First partition planning method based on gap recognition

Abstract

The invention discloses a first partition planning method based on gap recognition, and the method comprises the steps: enabling a robot to walk along a wall and complete at least one closed-loop path in a manner of target gap recognition, and enabling at least one circle of searched wall chains reserved with at least one target gap to form a first partition, and after the robot passes through the identified target gap, the robot enters the non-mapping area from the first subarea.

Description

Technical Field

[0001] The present application relates to the technical field of regional planning, and more particularly to a first zoning planning method based on gap identification. Background Art

[0002] For sweeping robots, zone cleaning is a very important function. Although the home environment is a highly structured environment, currently sweeping robots basically use lidar or depth camera detection technology to obtain the entire environment contour data before dividing the area. Therefore, it will be slow for the sweeping robot to divide the first room area in the map building navigation.

[0003] In the robot area division method disclosed in the Chinese invention patent with application number 202010764284.7, after the robot finishes walking along the preset edge direction, the door at the location of the reference segmentation boundary line is identified based on the image feature information of the location of the reference segmentation boundary line collected by the robot's camera, and the reference segmentation boundary line is marked in the laser map. The purpose is to divide the indoor working area into different room sub-areas through this door. Since the point cloud information is processed in the laser map, the division rate of the room sub-areas is reduced; moreover, in the process of the robot executing the edge walking in the preset edge direction, only the reference segmentation boundary line is set around the same room area in the pre-constructed global laser map, and the door frame is not directly identified, resulting in the robot being unable to quickly divide the first room area that conforms to the actual room environment layout without constructing a global map, which is not conducive to providing a benchmark map area for subsequent partitions. Summary of the invention

[0004] This application discloses the first zoning planning method based on gap identification. The specific technical solution is as follows: The first partition planning method based on gap recognition includes: the robot walks along the wall and recognizes the target gap to complete at least one closed-loop path, and encloses at least one circle of wall chains with at least one target gap to form the first partition, so that the robot passes through the recognized target gap and enters the unmapped area from the first partition. In the scene of the actual planning of the room area, the robot encloses the collected vertical wall corners and target gaps to form the first room area by following a circle, which is the first partition divided by the robot in a target area, and correspondingly constructs a map of the first partition, thereby providing a reference map area for the robot's subsequent partitions and accelerating the robot's mapping process.

[0005] Furthermore, the specific method of the first partition planning method includes: step A1, the robot searches for the wall, then walks along the wall and identifies the target gap, while building a map, and walks along the target gap when identifying the target gap, until the robot walks at least one closed-loop path, obtains at least one circle of wall chain with at least one target gap reserved, and encloses the at least one circle of wall chain with at least one target gap reserved into the first partition, and sets the partition map according to the first partition; then executes step A2; step A2, the robot enters the unmapped area from the first partition through the target gap identified by step A1. It can be seen from the technical scheme composed of the above steps A1 and A2 that the present application takes the closed-loop path and the target gap, which helps to divide the first partition in the environment, that is, the first independent space; and determines the passable location information from the first independent space in the environment to the untraversed area based on the target gap. And it is suitable for creating the first partition in the area with complex layout.

[0006] Furthermore, in step A1, the method for searching a wall by the robot includes: the robot collects an environmental image, extracts vertical projection lines of the wall in the environmental image, and then identifies each combination of multiple vertical projection lines of the wall located in the same plane or the same curved surface as a wall to be searched. When the robot walks along the wall, each time it walks in the same direction, the plane or curved surface where the combination of multiple vertical projection lines of the wall located in the same plane or the same curved surface extracted in the same direction is located is regarded as a wall surface extending in one direction.

[0007] Further, in the step A1, the method for the robot to complete a closed-loop path includes: step A101, when the robot recognizes the current wall, the robot walks along the current wall in a preset clockwise direction, and can walk along the wall in a clockwise direction or a counterclockwise direction, and at the same time determines whether the robot recognizes the target gap, if so, executes step A102, otherwise executes step A103; step A102, determines whether the robot walks back to the preset starting point along the edge, if so, determines that the robot has completed a closed-loop path, otherwise executes step A103; step A103, the robot walks along the boundary formed by the location of the target gap described in step A101, and keeps searching for the wall; then executes step A104; step A104, when the robot recognizes the next wall, the robot updates the next wall to the current wall, and then executes step A101. The target gap is identified between two adjacent walls, or the next wall is searched each time the target gap is identified and walked along, until the robot walks back to the preset edge starting point used when step A101 is executed for the first time, and the robot has completed a closed-loop path.

[0008] Furthermore, when the robot completes a closed-loop path, the robot forms a wall chain with at least one target gap reserved according to the preset clockwise direction for each wall and each target gap identified in sequence in steps A101 to A104; the projection lines of each wall and each target gap identified in sequence in steps A101 to A104 on the ground are enclosed into continuous line segments to form a complete closed loop.

[0009] Furthermore, in a frame of environmental image collected by the robot in real time, the target gap is between two adjacent walls; the target gap is surrounded by the vertical projection lines of the wall on the opposite side of the two adjacent walls, forming two vertical projection lines of the wall corresponding to the target gap; wherein, the distance between the two end points of the target gap is within the preset width threshold range, and the pixel distances between the intersection of the extension lines of the two vertical projection lines of the wall corresponding to the target gap and the nearest end points of the two vertical projection lines of the wall corresponding to the target gap are both within the preset projection distance threshold range. Thus, the target gap is defined by using the size characteristics and positional relationship of the two vertical projection lines of the wall in a frame of environmental image, providing a positional size basis for the robot to identify the target gap.

[0010] Furthermore, the method for robot to identify the target gap includes: the robot collects the environment image and extracts a plurality of straight line segments from the environment image; based on the length feature, angle feature and quantity feature of the line segment, two reference vertical projection lines and one reference horizontal projection line forming a cross relationship are screened out from the plurality of straight line segments; based on the preset door frame size condition, two wall vertical projection lines and one door beam line used to form the door frame are screened out from the two reference vertical projection lines and one reference horizontal projection line forming a cross relationship that have been screened out, and it is determined that the two wall vertical projection lines and one door beam line used to form the door frame enclose the target gap. Thus, when the reference vertical projection lines and reference horizontal projection lines that cannot form a cross relationship are excluded from the three judgment quantities of the length feature of a single line segment, the angle feature between two line segments and the quantity feature of the cumulatively extracted straight line segments, the preset door frame size condition is continued to be used for screening, so as to reduce the number of straight line segment samples required for screening the wall vertical projection lines and the door beam lines, and improve the accuracy of the robot in identifying the door frame.

[0011] Furthermore, the method for selecting two reference vertical projection lines and one reference horizontal projection line that form an intersection relationship from the plurality of straight line segments according to the line segment length characteristics, angle characteristics and quantity characteristics comprises: step A111, selecting straight line segments perpendicular to the ground from the plurality of straight line segments; then, among the selected straight line segments perpendicular to the ground, selecting straight line segments whose lengths are greater than a preset wall height threshold and marking them as reference vertical projection lines; then executing step A112; step A112, determining whether the number of reference vertical projection lines marked in step A111 is less than a value of two, If yes, it is determined that the robot cannot filter out two vertical projection lines of the wall from the environment image, otherwise, execute step A113; step A113, within the preset projection distance threshold range corresponding to the center of the environment image, filter out straight line segments whose lengths are within the preset width threshold range, and then mark the filtered straight line segments whose lengths are within the preset width threshold range as reference horizontal projection lines; then execute step A114; step A114, determine whether the number of reference horizontal projection lines marked in step A113 is less than the value one, if yes, it is determined that the robot cannot filter out the door beam line from the environment image, otherwise, execute step A115; step A115, filter out reference horizontal projection lines that meet the door structure by enumerating reference vertical projection lines and reference horizontal projection lines, and then execute step A116 ; Wherein, the reference horizontal projection line that meets the door structure is a reference horizontal projection line that forms an intersection relationship with the two reference vertical projection lines; Step A116, determine whether the number of reference horizontal projection lines that meet the door structure screened out in Step A115 is greater than the value one, if so, execute Step A117, otherwise determine that the robot cannot screen out the door beam line from the environment image; Step A117, obtain multiple groups of two reference vertical projection lines and one reference horizontal projection line that form an intersection relationship; then in each group of two reference vertical projection lines and one reference horizontal projection line that form an intersection relationship, mark the two reference vertical projection lines as two wall vertical projection lines, and mark the one reference horizontal projection line as a door beam line; wherein, the extension lines of the two reference vertical projection lines intersect. In summary, the robot determines two wall vertical projection lines and one door beam line as candidate door frame component segments by executing Steps A111 to A117. Then the robot determines the direction information of the door frame where the door beam line is located relative to the current position of the robot based on the positional relationship between the center point of each door beam line and the intersection of the extension lines of the two vertical projection lines of the wall, and also determines the entrance and exit positions of the first partition.

[0012] Furthermore, the method for selecting two vertical wall projection lines and one door beam line for forming a door frame from two reference vertical projection lines and one reference horizontal projection line that have been selected to form an intersection relationship according to a preset door frame size condition includes: step A118, marking a group of two reference vertical projection lines and one reference horizontal projection line that form an intersection relationship determined in step A117 as a group of candidate door frame lines; then executing step A119; step A119, determining whether the physical distance between the vertical wall corner lines corresponding to two reference vertical projection lines in a group of candidate door frame lines is within a preset door width distance range, if so, executing step A120, otherwise, the two vertical wall projection lines for forming a door frame cannot be selected; wherein the robot uses a depth sensor to detect the physical distance between the vertical wall corner lines corresponding to the two reference vertical projection lines; step A120, calculating a distance between one vertical wall corner line in the group of candidate door frame lines. The ratio between the length of the reference horizontal projection line and the physical distance is then used to convert the length of the vertical corner line corresponding to each reference vertical projection line based on the ratio and the length of each reference vertical projection line, and then execute step A121; step A121, determine whether the length of the vertical corner line corresponding to each reference vertical projection line in a group of candidate door frame lines is within the preset door frame height range, if so, mark two reference vertical projection lines in a group of candidate door frame lines as two wall vertical projection lines for forming a door frame, and mark a reference horizontal projection line in a group of candidate door frame lines as a door beam line for forming a door frame; otherwise, two wall vertical projection lines for forming a door frame cannot be screened out; wherein, the target gap includes the door frame; wherein, the reference vertical projection line is a projection line formed by the robot collecting the vertical corner line into the coordinate system where the environmental image is located, and the vertical corner line is perpendicular to the ground where the robot walks. In summary, the robot converts the vertical projection lines from pixel size to physical size by executing steps A118 to A121, and judges and obtains two vertical wall projection lines and one door beam line used to constitute the door frame based on the physical size, eliminates the misjudgment interference of the door leaves and side wall lines perpendicular to the ground, constructs a simplified model of the door frame, obtains the vertical wall projection lines and door beam lines that conform to the simplified model of the aforementioned door frame, and realizes the identification of a complete and accurate door frame in the first partition.

[0013] Furthermore, the angle formed by the intersection of the two vertical wall projection lines marked in a group of candidate door frame lines in step A121 and the one door beam line marked in the same group of candidate door frame lines in step A121 and the center of the environment image is greater than a preset angle threshold; wherein the length of the one door beam line marked in the same group of candidate door frame lines in step A121 is greater than a preset door beam projection length. Thus, the positional relationship between the two vertical wall projection lines in the environment image is reflected, and the door beam model is simplified in terms of angle features and door beam line length features. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of a door frame to be identified in an environmental image disclosed in an embodiment of the present application, wherein the robot captures a schematic diagram marked with a vertical projection line A1B1 of the wall and a door beam line B1C1 in front of or directly below the door frame, and the robot's camera is set to face the ceiling.

[0015] Figure 2 It is a flowchart of the specific steps included in the sequential execution of step A disclosed in an embodiment of the present application.

[0016] Figure 3 It is a flow chart of a method in which the robot walks through at least one closed-loop path in step A1 disclosed in an embodiment of the present application.

[0017] Figure 4 It is a flowchart of a method for selecting a reference horizontal projection line and two reference vertical projection lines that form a cross relationship before a robot identifies a target gap, disclosed in an embodiment of the present application.

[0018] Figure 5 A flowchart of a method for a robot to screen out two vertical wall projection lines and one door beam line for forming a door frame is disclosed in one embodiment of the present application. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described in detail below in conjunction with the drawings in the embodiments of the present invention. To further illustrate each embodiment, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments.

[0020] In order to solve the technical problems related to the construction of the first partition, the present application discloses the first partition planning method based on gap recognition. The execution subject of the first partition planning method is a robot. In order to respond quickly and improve the efficiency of mapping, the robot can use a monocular camera to collect images, identify walls and gaps in the collected wall images, and build a map while collecting and identifying walls and gaps. Of course, choosing a binocular camera or a depth sensor to collect and identify images can meet the corresponding recognition efficiency and partition mapping effect. The first partition planning method includes: The robot walks along at least one closed-loop path by walking along the wall and identifying the target gap, and encloses at least one circle of the wall chain with at least one target gap reserved therein into the first partition; wherein, the robot walks along the wall and identifies the target gap in a precondition that the robot first searches for the physical elements that constitute the wall, and the physical elements can be selected from the images of vertical wall corners, and the vertical wall corners extending in a certain direction are arranged to form a wall, so that the robot can establish a basis for walking along the wall; the robot's actions of identifying the target gap, walking along the wall, and building a map are performed synchronously, and if the robot recognizes the wall If there is a target gap in the surface, a door frame is marked in the wall, and then the robot walks along the marked door frame. It can be understood that the robot continues to walk along the boundary of the door frame. In this way, it walks along the boundary of the door frame and identifies the target gap. Therefore, without entering a new area through the target gap, multiple closed-loop paths can be continuously walked in the same room area. Each closed-loop path corresponds to the collection and combination of a circle of wall chain (not necessarily a closed wall chain, but it will be composed of multiple links in series. Each link can be regarded as a path parallel to the robot's walking along the wall, and also as the horizontal outline of the wall). At least one target gap will be identified in a combined wall chain.

[0021] In order to improve the efficiency of mapping and area division, when the robot completes a closed-loop path for the first time, it will search for at least one circle of wall chains with at least one target gap reserved to form the first partition, so that the robot can enter the unmapped area from the first partition after passing through the identified target gap.

[0022] In the scenario of actually planning the room area, the robot encloses the collected vertical corner lines and target gaps into the first room area by following a circle. This is the first partition divided by the robot in a target area, and a map of the first partition is correspondingly constructed, thereby providing a reference map area for subsequent partitions of the robot and speeding up the robot's mapping process.

[0023] At least one door frame is set on the boundary of the first partition, and there is only a relatively complete room map temporarily. Moreover, the robot uses a monocular camera for visual recognition to quickly complete the first map.

[0024] Based on the first partition, the robot can enter the unmapped area from the first partition through the identified target gap, that is, based on the passability of the target gap (the target gap can at least accommodate the robot), after the robot walks along the wall contour for a circle of the first partition, it will preferentially walk to an identified target gap, and then enter the untraversed area (unmapped area) from the first partition through the target gap, which can be understood as entering the untraversed area and dividing out another partition, and mapping another partition, which can be superimposed on the map of the first partition to achieve robot incremental mapping. Compared with the prior art, the present application does not need to add extra markers to the door, but only needs the gap feature formed by the door frame on the wall to appear in the perception field of the robot of the present application to realize the recognition of the target gap, and then locate the door frame and partition it according to the door frame, so as to realize the positioning of the door frame and the division of the first partition in indoor and outdoor environments through a relatively low computing power algorithm.

[0025] As an example, see Figure 2 As shown, the specific method of the first zoning planning method includes: Step A1, the robot searches for the wall, then walks along the wall and identifies the target gap, and constructs a map at the same time, specifically the collected wall image and target gap image, and extracts the pose information of image features such as points and lines from them, marks them in the map, and realizes real-time mapping; when the robot identifies the target gap, it walks along the target gap. If it has walked past the target gap, it continues to walk along the wall to the next target gap, and walks along the wall in this way until the robot completes a closed-loop path, obtains at least one circle of wall chain with at least one target gap reserved, and encloses the at least one circle of wall chain with at least one target gap reserved into the first partition, and sets the partition map according to the first partition, and then executes step A2.

[0026] In step A1, each time the robot completes a closed-loop path, it obtains a circle of wall chain with at least one target gap reserved. The robot sets the circle of wall chain with at least one target gap reserved as the outline of the first partition and reflects it in the map in real time, updating it to the partition map.

[0027] In the step A1, the method for searching the wall by the robot includes: the robot collects the environment image, the tool for collecting the image by the robot is a monocular camera, and its viewing angle can at least cover the side walls of the wall, multiple vertical line segments similar to the shape of the door frame, and the door beam line; then the robot extracts the vertical projection lines of the wall in the environment image, and then identifies each batch of the combination of multiple vertical projection lines of the wall located in the same plane or the same curved surface as a wall to be searched. The combination of multiple vertical projection lines of the wall in the same plane or the same curved surface is that the multiple vertical projection lines of the wall correspond to mutually parallel vertical corner lines in the actual walking environment of the robot, so as to form a wall side by side. When the robot walks along the wall, each time it walks in the same direction, the plane or curved surface where the combination of multiple vertical projection lines of the wall located in the same plane or the same curved surface extracted in the same direction is located is regarded as a wall surface extending in one direction, that is, a wall.

[0028] In step A1, the robot can determine the boundary of the corresponding independent space area according to the combination of vertical projection lines of the wall, and the target gap is set on the boundary of the independent space area; the robot passing through the target gap can be understood as the robot crossing the boundary of the independent space area; thus, the boundaries of all independent space areas in the environment and the number of independent space areas can be obtained. The independent space area can refer to an independent room or an independent open space.

[0029] The robot builds a map while walking along the wall, which will reduce walking along the edge of isolated obstacles, mainly to increase speed. The robot is allowed to collide with the wall, and there is no specific limit on the distance between the robot's side and the wall.

[0030] Step A2: the robot identifies the target gap in step A1. Specifically, after the robot identifies all the target gaps in the first partition and sets the partition map, the robot preferentially moves to a target gap identified in step A1, then walks out of the first partition, and enters the unmapped area through the target gap. Step A1 determines multiple vertical projection lines of the wall located in the same plane or the same curved surface, and by identifying the target gap, the relative position relationship between different batches of vertical projection lines of the wall arranged continuously can be obtained. Then step A2 uses the target gap as the boundary to effectively identify each independent space in the environment. It can be seen from the implementation method composed of the above steps A1 and A2 that this embodiment obtains the closed-loop path and the target gap, which helps to divide the first partition in the environment, that is, the first independent space; and determines the passable position information from the first independent space in the environment to the untraversed area based on the target gap. And it has good applicability for rooms with complex layouts.

[0031] As an embodiment, in step A1, a flow chart of a method in which the robot walks a closed-loop path is as follows: Figure 3As shown, specifically including: Step A101, when the robot recognizes the current wall, the robot walks along the current wall in a preset clockwise direction, specifically, walks along the current wall from a preset edge starting point in a preset clockwise direction, and at the same time determines whether the robot recognizes the target gap, if so, executes step A102, otherwise executes step A103; for a wall, it can be divided into the current wall and the next wall according to the search time and search position. As for the method of defining a wall using the vertical projection line of the wall, please refer to the corresponding embodiment of the aforementioned step A1, which will not be repeated here. When executing step A101, after the robot recognizes the current wall, it first walks to the front of the current wall and maintains a certain edge distance with the current wall, thereby determining the preset edge starting point; the preset edge starting point can be located in the vertical direction of the current wall, and the distance from the preset edge starting point to the current wall is between 0.5cm and 10cm, which can represent the distance between the edge of one side of the robot close to the wall and the current wall.

[0032] Step A102, determine whether the robot walks back to the preset edge starting point used when executing step A101 for the first time. If so, determine that the robot has completed a closed-loop path. If the preset edge starting point is located at the end point of an identified target gap, the robot may repeatedly identify the same target gap at the preset edge starting point and be directly below one side of the target gap; otherwise, execute step A103.

[0033] Step A103, the robot walks along the boundary formed by the position of the target gap described in step A101, and keeps searching for the wall; then executes step A104; it can be understood that the two sides of the target gap are different walls (composed of different batches of vertical projection lines of the wall arranged continuously). The boundary formed by the position of the target gap is understood to be directly below the target gap, and the robot walks along the corresponding boundary but does not cross the target gap, while searching for the next wall.

[0034] Step A104, when the robot recognizes the next wall, the robot updates the next wall to the current wall, and when the robot walks the boundary formed by the position of the target gap described in step A101, the position of the next wall recognized by the robot is updated to the preset edge starting point, and then step A101 is executed to realize the recognition of the target gap between two adjacent walls, or search for the next wall each time the target gap is recognized and walked along, until the robot walks back to the preset edge starting point used when step A101 was executed for the first time, and the robot has completed a closed-loop path.

[0035] In this embodiment, when the robot completes a closed-loop path, the robot forms a wall chain with at least one target gap reserved in the preset clockwise direction with each wall and each target gap identified in sequence in steps A101 to A104; the projection lines of each wall and each target gap identified in sequence in steps A101 to A104 on the ground are enclosed into continuous line segments to form a complete closed loop.

[0036] In step A1, in order to search for walls and identify target gaps, the robot will collect images. In a frame of environmental images collected by the robot in real time, the target gap is between two adjacent walls; the target gap is surrounded by vertical projection lines of the walls on the opposite sides of the two adjacent walls, forming two vertical projection lines of the walls corresponding to the target gap; schematically, as shown in FIG. Figure 1 As shown, Figure 1 is a schematic diagram of the environment image collected by the robot in front of or directly below the door frame. The center point of the environment image currently collected by the robot's camera is point O, which can represent the current position of the robot. The straight line segment A1B1 is the vertical projection line of the wall on the left side of the robot extracted by the robot, and the straight line segment D1C1 is the vertical projection line of the wall on the right side of the robot extracted by the robot. Figure 1 The wall vertical projection line A1B1, wall vertical projection line C1D1 and door beam line B1C1 extracted from the image are connected to form a target gap, which may be a door frame existing in the actual environment.

[0037] The pixel distance between the two endpoints of the target gap is within the preset width threshold range, the endpoint close to the center of the environmental image in the vertical projection line A1B1 of the wall is endpoint B1, and the endpoint close to the center of the environmental image in the vertical projection line C1D1 of the wall is endpoint C1. The pixel distance between the two endpoints of the target gap can be the pixel distance between endpoint B1 and endpoint C1, the pixel distance between the two endpoints of the target gap can also be the pixel distance between endpoint B1 and endpoint C1, and the pixel distance between the two endpoints of the target gap can also be the pixel distance between endpoint A1 and endpoint D1; when the pixel distance between endpoint B1 and endpoint C1 is the lower limit value of the preset width threshold range, the pixel distance between endpoint A1 and endpoint D1 is the upper limit value of the preset width threshold range.

[0038] Preferably, the conventional minimum room width ranges from 60 cm to 100 cm, the physical distance range converted from the preset width threshold range is 60 cm to 100 cm, the physical distance between endpoint A1 and endpoint D1 is 100 cm (the value will become smaller when converted to the pixel length occupied in the image), and the physical distance between endpoint B1 and endpoint C1 is 60 cm (the value will become smaller when converted to the pixel length occupied in the image).

[0039] The pixel distances between the intersection of the extension lines of the two vertical projection lines of the wall corresponding to the target gap and the nearest endpoints of the two vertical projection lines of the wall corresponding to the target gap are both within the preset projection distance threshold range; Figure 1 In the figure, the extension line of the vertical projection line A1B1 of the wall intersects with the extension line of the vertical projection line C1D1 of the wall. Preferably, the intersection point of the extension line of the vertical projection line A1B1 of the wall and the extension line of the vertical projection line C1D1 is point O. The pixel distance between point O and the nearest endpoint B1 of the vertical projection line A1B1 of the wall is equal to the length of the line segment OB1. The pixel distance between point O and the nearest endpoint C1 of the vertical projection line C1D1 of the wall is equal to the length of the line segment OC1. The physical distance range converted from the preset projection distance threshold range is preferably 0 to 0.2 m.

[0040] It is known to technicians in the field of machine vision that the pixel distance (the coordinate distance between two pixel points) in an image is converted into the physical distance in the actual environment, and the conversion coefficient involved is determined by the camera parameters, including the focal length, field of view angle, sensor size and other parameters of the camera. Based on this, converting the pixel distance into the physical distance according to the focal length and pixel size of the camera is a conversion method that technicians in the field of machine vision can master.

[0041] It can be understood that the robot, under user control or in automatic mode, divides the walking environment space into a first partition, and the first partition can refer to an indoor room, an outdoor room, or a combination of an indoor room and an outdoor room.

[0042] It should be noted that when the robot detects that it has walked to the location of the target gap marked in the map, and detects that the distance between the location of the target gap and the target gap is less than or equal to a preset value, the robot is controlled to walk forward in the direction of the target gap; when the robot detects that the distance between it and the target gap is equal to zero, the robot is controlled to continue walking forward and enter other rooms.

[0043] As an embodiment, the method for the robot to identify a target gap includes: The robot collects an environmental image and extracts multiple straight line segments from the environmental image; preferably, the robot can identify the straight line segments in the image through various edge detection algorithms, such as vertical corner lines and horizontal corner lines, and respectively extract reference vertical projection lines and reference horizontal projection lines that form a cross relationship in the environmental image to represent them, wherein the extension lines of the two reference vertical projection lines intersect, so that the two reference vertical projection lines form a cross relationship; in the environment in which the robot actually walks, the vertical corner line is used to represent the line segment perpendicular to the ground of the indoor and outdoor room area, the vertical corner line and the horizontal corner line are perpendicular to each other, but the reference vertical projection line is not necessarily perpendicular to the horizontal corner line.

[0044] Generally, after the robot can identify the straight line segments in the image through various edge detection algorithms, the robot will calculate the angle of each straight line segment from the environmental image (the environmental image can be binarized in advance) through Hough transform (which can be obtained based on the slope of the equation of the extracted straight line segment). The robot then selects straight line segments that can represent the doorpost line, door beam line, side wall line, etc. based on the length and angle of the straight line segment.

[0045] In this embodiment, in order to allow the camera's field of view to fully cover the door frame, the robot's camera lens is installed facing the ceiling, so the camera's field of view can cover the ceiling above the robot and the area below the ceiling. If the doorpost vertical to the ground and the camera are oriented in the same direction, then based on the perspective principle of the lens, the extension lines of the two reference vertical projection lines in the environmental image will eventually intersect.

[0046] According to the length characteristics, angle characteristics and quantity characteristics of the line segments, two reference vertical projection lines and one reference horizontal projection line that form an intersection relationship are screened out from the multiple straight line segments; thereby, the robot can exclude the reference vertical projection lines and reference horizontal projection lines that cannot form an intersection relationship based on the three judgment quantities of the length characteristics of a single line segment, the angle characteristics between two line segments and the quantity characteristics of the cumulatively extracted straight line segments, thereby reducing the number of straight line segment samples required for screening the wall vertical projection lines and door beam lines.

[0047] According to the preset door frame size condition, two wall vertical projection lines and one door beam line for forming the door frame are selected from the two reference vertical projection lines and one reference horizontal projection line that have been selected to form a cross relationship, and it is determined that the two wall vertical projection lines and one door beam line for forming the door frame surround the target gap, that is, the two currently selected wall vertical projection lines and one door beam line intersect and form a gap in the direction toward the ground. The preset door frame size condition is a further refinement of the aforementioned line segment length feature, which improves the accuracy of the robot in identifying the door frame.

[0048] Since the two vertical wall projection lines and one door beam line used to form the door frame are a combination of the projection line segments of the actual door frame in the environment image, the two vertical wall projection lines used to form the door frame have an intersection relationship, and the position relationship between the intersection of the extension lines of the two vertical wall projection lines used to form the door frame and the center of the door beam line can represent the distribution direction, azimuth angle and other information formed by the door frame (or the target gap) relative to the current position of the robot. When the robot determines the center of the door beam line, the door frame is positioned.

[0049] In some embodiments, the endpoints of the two vertical wall projection lines used to form the door frame that are close to the center of the environmental image in which they are located are set as corner points, and then the corner points are connected to form a reference door beam line. The reference door beam line can be parallel to the reference horizontal projection line (i.e., the door beam line) directly extracted from the environmental image.

[0050] As an embodiment, the method of selecting two reference vertical projection lines and one reference horizontal projection line that form an intersection relationship from the plurality of straight line segments according to the line segment length feature, angle feature and quantity feature is as follows: Figure 4 As shown, specifically including: Step A111, filter out the straight line segments perpendicular to the ground from the multiple straight line segments, where the definition of vertical is the straight line segments perpendicular to the ground of the robot's actual walking environment (including vertical wall corner lines) displayed / projected in the environment image; then mark the filtered straight line segments perpendicular to the ground as reference vertical projection lines; and then execute step A112.

[0051] Step A112, determining whether the number of reference vertical projection lines marked in step A111 is less than a value of two, if yes, determining that the robot cannot screen out two wall vertical projection lines from the environment image, causing the robot to suspend the execution of the area division method; otherwise, executing step A113, thereby eliminating invalid reference vertical projection lines.

[0052] Step A113, within the preset projection distance threshold range corresponding to the center of the environmental image, filter out the straight line segments whose lengths are within the preset width threshold range, and then mark the filtered straight line segments whose lengths are within the preset width threshold range as reference horizontal projection lines; then execute step A114; since the door beam line is generally set above the door frame and sandwiched between two reference vertical projection lines, the door beam line is projected into the environmental image close to the center of the environmental image. Therefore, a preset projection distance threshold range is set in the center of the environmental image to search for a reference horizontal projection line that can represent the door beam line at a close distance.

[0053] Step A114, determine whether the number of reference horizontal projection lines marked in step A113 is less than the value one. If so, determine that the robot cannot filter out the door beam line from the environmental image, and suspend the execution of the area division method; otherwise, execute step A115; thereby excluding invalid reference horizontal projection lines.

[0054] Step A115, filter out reference horizontal projection lines that meet the door structure by enumerating reference vertical projection lines and reference horizontal projection lines, and then execute step A116; wherein, the reference horizontal projection lines that meet the door structure are reference horizontal projection lines that form an intersection relationship with two reference vertical projection lines; therefore, it can be understood that there are at least one reference horizontal projection line and at least two reference vertical projection lines among the reference horizontal projection lines and reference vertical projection lines that meet the door structure, and there are two reference vertical projection lines that intersect with both ends of a reference horizontal projection line respectively, and in addition, the extension lines of the two reference vertical projection lines intersect.

[0055] Step A116, determine whether the number of reference horizontal projection lines that meet the door structure screened out in step A115 is greater than the value one. If so, execute step A117; otherwise, determine that the robot cannot screen out the door beam line from the environmental image, and suspend the execution of the area division method to eliminate invalid reference horizontal projection lines that meet the door structure.

[0056] Therefore, when executing step A117, there may be multiple door beam lines extending in the same direction, and the position occupied by the door beam line is subsequently determined by the connection node of two reference vertical projection lines connected to the reference horizontal projection line.

[0057] Step A117, obtain multiple groups of two reference vertical projection lines and one reference horizontal projection line that form an intersection relationship; then in each group of two reference vertical projection lines and one reference horizontal projection line that form an intersection relationship, mark the two reference vertical projection lines as two wall vertical projection lines, and mark the one reference horizontal projection line as a door beam line; wherein the extension lines of the two reference vertical projection lines intersect, and the two reference vertical projection lines and one reference horizontal projection line that form an intersection relationship are connected to each other as a gap.

[0058] Step A117 is equivalent to determining that there are two wall vertical projection lines and a door beam line that form an intersection relationship among the reference horizontal projection line and the reference vertical projection line that conform to the door structure. Based on step A113, within the same frame of the environment image, the pixel distance between the intersection point of the extended lines of the two wall vertical projection lines determined in step A117 and the center of the environment image is within the preset projection distance threshold range.

[0059] In summary, two vertical wall projection lines and one door beam line are determined as candidate door frame line segments by executing steps A111 to A117. Then, the robot determines the direction information of the door frame where the door beam line is located relative to the current position of the robot based on the positional relationship between the center point of each door beam line and the intersection of the extension lines of the two vertical wall projection lines, which is also equivalent to the direction information of the door beam line relative to the coordinates of the current position of the robot in the environment image, and also determines the entrance and exit position of the first partition.

[0060] In some embodiments, among the two reference vertical projection lines and one reference horizontal projection line that form an intersection relationship, there is: among the endpoints of each reference vertical projection line, the endpoint closest to the intersection of the extension lines of the two reference vertical projection lines is set as a corner point, and then the corner points of each reference vertical projection line are connected to form the one reference horizontal projection line, so as to form a reference horizontal projection line that conforms to the door structure.

[0061] It should be noted that there is usually a part of the wall above the door. To support this part of the wall, a prefabricated wooden or reinforced concrete beam is needed like a bridge. This beam is called a door beam. It can reduce the impact of the wall sinking on the door frame. The door beam can be processed by the image recognition algorithm in the environmental image of this embodiment to be represented by the reference horizontal projection line; the two sides below the door beam are two door posts perpendicular to the ground, which are also processed by the image recognition algorithm in the environmental image of this embodiment to be represented by the reference vertical projection line. Then, two adjacent reference vertical projection lines and a door beam line can form a door frame, forming a simplified model of a door.

[0062] As an embodiment, the method of selecting two wall vertical projection lines and one door beam line for forming a door frame from two reference vertical projection lines and one reference horizontal projection line that have been selected to form a cross relationship according to a preset door frame size condition is as follows: Figure 5 As shown, specifically including: Step A118, mark a group of two reference vertical projection lines and one reference horizontal projection line that form an intersection relationship determined in step A117 as a group of candidate door frame lines, so that there are two wall vertical projection lines and one door beam line that form an intersection relationship in a group of candidate door frame lines; then execute step A119.

[0063] Step A119, determine whether the physical distance between the vertical corner lines corresponding to two reference vertical projection lines in a group of candidate door frame lines is within the preset door width distance range. If so, execute step A120, otherwise, the two vertical wall projection lines used to form the door frame cannot be screened out to exclude the two reference vertical projection lines with inappropriate spacing; wherein, the robot uses a depth sensor to detect the physical distance between the vertical corner lines corresponding to the two reference vertical projection lines; the reference vertical projection line is a projection line formed by the robot collecting the vertical corner lines into the coordinate system of the environment image, and the vertical corner line is perpendicular to the ground where the robot walks.

[0064] In the walking environment of the robot, the minimum room width ranges from 60 cm to 100 cm, and correspondingly, the preset door width distance range is preferably 60 cm to 100 cm. The detection angle of the robot using the depth sensor also needs to cover the area between the doorpost lines on both sides of the door frame.

[0065] Step A120, calculate the ratio between the length of a reference horizontal projection line in the set of candidate door frame lines and the physical distance, and then convert the length of the vertical corner line corresponding to each reference vertical projection line based on the ratio and the length of each reference vertical projection line, so that the reference vertical projection line is converted from pixel size to physical size and represented by the length of the vertical corner line. This ratio is also applicable to the physical size conversion operation of the reference horizontal projection line in the same frame of environmental image. Then execute step A121. The length of the reference vertical projection line belongs to the pixel length occupied by the reference vertical projection line in the environmental image. After being converted into the length of the vertical corner line, the actual height of the door frame is obtained so as to judge the actual door frame in step A1.

[0066] Step A121, determine whether the length of the vertical wall corner line corresponding to each reference vertical projection line in a group of candidate door frame lines is within the preset door frame height range, if so, mark the two reference vertical projection lines in a group of candidate door frame lines as two wall vertical projection lines used to form the door frame, and mark a reference horizontal projection line in a group of candidate door frame lines as a door beam line used to form the door frame, and then the door frame can be determined, wherein the target gap includes the door frame, and of course also includes other channels of the same height or width, so the gap channel of the door frame structure and the straight line segments composed of it (which can correspond to the projection line segments in the environment image) can be identified in the wall by executing step A121; otherwise, the two wall vertical projection lines used to form the door frame cannot be screened out to exclude the wall vertical projection lines with unreasonable heights; wherein, the preset door frame height range is set to 1.6m to 2.5m, which meets the door frame height characteristics in the room.

[0067] In summary, this embodiment converts the vertical projection lines from pixel size to physical size by executing steps A118 to A121, and obtains two vertical wall projection lines and one door beam line used to constitute the door frame based on the physical size, eliminates the interference of misjudgment of door leaves and side wall lines perpendicular to the ground, constructs a simplified model of the door frame, obtains the vertical wall projection lines and door beam lines that conform to the simplified model of the aforementioned door frame, and realizes the identification of a complete and accurate door frame in the first partition.

[0068] It should be noted that the vertical projection line of the wall in this embodiment is a simplified projection line, and the thickness of the wall is not taken into account.

[0069] Of course, objects that conform to the simplified model of the aforementioned door frame, including the vertical projection lines of the wall and the door beam lines, also include square columns, side door leaves, door panels, walls between the ceiling and the door frame, door sills, side walls and front walls in a home environment.

[0070] In an embodiment of two vertical wall projection lines and one door beam line that can form a door frame, when two reference vertical projection lines in a group of candidate door frame lines are marked by step A121 as two vertical wall projection lines for forming a door frame, and one reference horizontal projection line in a group of candidate door frame lines is marked by step A121 as one door beam line for forming a door frame, there exists: intersection marks formed by the two vertical wall projection lines marked by the aforementioned step A121 in a group of candidate door frame lines and one door beam line marked by step A121 in the same group of candidate door frame lines, respectively. Recorded as corner points, two corner points are obtained; the angle formed by the two corner points and the center of the environmental image is greater than a preset angle threshold, and the preset angle threshold is preferably 20 degrees; in step A121, the length of a door beam line marked in the same group of candidate door frame lines is greater than the preset door beam projection length, and the preset door beam projection length is preferably 35 pixels in length, and the extension lines of the two reference vertical projection lines in the same group of candidate door frame lines intersect, thereby reflecting the positional relationship between the two wall vertical projection lines in the environmental image, and simplifying the door beam model in terms of angle features and door beam line length features respectively.

[0071] Indicatively, see Figure 1 It can be seen that Figure 1 It is a schematic diagram of the environment image collected by the robot in front of the door frame. The center of the environment image currently collected by the robot's camera is located near point O. Point O is the intersection of the extension lines of the two vertical projection lines of the wall. The pixel distance between point O and the center of the environment image is within the preset projection distance threshold range. The preset projection distance threshold range is used to represent the error range of the vertical wall corner line converted to the pixel coordinate system. The error source includes the deformation and distortion of the image caused by the lens distortion of the camera. In some ideal cases, point O is the center of the environment image, and the angle formed by the corner point B1 and the corner point C1 shown in the figure and the center O of the environment image is angle B1OC1, and angle B1OC1 is greater than the preset angle threshold.

[0072] The straight line segment A1B1 is the vertical projection line of the wall on one side of the robot extracted by the robot, and the straight line segment D1C1 is the vertical projection line of the wall on the other side of the robot extracted by the robot. Then, the endpoint B1 close to point O is selected from the two endpoints of the vertical projection line A1B1 of the wall as a corner point, and the endpoint C1 close to point O is selected from the two endpoints of the vertical projection line D1C1 of the wall as another corner point. Then, the corner points B1 and C1 are connected to form a line segment B1C1. Then, the line segment B1C1 forms the door beam line. Then, the robot Figure 1 The wall vertical projection line A1B1, the wall vertical projection line C1D1 and the door beam line B1C1 extracted from the image processing apparatus are connected to form the target gap to represent the door frame existing in the actual environment.

[0073] In some embodiments, the current position of the robot is represented by point O, which is the center of the environment image; then the robot sets the direction from the center of the currently collected environment image to the center of the door beam line as the distribution direction of the door frame relative to the current position of the robot, corresponding to Figure 1 In the figure, the center of the door beam line is the midpoint H1 of the straight line segment B1C1, and the direction from point O to point H1 is the distribution direction of the door frame where the door beam line B1C1 is located relative to the current position of the robot (specifically, its pixel coordinate position in the image). It can also be understood that the robot is located in the direction of H1O of the door frame where the door beam line B1C1 is located, and the robot is regarded as walking along the direction OH1 to the front of the door frame where the door beam line B1C1 is located.

[0074] In some embodiments, the robot sets the angle between the direction from one corner point to another corner point and the coordinate axis of the image coordinate system, or the angle converted from the angle into the world coordinate system, as the angle information of the door beam line, so as to convert it into the orientation information of the door beam line in the outdoor room area; the direction from one corner point to another corner point is an extension direction of the door beam line in the image coordinate system, which is schematically represented as Figure 1 Corner point B1 points to the direction of corner point C1. Specifically, the center of the door beam line can be converted into the world coordinate system to realize the conversion of the angle information of the door beam line into the world coordinate system, that is, it falls into the grid map and is positioned with the help of the world coordinate system, which is suitable for the robot to use in the process of walking and mapping.

[0075] Based on the aforementioned embodiments, the present application discloses a robot, the robot is equipped with a visual sensor, and the visual sensor is generally installed on the top of the robot body to cover a larger viewing space. The robot is used to execute the first partition planning method mentioned in the aforementioned embodiments. The robot specifically executes steps A1 and A2 to divide the first partition in the environment; for step A1, the robot specifically executes steps A101 to A104, so that the robot walks along the wall to complete a closed-loop path and forms a circle of wall chain with at least one target gap reserved, then the at least one circle of wall chain with at least one target gap reserved can be enclosed as the first partition; for step A1 In step A1, the robot also determines two vertical projection lines of the wall and one door beam line as candidate door frame constituent line segments by executing steps A111 to A117; for step A1, the robot also converts the vertical projection lines from pixel size to physical size by executing steps A118 to A121, and obtains two vertical projection lines of the wall and one door beam line for constituting the door frame based on the physical size, eliminates the misjudgment interference of the door leaf and side wall lines perpendicular to the ground, and constructs a simplified model of the door frame. Based on the simplified model of the door frame, the first room area close to the actual environment is divided in the indoor and outdoor working areas.

[0076] As an embodiment, the visual sensor uses a camera. In order to respond quickly and improve the efficiency of mapping, the robot can use a monocular camera for image acquisition and identify walls and gaps in the acquired wall image; the lens of the robot's camera is installed toward the ceiling of the indoor room where the robot is located, so that the camera's field of view covers the surface of the ceiling and the space below it, wherein a door frame is set in the space below the ceiling as the entrance and exit of different room areas. In this embodiment, the camera is set at the front end of the robot body, and the direction of the robot's camera is set to be horizontal and obliquely upward. The optical axis of the camera can be close to 90 degrees with the horizontal plane, and the environmental image acquired by the camera can at least cover the area between the wall where the door frame or the door beam of the door frame is located and the ceiling. In this embodiment, a single camera can be set, and multi-angle camera can be maintained during the execution of a single room area task.

[0077] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing device to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including an instruction device, which implements the functions specified in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0078] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. The first zoning planning method based on gap identification, characterized by: include: The robot walks along the wall and identifies the target gap to complete at least one closed-loop path, and forms the first partition with at least one circle of wall chain with at least one target gap reserved, so that the robot enters the unmapped area from the first partition after passing through the identified target gap.

2. The first zoning planning method according to claim 1, characterized in that: The specific method of the first zoning planning method includes: Step A1, the robot searches for a wall, then walks along the wall and identifies a target gap, while building a map, and walks along the target gap when identifying the target gap, until the robot walks through at least one closed-loop path, obtains at least one circle of wall chain with at least one target gap reserved, and encloses the at least one circle of wall chain with at least one target gap reserved into a first partition, and sets a partition map according to the first partition; then executes step A2; Step A2: The robot enters the unmapped area from the first partition through the target gap identified in step A1.

3. The first zoning planning method according to claim 2, characterized in that: In step A1, the method for the robot to search for a wall includes: The robot collects environmental images, extracts the vertical projection lines of the walls from the environmental images, and then identifies each combination of multiple vertical projection lines of the walls located in the same plane or the same curved surface as a wall to be searched.

4. The first zoning planning method according to claim 2, characterized in that: In step A1, the method for the robot to walk a closed-loop path includes: Step A101, when the robot recognizes the current wall, the robot walks along the current wall in a preset clockwise direction, and at the same time determines whether the robot recognizes the target gap, if yes, executes step A102, otherwise executes step A103; Step A102, determining whether the robot has walked back to the preset edge starting point, if yes, determining that the robot has walked a closed-loop path, otherwise, executing step A103; Step A103, the robot walks along the boundary formed by the location of the target gap described in step A101 and keeps searching for the wall; then executing step A104; Step A104: When the robot recognizes the next wall, the robot updates the next wall to the current wall, and then executes step A101.

5. The first zoning planning method according to claim 4, characterized in that: When the robot completes a closed-loop path, the robot forms a wall chain with at least one target gap reserved in the preset clockwise direction according to the walls and target gaps identified in sequence in steps A101 to A104; the projection lines of the walls and target gaps identified in sequence in steps A101 to A104 on the ground are enclosed into continuous line segments to form a complete closed loop.

6. The first zoning planning method according to claim 5, characterized in that: In a frame of environment image collected by the robot in real time, the target gap is between two adjacent walls; the target gap is surrounded by vertical projection lines of the wall on the opposite side of the two adjacent walls, forming two vertical projection lines of the wall corresponding to the target gap; Among them, the distance between the two endpoints of the target gap is within the preset width threshold range, and the pixel distances between the intersection of the extended lines of the two vertical projection lines of the wall corresponding to the target gap and the nearest endpoints of the two vertical projection lines of the wall corresponding to the target gap are both within the preset projection distance threshold range.

7. The first zoning planning method according to claim 1, characterized in that: The robot's methods for target gap identification include: The robot collects an environment image and extracts a plurality of straight line segments from the environment image; According to the line segment length characteristics, angle characteristics and quantity characteristics, two reference vertical projection lines and one reference horizontal projection line forming an intersection relationship are selected from the plurality of straight line segments; According to the preset door frame size conditions, two wall vertical projection lines and one door beam line for forming a door frame are screened out from the two reference vertical projection lines and one reference horizontal projection line that have been screened out to form a cross relationship, and it is determined that the two wall vertical projection lines and one door beam line for forming the door frame enclose the target gap.

8. The first zoning planning method according to claim 7, characterized in that: The method of selecting two reference vertical projection lines and one reference horizontal projection line that form an intersection relationship from the plurality of straight line segments according to the line segment length feature, angle feature and quantity feature comprises: Step A111, selecting straight line segments perpendicular to the ground from the plurality of straight line segments; then selecting straight line segments whose length is greater than a preset wall height threshold from the selected straight line segments perpendicular to the ground and marking them as reference vertical projection lines; then executing step A112; Step A112, determining whether the number of reference vertical projection lines marked in step A111 is less than a value of two, if yes, determining that the robot cannot filter out two wall vertical projection lines from the environment image, otherwise executing step A113; Step A113, within the preset projection distance threshold range corresponding to the center of the environment image, filter out the straight line segments whose lengths are within the preset width threshold range, and then mark the filtered straight line segments whose lengths are within the preset width threshold range as reference horizontal projection lines; then execute step A114; Step A114, determining whether the number of reference horizontal projection lines marked in step A113 is less than a value of one, if so, determining that the robot cannot filter out the door beam line from the environment image, otherwise executing step A115; Step A115, screening out a reference horizontal projection line that meets the door structure by enumerating the reference vertical projection lines and the reference horizontal projection lines, and then executing step A116; wherein the reference horizontal projection line that meets the door structure is a reference horizontal projection line that forms an intersection relationship with the two reference vertical projection lines; Step A116, determining whether the number of reference horizontal projection lines that meet the door structure selected in step A115 is greater than a value of one, if yes, executing step A117, otherwise determining that the robot cannot select the door beam line from the environment image; Step A117, obtain multiple groups of two reference vertical projection lines and one reference horizontal projection line that form an intersection relationship; then, in each group of two reference vertical projection lines and one reference horizontal projection line that form an intersection relationship, mark the two reference vertical projection lines as two wall vertical projection lines, and mark the one reference horizontal projection line as a door beam line; wherein the extension lines of the two reference vertical projection lines intersect.

9. The first zoning planning method according to claim 8, characterized in that: The method of selecting two wall vertical projection lines and one door beam line for forming a door frame from two reference vertical projection lines and one reference horizontal projection line that have been selected to form a cross relationship according to a preset door frame size condition comprises: Step A118, marking a group of two reference vertical projection lines and one reference horizontal projection line that form an intersection relationship determined in step A117 as a group of candidate door frame lines; then executing step A119; Step A119, determining whether the physical distance between the vertical corner lines corresponding to the two reference vertical projection lines in a set of candidate door frame lines is within the preset door width distance range, if yes, executing step A120, otherwise, the two vertical wall projection lines for forming the door frame cannot be screened out; wherein the robot uses a depth sensor to detect the physical distance between the vertical corner lines corresponding to the two reference vertical projection lines; Step A120, calculating the ratio between the length of a reference horizontal projection line in the set of candidate door frame lines and the physical distance, and then converting the length of the vertical wall corner line corresponding to each reference vertical projection line based on the ratio and the length of each reference vertical projection line, and then executing step A121; Step A121, determining whether the lengths of the vertical wall corner lines corresponding to each reference vertical projection line in a set of candidate door frame lines are all within a preset door frame height range, if so, marking two reference vertical projection lines in a set of candidate door frame lines as two wall vertical projection lines for forming a door frame, and marking a reference horizontal projection line in a set of candidate door frame lines as a door beam line for forming a door frame; otherwise, no two wall vertical projection lines for forming a door frame can be screened out; wherein, the target gap includes the door frame; The reference vertical projection line is a projection line formed when the robot collects the vertical wall corner line into the coordinate system where the environment image is located, and the vertical wall corner line is perpendicular to the ground where the robot walks.

10. The first zoning planning method according to claim 9, characterized in that: The angle formed by the intersection of two vertical projection lines of the wall marked in a group of candidate door frame lines in step A121 and a door beam line marked in the same group of candidate door frame lines in step A121 and the center of the environment image is greater than a preset angle threshold; Among them, in step A121, the length of a door beam line marked in the same set of candidate door frame lines is greater than the preset door beam projection length.

Images