area boundary line; among them, the partition line separating different pixel points is the area boundary line.

[0044] Preferably, the step of delineating a preset range in the whole-house map based on each door boundary information includes:

[0045] In the whole-house map, based on each door boundary information, judge the area inside the door and the area outside the door;

[0046] Based on the door boundary, delineate a preset range in the direction of the area outside the door.

[0047] Preferably, the wall is filled with a specific color different from the colors of the respective rooms. Then, the step of performing the correction of the inclined boundary line includes:

[0048] Clearing the inclined boundary line in the intelligent zoning map and adding the corrected boundary line to the intelligent zoning map;

[0049] Dividing the preset range into a first region and a second region with the corrected boundary line as the midline;

[0050] Performing four-neighborhood extraction on the first region and the second region respectively to generate first four-neighborhood information and second four-neighborhood information;

[0051] Obtaining the colors other than the specific color in the first four-neighborhood information to generate a first filling color;

[0052] Obtaining the colors other than the specific color in the second four-neighborhood information to generate a second filling color;

[0053] Filling the first region with the first filling color and filling the second region with the second filling color.

[0054] In a second aspect, the present application further provides a device for correcting the room zoning of a floor sweeper, including:

[0055] An inclined boundary line acquisition module for acquiring the inclined boundary line in the intelligent zoning map;

[0056] An endpoint generation module for acquiring the endpoints of the inclined boundary line, namely a first endpoint and a second endpoint;

[0057] An orthogonal coordinate axis creation module for establishing a first orthogonal coordinate axis with the first endpoint as the origin, the straight line where the wall close to the first endpoint is located as the X-axis, and the straight line perpendicular to the X-axis and passing through the first endpoint as the Y-axis; and establishing a second orthogonal coordinate axis with the second endpoint as the origin, the straight line where the wall close to the second endpoint is located as the X-axis, and the straight line perpendicular to the X-axis and passing through the second endpoint as the Y-axis;

[0058] An extension line generation module is configured to select the X half-axis and the Y half-axis of the first orthogonal coordinate axis with the area where the second endpoint is located as the reference direction in the first orthogonal coordinate axis, and draw extension lines along the selected X half-axis and Y half-axis respectively starting from the first endpoint until they intersect with the wall. The extension lines are respectively denoted as the first extension line and the second extension line; in the second orthogonal coordinate axis, select the X half-axis and the Y half-axis of the second orthogonal coordinate axis with the area where the first endpoint is located as the reference direction, and draw extension lines along the selected X half-axis and Y half-axis respectively starting from the second endpoint until they intersect with the wall. The extension lines are respectively denoted as the third extension line and the fourth extension line;

[0059] A correction module is configured to calculate the length values of the first extension line, the second extension line, the third extension line, and the fourth extension line respectively, and use the extension line corresponding to the minimum length value as the correction boundary line to perform the correction of the inclined boundary line.

[0060] In a third aspect, the present application further provides a computer device, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the steps of the floor sweeping robot room partition correction method described in any one of the above are implemented.

[0061] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the floor sweeping robot room partition correction method described in any one of the above are implemented.

[0062] A floor sweeping robot room partition correction method, device and equipment of the present application take out two endpoints at both ends of the inclined boundary line on the intelligent partition map, and establish two coordinate axes with these two endpoints as the coordinate origins respectively. Starting from the first endpoint and with the area where the second endpoint is located as the reference direction, select and draw extension lines along the X half-axis and Y half-axis directions of the first orthogonal coordinate axis respectively until they touch the wall, generating the first extension line and the second extension line. Similarly, starting from the second endpoint and with the area where the first endpoint is located as the reference direction, select and draw extension lines along the X half-axis and Y half-axis directions of the second orthogonal coordinate axis respectively until they touch the wall, generating the third extension line and the fourth extension line. By calculating the lengths of these four extension lines and using the extension line with the minimum length as the correction boundary line of the inclined boundary line for correction, it can effectively solve the problems in the prior art that lead to incomplete mapping or the appearance of diagonal lines in room partitioning, which will affect aspects such as subsequent cleaning planning or app presentation. Description of the Drawings

[0063] Figure 1 It is a schematic flowchart of the floor sweeping robot room partition correction method of an embodiment;

[0064] Figure 2 Schematic structural diagram of the room partition correction device for a floor cleaning machine in an embodiment;

[0065] Figure 3 Schematic block diagram of the structure of a computer device in an embodiment;

[0066] Figure 4 Schematic diagram before the room partition correction of the floor cleaning machine in an embodiment;

[0067] Figure 5 Partial enlarged view during the room partition correction of the floor cleaning machine in an embodiment;

[0068] Figure 6 Schematic diagram after the room partition correction of the floor cleaning machine in an embodiment.

[0069] The realization of the purpose of this application, functional features and advantages will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0070] In order to make the purpose, technical solution and advantages of this application clearer, the following further details this application in conjunction with the accompanying 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.

[0071] Those skilled in the art of this technology can understand that unless specifically stated, the singular forms "a", "an", "the above" and "the" used here may also include the plural forms. It should be further understood that the term "including" used in the specification of this application means the presence of features, integers, steps, operations, elements, units, units and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, units, units, components and / or their groups. It should be understood that when we say an element is "connected" or "coupled" to another element, it can be directly connected or coupled to other elements, or there may also be intermediate elements. In addition, the "connection" or "coupling" used here may include wireless connection or wireless coupling. The phrase "and / or" used here includes all or any unit and all combinations of one or more related listed items.

[0072] Those skilled in the art of this technology can understand that unless otherwise defined, all terms (including technical terms and scientific terms) used here have the same meaning as the general understanding of those of ordinary skill in the field to which this application belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted with an idealized or overly formal meaning unless specifically defined as here.

[0073] Reference Figures 1-6 , which is a method for correcting room partitioning of a floor sweeper provided in an embodiment of the present application, including:

[0074] S1: Obtain the inclined boundary line in the intelligent partitioning map;

[0075] S2: Obtain the endpoints of the inclined boundary line, which are the first endpoint and the second endpoint respectively;

[0076] S3: Taking the first endpoint as the origin, the straight line where the wall close to the first endpoint is located as the X-axis, and the straight line perpendicular to the X-axis and passing through the first endpoint as the Y-axis, establish a first orthogonal coordinate axis. Taking the second endpoint as the origin, the straight line where the wall close to the second endpoint is located as the X-axis, and the straight line perpendicular to the X-axis and passing through the second endpoint as the Y-axis, establish a second orthogonal coordinate axis;

[0077] S4: In the first orthogonal coordinate axis, taking the area where the second endpoint is located as the reference direction, select the X semi-axis and the Y semi-axis of the first orthogonal coordinate axis. Starting from the first endpoint, extend the lines along the selected X semi-axis and Y semi-axis respectively until they intersect the wall. The extended lines are respectively recorded as the first extended line and the second extended line. In the second orthogonal coordinate axis, taking the area where the first endpoint is located as the reference direction, select the X semi-axis and the Y semi-axis of the second orthogonal coordinate axis. Starting from the second endpoint, extend the lines along the selected X semi-axis and Y semi-axis respectively until they intersect the wall. The extended lines are respectively recorded as the third extended line and the fourth extended line;

[0078] S5: Calculate the length values of the first extended line, the second extended line, the third extended line, and the fourth extended line respectively. Take the extended line corresponding to the minimum length value as the correction boundary line and perform the correction of the inclined boundary line.

[0079] As described in the above steps S1 - S3, the intelligent partitioning map is generated by partitioning based on the scanning results of a laser or infrared device. When correcting the inclined boundary line, the partition boundary line that is inclined will be determined from the intelligent partitioning map for correction. Therefore, the floor sweeper will confirm the appropriate correction boundary line through the relative position relationship between the two endpoints of the inclined boundary line, that is, the first endpoint A and the second endpoint B. Therefore, taking the first endpoint A and the second endpoint B as the origins respectively, two orthogonal coordinate axes are established: taking the first endpoint A as the origin, the straight line where the wall close to the first endpoint A is located as the X-axis, and the straight line perpendicular to the X-axis and passing through the first endpoint A as the Y-axis, establish the first orthogonal coordinate axis O1; taking the second endpoint B as the origin, the straight line where the wall close to the second endpoint B is located as the X-axis, and the straight line perpendicular to the X-axis and passing through the second endpoint B as the Y-axis, establish the second orthogonal coordinate axis O2;

[0080] As described in the above steps S4 - S5, in one embodiment, the region (quadrant) of the first orthogonal coordinate axis O1 where the second endpoint B is located can be used as the reference direction. That is, with the first endpoint A as the origin, extension lines are respectively made along the positive half - axis direction of the X - axis and the negative half - axis direction of the Y - axis of the first orthogonal coordinate axis O1 until the extension lines touch the wall. Then, the length L1 of the extension line starting from the first endpoint A along the positive half - axis extension of the X - axis of the first orthogonal coordinate axis O1 is calculated, and the length L2 of the extension line starting from the first endpoint A along the negative half - axis direction of the Y - axis of the first orthogonal coordinate axis O1 is calculated. Based on the same principle, the region (quadrant) of the second orthogonal coordinate axis O2 where the first endpoint A is located can be used as the reference direction. That is, with the second endpoint B as the origin, extension lines are respectively made along the negative half - axis direction of the X - axis of the second orthogonal coordinate axis O2 until the extension line touches the wall, and the length L3 of the extension line is calculated. Then, the length L4 of the extension line starting from the second endpoint B along the positive half - axis of the Y - axis of the second orthogonal coordinate axis O2 until the extension line touches the wall is calculated.

[0081] Furthermore, when making the extension lines, specifically along the positive direction of the X - axis and the negative direction of the Y - axis of the first orthogonal coordinate axis O1, or along the negative direction of the X - axis and the positive direction of the Y - axis of the second orthogonal coordinate axis O2 is not unique. Specifically, it can be determined by referring to the quadrant where the first endpoint A is located in the second orthogonal coordinate axis O2, or the quadrant of the second endpoint B relative to the first orthogonal coordinate axis O1. Here, it is described with the second endpoint B being in the fourth quadrant of the first orthogonal coordinate axis O1. In the actual scenario, the second endpoint B can be in any quadrant of the first orthogonal coordinate axis O1.

[0082] Finally, compare the lengths of L1, L2, L3, and L4. If the length of the extension line L4 is the smallest, then take the extension line L4 as the correction boundary line to correct the partition boundary line, forming the corrected boundary line (such as Figure 6 the dashed - line part in

[0083] Refer to Figure 5 , in one embodiment, step S4 includes:

[0084] In the first orthogonal coordinate axis, four quadrants are divided based on the X - axis and Y - axis of the first orthogonal coordinate axis;

[0085] Confirm the quadrant where the second endpoint is located, and confirm it as the first target quadrant;

[0086] According to the first target quadrant, obtain the X - half - axis and Y - half - axis that divide the first target quadrant, denoted as the first X - half - axis and the first Y - half - axis;

[0087] With the first endpoint as the starting point, make extension lines along the first X - half - axis and the first Y - half - axis respectively until they intersect at the wall.

[0088] The extension lines are respectively denoted as the first extension line and the second extension line;

[0089] In the second orthogonal coordinate axis, four quadrants are divided based on the X-axis and Y-axis of the second orthogonal coordinate axis;

[0090] Confirm the quadrant where the first endpoint is located, and confirm it as the second target quadrant;

[0091] According to the second target quadrant, obtain the X semi-axis and Y semi-axis that divide the second target quadrant, denoted as the second X semi-axis and the second Y semi-axis;

[0092] Taking the second endpoint as the starting point, make extension lines along the second X semi-axis and the second Y semi-axis respectively until they intersect the wall;

[0093] The extension lines are respectively denoted as the third extension line and the fourth extension line.

[0094] As described above, in this embodiment, the direction of the extension line can be determined by determining the quadrant where the first endpoint A is located relative to the second orthogonal coordinate axis O2 and the quadrant where the second endpoint B is located relative to the first orthogonal coordinate axis O1; here, it is described with the second endpoint B being in the fourth quadrant of the first orthogonal coordinate axis O1 and the first endpoint A being in the second quadrant of the second orthogonal coordinate axis O2, that is, taking the first endpoint A as the origin, making extension lines along the positive semi-axis direction of the X-axis of the first orthogonal coordinate axis O1 and the negative semi-axis direction of the Y-axis respectively until the extension line touches the wall, calculating the length L1 of the extension line along the positive semi-axis of the X-axis of the first orthogonal coordinate axis O1 with the first endpoint A as the starting point, and calculating the length L2 of the extension line along the negative semi-axis direction of the Y-axis of the first orthogonal coordinate axis O1 with the first endpoint A as the starting point; based on the same principle, the area (quadrant) of the second orthogonal coordinate axis O2 where the first endpoint A is located can be used as the reference direction, that is, taking the second endpoint B as the origin, making extension lines along the negative semi-axis direction of the X-axis of the second orthogonal coordinate axis O2 respectively until the extension line touches the wall, calculating the length L3 of the extension line, and calculating the length L4 of the extension line along the positive semi-axis of the Y-axis of the second orthogonal coordinate axis O2 with the second endpoint B as the starting point until the extension line touches the wall.

[0095] Refer to Figure 5 , in one embodiment, step S4 includes:

[0096] In the first orthogonal coordinate axis, obtain the two X semi-axes of the first orthogonal coordinate axis, and take the X semi-axis closer to the second endpoint as the selected semi-axis, denoted as the first X semi-axis;

[0097] In the first orthogonal coordinate axis, obtain the two Y semi-axes of the first orthogonal coordinate axis, and use the Y semi-axis closer to the second endpoint as the selected semi-axis, denoted as the first Y semi-axis;

[0098] Taking the first endpoint as the starting point, extend lines along the first X semi-axis and the first Y semi-axis respectively until they intersect the wall;

[0099] The extended lines are respectively denoted as the first extended line and the second extended line;

[0100] In the second orthogonal coordinate axis, obtain the two X semi-axes of the second orthogonal coordinate axis, and use the X semi-axis closer to the first endpoint as the selected semi-axis, denoted as the second X semi-axis;

[0101] Obtain the two Y semi-axes of the second orthogonal coordinate axis, and use the Y semi-axis closer to the first endpoint as the selected semi-axis, denoted as the second Y semi-axis;

[0102] Taking the second endpoint as the starting point, extend lines along the second X semi-axis and the second Y semi-axis respectively until they intersect the wall;

[0103] The extended lines are respectively denoted as the third extended line and the fourth extended line.

[0104] As described above, as another embodiment, the direction of the extended line can be determined by determining the X semi-axis and Y semi-axis of the first orthogonal coordinate axis O1 closest to the second endpoint B, that is, taking the first endpoint A as the starting point, extending lines along the semi-axes of the first orthogonal coordinate axis O1 closest to the second endpoint B respectively, that is, extending lines along the negative Y semi-axis and the positive X semi-axis of the first orthogonal coordinate axis O1 until hitting the wall, and calculating the length L1 of the extended line along the positive X semi-axis and the length L2 of the extended line along the negative Y semi-axis respectively; similarly, the direction of the extended line can be determined by determining the X semi-axis and Y semi-axis of the second orthogonal coordinate axis O2 closest to the first endpoint A, that is, taking the first endpoint B as the starting point, extending lines along the semi-axes of the second orthogonal coordinate axis O2 closest to the first endpoint A respectively, that is, extending lines along the positive Y semi-axis and the negative X semi-axis of the second orthogonal coordinate axis O2 until hitting the wall, and calculating the length L3 of the extended line along the negative X semi-axis of the second orthogonal coordinate axis O2 and the length L4 of the extended line along the positive Y semi-axis of the second orthogonal coordinate axis O2 respectively.

[0105] In one embodiment, the step of obtaining the inclined boundary line in the intelligent partition map includes:

[0106] Obtain the door boundary information in the intelligent partition map;

[0107] Search and obtain the inclined boundary line within the preset range of the door boundary information.

[0108] As described above, the intelligent partition map is generated based on the scanning results of a laser or infrared device. Since the sweeping robot continuously scans through the laser or infrared device during its movement, the distance from the sweeping robot to the reflection point can be calculated based on the time it takes for the emitted laser or infrared light to return. Therefore, the overall shape of the room and the door boundary information of the area where the door is located can be determined. Within the preset range of the area where the door is located, the dividing line between different rooms can be obtained, and it can be determined whether the dividing line is an inclined boundary line. The specific determination method can be based on the slope of the straight line connecting the two endpoints of the boundary line relative to the wall where the door is located.

[0109] In one embodiment, the step of obtaining the door boundary information in the intelligent partition map includes:

[0110] Retrieve the whole-house map obtained after the sweeping robot has completed a full-house cleaning. Among them, the whole-house map contains multiple room information.

[0111] Based on the room information, obtain the access channel positions of each room, and obtain the corresponding door boundary information for each room.

[0112] As described above, after the sweeping robot has completed the first full-house cleaning, a whole-house map can be obtained. Since the sweeping robot continuously scans through the laser or infrared device during its movement, the distance from the sweeping robot to the reflection point (wall) can be calculated based on the time it takes for the emitted laser or infrared light to return. Therefore, the partition situation of multiple rooms and the door situation can be determined based on the distance between the sweeping robot and each wall during its movement (usually the distance at the door is much smaller than the length and width of the room). Therefore, the door boundary information of the area where the door is located can be determined.

[0113] In one embodiment, the room information includes colors, and each room is filled with a color, and the colors of adjacent rooms are different. Then, the step of searching for and obtaining the inclined boundary line within the preset range of the door boundary information includes:

[0114] In the whole-house map, based on each door boundary information, delineate a preset range.

[0115] Within the preset range, according to the colors of each room, determine whether there is a regional boundary line; when there is a regional boundary line, extract the regional boundary line and determine the line slope.

[0116] If the slope is within the preset range, determine the regional boundary line as the inclined boundary line.

[0117] As described above, the cloud server will identify each corresponding room 1, room 2, room 3, hall, etc. in the intelligent partition map with different colors. For example, room 1 is marked blue, room 2 is marked yellow, room 3 is marked red, the hall is marked white, etc. The colors between each area are different or at least the colors in adjacent partitions are different from each other. At the same time, in combination with the cleaning area of the sweeping robot, the running track, and the overall layout of the entire house, etc., the interval area (the area that cannot be cleaned during cleaning) between room 1 and room 2 and the hall when the sweeping robot performs cleaning is identified as a wall. Therefore, all the walls in the whole house map can be marked with a specific color, such as marking all the walls in the whole house map as black, which is different from the marking colors of room 1, room 2, room 3, and the hall, so as to be better identified when obtaining the partition boundary line in the subsequent process, and the partitions are carried out according to different colors. For the connected part between adjacent partitions (that is, the blue area and the red area are adjacent, and there is no black wall between the blue area and the red area), it is the corresponding door location (door boundary information). A preset range area with the length of the door frame and the width of the wall thickness is circled at the door, and it is judged whether there is a boundary line within the preset range area. Because the colors of each partition (room area) are different from each other, there will be a boundary line. Then, the boundary line can be extracted by the method of four-neighborhood expansion. After that, by establishing a rectangular coordinate system, the two end points of the boundary line are selected and their coordinates in the rectangular coordinate system are calculated, and then the slope of the boundary line can be calculated, and further it can be judged whether the boundary line is an inclined boundary line.

[0118] In one embodiment, the step of judging whether there is the area boundary line according to the colors of each room within the preset range includes:

[0119] Judge whether there are pixel points of different colors within the preset range;

[0120] When there are pixel points of different colors, it is judged that there is an area boundary line; wherein, the partition line separating different pixel points is the area boundary line.

[0121] As described above, because the colors of each partition (room area) are different from each other, if there is a boundary line, the pixel points constituting the boundary line itself or the adjacent pixel points will present at least two different colors. Therefore, by performing four-neighborhood expansion within the preset range where the door is located, the boundary line can be judged and extracted.

[0122] In one embodiment, the step of circling a preset range based on each door boundary information in the whole house map includes:

[0123] In the whole house map, based on each door boundary information, judge the area inside the door and the area outside the door;

[0124] Based on the door boundary, a preset range is delineated in the direction of the area outside the door.

[0125] Since zoning and coloring have been carried out, the area inside the door boundary must be of the same color at this time. Therefore, the area where the door is located is divided into the area inside the door (inside the room) and the area outside the door (including the area where the door is located) based on the door boundary. Therefore, a preset range can be delineated in the direction of the area outside the door for subsequent judgment.

[0126] In one embodiment, the wall is filled with a specific color different from the colors of each room. Then, the step of performing the correction of the inclined boundary line includes:

[0127] Clear the inclined boundary line in the intelligent zoning map and add the corrected boundary line to the intelligent zoning map;

[0128] With the corrected boundary line as the midline, divide the preset range into a first area and a second area;

[0129] Perform four-neighborhood extraction on the first area and the second area respectively to generate first four-neighborhood information and second four-neighborhood information;

[0130] Obtain the color other than the specific color in the first four-neighborhood information to generate a first filling color;

[0131] Obtain the color other than the specific color in the second four-neighborhood information to generate a second filling color;

[0132] Fill the first area with the first filling color and fill the second area with the second filling color.

[0133] As described above, when there is an inclined boundary line at the door, first, the server will erase the inclined boundary line in the intelligent zoning map. Then, the extension line with the shortest distance among the previous ones is used as the corrected boundary line and redrawn in the intelligent zoning map. The specific method is: with the corrected boundary line as the midline, divide the preset range into a first area and a second area, and perform a four-neighborhood search on the first area and the second area, that is, perform a four-neighborhood search. Use the color of the pixel points other than the wall color (black) in the first area to fill the first area, and use the color of the pixel points other than the wall color in the second area to fill the first area. For example, if room H (red) is connected to hall E (blue) and there is a door, room H (red) is divided into the first area and hall E (blue) is divided into the second area. Then, the erased part of the inclined boundary line in the first area will be filled with red, and the erased part of the inclined boundary line in the second area will be filled with blue to complete the correction of the inclined boundary line.

[0134] Second aspect, referring to Figure 2 , the present application further provides a floor sweeping robot room partition correction device, including:

[0135] An inclined boundary line acquisition module 100, configured to acquire an inclined boundary line in the intelligent partition map;

[0136] An endpoint generation module 200, configured to acquire the endpoints of the inclined boundary line, namely a first endpoint and a second endpoint;

[0137] An orthogonal coordinate axis creation module 300, configured to establish a first orthogonal coordinate axis with the first endpoint as the origin, the straight line where the wall close to the first endpoint is located as the X-axis, and the straight line perpendicular to the X-axis and passing through the first endpoint as the Y-axis; establish a second orthogonal coordinate axis with the second endpoint as the origin, the straight line where the wall close to the second endpoint is located as the X-axis, and the straight line perpendicular to the X-axis and passing through the second endpoint as the Y-axis;

[0138] An extension line generation module 400, configured to, in the first orthogonal coordinate axis, with the area where the second endpoint is located as the reference direction, select the X semi-axis and Y semi-axis of the first orthogonal coordinate axis, and respectively make extension lines from the first endpoint along the selected X semi-axis and Y semi-axis until they intersect with the wall, and the extension lines are respectively denoted as a first extension line and a second extension line; in the second orthogonal coordinate axis, with the area where the first endpoint is located as the reference direction, select the X semi-axis and Y semi-axis of the second orthogonal coordinate axis, and respectively make extension lines from the second endpoint along the selected X semi-axis and Y semi-axis until they intersect with the wall, and the extension lines are respectively denoted as a third extension line and a fourth extension line;

[0139] A correction module 500, configured to respectively calculate the length values of the first extension line, the second extension line, the third extension line, and the fourth extension line, and use the extension line corresponding to the minimum length value as the correction boundary line to perform the correction of the inclined boundary line.

[0140] In one embodiment, the extension line generation module 400 is further configured to:

[0141] In the first orthogonal coordinate axis, divide four quadrants based on the X-axis and Y-axis of the first orthogonal coordinate axis;

[0142] Confirm the quadrant where the second endpoint is located, and confirm it as the first target quadrant;

[0143] According to the first target quadrant, obtain the X semi-axis and Y semi-axis that divide the first target quadrant, denoted as a first X semi-axis and a first Y semi-axis;

[0144] Starting from the first endpoint, extend lines along the first X semi-axis and the first Y semi-axis respectively until they intersect the wall;

[0145] The extended lines are respectively denoted as the first extended line and the second extended line;

[0146] In the second orthogonal coordinate system, divide four quadrants based on the X-axis and Y-axis of the second orthogonal coordinate system;

[0147] Identify the quadrant where the first endpoint is located, and confirm it as the second target quadrant;

[0148] According to the second target quadrant, obtain the X semi-axis and Y semi-axis that divide the second target quadrant, denoted as the second X semi-axis and the second Y semi-axis;

[0149] Starting from the second endpoint, extend lines along the second X semi-axis and the second Y semi-axis respectively until they intersect the wall;

[0150] The extended lines are respectively denoted as the third extended line and the fourth extended line.

[0151] In another embodiment, the extended line generation module 400 is further configured to:

[0152] In the first orthogonal coordinate system, obtain the two X semi-axes of the first orthogonal coordinate system, and take the X semi-axis closer to the second endpoint as the selected semi-axis, denoted as the first X semi-axis;

[0153] In the first orthogonal coordinate system, obtain the two Y semi-axes of the first orthogonal coordinate system, and take the Y semi-axis closer to the second endpoint as the selected semi-axis, denoted as the first Y semi-axis;

[0154] Starting from the first endpoint, extend lines along the first X semi-axis and the first Y semi-axis respectively until they intersect the wall;

[0155] The extended lines are respectively denoted as the first extended line and the second extended line;

[0156] In the second orthogonal coordinate system, obtain the two X semi-axes of the second orthogonal coordinate system, and take the X semi-axis closer to the first endpoint as the selected semi-axis, denoted as the second X semi-axis;

[0157] Obtain the two Y semi-axes of the second orthogonal coordinate system, and take the Y semi-axis closer to the first endpoint as the selected semi-axis, denoted as the second Y semi-axis;

[0158] Starting from the second endpoint, extend lines along the second X semi-axis and the second Y semi-axis respectively until they intersect the wall;

[0159] The extended lines are respectively denoted as the third extended line and the fourth extended line.

[0160] In one embodiment, the inclined boundary line acquisition module 100 includes:

[0161] A door boundary information acquisition unit, configured to acquire door boundary information in the intelligent partition map;

[0162] An inclined boundary line search unit, configured to search for and obtain an inclined boundary line within a preset range of the door boundary information.

[0163] In one embodiment, the door boundary information acquisition unit is further configured to:

[0164] Retrieve the whole-house map obtained after the floor sweeper performs a full-house cleaning, where the whole-house map contains multiple room information;

[0165] Based on the room information, obtain the access channel positions of each room, and obtain the door boundary information corresponding to each room.

[0166] In one embodiment, the room information includes colors, each room is filled with a color, and the colors of adjacent rooms are different from each other. Then, the inclined boundary line search unit is further configured to:

[0167] In the whole-house map, based on each door boundary information, delineate a preset range;

[0168] Within the preset range, according to the colors of each room, determine whether there is a regional boundary line; when there is a regional boundary line, extract the regional boundary line and judge the line slope;

[0169] If the slope is within a preset range, determine the regional boundary line as the inclined boundary line.

[0170] In one embodiment, the inclined boundary line search unit includes a judgment unit, and the judgment unit is configured to:

[0171] Judge whether there are pixel points of different colors within a preset range;

[0172] When there are pixel points of different colors, judge that there is a regional boundary line; among them, the partition line separating different pixel points is the regional boundary line.

[0173] In one embodiment, the inclined boundary line search unit further includes a range generation unit, and the range generation unit is configured to:

[0174] In the whole-house map, based on each door boundary information, judge the area inside the door and the area outside the door of the room;

[0175] Based on the door boundary, delineate a preset range in the direction of the area outside the door.

[0176] In one embodiment, the wall is filled with a specific color different from the colors of the respective rooms. Then, the correction module 500 includes a correction unit, and the correction unit is configured to:

[0177] Clear the inclined boundary line in the intelligent partition map and add the corrected boundary line to the intelligent partition map;

[0178] Divide the preset range into a first area and a second area with the corrected boundary line as the midline;

[0179] Perform four-neighborhood extraction on the first area and the second area respectively to generate first four-neighborhood information and second four-neighborhood information;

[0180] Obtain the colors other than the specific color in the first four-neighborhood information to generate a first filling color;

[0181] Obtain the colors other than the specific color in the second four-neighborhood information to generate a second filling color;

[0182] Fill the first area with the first filling color and fill the second area with the second filling color.

[0183] Refer to Figure 3 , and in an embodiment of the present application, a computer device is further provided. The computer device may be a server, and its internal structure may be as shown in Figure 3 . The computer device includes a processor, a memory, a network interface, and a database connected through a system bus. Among them, the processor of the computer design 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, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data for correcting the room partition of the floor sweeper, etc. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a method for correcting the room partition of a floor sweeper.

[0184] Those skilled in the art can understand that Figure 3 the structure shown in 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.

[0185] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, a method for correcting room partitioning of a floor sweeper is implemented. It can be understood that the computer-readable storage medium in this embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

[0186] In summary, a method, device, equipment and medium for correcting room partitioning of a floor sweeper provided in this embodiment can partition the house map by different rooms, mark different partitions with different colors, mark the wall as a specific color. When the floor sweeper performs partition correction, it can extract the boundary line between partitions based on the color marks between different partitions, and can judge whether the boundary line is inclined by the span of the endpoints at both ends of the partition boundary line. If the partition boundary line is inclined, the inclination of the boundary line will be corrected. At the same time, the inclined boundary line can be cleared, and the corrected boundary line can be marked at the intelligent partition map corresponding to the inclined boundary line, and the adjacent partition colors can be scanned and extended through the four-neighborhood to fill the area near the corrected boundary line, which can effectively solve the problem that the floor sweeper is easily affected by the wall during map building in the prior art, resulting in incomplete map building or the problem of diagonal lines in room partitioning.

[0187] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. 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 methods. Among them, any reference to a memory, storage, database or other medium provided in the present application and used in the embodiments can include non-volatile and / or volatile memories. Non-volatile memories can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0188] It should be noted that in this text, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article or method comprising a series of elements not only includes those elements but also other elements not expressly listed, or further includes elements inherent to such process, apparatus, article or method. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, apparatus, article or method comprising such element.

[0189] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A method for correcting room partition of a floor sweeper, characterized in that, Including: Obtain the inclined boundary line in the intelligent partition map; Obtain the endpoints of the inclined boundary line, which are the first endpoint and the second endpoint respectively; Taking the first endpoint as the origin, the straight line where the wall near the first endpoint is located as the X-axis, and the straight line perpendicular to the X-axis and passing through the first endpoint as the Y-axis, establish the first orthogonal coordinate axis; taking the second endpoint as the origin, the straight line where the wall near the second endpoint is located as the X-axis, and the straight line perpendicular to the X-axis and passing through the second endpoint as the Y-axis, establish the second orthogonal coordinate axis; In the first orthogonal coordinate axis, taking the area where the second endpoint is located as the reference direction, select the X semi-axis and Y semi-axis of the first orthogonal coordinate axis, starting from the first endpoint, respectively extend along the selected X semi-axis and Y semi-axis until intersecting with the wall, and the extended lines are respectively recorded as the first extended line and the second extended line; in the second orthogonal coordinate axis, taking the area where the first endpoint is located as the reference direction, select the X semi-axis and Y semi-axis of the second orthogonal coordinate axis, starting from the second endpoint, respectively extend along the selected X semi-axis and Y semi-axis until intersecting with the wall, and the extended lines are respectively recorded as the third extended line and the fourth extended line; Calculate the length values of the first extended line, the second extended line, the third extended line, and the fourth extended line respectively, and use the extended line corresponding to the minimum length value as the corrected boundary line to perform the correction of the inclined boundary line.

2. The method for correcting room partition of a floor sweeper according to claim 1, characterized in that, The step of, in the first orthogonal coordinate axis, taking the area where the second endpoint is located as the reference direction, selecting the X semi-axis and Y semi-axis of the first orthogonal coordinate axis, starting from the first endpoint, respectively extending along the selected X semi-axis and Y semi-axis until intersecting with the wall, and the extended lines are respectively recorded as the first extended line and the second extended line; in the second orthogonal coordinate axis, taking the area where the first endpoint is located as the reference direction, selecting the X semi-axis and Y semi-axis of the second orthogonal coordinate axis, starting from the second endpoint, respectively extending along the selected X semi-axis and Y semi-axis until intersecting with the wall, and the extended lines are respectively recorded as the third extended line and the fourth extended line includes: In the first orthogonal coordinate axis, divide into four quadrants based on the X-axis and Y-axis of the first orthogonal coordinate axis; Confirm the quadrant where the second endpoint is located, and confirm it as the first target quadrant; According to the first target quadrant, obtain the X semi-axis and Y semi-axis that divide the first target quadrant, and record them as the first X semi-axis and the first Y semi-axis; Starting from the first endpoint, respectively extend along the first X semi-axis and the first Y semi-axis until intersecting with the wall; The extended lines are respectively recorded as the first extended line and the second extended line; In the second orthogonal coordinate axis, divide into four quadrants based on the X-axis and Y-axis of the second orthogonal coordinate axis; Confirm the quadrant where the first endpoint is located, and confirm it as the second target quadrant; According to the second target quadrant, obtain the X semi-axis and Y semi-axis that divide the second target quadrant, and record them as the second X semi-axis and the second Y semi-axis; Starting from the second endpoint, extend lines along the second X semi-axis and the second Y semi-axis respectively until they intersect with the wall. The extended lines are respectively denoted as the third extended line and the fourth extended line.

3. The method for correcting room partition of a floor sweeper according to claim 1, characterized in that, In the first orthogonal coordinate axis, taking the area where the second endpoint is located as the reference direction, select the X semi-axis and the Y semi-axis of the first orthogonal coordinate axis. Starting from the first endpoint, extend lines along the selected X semi-axis and Y semi-axis respectively until they intersect with the wall. The extended lines are respectively denoted as the first extended line and the second extended line; in the second orthogonal coordinate axis, taking the area where the first endpoint is located as the reference direction, select the X semi-axis and the Y semi-axis of the second orthogonal coordinate axis. Starting from the second endpoint, extend lines along the selected X semi-axis and Y semi-axis respectively until they intersect with the wall. The steps of denoting the extended lines as the third extended line and the fourth extended line respectively include: In the first orthogonal coordinate axis, obtain the two X semi-axes of the first orthogonal coordinate axis, and take the X semi-axis closer to the second endpoint as the selected semi-axis, denoted as the first X semi-axis. In the first orthogonal coordinate axis, obtain the two Y semi-axes of the first orthogonal coordinate axis, and take the Y semi-axis closer to the second endpoint as the selected semi-axis, denoted as the first Y semi-axis. Starting from the first endpoint, extend lines along the first X semi-axis and the first Y semi-axis respectively until they intersect with the wall. The extended lines are respectively denoted as the first extended line and the second extended line. In the second orthogonal coordinate axis, obtain the two X semi-axes of the second orthogonal coordinate axis, and take the X semi-axis closer to the first endpoint as the selected semi-axis, denoted as the second X semi-axis. Obtain the two Y semi-axes of the second orthogonal coordinate axis, and take the Y semi-axis closer to the first endpoint as the selected semi-axis, denoted as the second Y semi-axis. Starting from the second endpoint, extend lines along the second X semi-axis and the second Y semi-axis respectively until they intersect with the wall. The extended lines are respectively denoted as the third extended line and the fourth extended line.

4. The method for correcting room partition of a floor sweeper according to any one of claims 1-3, characterized in that, The steps of obtaining the inclined boundary line in the intelligent partition map include: Obtain the door boundary information in the intelligent partition map. Within the preset range of the door boundary information, search for and obtain the inclined boundary line.

5. The method for correcting room partition of a floor sweeper according to claim 4, characterized in that, The steps of obtaining the door boundary information in the intelligent partition map include: Retrieve the whole-house map obtained after the sweeping robot cleans the whole house, where the whole-house map contains information about multiple rooms. Based on the room information, obtain the positions of the access channels for each room and obtain the corresponding door boundary information for each room.

6. The floor sweeping machine room partition correction method according to claim 5, characterized in that, The room information includes colors, and each room is filled with a color, and the colors of adjacent rooms are different. Then the steps of searching for and obtaining the inclined boundary line within the preset range of the door boundary information include: In the whole-house map, based on each door boundary information, delineate a preset range. Within the preset range, according to the colors of each room, determine whether there is the area boundary line; when there is the area boundary line, extract the area boundary line and judge the line slope. If the slope is within the preset range, determine the area boundary line as the inclined boundary line.

7. The floor sweeping machine room partition correction method according to claim 6, characterized in that, The step of delineating a preset range based on each of the door boundary information in the whole-house map includes: In the whole-house map, based on each of the door boundary information, determine the area inside the door and the area outside the door; Based on the door boundary, delineate a preset range in the direction of the area outside the door.

8. The floor sweeping machine room partition correction method according to claim 6, characterized in that, If the wall is filled with a specific color different from the colors of each of the rooms, then the step of performing the correction of the inclined boundary line includes: Clear the inclined boundary line in the intelligent zoning map and add the corrected boundary line to the intelligent zoning map; With the corrected boundary line as the midline, divide the preset range into a first area and a second area; Perform four-neighborhood extraction on the first area and the second area respectively to generate first four-neighborhood information and second four-neighborhood information; Obtain the colors other than the specific color in the first four-neighborhood information to generate a first filling color; Obtain the colors other than the specific color in the second four-neighborhood information to generate a second filling color; Fill the first area with the first filling color and fill the second area with the second filling color.

9. A floor sweeping machine room partition correction device, characterized in that, It includes: An inclined boundary line acquisition module for acquiring the inclined boundary line in the intelligent zoning map; An endpoint generation module for obtaining the endpoints of the inclined boundary line, which are a first endpoint and a second endpoint respectively; An orthogonal coordinate axis creation module for establishing a first orthogonal coordinate axis with the first endpoint as the origin, the straight line where the wall near the first endpoint is located as the X-axis, and the straight line perpendicular to the X-axis and passing through the first endpoint as the Y-axis; and establishing a second orthogonal coordinate axis with the second endpoint as the origin, the straight line where the wall near the second endpoint is located as the X-axis, and the straight line perpendicular to the X-axis and passing through the second endpoint as the Y-axis; An extension line generation module for, in the first orthogonal coordinate axis, taking the area where the second endpoint is located as the reference direction, selecting the X semi-axis and the Y semi-axis of the first orthogonal coordinate axis, and making extension lines from the first endpoint along the selected X semi-axis and Y semi-axis respectively until they intersect with the wall, and the extension lines are respectively recorded as a first extension line and a second extension line; in the second orthogonal coordinate axis, taking the area where the first endpoint is located as the reference direction, selecting the X semi-axis and the Y semi-axis of the second orthogonal coordinate axis, and making extension lines from the second endpoint along the selected X semi-axis and Y semi-axis respectively until they intersect with the wall, and the extension lines are respectively recorded as a third extension line and a fourth extension line; A correction module for respectively calculating the length values of the first extension line, the second extension line, the third extension line, and the fourth extension line, and taking the extension line corresponding to the minimum length value as the corrected boundary line to perform the correction of the inclined boundary line.

10. A computer device, characterized in that, It includes a memory and a processor, and a computer program is stored in the memory. When the processor executes the computer program, the steps of the floor sweeping robot room zoning correction method according to any one of claims 1 to 8 are implemented.

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