Method and apparatus for processing region information, storage medium, and electronic device

Abstract

The application provides a regional information processing method and device, a storage medium and an electronic device. The method comprises the following steps: obtaining a first boundary group corresponding to a target regional map, wherein the first boundary group is a regional boundary used for dividing a plurality of first sub-regions in the target regional map; performing a sub-region operation on the target regional map according to the first boundary group to obtain regional information of each first sub-region in the plurality of first sub-regions; and saving the regional information of each first sub-region, wherein the first boundary group is not saved. By using the technical solution, the problem that the regional information processing method in the related art has high complexity of regional information processing due to the need to maintain additional information is solved.

Description

[Technical Field]

[0001] This application relates to the field of smart homes, and more specifically, to a method and apparatus for processing area information, a storage medium, and an electronic device. [Background Technology]

[0002] Currently, when configuring area maps for cleaning equipment (such as robotic vacuum cleaners), map operations can be assisted by adding area boundaries (area boundary lines, or dividing lines), such as partitioning, and the added area boundaries can be saved.

[0003] However, the aforementioned method of using additional area boundaries in the area map to help determine the partitions requires ensuring the accuracy of the area boundaries when performing partition-related operations (such as cleaning operations) to avoid operational anomalies. Therefore, the processing of area information is highly complex.

[0004] It is evident that the regional information processing methods in related technologies suffer from high complexity due to the need to maintain additional information. [Summary of the Invention]

[0005] The purpose of this application is to provide a method and apparatus for processing area information, a storage medium and an electronic device, so as to at least solve the problem that the area information processing methods in the related art have high complexity due to the need to maintain additional information.

[0006] The purpose of this application is to achieve the following technical solution:

[0007] According to one aspect of the embodiments of this application, a method for processing regional information is provided, comprising: obtaining a set of first boundaries corresponding to a target region map, wherein the set of first boundaries is a set of regional boundaries used to divide a plurality of first partitions in the target region map; performing a partitioning operation on the target region map according to the set of first boundaries to obtain regional information of each of the plurality of first partitions; and saving the regional information of each first partition, wherein the set of first boundaries is not saved.

[0008] In an example embodiment, the obtaining the first set of boundaries corresponding to the target area map comprises: obtaining a set of to-be-updated boundaries, wherein the set of to-be-updated boundaries are region boundaries identified by the cleaning device in a process in which the cleaning device cleans a to-be-cleaned region in the target area map; in a case where the to-be-cleaned region contains a set of existing sub-regions, extracting a set of existing boundaries according to region information of each existing sub-region in the set of existing sub-regions, wherein the set of existing boundaries are region boundaries of the set of existing sub-regions; and updating the set of existing boundaries using the set of to-be-updated boundaries to obtain the first set of boundaries.

[0009] In an example embodiment, the updating the set of existing boundaries using the set of to-be-updated boundaries to obtain the first set of boundaries comprises: determining at least one matched boundary pair having a matching relationship in the set of to-be-updated boundaries and the set of existing boundaries, wherein each matched boundary pair in the at least one matched boundary pair contains a first matched boundary belonging to the set of to-be-updated boundaries and a second matched boundary in the set of existing boundaries that matches the first matched boundary; determining a fusion boundary corresponding to each matched boundary pair according to the first matched boundary and the second matched boundary in each matched boundary pair to obtain at least one fusion boundary; and determining the first set of boundaries according to the at least one fusion boundary, a first target boundary, and a second target boundary, wherein the first target boundary is a boundary in the set of to-be-updated boundaries other than the first matched boundary, and the second target boundary is a boundary in the set of existing boundaries other than the second matched boundary.

[0010] In an example embodiment, the determining the fusion boundary corresponding to each matched boundary pair according to the first matched boundary and the second matched boundary in each matched boundary pair comprises: determining the first matched boundary in each matched boundary pair as the fusion boundary corresponding to each matched boundary pair; or determining the second matched boundary in each matched boundary pair as the fusion boundary corresponding to each matched boundary pair; or performing boundary fusion on the first matched boundary and the second matched boundary in each matched boundary pair to obtain the fusion boundary corresponding to each matched boundary pair.

[0011] In an example embodiment, the determining the set of first boundaries according to the at least one fusion boundary, the first target boundary and the second target boundary comprises: determining a to-be-removed boundary in the second target boundary, wherein the to-be-removed boundary is a region boundary in the second target boundary that has been invalidated according to the set of to-be-updated boundaries; determining the at least one fusion boundary, the first target boundary and the second target boundary except the to-be-removed boundary as the set of first boundaries.

[0012] In an example embodiment, after the saving the region information of each first partition, the method further comprises: displaying the target region map in a target configuration interface of a target application, wherein different partitions are represented by different region parameters in the target region map; detecting a regionization operation performed on a to-be-partitioned region in the target region map, wherein the to-be-partitioned region contains at least one second partition, and the regionization operation is an operation of adding a set of second boundaries in the to-be-partitioned region; performing a partitioning operation on the to-be-partitioned region according to the set of second boundaries to obtain region information of each third partition in a plurality of third partitions; saving the region information of each third partition, wherein the set of second boundaries is not saved.

[0013] In an example embodiment, after the saving the region information of each first partition, the method further comprises: displaying the target region map in a target configuration interface of a target application, wherein different partitions are represented by different region parameters in the target region map; detecting a regionization operation performed on a to-be-partitioned region in the target region map, wherein the to-be-partitioned region contains at least one second partition, and the regionization operation is an operation of adding a set of second boundaries in the to-be-partitioned region; performing a partitioning operation on the to-be-partitioned region according to the set of second boundaries to obtain region information of each third partition in a plurality of third partitions; saving the region information of each third partition, wherein the set of second boundaries is not saved.

[0014] According to another aspect of the embodiments of the present application, a region information processing apparatus is also provided, comprising: an acquisition unit configured to acquire a set of first boundaries corresponding to a target region map, wherein the set of first boundaries are region boundaries used to divide a plurality of first partitions in the target region map; a first execution unit configured to perform a partitioning operation on the target region map according to the set of first boundaries to obtain region information of each first partition in the plurality of first partitions; and a first saving unit configured to save the region information of each first partition, wherein the set of first boundaries is not saved.

[0015] In an example embodiment, the obtaining unit comprises: an obtaining module configured to obtain a set of to-be-updated boundaries, wherein the set of to-be-updated boundaries are boundaries of regions identified by the cleaning device in a process in which the cleaning device cleans a to-be-cleaned region in the target region map; an extracting module configured to, in a case where the to-be-cleaned region contains a set of existing partitions, extract a set of existing boundaries according to region information of each existing partition in the set of existing partitions, wherein the set of existing boundaries are region boundaries of the set of existing partitions; and an updating module configured to update the set of existing boundaries using the set of to-be-updated boundaries to obtain the set of first boundaries.

[0016] In an example embodiment, the updating module comprises: a first determining submodule configured to determine at least one matched boundary pair having a matching relationship in the set of to-be-updated boundaries and the set of existing boundaries, wherein each matched boundary pair in the at least one matched boundary pair contains a first matched boundary belonging to the set of to-be-updated boundaries and a second matched boundary in the set of existing boundaries that matches the first matched boundary; a second determining submodule configured to determine a fusion boundary corresponding to each matched boundary pair according to the first matched boundary and the second matched boundary in each matched boundary pair to obtain at least one fusion boundary; and a third determining submodule configured to determine the set of first boundaries according to the at least one fusion boundary, a first target boundary, and a second target boundary, wherein the first target boundary is a boundary in the set of to-be-updated boundaries other than the first matched boundary, and the second target boundary is a boundary in the set of existing boundaries other than the second matched boundary.

[0017] In an example embodiment, the second determining submodule comprises: a first determining subunit configured to determine the first matched boundary in each matched boundary pair as the fusion boundary corresponding to each matched boundary pair; or a second determining subunit configured to determine the second matched boundary in each matched boundary pair as the fusion boundary corresponding to each matched boundary pair; or a fusion subunit configured to perform boundary fusion on the first matched boundary and the second matched boundary in each matched boundary pair to obtain the fusion boundary corresponding to each matched boundary pair.

[0018] In an example embodiment, the third determining sub-module comprises: a third determining sub-unit configured to determine a to-be-removed boundary in the second target boundary, wherein the to-be-removed boundary is a region boundary in the second target boundary that has become invalid according to the set of to-be-updated boundaries; and a fourth determining sub-unit configured to determine the at least one fusion boundary, the first target boundary, and other boundaries in the second target boundary except the to-be-removed boundary as the set of first boundaries.

[0019] In an example embodiment, the apparatus further comprises: a first display unit configured to display the target region map in a target configuration interface of a target application after the saving of the region information of each first partition, wherein different partitions are represented by different region parameters in the target region map; a first detection unit configured to detect a regionization operation performed on a to-be-partitioned region in the target region map, wherein the to-be-partitioned region contains at least one second partition, and the regionization operation is an operation of adding a set of second boundaries in the to-be-partitioned region; a second execution unit configured to perform a partitioning operation on the to-be-partitioned region according to the set of second boundaries to obtain region information of each third partition in the plurality of third partitions; and a second saving unit configured to save the region information of each third partition, wherein the set of second boundaries is not saved.

[0020] In an example embodiment, the apparatus further comprises: a second display unit configured to display the target region map in a target configuration interface of a target application after the saving of the region information of each first partition, wherein different partitions are represented by different region parameters in the target region map; a second detection unit configured to detect a regionization operation performed on at least two fourth partitions in the target region map, wherein the regionization operation is an operation of merging the at least two fourth partitions into one partition; a merging unit configured to merge the two fourth partitions into one merged partition according to the region information of each of the two fourth partitions; and a third saving unit configured to save the region information of the one merged partition.

[0021] According to another aspect of the embodiments of the present application, a computer readable storage medium is provided, which stores a computer program. The computer program is configured to execute the above-mentioned processing method of region information when running.

[0022] According to another aspect of the embodiments of the present application, an electronic device is provided, which comprises a memory, a processor, and a computer program stored in the memory and capable of running on the processor. The processor executes the above-mentioned processing method of region information through the computer program.

[0023] In the embodiments of the present application, the method of saving only the region information of each partition after dividing the target region map, without saving the boundaries of each partition, is adopted. A set of first boundaries corresponding to the target region map is obtained, wherein the set of first boundaries is the region boundary used to divide a plurality of first partitions in the target region map. The partition operation is performed on the target region map according to the set of first boundaries, and the region information of each first partition in the plurality of first partitions is obtained. The region information of each first partition is saved, wherein the set of first boundaries is not saved. Since the partition can be assisted based on the region boundary, the convenience of the partition operation processing can be ensured. Only the region information of the partition is saved, without saving the additional region boundary, which can reduce the additional information to be saved and maintained, improve the processing efficiency of the region information, and solve the problem of high complexity of the region information processing caused by the need to maintain additional information in the related art. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the application.

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, those skilled in the art can obtain other drawings according to these drawings without any creative effort.

[0026] Figure 1 FIG. 1 is a schematic diagram of a hardware environment of an optional region information processing method according to an embodiment of the present application;

[0027] Figure 2 FIG. 2 is a flowchart of an optional region information processing method according to an embodiment of the present application;

[0028] Figure 3 FIG. 3 is a schematic diagram of an optional region information processing method according to an embodiment of the present application;

[0029] Figure 4 FIG. 4 is a structural block diagram of an optional region information processing device according to an embodiment of the present application;

[0030] Figure 5 FIG. 5 is a structural block diagram of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0031] The present application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the present application can be combined with each other.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0033] According to one aspect of the embodiments of this application, a method for processing area information is provided. Optionally, in this embodiment, the above-described method for processing area information can be applied to, for example... Figure 1 The hardware environment shown consists of terminal device 102, cleaning device 104, and server 106. For example... Figure 1 As shown, terminal device 102 can connect to cleaning device 104 and / or server 106 (e.g., IoT platform or cloud server) via a network to control cleaning device 104, such as binding to cleaning device 104 and configuring the cleaning functions of cleaning device 104. Cleaning device 104 may include a host and a base station (e.g., a sweeper and a base station, a cleaning machine and a base). The host and the base station can connect via a network to determine the current status of the other end (e.g., battery status, working status, location information, etc.).

[0034] The aforementioned network may include, but is not limited to, at least one of the following: wired network, wireless network. The aforementioned wired network may include, but is not limited to, at least one of the following: wide area network (WAN), metropolitan area network (MAN), local area network (LAN). The aforementioned wireless network may include, but is not limited to, at least one of the following: Wi-Fi (Wireless Fidelity), Bluetooth, infrared. The network used by the terminal device 102 to communicate with the cleaning device 104 and / or the server 106 may be the same as or different from the network used by the cleaning device 104 to communicate with the server 106. The terminal device 102 is not limited to PCs, mobile phones, tablets, etc. The cleaning device 104 may include, but is not limited to, robotic vacuum cleaners, such as automatic mop-washing robots, self-cleaning robots, etc. The server 106 may be a server of an IoT platform.

[0035] The area information processing method of this application embodiment can be executed by a single terminal device 102, cleaning device 104, or server 106, or it can be executed jointly by at least two of the terminal device 102, cleaning device 104, and server 106. The area information processing method of this application embodiment can also be executed by a client installed on the terminal device 102 or cleaning device 104.

[0036] Taking the processing method of the region information performed by the terminal device 102 in this embodiment as an example, Figure 2 is a flowchart of an optional processing method of region information according to an embodiment of the present application, as shown in the figure, the flow of the method can include the following steps: Figure 2

[0037] In step S202, a set of first boundaries corresponding to the target region map is obtained, wherein the set of first boundaries is a region boundary used to divide a plurality of first sub-regions in the target region map.

[0038] The processing method of region information in this embodiment can be applied to a scenario of performing a map operation based on the region boundary collected by the cleaning device. The region boundary can be a region boundary in the target region map of the cleaning device, which can correspond to an obstacle such as a grid door, a sliding door, a wall, a large piece of furniture, and the like detected by the cleaning device, or other region boundaries that can be used as a partition line. The map operation can be a partition operation, a merging operation of sub-regions, an increasing operation of sub-regions, and the like performed in the target region map. The type of region boundary and the type of map operation are not limited in this embodiment.

[0039] Optionally, during the cleaning (e.g., sweeping) of the target region (e.g., the entire room, the bedroom, the living room, the bathroom, and the like) by the cleaning device (which can be the first cleaning or the re-cleaning), the target region can be detected by a detection component such as a laser radar, and the boundary information in the target region can be obtained by performing region detection. At the same time, the preset target (e.g., different types of doors such as a grid door and a sliding door, a step, and the like) in the target region can be identified by a detection component such as an infrared sensor, and information of the grid door, the sliding door, and the like that can be used for partition processing can be obtained. The boundary information and the information of the preset target identified from the target region can be used for partitioning.

[0040] After the detection of the target region is completed, the detected region information (such as the boundary information, the information of the preset target, and the like) can be sent to a target application running on the terminal device. The target application can be an application for performing a map operation, such as an application for performing map partitioning. The target application can obtain the region information detected by the cleaning device, and based on the detected region information, a target region map corresponding to the target region can be generated or updated.

[0041] ​For the target area map, the target application can obtain a first set of boundaries (or a first set of segmentation lines) corresponding to the target area map. The first set of boundaries can be used to divide the target area map into a plurality of first partitions as region boundaries, and each first partition can correspond to a region in the target area. The first set of boundaries can be all region boundaries in the target area map, or can be part of the region boundaries in the target area map, which is not limited in the embodiment.

[0042] For example, the target area is usually divided into multiple partitions by door frames and the like, so the target area map can be divided into different partitions according to information such as grid doors and sliding doors.

[0043] It should be noted that for a cleaning device with a partition processing function, the target application described above can also run on the cleaning device, that is, the cleaning device can execute the region information processing method in the embodiment. Therefore, each step in the embodiment can also be executed by the cleaning device without contradiction.

[0044] In step S204, a partition operation is performed on the target area map according to the first set of boundaries to obtain region information of each first partition in the plurality of first partitions.

[0045] Optionally, after obtaining the first set of boundaries, the target application can perform a partition operation on the target area map based on the first set of boundaries to obtain a plurality of first partitions. The region boundary of each first partition in the plurality of first partitions can include at least one first boundary in the first set of boundaries.

[0046] In the embodiment, in order to accurately position the position of each first partition, the position of each first partition on the target area map can be calculated and processed to obtain the region information of each first partition. Here, the region information of each first partition can be saved by one or more region attributes.

[0047] For example, the region map can be divided into a plurality of partitions by a set of segmentation lines, and the partition information of each partition can be determined, such as the center point coordinates of the partition, the length, width, and area information of the partition, and can also include color information of the partition displayed on the target area map, etc.

[0048] In step S206, the region information of each first partition is saved, and the first set of boundaries is not saved.

[0049] In the embodiment, after obtaining the area information of each first partition, the area information of each first partition can be saved, for example, saved locally to the terminal device, sent to the server for saving, or sent to the cleaning device for saving through the server. The way of saving the area information of each first partition is not limited in the embodiment.

[0050] If a set of first boundaries is saved separately as the partition line of a first partition, the area information of each first partition and the set of first boundaries need to be maintained simultaneously, which not only increases the saved information, but also increases the complexity of map processing when displaying the target area map or performing other map processing.

[0051] To improve the simplicity of the target area map display and the convenience of maintaining the target area map, redundant information can be removed, and the area boundary of each partition can be calculated through the area information of each first partition when the area boundary is needed. Therefore, in the embodiment, the set of first boundaries can not be saved, and only the area information of each first partition is saved, which is convenient for the cleaning device to call when cleaning.

[0052] For example, after the first cleaning of the sweeping robot is completed, the robot can return to the charging base for charging and partition processing. During the partition processing, only the information of the grid door and the sliding door can be used for partitioning, and the partition line related information is not saved after the partitioning is completed.

[0053] Through the above steps S202 to S206, a set of first boundaries corresponding to the target area map is obtained, wherein the set of first boundaries is the area boundary for dividing a plurality of first partitions in the target area map; a partition operation is performed on the target area map according to the set of first boundaries to obtain the area information of each first partition in the plurality of first partitions; and the area information of each first partition is saved, wherein the set of first boundaries is not saved, thereby solving the problem that the related art method of processing the area information has high complexity of processing the area information due to the need to maintain additional information, reducing the complexity of processing the area information and reducing the amount of information to be saved.

[0054] In an example embodiment, obtaining a set of first boundaries corresponding to the target area map comprises:

[0055] S11, obtaining a set of to-be-updated boundaries, wherein the set of to-be-updated boundaries is the area boundary recognized by the cleaning device in the process of cleaning the to-be-cleaned area in the target area map by the cleaning device;

[0056] S12, in the case that the to-be-cleaned region contains a set of existing partitions, extracting a set of existing boundaries according to the region information of each existing partition in the set of existing partitions, wherein the set of existing boundaries are the region boundaries of the set of existing partitions;

[0057] S13, updating the set of existing boundaries using the set of to-be-updated boundaries to obtain a set of first boundaries.

[0058] In this embodiment, the set of first boundaries can be a set of region boundaries recognized by the cleaning device in the process of performing a region cleaning once, or a set of region boundaries obtained by updating the existing region boundaries using the newly recognized region boundaries.

[0059] Optionally, when the cleaning device leaves the charging base and starts region cleaning again, the detection components such as the laser radar and the infrared sensor in the foregoing embodiments can be called to identify and detect the to-be-cleaned region (which can be the target region or part of the target region), obtain a set of to-be-updated boundaries (region boundaries, which can be a set of second segmentation lines), and send the obtained set of to-be-updated boundaries to the target application on the terminal device through the server.

[0060] After obtaining the set of to-be-updated boundaries, if the to-be-cleaned region contains a set of existing partitions, the target application can extract the region boundaries of the set of existing partitions, i.e., determine the region boundaries of the set of existing partitions based on the region information of the set of existing partitions to obtain a set of existing boundaries (for example, a set of third segmentation lines). For example, the region boundaries of each existing partition can be determined according to the region information of each existing partition to obtain a set of region boundaries of the set of existing partitions, and the region boundaries in the set of region boundaries can be de-duplicated and / or fused to obtain the set of existing boundaries. The de-duplication refers to removing different region boundaries in the set of region boundaries that correspond to the same boundary of adjacent existing partitions, and the fusion refers to fusing different region boundaries in the set of region boundaries that partially overlap adjacent existing partitions.

[0061] After obtaining the set of to-be-updated boundaries and the set of existing boundaries, the target application can update the set of existing boundaries using the set of to-be-updated boundaries. For example, the set of existing boundaries can be directly updated to the set of to-be-updated boundaries, or the to-be-updated boundaries that are not contained in the set of existing boundaries can be added to the set of existing boundaries. The updated set of existing boundaries is a set of first boundaries.

[0062] For example, the robot cleaner performs area cleaning again, can reuse the previous area map, and also performs door identification such as grid door and sliding door as the first time. After returning to the charging base, the area map is updated. The existing partition region boundary is extracted actively, and the information of the grid door and the sliding door identified this time is combined to update the area map. After the update, no information of the segmentation line is saved.

[0063] Through the embodiment, by extracting the region boundary of the existing partition and updating the region boundary of the existing partition using the newly identified region boundary, the accuracy of the partition update can be improved.

[0064] In an example embodiment, a set of existing boundaries is updated using a set of to-be-updated boundaries to obtain a set of first boundaries, including:

[0065] S21, determining at least one matching boundary pair having a matching relationship in the set of to-be-updated boundaries and the set of existing boundaries, wherein each matching boundary pair in the at least one matching boundary pair includes a first matching boundary belonging to the set of to-be-updated boundaries and a second matching boundary in the set of existing boundaries matching the first matching boundary;

[0066] S22, determining a fusion boundary corresponding to each matching boundary pair according to the first matching boundary and the second matching boundary in each matching boundary pair to obtain at least one fusion boundary;

[0067] S23, determining a set of first boundaries according to the at least one fusion boundary, a first target boundary and a second target boundary, wherein the first target boundary is a boundary in the set of to-be-updated boundaries except the first matching boundary, and the second target boundary is a boundary in the set of existing boundaries except the second matching boundary.

[0068] In the embodiment, in the process of updating the set of existing boundaries using the set of to-be-updated boundaries, at least one matching boundary pair having a matching relationship in the set of to-be-updated boundaries and the set of existing boundaries can be determined first. Here, each matching boundary pair includes a first matching boundary belonging to the set of to-be-updated boundaries and a second matching boundary in the set of existing boundaries matching the first matching boundary. The boundaries in the set of to-be-updated boundaries except the first matching boundary are the first target boundaries (the number can be one or more), and the boundaries in the set of existing boundaries except the second matching boundary are the second target boundaries (the number can be one or more).

[0069] The judgment condition of the matching relationship can include at least one of the following: the boundary positions are close (for example, the distance between the center points is less than or equal to a preset distance threshold), the boundary lengths are close (for example, the difference between the boundary lengths is less than or equal to a preset length difference threshold), the boundary angles are close (for example, the difference between the boundary angles is less than or equal to a preset angle difference threshold), and the like, and can also be other ways of judging the matching relationship, which are not limited in this embodiment.

[0070] For each matching boundary pair, a fusion boundary corresponding to each matching boundary pair can be determined according to the first matching boundary and the second matching boundary in each matching boundary pair, to obtain at least one fusion boundary. The target application can determine a set of first boundaries according to the at least one fusion boundary, the first target boundary, and the second target boundary.

[0071] Through this embodiment, by determining a set of matching boundary pairs in the set of to-be-updated boundaries and the set of existing boundaries, performing boundary fusion on each matching boundary pair respectively, and determining the updated region boundary according to the fused boundary and the remaining boundary, the accuracy of region boundary updating can be improved.

[0072] In one example embodiment, determining a fusion boundary corresponding to each matching boundary pair according to the first matching boundary and the second matching boundary in each matching boundary pair includes:

[0073] S31, determining the first matching boundary in each matching boundary pair as the fusion boundary corresponding to each matching boundary pair; or

[0074] S32, determining the second matching boundary in each matching boundary pair as the fusion boundary corresponding to each matching boundary pair; or

[0075] S33, performing boundary fusion on the first matching boundary and the second matching boundary in each matching boundary pair to obtain the fusion boundary corresponding to each matching boundary pair.

[0076] In this embodiment, the determination of the fusion boundary corresponding to each matching boundary pair can be implemented in various ways, which can include but are not limited to at least one of the following ways:

[0077] Way one: determining the first matching boundary in each matching boundary pair as the fusion boundary corresponding to each matching boundary pair.

[0078] Considering the timeliness of the region boundary, the latest identified region boundary can be taken as the fused region boundary. For example, the region boundary (i.e., the first matching boundary) in each matching boundary pair that belongs to the set of to-be-updated boundaries can be taken as the fusion boundary corresponding to each matching boundary.

[0079] The second matching boundary in each matching boundary pair is determined as the fusion boundary corresponding to each matching boundary pair.

[0080] Considering the convenience of information processing, the original region boundary can be taken as the fusion region boundary. For example, the region boundary belonging to a group of existing boundaries (i.e., the second matching boundary) in each matching boundary pair can be taken as the fusion boundary corresponding to each matching boundary.

[0081] The third way is to perform boundary fusion on the first matching boundary and the second matching boundary in each matching boundary pair to obtain the fusion boundary corresponding to each matching boundary pair.

[0082] In order to improve the accuracy of the boundary determined by the fusion boundary, the first matching boundary and the second matching boundary in each matching boundary pair can be fused. For example, the second position point in the second matching boundary that matches each first position point in the first matching boundary can be determined respectively, and the center point of the first position point and the second position point is determined as the fusion position point, and the part of the first matching boundary and the second matching boundary without matching position points is retained to obtain the fusion boundary. For another example, the boundary between the first matching boundary and the second matching boundary with the same distance from both can also be determined as the fusion boundary, and other ways of fusing region boundaries can also be used, which are not limited in the embodiment.

[0083] According to the embodiment, different ways are used to fuse the matching boundaries in the matching boundary pair according to the use scene, which can improve the flexibility of boundary fusion.

[0084] In one example embodiment, a group of first boundaries is determined according to at least one fusion boundary, a first target boundary and a second target boundary, including:

[0085] S41, determining a to-be-removed boundary in the second target boundary, wherein the to-be-removed boundary is a region boundary in the second target boundary that has been invalidated according to a group of to-be-updated boundaries;

[0086] S42, determining a group of first boundaries from the at least one fusion boundary, the first target boundary and the second target boundary except the to-be-removed boundary.

[0087] In the embodiment, for the second target boundary, all the second target boundaries can be directly removed. Considering that if the part of the region in the to-be-cleaned region is not identified due to the newly added region boundary, it is not possible to determine whether the existing boundary in the region still exists, therefore, different ways can be used to process the second target boundary in the cleaned region and the second target boundary in the uncleaned region.

[0088] Optionally, the invalid region boundaries in the second target boundary can be determined according to the set of to-be-updated boundaries, so as to obtain the to-be-removed boundaries. For example, according to the set of to-be-updated boundaries, the cleaned region in the to-be-cleaned region can be determined, and the second target boundary located in the cleaned region is determined as the to-be-removed boundary. For another example, the region boundary in the second target boundary that has a partial overlap relationship with the set of to-be-updated boundaries can be determined, and the determined region boundary is determined as the to-be-removed boundary. Since the to-be-removed boundary in the second target boundary is invalid, it can be removed without reservation.

[0089] After the to-be-removed boundary in the second target boundary is determined, the at least one fusion boundary, the first target boundary, and the other boundaries in the second target boundary except the to-be-removed boundary can be determined as the set of first boundaries after updating. The first target boundary can be considered as a newly-added region boundary, and the other boundaries can be considered as region boundaries whose effectiveness cannot be determined.

[0090] By the embodiment, by removing the invalid existing boundary and reserving the existing boundary whose effectiveness cannot be determined, the accuracy of the region boundary determination can be improved.

[0091] In an example embodiment, after the region information of each first partition is saved, the method further includes:

[0092] S51, displaying a target region map in a target configuration interface of a target application, wherein different partitions in the target region map are represented by different region parameters;

[0093] S52, detecting a partitioning operation performed on a to-be-partitioned region in the target region map, wherein the to-be-partitioned region contains at least one second partition, and the partitioning operation is an operation of adding a set of second boundaries in the to-be-partitioned region;

[0094] S53, performing a partitioning operation on the to-be-partitioned region according to the set of second boundaries to obtain region information of each third partition in a plurality of third partitions;

[0095] S54, saving the region information of each third partition, wherein the set of second boundaries is not saved.

[0096] In the embodiment, the user can view, modify, and other related operations on the target region map through the target application. For example, the target region map can be displayed in the target configuration interface of the target application, so that the user can perform related partitioning operations on the target region map. Different partitions in the target region map can be distinguished and displayed by different region parameters. The region parameters can be used for region filling, which can be color parameters, grayscale parameters, or other parameters, which are not limited in the embodiment.

[0097] For example, as shown in Figure 3 different partitions can be distinguished by filling different colors, partition 1 can be filled with one color, and partition 2 can be filled with another color. For another example, different partitions can be distinguished by filling different gray scales, partition 1 can be filled with one gray scale, and partition 2 can be filled with another gray scale. For another example, different partitions can be distinguished by using different identifiers, partition 1 can be filled with a left diagonal line, and partition 2 can be filled with a right diagonal line, and so on.

[0098] The user can rezone the existing partitions by adding the boundaries of the split regions. For example, the user can first select the region to be partitioned, which can include a group of second partitions, and then add a group of second boundaries in the region to be partitioned without considering the original region boundaries of the group of second partitions. The target application can detect the above zoning operation and, in response to the detected zoning operation, add a group of second boundaries in the region to be partitioned.

[0099] For example, as shown in Figure 3 the user can select partition 1 and partition 2 when performing the division operation, and then add a split line as a whole to the selected partition 1 and partition 2, thereby re-dividing partition 1 and partition 2 into three partitions, i.e., partition 3, partition 4, and partition 5.

[0100] According to the group of second boundaries, the target application can perform a partitioning operation on the region to be partitioned, which can divide the region to be partitioned into a plurality of third partitions (e.g., the aforementioned partition 3, partition 4, and partition 5). After performing the partitioning operation, the region information of each third partition can be obtained and saved as a historical region map of the target region for subsequent operations, and the group of second boundaries is not saved.

[0101] For example, when the user manually performs region splitting, the user can directly add a split line for region splitting without considering the boundaries of the existing partitions, and no split line information is saved after the split is updated.

[0102] Through the embodiment, when performing region splitting, the region is processed directly based on the added region boundaries, and the region boundaries are not retained after the partitioning, which can improve the convenience of the partitioning operation.

[0103] In one example embodiment, after saving the region information of each first partition, the above method further comprises:

[0104] S61, displaying a target region map in a target configuration interface of a target application, wherein different partitions are represented by different region parameters in the target region map;

[0105] S62, detecting a merge operation performed on at least two fourth partitions in the target area map, wherein the merge operation is an operation of merging the at least two fourth partitions into one partition;

[0106] S63, merging the two fourth partitions into one merged partition according to the area information of each of the two fourth partitions;

[0107] S64, saving the area information of the one merged partition.

[0108] In this embodiment, different partitions in the target area map can be displayed by different area parameters in the target configuration interface of the target application. The user can perform a merge operation on at least two partitions (fourth partitions) in the target area map to merge the at least two fourth partitions into one partition.

[0109] The target application can detect the merge operation performed on the at least two fourth partitions, and in response to the merge operation, obtain the area information of the merged partition according to the area information of each of the two fourth partitions, thereby merging the two fourth partitions into one merged partition. The merged partition can be displayed on the target configuration interface according to the preset area parameter, or can be displayed according to the area parameter of any one of the partitions, which is not limited herein.

[0110] For example, when the user merges different partitions, the user can directly merge two or more areas without considering the boundaries of the existing partitions.

[0111] Through this embodiment, the selected partitions are directly merged based on the area information without considering the area boundaries of the partitions, which can improve the efficiency of area merging.

[0112] It should be noted that, for the foregoing method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the action order described, because according to the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0113] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software necessary for a general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM (Read-Only Memory), a RAM (Random Access Memory), a magnetic disk, or an optical disc) and includes a number of instructions for causing an end device (which can be a mobile phone, a computer, a server, or a network device) to perform the methods described in the various embodiments of the present application.

[0114] According to still another aspect of the embodiments of the present application, a processing apparatus for region information is also provided. Figure 4 is a structural block diagram of an optional processing apparatus for region information according to the embodiments of the present application, as shown in Figure 4 The apparatus can include:

[0115] The acquisition unit 402 is configured to acquire a set of first boundaries corresponding to the target region map, wherein the set of first boundaries are region boundaries for dividing a plurality of first sub-regions in the target region map.

[0116] The first execution unit 404 is connected with the acquisition unit 402 and is configured to perform a partition operation on the target region map according to the set of first boundaries to obtain region information of each first sub-region in the plurality of first sub-regions.

[0117] The first saving unit 406 is connected with the first execution unit 404 and is configured to save the region information of each first sub-region, wherein the set of first boundaries is not saved.

[0118] It should be noted that the acquisition unit 402 in this embodiment can be configured to perform the above step S202, the first execution unit 404 in this embodiment can be configured to perform the above step S204, and the first saving unit 406 in this embodiment can be configured to perform the above step S206.

[0119] The above module is used for acquiring a first boundary set corresponding to the target area map, wherein the first boundary set is a region boundary used for dividing a plurality of first sub-regions in the target area map; performing a sub-region operation on the target area map according to the first boundary set to obtain region information of each first sub-region in the plurality of first sub-regions; and saving the region information of each first sub-region, wherein the first boundary set is not saved, thereby solving the problem of high complexity of region information processing caused by the need to maintain additional information in the related art, reducing the complexity of region information processing, and reducing the amount of information to be saved.

[0120] In an example embodiment, the acquisition unit 402 includes:

[0121] The acquisition module is configured to acquire a set of to-be-updated boundaries, wherein the set of to-be-updated boundaries are region boundaries recognized by the cleaning device in the process of cleaning the to-be-cleaned region in the target area map by the cleaning device.

[0122] The extraction module is configured to, in a case where the to-be-cleaned region contains a set of existing sub-regions, extract a set of existing boundaries from region information of each existing sub-region in the set of existing sub-regions, wherein the set of existing boundaries are region boundaries of the set of existing sub-regions.

[0123] The update module is configured to update the set of existing boundaries using the set of to-be-updated boundaries to obtain a first boundary set.

[0124] In an example embodiment, the update module includes:

[0125] The first determination submodule is configured to determine at least one matching boundary pair in the set of to-be-updated boundaries and the set of existing boundaries, wherein each matching boundary pair in the at least one matching boundary pair contains a first matching boundary in the set of to-be-updated boundaries and a second matching boundary in the set of existing boundaries that matches the first matching boundary.

[0126] The second determination submodule is configured to determine a fusion boundary corresponding to each matching boundary pair according to the first matching boundary and the second matching boundary in each matching boundary pair to obtain at least one fusion boundary.

[0127] The third determination submodule is configured to determine the first boundary set according to the at least one fusion boundary, a first target boundary, and a second target boundary, wherein the first target boundary is a boundary in the set of to-be-updated boundaries other than the first matching boundary, and the second target boundary is a boundary in the set of existing boundaries other than the second matching boundary.

[0128] In an example embodiment, the second determination submodule includes:

[0129] The first determining sub-unit is configured to determine the first matching boundary in each matching boundary pair as the fusion boundary corresponding to each matching boundary pair.

[0130] The second determining sub-unit is configured to determine the second matching boundary in each matching boundary pair as the fusion boundary corresponding to each matching boundary pair.

[0131] The fusion sub-unit is configured to perform boundary fusion on the first matching boundary and the second matching boundary in each matching boundary pair to obtain the fusion boundary corresponding to each matching boundary pair.

[0132] In an example embodiment, the third determining sub-module comprises:

[0133] The third determining sub-unit is configured to determine the to-be-removed boundary in the second target boundary, where the to-be-removed boundary is a region boundary that has been invalidated in the second target boundary according to the set of to-be-updated boundaries.

[0134] The fourth determining sub-unit is configured to determine at least one fusion boundary, the first target boundary, and the other boundaries in the second target boundary except the to-be-removed boundary as the set of first boundaries.

[0135] In an example embodiment, the apparatus further comprises:

[0136] The first display unit is configured to display a target region map on the target configuration interface of the target application after saving the region information of each first partition, where different partitions are represented by different region parameters in the target region map.

[0137] The first detecting unit is configured to detect a partitioning operation performed on a to-be-partitioned region in the target region map, where the to-be-partitioned region contains at least one second partition, and the partitioning operation is an operation of adding a set of second boundaries in the to-be-partitioned region.

[0138] The second executing unit is configured to perform a partitioning operation on the to-be-partitioned region according to the set of second boundaries to obtain the region information of each third partition in a plurality of third partitions.

[0139] The second saving unit is configured to save the region information of each third partition, where the set of second boundaries is not saved.

[0140] In an example embodiment, the apparatus further comprises:

[0141] The second display unit is configured to display a target region map on the target configuration interface of the target application after saving the region information of each first partition, where different partitions are represented by different region parameters in the target region map.

[0142] a second detecting unit, configured to detect a merge operation performed on at least two fourth sub-regions in the target region map, wherein the merge operation is an operation of merging the at least two fourth sub-regions into one sub-region;

[0143] a merging unit, configured to merge the two fourth sub-regions into one merged sub-region according to the region information of each of the two fourth sub-regions;

[0144] a third saving unit, configured to save the region information of the one merged sub-region.

[0145] It should be noted that the above modules have the same examples and application scenarios as the corresponding steps, but are not limited to the content disclosed in the above embodiments. It should be noted that the above modules can run in the hardware environment shown in Figure 1 as a part of the apparatus, and can be implemented by software or hardware, wherein the hardware environment includes a network environment.

[0146] According to another aspect of the embodiments of the present application, a storage medium is further provided. Optionally, in the present embodiment, the storage medium can be used to execute the program code of the processing method of any one of the region information in the embodiments of the present application.

[0147] Optionally, in the present embodiment, the storage medium can be located on at least one of the plurality of network devices in the network shown in the above embodiments.

[0148] Optionally, in the present embodiment, the storage medium is configured to store program code for executing the following steps:

[0149] S1, obtaining a set of first boundaries corresponding to a target region map, wherein the set of first boundaries are region boundaries for dividing a plurality of first sub-regions in the target region map;

[0150] S2, performing a sub-region operation on the target region map according to the set of first boundaries to obtain region information of each of the plurality of first sub-regions;

[0151] S3, saving the region information of each first sub-region, wherein the set of first boundaries is not saved.

[0152] Optionally, the specific examples in the present embodiment can refer to the examples described in the above embodiments, which will not be repeated here.

[0153] Optionally, in the present embodiment, the storage medium can include but is not limited to: a U disk, a ROM, a RAM, a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0154] According to still another aspect of the embodiments of the present application, an electronic device for implementing the processing method of the above-mentioned region information is provided, which can be a server, a terminal, or a combination thereof.

[0155] Figure 5 is a structural block diagram of an optional electronic device according to the embodiments of the present application, as shown in Figure 5 including a processor 502, a communication interface 504, a memory 506 and a communication bus 508, wherein the processor 502, the communication interface 504 and the memory 506 complete communication with each other through the communication bus 508, and wherein

[0156] the memory 506 is configured to store a computer program;

[0157] the processor 502 is configured to execute the computer program stored in the memory 506 to implement the following steps:

[0158] S1, obtaining a first set of boundaries corresponding to a target region map, wherein the first set of boundaries is a region boundary for dividing a plurality of first sub-regions in the target region map;

[0159] S2, performing a partition operation on the target region map according to the first set of boundaries to obtain region information of each first sub-region in the plurality of first sub-regions;

[0160] S3, saving the region information of each first sub-region, wherein the first set of boundaries is not saved.

[0161] Optionally, in the present embodiment, the communication bus can be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The communication bus can be divided into an address bus, a data bus, a control bus, and the like. For the convenience of representation, Figure 5 only one thick line is used in the figure, but it does not mean that there is only one bus or only one type of bus. The communication interface is used for communication between the above-mentioned electronic device and other devices.

[0162] The above-mentioned memory can include a RAM, and can also include a non-volatile memory, for example, at least one disk memory. Optionally, the memory can also be at least one storage device located away from the aforementioned processor.

[0163] As an example, the memory 506 can include, but is not limited to, the acquisition unit 402, the first execution unit 404, and the first storage unit 406 in the control device of the device described above. In addition, other module units in the control device of the device described above can also be included, but are not limited to, which will not be described herein.

[0164] The processor described above can be a general processor, which can include, but is not limited to, a CPU (Central Processing Unit), a NP (Network Processor), and the like. It can also be a DSP (Digital Signal Processing), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or other programmable logic device, discrete gate or transistor logic device, discrete hardware component.

[0165] Optionally, the specific examples in the embodiments can refer to the examples described in the above embodiments, which will not be described herein.

[0166] Those skilled in the art can understand that, Figure 5 The structure shown is only schematic, and the device implementing the processing method of the region information can be a terminal device, which can be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet computer, a palm computer, a Mobile Internet Device (MID), a PAD, or the like. Figure 5 It does not limit the structure of the electronic device described above. For example, the electronic device can further include more or less components (such as a network interface, a display device, etc.) than Figure 5 or have a different configuration from Figure 5 that shown.

[0167] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device by a program, which can be stored in a computer readable storage medium, and the storage medium can include a flash disk, a ROM, a RAM, a magnetic disk or an optical disk, etc.

[0168] The serial number of the embodiments of the present application described above is only for description, and does not represent the advantages and disadvantages of the embodiments.

[0169] The integrated units in the above embodiments, if implemented in the form of software function units and sold or used as independent products, can be stored in the above computer-readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions to make one or more computer devices (which can be personal computers, servers or network devices, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.

[0170] In the above embodiments of the present application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0171] In the several embodiments provided in the present application, it should be understood that the disclosed client can be implemented by other means. Among them, the above-mentioned device embodiments are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the shown or discussed mutual units can be indirect coupling or communication connection through some interface, unit or module, which can be electrical or other forms.

[0172] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place or distributed on multiple network units. Part or all of the units can be selected to achieve the purpose of the scheme provided in the embodiments according to actual needs.

[0173] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The above integrated unit can be realized in the form of hardware or in the form of software function unit.

[0174] The above is only the preferred embodiment of the present application, and it should be pointed out that for those skilled in the art, without departing from the principle of the present application, some improvements and refinements can be made, which should be regarded as the protection scope of the present application.

Claims

1. A method for processing regional information, characterized in that, include: Obtain a set of first boundaries corresponding to the target area map, wherein the set of first boundaries is the area boundary used to divide the target area map into multiple first partitions; Based on the set of first boundaries, a partitioning operation is performed on the target area map to obtain the area information of each of the plurality of first partitions; Save the region information of each first partition, wherein the set of first boundaries is not saved; The step of obtaining a set of first boundaries corresponding to the target area map includes: Obtain a set of boundaries to be updated, wherein the set of boundaries to be updated are the area boundaries identified by the cleaning equipment during the cleaning process of the cleaning equipment cleaning the area to be cleaned in the target area map. If the area to be cleaned contains a set of existing partitions, a set of existing boundaries is extracted based on the area information of each existing partition in the set of existing partitions, wherein the set of existing boundaries is the area boundary of the set of existing partitions; the step of extracting a set of existing boundaries based on the area information of each existing partition in the set of existing partitions includes: determining the area boundary of each existing partition based on the area information of each existing partition to obtain a set of area boundaries of a set of existing partitions, and performing deduplication and / or merging processing on the area boundaries in the set of area boundaries to obtain a set of existing boundaries; The set of existing boundaries is updated using the set of boundaries to be updated to obtain the first set of boundaries.

2. The method according to claim 1, characterized in that, The step of updating the set of existing boundaries using the set of boundaries to be updated to obtain the first set of boundaries includes: Determine at least one matching boundary pair that has a matching relationship with the set of boundaries to be updated and the set of existing boundaries, wherein each of the at least one matching boundary pair includes a first matching boundary belonging to the set of boundaries to be updated and a second matching boundary in the set of existing boundaries that matches the first matching boundary; Based on the first matching boundary and the second matching boundary in each matching boundary pair, a fusion boundary corresponding to each matching boundary pair is determined to obtain at least one fusion boundary; Based on the at least one fusion boundary, the first target boundary, and the second target boundary, a set of first boundaries is determined, wherein the first target boundary is the boundary in the set of boundaries to be updated other than the first matching boundary, and the second target boundary is the boundary in the set of existing boundaries other than the second matching boundary.

3. The method according to claim 2, characterized in that, The step of determining the fusion boundary corresponding to each matching boundary pair based on the first matching boundary and the second matching boundary in each matching boundary pair includes: The first matching boundary in each matching boundary pair is determined as the fusion boundary corresponding to each matching boundary pair; or The second matching boundary in each matching boundary pair is determined as the fusion boundary corresponding to each matching boundary pair; or The first matching boundary and the second matching boundary in each matching boundary pair are merged to obtain the fused boundary corresponding to each matching boundary pair.

4. The method according to claim 2, characterized in that, Determining the set of first boundaries based on the at least one fusion boundary, the first target boundary, and the second target boundary includes: Determine the boundaries to be removed in the second target boundary, wherein the boundaries to be removed are the invalid region boundaries in the second target boundary determined according to the set of boundaries to be updated; The other boundaries among the at least one fusion boundary, the first target boundary, and the second target boundary, excluding the boundary to be removed, are determined as the set of first boundaries.

5. The method according to any one of claims 1 to 4, characterized in that, After saving the region information of each first partition, the method further includes: The target region map is displayed in the target configuration interface of the target application, wherein different regions are represented by different regional parameters in the target region map; A partitioning operation is detected on a region to be partitioned in the target area map, wherein the region to be partitioned contains at least one second partition, and the partitioning operation is an operation of adding a set of second boundaries to the region to be partitioned; Perform a partitioning operation on the region to be partitioned according to the set of second boundaries to obtain the region information of each of the multiple third partitions; The region information of each third partition is saved, wherein the set of second boundaries is not saved.

6. The method according to any one of claims 1 to 4, characterized in that, After saving the region information of each first partition, the method further includes: The target region map is displayed in the target configuration interface of the target application, wherein different regions are represented by different regional parameters in the target region map; A merge operation was detected on at least two fourth partitions in the target area map, wherein the merge operation is an operation that merges the at least two fourth partitions into one partition; Based on the region information of each of the two fourth partitions, the two fourth partitions are merged into one merged partition; Save the region information of the merged partition.

7. A processing device for regional information, characterized in that, include: An acquisition unit is configured to acquire a set of first boundaries corresponding to a target area map, wherein the set of first boundaries is used to divide the target area map into multiple first partitions; acquiring the set of first boundaries corresponding to the target area map includes: acquiring a set of boundaries to be updated, wherein the set of boundaries to be updated is the area boundary identified by the cleaning equipment during the cleaning process of the cleaning equipment on the area to be cleaned in the target area map; if the area to be cleaned contains a set of existing partitions, extracting a set of existing boundaries based on the area information of each existing partition in the set of existing partitions, wherein the set of existing boundaries is the area boundary of the set of existing partitions; extracting a set of existing boundaries based on the area information of each existing partition in the set of existing partitions includes: determining the area boundary of each existing partition based on the area information of each existing partition to obtain a set of area boundaries of a set of existing partitions; performing deduplication and / or fusion processing on the area boundaries in the set of area boundaries to obtain a set of existing boundaries; updating the set of existing boundaries using the set of boundaries to be updated to obtain the set of first boundaries. The first execution unit is configured to perform a partitioning operation on the target area map according to the set of first boundaries, and obtain the area information of each of the plurality of first partitions; The first storage unit is used to store the region information of each first partition, wherein the set of first boundaries is not stored.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program, when executed, performs the method of any one of claims 1 to 6.

9. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to execute the method of any one of claims 1 to 6 through the computer program.

Images