Target cleaning area generation method, apparatus, device, and storage medium

Abstract

The application discloses a target cleaning area generation method, device and equipment and a storage medium. The application discloses the following: performing area search based on a starting area boundary, determining a region to be partitioned in a target environment, obtaining a connection relationship between the region to be partitioned and a starting area and / or a preset reference object in the target environment, merging the starting area and the region to be partitioned according to the connection relationship, and obtaining a target cleaning area. Since the application performs area search based on a starting boundary in the starting area, determines the region to be partitioned in the target environment according to a search result, and merges the starting area and the region to be partitioned according to the connection relationship between the region to be partitioned and the starting area and / or the preset reference object, the target cleaning area is obtained, so that the updating of the cleaning area is completed based on the dynamic change of the area in the target environment, and the cleaning efficiency of the cleaning robot is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology, and in particular to a method, apparatus, device, and storage medium for generating a target clean area. Background Technology

[0002] With the widespread application of smart device technology in home life, a variety of cleaning robots are being used. Because different cleaning scenarios require different cleaning sequences, and the cleaning environment may constantly change during the actual cleaning process, causing the cleaning area to change as well. Currently, it is impossible to adjust the cleaning area of ​​the robot to adapt to changes in the cleaning environment, resulting in low cleaning efficiency.

[0003] The above content is only used to help understand the technical solution of the present invention and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main objective of this invention is to provide a method, apparatus, device, and storage medium for generating a target cleaning area, aiming to solve the technical problem that the existing technology cannot adjust the cleaning area of ​​the cleaning robot according to changes in the cleaning environment, resulting in low cleaning efficiency of the cleaning robot.

[0005] To achieve the above objectives, the present invention provides a method for generating a target clean area, the method comprising the following steps:

[0006] A region search is performed based on the initial region boundary to determine the region to be partitioned in the target environment;

[0007] The regions to be partitioned in the target environment are determined based on the regional search results;

[0008] Obtain the connection relationship between the region to be partitioned and the starting region and / or a preset reference object in the target environment;

[0009] The starting region and the region to be partitioned are merged according to the connection relationship to obtain the target clean region.

[0010] Optionally, obtaining the connection relationship between the region to be partitioned and the starting region and / or a preset reference object in the target environment includes:

[0011] Obtain the partition boundary information of the region to be partitioned;

[0012] The boundary connection information of each boundary of the region to be partitioned is determined based on the boundary information to be partitioned.

[0013] The connection relationship between the region to be partitioned and the starting region and / or a preset reference object in the target environment is determined based on the boundary connection information.

[0014] Optionally, obtaining the partition boundary information of the region to be partitioned includes:

[0015] Obtain the contour information of the region to be partitioned;

[0016] Generate the region boundary line of the area to be partitioned based on the contour information;

[0017] Obtain the partition boundary information of the region to be partitioned based on the region boundary line.

[0018] Optionally, obtaining the partition boundary information of the region to be partitioned based on the region boundary line includes:

[0019] Based on the region boundary line, perform raster processing on each boundary of the region to be partitioned to obtain the boundary raster points corresponding to each boundary.

[0020] Obtain the grid connection information of each boundary grid point;

[0021] The partition boundary information of the region to be partitioned is determined based on the grid connection information.

[0022] Optionally, determining the boundary connection information of each boundary of the region to be partitioned based on the boundary information to be partitioned includes:

[0023] Based on the boundary information to be partitioned, determine the regions to be identified where each boundary of the region to be partitioned is connected.

[0024] Obtain the identification area information for each area to be identified;

[0025] The boundary connection information of each boundary of the region to be partitioned is determined based on the information of the region to be identified.

[0026] Optionally, determining the connection relationship between the region to be partitioned and the starting region and / or a preset reference object in the target environment based on the boundary connection information includes:

[0027] The connection ratio between the region to be partitioned and the starting region is determined based on the boundary connection information.

[0028] Determine whether the connection percentage exceeds a preset connection threshold;

[0029] Based on the judgment result, the connection relationship between the area to be partitioned and the starting area and / or the preset reference object in the target environment is determined.

[0030] Optionally, determining the connection ratio between the region to be partitioned and the starting region based on the boundary connection information includes:

[0031] Obtain the partitioning boundary information of the region to be partitioned and the starting boundary information of the starting region;

[0032] Based on the boundary connection information, determine the first boundary in the region to be partitioned that connects to the starting region, and the second boundary in the starting region that connects to the region to be partitioned.

[0033] The connection ratio between the region to be partitioned and the starting region is determined based on the first boundary and the second boundary.

[0034] Optionally, determining the connection ratio between the region to be partitioned and the starting region based on the first boundary and the second boundary includes:

[0035] The first dimension corresponding to the first boundary is determined based on the boundary information to be partitioned;

[0036] The second dimension corresponding to the second boundary is determined based on the initial boundary information;

[0037] The connection dimension between the first dimension and the second dimension is determined based on the boundary connection information;

[0038] The connection ratio between the region to be partitioned and the starting region is determined based on the connection dimensions.

[0039] Optionally, the step of performing a region search based on the starting region boundary to determine the region to be partitioned in the target environment includes:

[0040] Determine the starting region in the target environment and the starting boundary within the starting region;

[0041] The starting boundary is then rasterized;

[0042] The starting grid point is determined based on the starting boundary after the grid, and a region search is performed based on the starting grid point to determine the region to be partitioned in the target environment.

[0043] Optionally, the step of determining the starting grid point based on the starting boundary after the gridding, and performing a region search based on the starting grid point to determine the region to be partitioned in the target environment, includes:

[0044] Obtain the starting region information of the starting region;

[0045] The search range and search direction are determined based on the initial region information;

[0046] The region search strategy is determined based on the search range, the search direction, and the starting grid point;

[0047] Based on the search strategy, a region search is performed to determine the region to be partitioned in the target environment.

[0048] Optionally, after merging the starting region and the region to be partitioned according to the connection relationship to obtain the target cleaning region, the method further includes:

[0049] Obtain the initial boundary information of the starting region;

[0050] The initial cleaning strategy corresponding to the starting area is determined based on the starting boundary information.

[0051] Obtain the target boundary information of the target cleaning area;

[0052] The initial cleaning strategy is updated based on the target boundary information to obtain the target cleaning strategy for the target cleaning area.

[0053] Furthermore, to achieve the above objectives, the present invention also proposes a target clean area generation device, the target clean area generation device comprising:

[0054] The region search module is used to perform region search based on the starting region boundary to determine the region to be partitioned in the target environment;

[0055] The relationship acquisition module is used to acquire the connection relationship between the region to be partitioned and the starting region and / or a preset reference object in the target environment;

[0056] The region merging module is used to merge the starting region and the region to be partitioned according to the connection relationship to obtain the target clean region.

[0057] Optionally, the relationship acquisition module is further configured to acquire the boundary information of the region to be partitioned; determine the boundary connection information of each boundary of the region to be partitioned based on the boundary information; and determine the connection relationship between the region to be partitioned and the starting region and / or a preset reference object in the target environment based on the boundary connection information.

[0058] Optionally, the relationship acquisition module is further configured to acquire the contour information of the region to be partitioned; generate the region boundary line of the region to be partitioned based on the contour information; and acquire the partition boundary information of the region to be partitioned based on the region boundary line.

[0059] Optionally, the relationship acquisition module is further configured to perform raster processing on each boundary of the region to be partitioned according to the region boundary line to obtain the boundary raster points corresponding to each boundary; obtain the raster connection information of each boundary raster point; and determine the partition boundary information of the region to be partitioned according to the raster connection information.

[0060] Optionally, the relationship acquisition module is further configured to determine the regions to be identified for each boundary connection of the region to be partitioned based on the boundary information to be partitioned; acquire the region information to be identified for each region to be identified; and determine the boundary connection information of each boundary of the region to be partitioned based on the region information to be identified.

[0061] Optionally, the relationship acquisition module is further configured to determine the connection ratio between the region to be partitioned and the starting region based on the boundary connection information; determine whether the connection ratio exceeds a preset connection threshold; and determine the connection relationship between the region to be partitioned and the starting region and / or a preset reference object in the target environment based on the determination result.

[0062] Optionally, the relationship acquisition module is further configured to acquire the partition boundary information of the region to be partitioned and the starting boundary information of the starting region; determine the first boundary in the region to be partitioned that is connected to the starting region, and the second boundary in the starting region that is connected to the region to be partitioned, based on the boundary connection information; and determine the connection ratio between the region to be partitioned and the starting region based on the first boundary and the second boundary.

[0063] Furthermore, to achieve the above objectives, the present invention also proposes a target clean area generation device, the target clean area generation device comprising: a memory, a processor, and a target clean area generation program stored in the memory and executable on the processor, the target clean area generation program being configured to implement the steps of the target clean area generation method as described above.

[0064] Furthermore, to achieve the above objectives, the present invention also proposes a storage medium storing a target clean area generation program, wherein the target clean area generation program, when executed by a processor, implements the steps of the target clean area generation method as described above.

[0065] This invention determines the area to be partitioned in the target environment by performing a region search based on the boundary of the starting region. Based on the region search results, it identifies the area to be partitioned in the target environment, obtains the connection relationship between the area to be partitioned and the starting region and / or a preset reference point in the target environment, and merges the starting region and the area to be partitioned according to the connection relationship to obtain the target clean area. Because this invention obtains the starting region and its starting boundary in the target environment, and performs a region search based on the starting boundary, it determines the root position of the region search. This allows for effective region search around the starting region based on the starting boundary. By determining the area to be partitioned in the target environment based on the region search results, and obtaining the connection relationship between the area to be partitioned and the starting region and / or a preset reference point in the target environment, it accurately determines the subordinate relationship between the area to be partitioned and the starting region, enabling effective merging of the two. By merging the starting region and the area to be partitioned according to the connection relationship to obtain the target clean area, this invention achieves dynamic updates of the clean area based on changes in the target environment, effectively improving the cleaning efficiency of the cleaning robot and effectively avoiding the problem of missed areas. Attached Figure Description

[0066] Figure 1 This is a schematic diagram of the structure of the target clean area generation device in the hardware operating environment involved in the embodiments of the present invention;

[0067] Figure 2 This is a flowchart illustrating the first embodiment of the target clean area generation method of the present invention;

[0068] Figure 3 This is a schematic diagram of the region connection relationship in the first embodiment of the target clean area generation method of the present invention;

[0069] Figure 4 This is a schematic diagram of the merging of clean areas in the first embodiment of the target clean area generation method of the present invention;

[0070] Figure 5 This is a flowchart illustrating the second embodiment of the target clean area generation method of the present invention;

[0071] Figure 6 This is a flowchart illustrating the third embodiment of the target clean area generation method of the present invention;

[0072] Figure 7 This is a structural block diagram of the first embodiment of the target clean area generation device of the present invention.

[0073] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0074] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0075] Reference Figure 1 , Figure 1 This is a schematic diagram of the target clean area generation device structure in the hardware operating environment involved in the embodiments of the present invention.

[0076] like Figure 1 As shown, the target cleaning area generation device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen or an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wireless-Fidelity (Wi-Fi) interface). The memory 1005 may be high-speed random access memory (RAM) or stable non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0077] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the target clean area generation device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0078] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a target clean area generation program.

[0079] exist Figure 1 In the target clean area generation device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the target clean area generation device of the present invention can be set in the target clean area generation device, and the target clean area generation device calls the target clean area generation program stored in the memory 1005 through the processor 1001 and executes the target clean area generation method provided in the embodiment of the present invention.

[0080] This invention provides a method for generating a target clean area, referring to... Figure 2 , Figure 2 This is a flowchart illustrating a first embodiment of a method for generating a target clean area according to the present invention.

[0081] In this embodiment, the method for generating the target clean area includes the following steps:

[0082] Step S10: Perform a region search based on the starting region boundary to determine the region to be partitioned in the target environment.

[0083] It should be understood that the execution subject of the method in this embodiment may be a target cleaning area generation device with data processing, network communication and program running functions, such as the controller in a cleaning robot, or other devices or equipment that can achieve the same or similar functions. Here, the above-mentioned target cleaning area generation device (hereinafter referred to as the area generation device) is used as an example for explanation.

[0084] It should be noted that the target environment can be the environment that the cleaning robot needs to clean, such as a house or a room in a house. The starting area mentioned above can be the area used as the starting point for the search. The starting area can be a known area in the target environment, that is, the starting area is a pre-recorded existing cleaning area. The preset reference objects mentioned above can be obstacles or other types of objects existing in the target environment.

[0085] The target environment may include at least one area, wherein each area includes known areas and unknown areas. The known areas are areas that have been explored by the cleaning robot or have been pre-recorded. The known areas can be cleaned areas or occupied areas (occupied areas can be areas with obstacles or areas that cannot be cleaned); the unknown areas are areas that have not been explored by the cleaning robot or have not been pre-recorded.

[0086] It should be understood that, in order to effectively search for unknown areas in the target environment, the region generation device in this embodiment obtains known areas in the target environment, selects a starting area from the known areas, and a starting boundary in the starting area, uses the starting boundary as a seed point, and performs flooding based on the seed point, thereby realizing the region search for unknown areas around the starting boundary.

[0087] In its implementation, the region generation device can rasterize the target environment. Based on the rasterized target environment, each grid in the target environment is designated as a region. Grids that have been recorded are known regions, while unrecorded grids are unknown regions. The region generation device determines the grid of the starting region and its starting boundary from the grids of the known regions. Using the starting boundary as a seed point, it expands outwards from the seed point to surrounding grid points according to set conditions until no additional grid points are available.

[0088] It should be noted that the region search results can be information about regions connected to the starting boundary obtained from a region search based on the starting boundary. The region to be partitioned can be an unknown region connected to the starting boundary, that is, a region that has not been recorded in advance or a newly added region in the target environment.

[0089] It should be understood that, in order to determine unknown and newly added areas in the target environment, the area generation device in this embodiment performs an area search around the starting boundary according to a preset search strategy, searches for areas to be partitioned that meet the preset area filtering conditions, and stops searching when no additional areas to be partitioned are found.

[0090] In its implementation, the region generation device can search for multiple regions during the region search process. Based on the region search results, it determines the region information corresponding to the multiple searched regions. According to preset region filtering conditions, it filters the multiple searched regions, removes regions that do not meet the conditions, and obtains the regions to be identified. The aforementioned preset region filtering conditions can be pre-set conditions used to determine whether the searched regions can be used as clean regions.

[0091] For example, the region generation device determines, based on the region search results, that the regions connected to the starting boundary are region A, region B, and region C. Among them, region A is an occupied region, and regions B and C are vacant regions. Region A, region B, and region C are filtered according to preset region filtering conditions, and region B and region C are determined to be regions to be partitioned based on the filtering results.

[0092] Step S20: Obtain the connection relationship between the region to be partitioned and the starting region and / or the preset reference objects in the target environment.

[0093] It should be noted that the connection relationship can be a subordinate relationship between the region to be partitioned and the starting region, for example, referring to... Figure 3 , Figure 3The diagram illustrates the region connection relationships. The regions to be partitioned, connected to the starting region, are region A and region B. The length of the connection between region A and the starting region is a large proportion of the boundary length of region A, therefore region A is determined to be a subordinate region of the starting region. Similarly, the length of the connection between region B and the starting region is a large proportion of the boundary length of region B, therefore region B is determined to be a subordinate region of the starting region.

[0094] It should be understood that, in order to accurately obtain the subordinate relationship between the region to be partitioned and the starting region, and thus effectively merge the regions, the region generation device in this embodiment obtains the boundary connection length between the region to be partitioned and the starting region, determines the connection relationship between the region to be partitioned and the starting region based on the boundary information of the region to be partitioned and the boundary information of the starting region, as well as the aforementioned boundary connection length, and thereby determines whether the region to be partitioned is a subordinate region of the starting region.

[0095] Step S30: Merge the starting region and the region to be partitioned according to the connection relationship to obtain the target cleaning region.

[0096] It should be noted that the target cleaning area can be a new cleaning area obtained by merging the starting area and the area to be partitioned.

[0097] It should be understood that, in order to update the clean area in the target environment, the region generation device in this embodiment determines the subordinate relationship between the starting region and the region to be partitioned based on the connection relationship, determines the initial clean area in the target environment based on the starting region, and updates the initial clean area based on the subordinate relationship and the region information of the region to be partitioned, that is, merging the region to be partitioned with the initial clean area to obtain the target clean area, referring to... Figure 4 , Figure 4 This is a schematic diagram of merging clean areas. The initial clean area is connected to two areas to be partitioned, namely A and B. Based on the subordinate relationship between the starting area and the areas to be partitioned, the initial clean area is merged with areas to be partitioned A and B to obtain the target clean area.

[0098] In a specific implementation, after obtaining the target cleaning area, the area generation device acquires the boundary information of the target cleaning area, generates the area boundary line of the target cleaning area based on the boundary information, obtains the initial cleaning strategy of the initial cleaning area, and modifies the initial cleaning strategy based on the area boundary line to obtain the target cleaning strategy, so that the cleaning robot can clean the target cleaning area according to the target cleaning strategy.

[0099] Furthermore, in order to effectively clean the target environment, step S30 above may include:

[0100] Obtain the initial boundary information of the starting region;

[0101] The initial cleaning strategy corresponding to the starting area is determined based on the starting boundary information.

[0102] Obtain the target boundary information of the target cleaning area;

[0103] The initial cleaning strategy is updated based on the target boundary information to obtain the target cleaning strategy for the target cleaning area.

[0104] It should be noted that the initial cleaning strategy can be a cleaning strategy generated based on a known area in the target environment. Since the cleaning area in the target environment is updated at this time, the area generation device generates a new target cleaning strategy based on the updated target cleaning area.

[0105] It should be understood that the region generation device determines the initial cleaning strategy corresponding to the starting region based on the initial boundary information of the starting region. In order to correct the initial cleaning strategy and obtain an updated cleaning strategy, the target boundary information of the target cleaning region is obtained, and the initial cleaning strategy is updated based on the target boundary information to obtain the target cleaning strategy of the target cleaning region.

[0106] This embodiment determines the area to be partitioned in the target environment by performing a region search based on the boundary of the starting region. Based on the region search results, it identifies the area to be partitioned in the target environment and obtains the connection relationship between the area to be partitioned and the starting region and / or a preset reference point in the target environment. Based on this connection relationship, the starting region and the area to be partitioned are merged to obtain the target cleaning area. Because this invention obtains the starting region and its starting boundary in the target environment, and performs a region search based on the starting boundary, it determines the root position of the region search. This allows for effective region search around the starting region based on the starting boundary. By determining the area to be partitioned in the target environment based on the region search results and obtaining the connection relationship between the area to be partitioned and the starting region and / or a preset reference point in the target environment, the attachment relationship between the area to be partitioned and the starting region is accurately determined, allowing for effective merging of the two. The starting region and the area to be partitioned are merged based on the connection relationship to obtain the target cleaning area. This achieves dynamic updates of the cleaning area based on changes in the target environment, effectively improving the cleaning efficiency of the cleaning robot and effectively avoiding the problem of missed cleaning areas.

[0107] refer to Figure 5 , Figure 5 This is a flowchart illustrating a second embodiment of a method for generating a target clean area according to the present invention.

[0108] Based on the first embodiment described above, in this embodiment, step S20 includes:

[0109] Step S201: Obtain the partition boundary information of the region to be partitioned.

[0110] It should be noted that the boundary information to be partitioned can be related information about the boundaries of the region to be partitioned, such as the boundary line information of the regions to be partitioned.

[0111] Furthermore, in order to accurately obtain the partition boundary information of the region to be partitioned, step S201 above may include:

[0112] Step S2011: Obtain the contour information of the region to be partitioned;

[0113] Step S2012: Generate the region boundary line of the area to be partitioned based on the contour information;

[0114] Step S2013: Obtain the partition boundary information of the region to be partitioned based on the region boundary line.

[0115] It should be noted that the contour information can be related to the contour of the region boundary to be partitioned, such as the shape or size of the boundary contour of the region to be partitioned. The aforementioned region boundary lines can be the boundary lines of each boundary of the region to be partitioned.

[0116] It should be understood that the region generation device rasterizes the searched region to be partitioned, extracts the raster boundary based on the rasterized region to be partitioned, thereby obtaining the contour information of the region to be partitioned, and draws the boundary of the region to be partitioned linearly based on the contour information, thereby generating the region boundary line of the region to be partitioned, and obtaining the partition boundary information of the region to be partitioned based on the region boundary line.

[0117] Furthermore, to improve the accuracy of information processing, step S2013 may include:

[0118] Based on the region boundary line, perform raster processing on each boundary of the region to be partitioned to obtain the boundary raster points corresponding to each boundary.

[0119] Obtain the grid connection information of each boundary grid point;

[0120] The partition boundary information of the region to be partitioned is determined based on the grid connection information.

[0121] It should be noted that boundary grid points can be a raster graphic composed of multiple grid points obtained after rasterizing the region boundary line. The aforementioned grid connection information can be the connection information of each boundary grid point, such as which regions each boundary grid point connects to.

[0122] It should be understood that the region generation device performs raster processing on each boundary of the region to be partitioned based on the region boundary line, thereby improving the fineness of the region raster, ensuring the accuracy of information acquisition, obtaining the raster connection information of each boundary raster point, thereby determining the connection status of each boundary raster point, and determining the partition boundary information of the region to be partitioned based on the connection status of each raster point.

[0123] Step S202: Determine the boundary connection information of each boundary of the region to be partitioned based on the boundary information to be partitioned.

[0124] It should be noted that the boundary connection information can be the connection information of each boundary of the area to be partitioned. For example, the boundary connection information can be the connection information between each boundary of the area to be partitioned and other areas.

[0125] In a specific implementation, the region generation device can determine the connection information between each boundary of the region to be partitioned and other regions based on the boundary information of the region to be partitioned. For example, it can determine whether each boundary of the region to be partitioned is connected to other regions, whether each boundary is connected to a wall, or the connection between the region to be partitioned and the starting boundary of the starting region based on the boundary connection information.

[0126] Furthermore, in order to accurately obtain the connection information of each boundary, step S302 above may include:

[0127] Step S2021: Determine the regions to be identified by connecting each boundary of the region to be partitioned based on the boundary information to be partitioned;

[0128] Step S2022: Obtain the information of the region to be identified for each region to be identified;

[0129] Step S2023: Determine the boundary connection information of each boundary of the region to be partitioned based on the region information to be identified.

[0130] It should be noted that the region to be identified can be any region connected to the boundaries of the region to be partitioned. Since the region to be partitioned is an unknown region, the region generation device cannot directly obtain relevant information about other regions connected to the boundaries of the unknown region to be partitioned. Therefore, the region generation device can identify the regions connected to each boundary based on the partitioning boundary information of the region to be partitioned, thereby determining the region to be identified connected to each boundary.

[0131] Step S203: Determine the connection relationship between the region to be partitioned and the starting region and / or the preset reference objects in the target environment based on the boundary connection information.

[0132] It should be understood that the region generation device determines the connection length between the boundary of the region to be partitioned and the starting boundary based on the boundary connection information, obtains the boundary information of the region to be partitioned, determines the boundary length of the region to be partitioned based on the boundary information, and determines the ratio between the connection length and the boundary length. If the ratio exceeds the preset ratio, the connection relationship between the region to be partitioned and the starting region is determined to be a subordinate relationship, that is, the region to be partitioned is subordinate to the starting region.

[0133] Furthermore, in order to accurately determine the subordinate relationship between the area to be partitioned and the starting area, thereby improving the efficiency of merging clean areas, step S203 above may include:

[0134] Step S2031: Determine the connection ratio between the region to be partitioned and the starting region based on the boundary connection information;

[0135] Step S2032: Determine whether the connection ratio exceeds a preset connection threshold;

[0136] Step S2033: Determine the connection relationship between the area to be partitioned and the starting area and / or the preset reference object in the target environment based on the judgment result.

[0137] It should be noted that the connection ratio can be the ratio of the length of the connection between the boundary of the region to be partitioned and the boundary of the starting region to the length of the boundary of the region to be partitioned. The preset connection threshold can be a pre-set threshold used to determine whether the region to be partitioned is a subordinate region of the starting region. The aforementioned preset reference can be a wall, obstacle, or other type of reference.

[0138] It should be understood that the region generation device obtains information about the boundary and external connections of the region to be partitioned based on the boundary connection information. If the length of the connection between the boundary of the region to be partitioned and the starting region is a large proportion of the boundary length of the region to be partitioned, it is highly likely that the region is attached to the starting region. If the length of the connection between the boundary of the region to be partitioned and the preset reference is a large proportion, it is determined that the connection boundary between the region to be partitioned and the preset reference may be blocked by the preset reference. For example, if the length of the connection between the region to be partitioned and the wall is a large proportion of the boundary length, it means that the region to be partitioned may be blocked by the wall, and the possibility of it being attached is not high. If the length of the connection with the unknown region is a large proportion of the boundary, it is very likely that there is an area that the radar has not yet detected on the other side of the unknown region, which may be a new room, and the possibility of it being attached becomes lower.

[0139] Furthermore, in order to accurately obtain the connection ratio between the region to be partitioned and the starting region, step S2031 above may include:

[0140] Obtain the partitioning boundary information of the region to be partitioned and the starting boundary information of the starting region;

[0141] Based on the boundary connection information, determine the first boundary in the region to be partitioned that connects to the starting region, and the second boundary in the starting region that connects to the region to be partitioned.

[0142] The connection ratio between the region to be partitioned and the starting region is determined based on the first boundary and the second boundary.

[0143] It should be noted that the boundary information to be partitioned can be the boundary information of each boundary of the region to be partitioned, such as the size information of each boundary of the region to be partitioned. The starting boundary information can be the boundary information of each boundary of the starting region, such as the size information of each boundary of the starting region. The first boundary mentioned above can be the boundary in the region to be partitioned that connects to the starting region; the second boundary mentioned above can be the boundary in the starting region that connects to the region to be partitioned.

[0144] Furthermore, in order to accurately obtain the connection ratio between the first boundary and the second boundary, the above-mentioned determination of the connection ratio between the region to be partitioned and the starting region based on the first boundary and the second boundary may include:

[0145] The first dimension corresponding to the first boundary is determined based on the boundary information to be partitioned;

[0146] The second dimension corresponding to the second boundary is determined based on the initial boundary information;

[0147] The connection dimension between the first dimension and the second dimension is determined based on the boundary connection information;

[0148] The connection ratio between the region to be partitioned and the starting region is determined based on the connection dimensions.

[0149] It should be noted that the first dimension can be the boundary dimension of the boundary connecting the region to be partitioned to the starting region; the second dimension can be the boundary dimension of the boundary connecting the region to be partitioned to the starting region. The connected dimension can be the dimension of the portion of the first dimension that connects to the second dimension.

[0150] It should be understood that, in order to accurately obtain the connection ratio between the region to be partitioned and the starting region, the region generation device obtains the size information of the first boundary in the region to be partitioned that is connected to the starting region, obtains the size information of the second boundary in the starting region that is connected to the region to be partitioned, determines the connection size between the first boundary and the second boundary based on the first size and the second size, and determines the ratio between the connection size and the first size based on the connection size and the first size of the first boundary, thereby determining the connection ratio between the region to be partitioned and the starting region. If the ratio between the connection size and the first size is large (i.e., exceeds a preset connection threshold), then the region to be partitioned is determined to be an affiliated region of the starting region.

[0151] This embodiment obtains the boundary information of the region to be partitioned, determines the boundary connection information of each boundary of the region to be partitioned based on the boundary information, and determines the connection relationship between the region to be partitioned and the starting region and / or a preset reference object in the target environment based on the boundary connection information. Because this invention determines the boundary connection information of each boundary of the region to be partitioned based on the boundary information of the region to be partitioned, it obtains information about each region connected to the region to be partitioned, and determines the connection relationship between the region to be partitioned and the starting region based on the boundary connection information, thereby accurately determining the subordinate relationship between the region to be partitioned and the starting region, and improving the efficiency of region merging.

[0152] refer to Figure 6 , Figure 6 This is a flowchart illustrating a third embodiment of a method for generating a target clean area according to the present invention.

[0153] Based on the first embodiment described above, in this embodiment, step S10 includes:

[0154] Step S101: Determine the starting region in the target environment and the starting boundary in the starting region.

[0155] It should be noted that the target environment includes multiple regions, among which those that have been identified or recorded are known regions, while those that have not been identified or recorded are unknown regions. The region generation device selects one of the known regions from the target environment as the starting region.

[0156] It should be understood that there are multiple boundaries in the starting region. The region generation device performs raster processing on each boundary of the starting region and selects one of the boundaries from the raster-processed boundaries as the starting boundary. The starting boundary can be a raster point after raster processing.

[0157] Step S102: Perform grid processing on the starting boundary.

[0158] It should be understood that, in order to accurately perform region search based on the starting boundary, the region generation device in this embodiment performs raster processing on the starting boundary to obtain the rasterized starting boundary, wherein there are multiple raster points in the rasterized starting boundary, that is, multiple raster points form the raster pattern of the starting boundary.

[0159] Step S103: Determine the starting grid point based on the starting boundary after the grid, and perform a region search based on the starting grid point to determine the region to be partitioned in the target environment.

[0160] It should be noted that the starting grid point can be one of the grid points in the initial boundary after rasterization. The graphic obtained after rasterizing the initial boundary contains multiple grid points. In order to ensure the accuracy of the search, one of the grid points is selected as the starting grid point, and the region search is performed based on the starting grid point.

[0161] It should be understood that the region generation device selects a grid point from the initial boundary behind the grid as a seed point (i.e., the starting grid point), and performs a region search starting from the seed point according to the preset search conditions.

[0162] Furthermore, to improve the efficiency of the area search, step S103 above may include:

[0163] Step S1031: Obtain the starting region information of the starting region;

[0164] Step S1032: Determine the search range and search direction based on the starting area information;

[0165] Step S1033: Determine the region search strategy based on the search range, the search direction, and the starting grid point;

[0166] Step S1034: Perform a region search based on the search strategy to determine the region to be partitioned in the target environment.

[0167] It should be noted that the starting region information can include the location and extent of the starting region. The search range mentioned above can be the search area of ​​a region search, and the search direction mentioned above can be the search direction of a region search. The region search strategy mentioned above can be a flooding search strategy generated based on the search direction and search range.

[0168] This embodiment determines a starting region and a starting boundary within the target environment, performs rasterization on the starting boundary, determines starting raster points based on the rasterized starting boundary, and performs a region search based on the starting raster points to determine the region to be partitioned in the target environment. Because this invention selects a starting region and its starting boundary within a known area of ​​the target environment, it effectively avoids the problem of missing unknown regions during the search. By performing rasterization on the starting boundary, determining starting raster points based on the rasterized starting boundary, and performing a region search based on the starting raster points to determine the region to be partitioned in the target environment, the accuracy of the region search is improved, effectively enhancing the precision of the search.

[0169] Furthermore, this embodiment of the invention also proposes a storage medium storing a target clean area generation program, which, when executed by a processor, implements the steps of the target clean area generation method described above.

[0170] Since this storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0171] Reference Figure 7 , Figure 7 This is a structural block diagram of the first embodiment of the target clean area generation device of the present invention.

[0172] like Figure 7 As shown, the target clean area generation device proposed in this embodiment of the invention includes:

[0173] The region search module 10 is used to perform a region search based on the starting region boundary to determine the region to be partitioned in the target environment;

[0174] The relationship acquisition module 20 is used to acquire the connection relationship between the region to be partitioned and the starting region and / or the preset reference objects in the target environment;

[0175] The region merging module 30 is used to merge the starting region and the region to be partitioned according to the connection relationship to obtain the target clean region.

[0176] Furthermore, the relationship acquisition module 20 is also used to acquire the boundary information of the region to be partitioned; determine the boundary connection information of each boundary of the region to be partitioned based on the boundary information; and determine the connection relationship between the region to be partitioned and the starting region and / or a preset reference object in the target environment based on the boundary connection information.

[0177] Furthermore, the relationship acquisition module 20 is also used to acquire the contour information of the region to be partitioned; generate the region boundary line of the region to be partitioned based on the contour information; and acquire the partition boundary information of the region to be partitioned based on the region boundary line.

[0178] Furthermore, the relationship acquisition module 20 is also used to perform raster processing on each boundary of the region to be partitioned according to the region boundary line to obtain the boundary raster points corresponding to each boundary; obtain the raster connection information of each boundary raster point; and determine the partition boundary information of the region to be partitioned according to the raster connection information.

[0179] Furthermore, the relationship acquisition module 20 is also used to determine the regions to be identified for each boundary connection of the region to be partitioned based on the boundary information to be partitioned; acquire the region information to be identified for each region to be identified; and determine the boundary connection information of each boundary of the region to be partitioned based on the region information to be identified.

[0180] Furthermore, the relationship acquisition module 20 is also used to determine the connection ratio between the region to be partitioned and the starting region based on the boundary connection information; determine whether the connection ratio exceeds a preset connection threshold; and determine the connection relationship between the region to be partitioned and the starting region and / or a preset reference object in the target environment based on the determination result.

[0181] Furthermore, the relationship acquisition module 20 is also used to acquire the partition boundary information of the region to be partitioned and the starting boundary information of the starting region; determine the first boundary in the region to be partitioned that is connected to the starting region and the second boundary in the starting region that is connected to the region to be partitioned based on the boundary connection information; and determine the connection ratio between the region to be partitioned and the starting region based on the first boundary and the second boundary.

[0182] Furthermore, the relationship acquisition module 20 is also used to determine the first size corresponding to the first boundary based on the boundary information to be partitioned; determine the second size corresponding to the second boundary based on the starting boundary information; determine the connection size between the first size and the second size based on the boundary connection information; and determine the connection ratio between the region to be partitioned and the starting region based on the connection size.

[0183] Furthermore, the region search module 10 is also used to determine the starting region in the target environment and the starting boundary in the starting region; to perform raster processing on the starting boundary; to determine the starting raster point based on the rasterized starting boundary; and to perform region search based on the starting raster point to determine the region to be partitioned in the target environment.

[0184] Furthermore, the region search module 10 is also used to obtain the starting region information of the starting region; determine the search range and search direction based on the starting region information; determine the region search strategy based on the search range, the search direction and the starting grid point; and perform a region search based on the search strategy to determine the region to be partitioned in the target environment.

[0185] Furthermore, the region merging module 30 is also used to obtain the initial boundary information of the starting region; determine the initial cleaning strategy corresponding to the starting region based on the initial boundary information; obtain the target boundary information of the target cleaning region; update the initial cleaning strategy based on the target boundary information to obtain the target cleaning strategy of the target cleaning region.

[0186] This embodiment determines the area to be partitioned in the target environment by performing a region search based on the boundary of the starting region. Based on the region search results, it identifies the area to be partitioned in the target environment and obtains the connection relationship between the area to be partitioned and the starting region and / or a preset reference point in the target environment. Based on this connection relationship, the starting region and the area to be partitioned are merged to obtain the target cleaning area. Because this invention obtains the starting region and its starting boundary in the target environment, and performs a region search based on the starting boundary, it determines the root position of the region search. This allows for effective region search around the starting region based on the starting boundary. By determining the area to be partitioned in the target environment based on the region search results and obtaining the connection relationship between the area to be partitioned and the starting region and / or a preset reference point in the target environment, the attachment relationship between the area to be partitioned and the starting region is accurately determined, allowing for effective merging of the two. The starting region and the area to be partitioned are merged based on the connection relationship to obtain the target cleaning area. This achieves dynamic updates of the cleaning area based on changes in the target environment, effectively improving the cleaning efficiency of the cleaning robot and effectively avoiding the problem of missed cleaning areas.

[0187] It should be understood that the above are merely illustrative examples and do not constitute any limitation on the technical solutions of the present invention. In specific applications, those skilled in the art can make settings as needed, and the present invention does not impose any restrictions on this.

[0188] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0189] In addition, for technical details not described in detail in this embodiment, please refer to the target clean area generation method provided in any embodiment of the present invention, which will not be repeated here.

[0190] Furthermore, it should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0191] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0192] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM) / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0193] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method for generating a target clean area, characterized in that, The method for generating the target clean area includes: A region search is performed based on the initial region boundary to determine the region to be partitioned in the target environment; Obtain the connection relationship between the region to be partitioned and the starting region and / or a preset reference object in the target environment; The starting region and the region to be partitioned are merged according to the connection relationship to obtain the target cleaning region; The step of obtaining the connection relationship between the region to be partitioned and the starting region and / or the preset reference objects in the target environment includes: Obtain the partition boundary information of the region to be partitioned; The boundary connection information of each boundary of the region to be partitioned is determined based on the boundary information to be partitioned. The connection relationship between the region to be partitioned and the starting region and / or a preset reference object in the target environment is determined based on the boundary connection information.

2. The method for generating a target clean area as described in claim 1, characterized in that, The step of obtaining the partition boundary information of the region to be partitioned includes: Obtain the contour information of the region to be partitioned; Generate the region boundary line of the area to be partitioned based on the contour information; Obtain the partition boundary information of the region to be partitioned based on the region boundary line.

3. The method for generating a target clean area as described in claim 2, characterized in that, The step of obtaining the partition boundary information of the region to be partitioned based on the region boundary line includes: Based on the region boundary line, perform raster processing on each boundary of the region to be partitioned to obtain the boundary raster points corresponding to each boundary. Obtain the grid connection information of each boundary grid point; The partition boundary information of the region to be partitioned is determined based on the grid connection information.

4. The method for generating a target clean area as described in claim 1, characterized in that, The step of determining the boundary connection information of each boundary of the region to be partitioned based on the boundary information to be partitioned includes: Based on the boundary information to be partitioned, determine the regions to be identified where each boundary of the region to be partitioned is connected. Obtain the identification area information for each area to be identified; The boundary connection information of each boundary of the region to be partitioned is determined based on the information of the region to be identified.

5. The method for generating a target clean area as described in claim 1, characterized in that, Determining the connection relationship between the region to be partitioned and the starting region and / or a preset reference object in the target environment based on the boundary connection information includes: The connection ratio between the region to be partitioned and the starting region is determined based on the boundary connection information. Determine whether the connection percentage exceeds a preset connection threshold; Based on the judgment result, the connection relationship between the area to be partitioned and the starting area and / or the preset reference object in the target environment is determined.

6. The method for generating a target clean area as described in claim 5, characterized in that, Determining the connection ratio between the region to be partitioned and the starting region based on the boundary connection information includes: Obtain the partitioning boundary information of the region to be partitioned and the starting boundary information of the starting region; Based on the boundary connection information, determine the first boundary in the region to be partitioned that connects to the starting region, and the second boundary in the starting region that connects to the region to be partitioned. The connection ratio between the region to be partitioned and the starting region is determined based on the first boundary and the second boundary.

7. The method for generating a target clean area as described in claim 6, characterized in that, Determining the connection ratio between the region to be partitioned and the starting region based on the first boundary and the second boundary includes: The first dimension corresponding to the first boundary is determined based on the boundary information to be partitioned; The second dimension corresponding to the second boundary is determined based on the initial boundary information; The connection dimension between the first dimension and the second dimension is determined based on the boundary connection information; The connection ratio between the region to be partitioned and the starting region is determined based on the connection dimensions.

8. The method for generating a target clean area as described in any one of claims 1 to 7, characterized in that, The process of performing a region search based on the initial region boundary to determine the region to be partitioned in the target environment includes: Determine the starting region in the target environment and the starting boundary within the starting region; The starting boundary is then rasterized; The starting grid point is determined based on the starting boundary after the grid, and a region search is performed based on the starting grid point to determine the region to be partitioned in the target environment.

9. The method for generating a target clean area as described in claim 8, characterized in that, The step of determining the starting grid point based on the starting boundary after the gridding, and performing a region search based on the starting grid point to determine the region to be partitioned in the target environment, includes: Obtain the starting region information of the starting region; The search range and search direction are determined based on the initial region information; The region search strategy is determined based on the search range, the search direction, and the starting grid point; Based on the search strategy, a region search is performed to determine the region to be partitioned in the target environment.

10. The method for generating a target clean area as described in any one of claims 1 to 7, characterized in that, After merging the starting region and the region to be partitioned according to the connection relationship to obtain the target clean area, the method further includes: Obtain the initial boundary information of the starting region; The initial cleaning strategy corresponding to the starting area is determined based on the starting boundary information. Obtain the target boundary information of the target cleaning area; The initial cleaning strategy is updated based on the target boundary information to obtain the target cleaning strategy for the target cleaning area.

11. A target clean area generation device, characterized in that, The target clean area generation device includes: The region search module is used to perform region search based on the starting region boundary to determine the region to be partitioned in the target environment; The relationship acquisition module is used to acquire the connection relationship between the region to be partitioned and the starting region and / or a preset reference object in the target environment; The region merging module is used to merge the starting region and the region to be partitioned according to the connection relationship to obtain the target cleaning region; The relationship acquisition module is further configured to acquire the boundary information of the region to be partitioned; determine the boundary connection information of each boundary of the region to be partitioned based on the boundary information; and determine the connection relationship between the region to be partitioned and the starting region and / or a preset reference object in the target environment based on the boundary connection information.

12. The target clean area generation device as described in claim 11, characterized in that, The relationship acquisition module is further configured to acquire the contour information of the region to be partitioned; generate the region boundary line of the region to be partitioned based on the contour information; and acquire the partition boundary information of the region to be partitioned based on the region boundary line.

13. The target clean area generation device as described in claim 12, characterized in that, The relationship acquisition module is further configured to perform raster processing on each boundary of the region to be partitioned according to the region boundary line, to obtain the boundary raster points corresponding to each boundary; to obtain the raster connection information of each boundary raster point; and to determine the partition boundary information of the region to be partitioned according to the raster connection information.

14. The target clean area generation device as described in claim 11, characterized in that, The relationship acquisition module is further configured to determine the regions to be identified for each boundary connection of the region to be partitioned based on the boundary information to be partitioned; acquire the region information to be identified for each region to be identified; and determine the boundary connection information of each boundary of the region to be partitioned based on the region information to be identified.

15. The target clean area generation device as described in claim 11, characterized in that, The relationship acquisition module is further configured to determine the connection ratio between the region to be partitioned and the starting region based on the boundary connection information; and to determine whether the connection ratio exceeds a preset connection threshold. Based on the judgment result, the connection relationship between the area to be partitioned and the starting area and / or the preset reference object in the target environment is determined.

16. The target clean area generation device as described in claim 15, characterized in that, The relationship acquisition module is further configured to acquire the boundary information of the region to be partitioned and the starting boundary information of the starting region; determine the first boundary in the region to be partitioned that is connected to the starting region, and the second boundary in the starting region that is connected to the region to be partitioned, based on the boundary connection information; and determine the connection ratio between the region to be partitioned and the starting region based on the first boundary and the second boundary.

17. A target clean area generation device, characterized in that, The target clean area generation device includes: a memory, a processor, and a target clean area generation program stored in the memory and executable on the processor, the target clean area generation program being configured to implement the target clean area generation method as described in any one of claims 1 to 10.

18. A storage medium, characterized in that, The storage medium stores a target clean area generation program, which, when executed by a processor, implements the target clean area generation method as described in any one of claims 1 to 10.

Images