Region segmentation method and device, control equipment and storage medium

Abstract

The invention provides a region segmentation method and device, control equipment and a storage medium. The method comprises: a display step for displaying, on a screen, a graphical representation of a map including an operable area; the drawing step is used for executing a drawing operation for drawing a target line in response to the detected touch operation of the user on the screen, the target line penetrates through the operable area and is fixed, and the target line is used for drawing the target line. The drawing operation comprises the steps that a starting point of the touch operation serves as a starting point, an end point of the touch operation serves as an end point, the target line is drawn based on the touch operation, and the target line is fixed in response to the end of the touch operation; and a segmentation step for segmenting the operable region based on the target line. Thus, convenience and intuition of operation are improved, and region segmentation can be realized even for regions (such as rooms) with irregular shapes without being limited by the shape of the region.

Description

Technical Field

[0001] The present disclosure relates to the field of smart home technology, and in particular to a region segmentation method and device, a control device, and a storage medium. Background Art

[0002] Performing area segmentation such as room segmentation on a map of an autonomous mobile device is a very common operation, which requires segmenting the map into multiple parts according to the shape of a room, etc., wherein at least one of the multiple parts can be processed accordingly.

[0003] In the related art, region segmentation is performed by forming a polygon using the intersection of multiple rectangles on a map. However, it may be difficult to cover irregularly shaped rooms and is not intuitive. Summary of the invention

[0004] The purpose of the present disclosure is to overcome or at least alleviate the deficiencies in the above-mentioned prior art and to provide a region segmentation method and apparatus, a control device and a storage medium that can achieve region segmentation even for rooms with irregular shapes.

[0005] According to a first aspect of the present disclosure, there is provided a region segmentation method, which is applied to a control device, and the method comprises: a display step for displaying a graphical representation of a map including an operable region on a screen; a drawing step for executing a drawing operation for drawing a target line in response to detecting a touch operation of the screen by a user, wherein the target line passes through the operable region and is fixed, the drawing operation comprising: taking a starting point of the touch operation as a starting point, taking an end point of the touch operation as an end point, and drawing the target line based on the touch operation, wherein the target line is fixed in response to the end of the touch operation; and a segmentation step for segmenting the operable region based on the target line.

[0006] According to a second aspect of the present disclosure, there is provided a region segmentation method, which is applied to a control device, and the method comprises: a display step for displaying a graphical representation of a map including an operable region on a screen; a drawing step for executing a drawing operation for drawing at least three different target lines in response to detecting at least three touch operations of the screen by a user, wherein each of the target lines is located within the operable region and is fixed, and the drawing operation comprises: for each touch operation of the at least three touch operations, taking the starting point of the touch operation as the starting point, taking the end point of the touch operation as the end point, and drawing a target line based on the touch operation, thereby drawing the same number of target lines as the number of touch operations detected, wherein the target line drawn based on the touch operation is fixed in response to the end of each touch operation; and a segmentation step for segmenting the operable region based on the at least three target lines drawn.

[0007] According to a third aspect of the present disclosure, there is provided a region segmentation apparatus, applied to a control device, the apparatus comprising: a display unit, for displaying a graphical representation of a map including an operable region on a screen; a drawing unit, for executing a drawing operation for drawing a target line in response to detecting a user's touch operation on the screen, wherein the target line passes through the operable region and is fixed, the drawing operation comprising: taking a starting point of the touch operation as a starting point, taking an end point of the touch operation as an end point, and drawing the target line based on the touch operation, wherein the target line is fixed in response to the end of the touch operation; and a segmentation unit, for segmenting the operable region based on the target line.

[0008] According to a fourth aspect of the present disclosure, there is provided a region segmentation apparatus, which is applied to a control device, and the apparatus comprises: a display unit, which is used to display a graphical representation of a map including an operable region on a screen; a drawing unit, which is used to execute a drawing operation for drawing at least three different target lines in response to detecting at least three touch operations of the screen by a user, wherein each of the target lines is located within the operable region and is fixed, and the drawing operation comprises: for each touch operation of the at least three touch operations, taking the starting point of the touch operation as the starting point, taking the end point of the touch operation as the end point, and drawing a target line based on the touch operation, thereby drawing the same number of target lines as the number of touch operations detected, wherein the target line drawn based on the touch operation is fixed in response to the end of each touch operation; and a segmentation unit, which is used to segment the operable region based on the at least three target lines drawn.

[0009] According to a fifth aspect of the present disclosure, a region segmentation apparatus is provided, which is applied to a control device, and the apparatus comprises: a processor; and a memory for storing instructions executable by the processor, wherein the processor is configured to implement the above-mentioned region segmentation method when executing the instructions stored in the memory.

[0010] According to a sixth aspect of the present disclosure, a control device is provided, which includes: a screen and the above-mentioned area segmentation device.

[0011] According to a seventh aspect of the present disclosure, a non-volatile computer-readable storage medium is provided, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the above-mentioned region segmentation method is implemented.

[0012] Compared with the prior art which uses the intersection of multiple rectangles to form polygons for region segmentation, the technical solution disclosed in the present invention realizes region segmentation by drawing arbitrary lines on the map in response to the user's touch operation on the screen. While improving the convenience and intuitiveness of the operation, it is not restricted by the shape of the region, and thus region segmentation can be achieved even for irregularly shaped regions (such as rooms, etc.).

[0013] Further features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

[0015] Figure 1 A typical environment including autonomous mobile devices and control devices is shown.

[0016] Figure 2 A flow chart of a region segmentation method applied to a control device according to an exemplary embodiment is shown.

[0017] Figure 3 A schematic diagram showing a graphical representation of a map including an operable area displayed on a screen of a control device according to an exemplary embodiment.

[0018] Figure 4 A schematic diagram illustrating drawing a target line passing through an operable area on a screen of a control device according to an exemplary embodiment.

[0019] Figure 5 A schematic diagram illustrating drawing two target lines passing through an operable area on a screen of a control device according to an exemplary embodiment.

[0020] Figure 6 A schematic diagram illustrating arbitrary adjustment of a target line during a drawing operation according to an exemplary embodiment.

[0021] Figure 7 A schematic diagram illustrating ending a fixed target line in response to a touch operation according to an exemplary embodiment.

[0022] Figure 8(a) to Figure 8(c) A schematic diagram showing adjusting a drawn target line to a new target line that does not pass through an obstacle according to an exemplary embodiment is shown.

[0023] Fig. 9 A schematic diagram illustrating segmenting an operable area based on a target line according to an exemplary embodiment.

[0024] Fig.10A schematic diagram showing an application scenario of a region segmentation method applied to a control device according to another exemplary embodiment.

[0025] Fig.11 A flow chart of a region segmentation method applied to a control device according to another exemplary embodiment is shown.

[0026] Fig.12 A block diagram illustrating a region segmentation apparatus according to an exemplary embodiment.

[0027] Fig.13 A block diagram illustrating a region segmentation apparatus according to an exemplary embodiment. DETAILED DESCRIPTION

[0028] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0029] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0030] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0031] Autonomous mobile devices refer to intelligent mobile devices that perform predetermined tasks in a set area, including but not limited to: cleaning robots (Robot Vacuum Cleaner, RVC), such as: intelligent sweeping machines, intelligent floor cleaning machines, window cleaning robots, etc.; logistics robots, handling robots, etc.; weeding robots, ice-shoveling robots, etc.; companion mobile robots, such as: intelligent electronic pets, nanny robots; service mobile robots, such as: reception robots in hotels, inns, and meeting places; industrial inspection intelligent equipment, such as power inspection robots, intelligent forklifts, etc.; security robots, such as: household or commercial intelligent guard robots, etc. It should be noted that the autonomous mobile devices are not limited to the above-mentioned ones, and any device with autonomous movement function should belong to the autonomous mobile devices described in this embodiment.

[0032] Autonomous mobile devices usually move autonomously in a limited space, such as cleaning robots and companion mobile robots that usually operate indoors, and service mobile robots that usually operate in specific limited spaces such as hotels and venues. This limited space can be called the working area of ​​the autonomous mobile device. At present, autonomous mobile devices can obtain the location of obstacles by sensing environmental information to establish a map of their operating space. The map at least includes information about various types of obstacles in the environment, such as the map location of obstacles, that is, the actual location of obstacles in the working area is mapped to the map location on the map. The map also includes at least one operable area representing the working area where the autonomous mobile device can perform cleaning and other processing. The working area is, for example, multiple areas separated by walls, doors and other partitions, such as multiple rooms. It is a very common operation to segment the operable area on the map of the autonomous mobile device. The map needs to be segmented into multiple parts according to the shape of the room or the actual needs of the user, so as to formulate a cleaning plan for one or more of the multiple parts and perform cleaning according to the plan.

[0033] The prior art divides areas such as rooms by forming polygons using the intersection of multiple rectangles on a map. However, this method may be difficult to cover rooms with irregular shapes and is not intuitive.

[0034] In view of this, the present disclosure proposes a region segmentation method, which is applied to a control device, and the method includes: a display step for displaying a graphical representation of a map including an operable area on a screen; a drawing step for executing a drawing operation for drawing a target line in response to detecting a user's touch operation on the screen, wherein the target line passes through the operable area and is fixed, and the drawing operation includes: taking the starting point of the touch operation as the starting point and the end point of the touch operation as the end point, and drawing the target line based on the touch operation, wherein the target line is fixed in response to the end of the touch operation; and a segmentation step for segmenting the operable area based on the target line.

[0035] In addition, the present disclosure also proposes a region segmentation method, which is applied to a control device, including: a display step for displaying a graphical representation of a map including an operable area on a screen; a drawing step for executing a drawing operation for drawing at least three different target lines in response to detecting at least three touch operations of the user on the screen, wherein each of the target lines is located within the operable area and is fixed, and the drawing operation includes: for each touch operation of the at least three touch operations, taking the starting point of the touch operation as the starting point, taking the end point of the touch operation as the end point, and drawing a target line based on the touch operation, thereby drawing the same number of target lines as the number of touch operations detected, wherein the target line drawn based on the touch operation is fixed in response to the end of each touch operation; and a segmentation step for segmenting the operable area based on the at least three target lines drawn.

[0036] Compared with the prior art which uses the intersection of multiple rectangles to form polygons for region segmentation, the technical solution disclosed in the present invention achieves region segmentation by drawing arbitrary lines on the map in response to the user's touch operation on the screen. While improving the convenience and intuitiveness of the operation, it is not restricted by the shape of the region, thereby solving the technical problems described above.

[0037] In the following exemplary embodiments, a control device controlling a sweeping machine is used as an example for explanation, but those skilled in the art will appreciate that the solution disclosed herein can also be applied to control devices controlling other autonomous mobile devices such as mops that require segmentation of operable areas such as maps.

[0038] See also Figure 1 The area segmentation system may include an autonomous mobile device 102 and a control device 120 that can communicate with each other. It should be understood that the control device 120 is used to control the autonomous mobile device 102. For example, the control device 120 can send a corresponding instruction to the autonomous mobile device 102 to make the autonomous mobile device 102 perform a process corresponding to the instruction. It can be understood that the control device 120 is a terminal device of the autonomous mobile device 102, and the autonomous mobile device 102 is controlled via the terminal device.

[0039] The control device 120 may include a mobile computing device or a portable computing device such as a cellular phone, a smart phone, a personal digital assistant, a tablet computer, a smart watch, a laptop computer, etc., and may also include a non-mobile computing device or a non-portable computing device such as a desktop computer.

[0040] like Figure 1As shown, the control device 120 is provided with a screen 122 (also referred to as a display). In a possible implementation, the screen 122 may include a touch screen having both a touch input function and a display function. The user can input corresponding information on the screen 122. Of course, the screen 122 may also display corresponding information for the user to process. Therefore, the user can interact with the control device 120 in a friendly manner via the screen 122. Exemplarily, information such as a map and the like related to the training and cleaning of the autonomous mobile device 102 may be displayed on the screen 122. The exemplary embodiments of the present disclosure are described below in conjunction with Embodiment 1 and Embodiment 2.

[0041] Embodiment 1:

[0042] See also Figure 2 The region segmentation method of this exemplary embodiment includes the following steps:

[0043] In step S11 (display step), a graphic representation of a map including an operable area is displayed on the screen.

[0044] In this exemplary embodiment, since the screen displays pixel points, the map displayed on the screen is actually a pixel map. The autonomous mobile device once performed a work task on a certain workspace (for example, the autonomous mobile device performed a cleaning task). During the execution of the work task, the autonomous mobile device established and stored the initial pixel map of the workspace (for example, the initial pixel map of the workspace was stored in its own storage unit). In this way, when the autonomous mobile device performs subsequent work tasks on the same workspace, the autonomous mobile device can directly obtain the pixel map from its own storage unit. Alternatively, the autonomous mobile device can obtain the above-mentioned pixel map from the storage unit of other autonomous mobile devices storing the above-mentioned pixel map or the server storing the above-mentioned pixel map through the network.

[0045] After obtaining the pixel map of the workspace in advance, the autonomous mobile device may first partition the pixel map to divide the area corresponding to the pixel map into at least one sub-area (i.e., an operable area) to obtain a regional pixel map. It should be understood that the area corresponding to the pixel map may be partitioned automatically or manually, and those skilled in the art may use any suitable method in the prior art to perform automatic partitioning or manual partitioning. Due to space limitations, this disclosure will not further describe automatic partitioning and manual partitioning in detail.

[0046] Therefore, the autonomous mobile device 102 can obtain the regional pixel map, and thus the regional pixel map can be obtained from the autonomous mobile device 102. After the regional pixel map is obtained, a graphical representation of the obtained regional pixel map can be displayed on the screen 122.

[0047] For example, see Figure 3 , the graphic representation 301 includes operable areas 304 and 305, the operable areas 304 and 305 are, for example, room 1 and room 2, and the graphic representation 301 shows a wall 302 of the room and an obstacle 303 in the room, wherein the obstacle 303 is, for example, a trash can, a coffee table, a dining table, a sofa, a refrigerator, etc. Those skilled in the art will appreciate that, although Figure 3 Two operable areas 304 and 305 are shown in the figure, but the present disclosure does not specifically limit the number of operable areas in the map. For example, the map may include only one operable area, or the map may include more than three operable areas.

[0048] After the graphic representation is displayed on the screen, the process proceeds to step S12 described below.

[0049] In step S12 (drawing step), in response to detecting a user's touch operation on the screen 122, a drawing operation for drawing a target line is performed, wherein the target line passes through the operable area and is fixed, and the drawing operation includes: taking the starting point of the touch operation as the starting point, taking the end point of the touch operation as the end point, and drawing the target line based on the touch operation, wherein the target line is fixed in response to the end of the touch operation. The target line being fixed means that the target line cannot be selected and adjusted, and the adjustment includes but is not limited to moving and rotating the target line.

[0050] In this embodiment, the user may touch the screen displaying the graphic representation at any appropriate time and in any appropriate manner in the prior art. In other words, the present disclosure does not impose any specific restrictions on the manner and timing of touching.

[0051] In a possible implementation, guidance information for guiding the user to perform a touch operation on the screen displaying the graphical representation may be displayed on the screen, and when the user sees the guidance information, the user will perform a touch operation on the screen displaying the graphical representation. Thus, the time used for the area segmentation of the present disclosure can be appropriately reduced. Exemplarily, the guidance information may include, but is not limited to, text information such as "Please place your finger on the screen to draw a line".

[0052] In another possible implementation, no matter how long has passed since the graphic representation was displayed on the screen, no prompt is given, but the user is waited for to touch the screen displaying the graphic representation autonomously. Thus, the information to be displayed on the screen can be reduced, making the screen look more concise.

[0053] In this exemplary embodiment, any suitable detection method can be used to detect whether the user has performed a touch operation on the screen displaying the graphic representation according to the actual application scenario and requirements. For example, a tactile sensor can be used to detect whether the user has performed a touch operation on the screen displaying the graphic representation. Therefore, this disclosure will no longer elaborate on the detection method of the touch operation.

[0054] In a possible implementation, when a user's touch operation on a screen displaying a graphical representation is detected, a target line can be drawn along a touch track corresponding to the touch operation, wherein the touch track extends from outside an operable area (such as a room) to inside the operable area, until it passes through the operable area and reaches outside the operable area. In a first possible implementation, the starting point and the end point of the touch operation may be located at two different positions outside the operable area; in a second possible implementation, the starting point and the end point of the touch operation may be located at corresponding positions on two boundaries of the operable area; in a third possible implementation, one of the starting point and the end point of the touch operation is located at a position outside the operable area and the other is located at a corresponding position on a boundary of the operable area. It should be understood that the present disclosure does not specifically limit the positions of the starting point and the end point of the touch operation, as long as the touch track connected by the starting point and the end point can pass through the operable area.

[0055] Accordingly, the starting point of the drawn target line is the starting point of the touch track, the end point of the target line is the end point of the touch track, and the contour of the target line is consistent with the contour of the touch track. Since the touch track passes through the operable area, the target line naturally also passes through the operable area.

[0056] It should be understood that if the drawn target line does not pass through the operable area, the target line is considered invalid. Optionally, the invalid target line can be automatically deleted, and the user is prompted to touch the screen displaying the graphical representation again to redraw a new target line.

[0057] When the user ends the touch operation, for example, the user lifts the finger from the screen displaying the graphical representation, the drawing of the target line is completed, and the drawn target line may be fixed at this time.

[0058] In the present exemplary embodiment, the target line being fixed means that the target line cannot be selected and adjusted.

[0059] As an example, Figure 7As shown, in response to the end of the touch operation, such as the user's finger leaving the screen, the drawn target line 401 is fixed and can no longer be adjusted, which means that the user cannot adjust the position (such as the starting position of the target line 401), shape, angle relative to the map, etc. of the fixed target line 401, that is, the fixed target line 401 cannot be moved, deformed, rotated, etc. Optionally, a prompt message such as "Once the finger leaves the screen, the line will be fixed and can no longer be adjusted" can be displayed on the screen to prompt the user not to leave the finger on the screen before the drawn line has not met the user's expectations.

[0060] Then, the following step S13 may be continued.

[0061] In step S13 (segmentation step), the operable area is segmented based on the target line.

[0062] In this exemplary embodiment, since the drawn target line passes through the operable area, the operable area should be able to be divided into two parts via the target line, and thus the operable area can be divided via the target line.

[0063] For example, see Fig. 9 After the drawn target line 401 is fixed, the operable area 305 is segmented based on the target line 401, thereby obtaining the segmented areas, namely, room 4 and room 5.

[0064] According to this exemplary embodiment, when a user's touch operation on a screen displaying a graphic representation of a map including an operable area is detected, a drawing operation corresponding to the touch operation is performed to draw a target line passing through the operable area and fix the target line, and then the operable area is segmented based on the target line. Therefore, compared to the prior art method of using the intersection of multiple rectangles to form a polygon for area segmentation (which draws rectangles on the operable area of ​​the map to frame the area to be segmented, which is convenient for the case where a rectangular area is to be segmented, but difficult to apply to the case where the area to be segmented is an irregular shape), the present disclosure uses a target line drawn by a drawing operation corresponding to the user's touch operation on the screen displaying the graphic representation to perform area segmentation, thereby improving the convenience and intuitiveness of the operation while performing area segmentation without being restricted by the shape of the area to be segmented (operable area), thereby enabling area segmentation even for irregularly shaped areas (such as rooms, etc.).

[0065] In a possible implementation, the drawing step S12 may include: performing a drawing operation to draw a target line, forming a closed area through the drawn target line and the boundary of at least one operable area. Accordingly, the operable area may be segmented based on the closed area.

[0066] In this exemplary embodiment, Figure 4 As shown, the user only performs one touch operation on the screen displaying the graphical representation, and performs one drawing operation corresponding to the one touch operation, and a target line 401 passing through the operable area 305 can be drawn, and the target line 401 forms closed areas 305-1 and 305-2 with the boundary of the operable area 305. Accordingly, the operable area 305 can be divided based on the closed areas 305-1 and 305-2.

[0067] In a possible implementation, the drawing step S12 may include: performing the drawing operation twice to draw two different target lines, and forming a closed area through the two drawn target lines and the boundary of at least one operable area. Accordingly, the operable area may be segmented based on the closed area. Figure 5 As shown, the user performs two touch operations on the screen displaying the graphic representation, and performs two drawing operations corresponding to the two touch operations, and two target lines 401-1 and 401-2 (i.e., dividing line 1 and dividing line 2) passing through the operable area can be drawn. The two target lines 401-1 and 401-2 and the boundary of the operable area form three closed areas of the living room, corridor, and bedroom. Accordingly, the operable area can be divided based on these three closed areas.

[0068] It should be understood that, for the convenience of explaining this exemplary embodiment, one or two target lines are drawn through the drawing step as an example for description; however, in fact, the number of target lines drawn through the drawing step can be adjusted according to actual application scenarios and needs; for example, according to the shape of the operable area to be divided and / or the area to be divided, more than three drawing operations can be performed to draw more than three target lines.

[0069] In a possible implementation, the touch operation includes: touching a first position point on the screen, and moving the touch point from the first position point to a second position point while maintaining the touch on the screen; accordingly, drawing the target line based on the touch operation includes: drawing the target line based on the moving trajectory of the touch operation, wherein the first position point and the second position point correspond to the starting point and the end point of the target line, respectively. Those skilled in the art will appreciate that the drawn target line may be a straight line or a curve depending on the moving trajectory. If the moving trajectory is a straight line, the target line drawn based on the moving trajectory is also a straight line; if the moving trajectory is a curve, the target line drawn based on the moving trajectory is also a curve.

[0070] Exemplarily, the user's finger touches a first position point on the screen where a graphic representation is displayed, and then the finger slides forward until it reaches a second position point on the screen, whereby a target line can be drawn based on the sliding trajectory of the finger. It should be understood that the sliding trajectory passes through the operable area.

[0071] In one possible implementation, the touch operation includes: touching a first position point and a second position point on the screen, and accordingly, the drawing step S12 may include: drawing a line connecting the first position point and the second position point as the target line, wherein the first position point and the second position point correspond to the starting point and the end point of the target line, respectively.

[0072] Exemplarily, the user's finger touches a first position point on the screen where a graphical representation is displayed, then lifts the finger, and then touches a second position point on the screen, thereby drawing a target line based on a line connecting the first position point and the second position point. It should be understood that the line connecting the first position point and the second position point passes through the operable area. The drawn target line can be a straight line or a curve. For example, a target line corresponding to the selected type can be drawn according to the type of target line selected by the user, wherein the types of target lines include straight lines and curves.

[0073] In a possible implementation, when drawing a target line based on a moving trajectory of a touch operation, as shown in FIG. Figure 6 As shown, the user touches the screen displaying the graphic representation with a finger. While the finger is kept on the screen, the user can arbitrarily slide the finger with the starting point of the touch operation as the center of the circle to adjust the drawn line, for example, to move the end point of the line from Figure 4 Move to position a in Figure 6 Position b in.

[0074] Alternatively, if Figure 6 As shown, guidance information such as “moving your finger by keeping it on the screen can adjust the end point of the line” can be displayed on the screen to prompt the user to flexibly adjust the position of the target line as needed during drawing the target line.

[0075] In a possible implementation, if the drawn target line needs to be adjusted, the drawn target line is deleted, and the drawing operation is re-executed to re-draw a new target line.

[0076] In this exemplary embodiment, it is taken into account that the fixed target line cannot be adjusted, but there is a situation where the drawn target line is not the actually required target line due to operational errors or changes in requirements, and thus the fixed target line needs to be adjusted. In this case, the fixed target line can be deleted and then the drawing operation can be re-executed to redraw a new target line.

[0077] In one possible implementation, in response to the end of the touch operation, it is determined whether to fix the first target line drawn based on the touch operation; if it is determined that the first target line is to be fixed, the first target line is fixed; if it is determined that the first target line is not to be fixed, if other touch operations are detected, the first target line is deleted, and the drawing operation is re-executed based on the other touch operations.

[0078] In this exemplary embodiment, when the touch operation is terminated, the target line drawn based on the touch operation is displayed on the screen accordingly, and the user can consider whether the target line is appropriate (whether the user is satisfied with the target line) and give corresponding instructions to the control device based on whether the target line is appropriate, such as giving the control device a positive indication that the target line is appropriate and does not need to be redrawn, or a negative indication that the target line is inappropriate and needs to be redrawn, etc. Therefore, it is possible to determine whether the target line drawn based on the touch operation needs to be fixed based on the received user instruction; if a positive indication is received, it is determined that the drawn target line needs to be fixed, and accordingly, the target line can be fixed; conversely, if a negative indication is received, it is possible to further detect whether the user has performed a touch operation on the screen displaying the graphical representation again, and if a touch operation is detected again, the drawn target line is deleted, and a new target line is redrawn based on the touch operation again.

[0079] In a possible implementation manner, the drawing operation further includes: if the drawn target line passes through an obstacle located in the operable area, adjusting the drawn target line to a new target line that does not pass through the obstacle.

[0080] In this exemplary embodiment, considering that there may be obstacles in the operable area, the autonomous mobile device needs to perform processing such as obstacle avoidance processing and crossing processing for the obstacle. Therefore, if the drawn target line passes through the obstacle, on the one hand, the graphic display of the map will be inconsistent. On the other hand, if the operable area is segmented based on the target line that passes through the obstacle, it is equivalent to segmenting the obstacle as a whole, which is obviously inappropriate. Therefore, the drawn target line needs to be adjusted so that it does not pass through the obstacle. In this way, the coordination of the graphic display can be maintained while preventing inappropriate segmentation.

[0081] In one possible implementation, adjusting the drawn target line to a new target line that does not pass through the obstacle includes at least one of the following: (1) rotating the drawn target line with the starting point of the target line as the center while keeping the shape of the drawn target line unchanged until a new target line is drawn that is entirely located on one side of the obstacle; (2) adjusting the drawn target line along the boundary of the obstacle until a new target line is drawn that has the same shape as the boundary of the obstacle and is located on one side of the obstacle; and (3) keeping the starting point and end point of the drawn target line unchanged, adjusting the curvature of the target line so that the new target line avoids the obstacle in the form of a curve.

[0082] With respect to the above (1), as shown in FIG8(a), when the drawn target line 401 passes through the obstacle 303, the shape of the target line 401 is kept unchanged, and the target line 401 is rotated with its starting point as the center until a new target line 401' is drawn that is located on one side of the obstacle 303 as a whole, thereby avoiding the obstacle 303. Although FIG8(a) shows that the target line 401 is rotated clockwise to the new target line 401', those skilled in the art will understand that the target line 401 may also be rotated counterclockwise to form a new target line that is located on the other side of the obstacle 303 as a whole.

[0083] With respect to the above (2), as shown in FIG8(b), when the drawn target line 401 passes through the obstacle 303, the target line 401 is adjusted along the boundary of the obstacle 303 until a new target line 401' is drawn that has the same shape as the boundary of the obstacle 303 and is located on one side of the obstacle 303. For ease of representation, FIG8(b) only shows the portion of the new target line 401' that does not overlap with the target line 401 in dashed lines. Those skilled in the art will appreciate that the portion of the new target line 401' that is not shown in dashed lines overlaps with the portion of the target line 401 that does not pass through the obstacle 303. Although FIG8(b) shows that the new target line 401' bypasses the obstacle from below the obstacle 303, those skilled in the art will appreciate that the new target line 401' may also bypass the obstacle from above the obstacle 303.

[0084] With respect to the above (3), as shown in FIG8(c), when the drawn target line 401 passes through the obstacle 303, the starting point and the end point of the target line 401 are kept unchanged, and the curvature of the target line 401 is adjusted so that the new target line 401' avoids the obstacle 303 in a curved form. Although FIG8(c) shows that the new target line 401' bypasses the obstacle 303 from below, those skilled in the art will understand that the new target line 401' may also bypass the obstacle from above the obstacle 303. In addition, although FIG8(c) shows that the curvature between the starting point and the end point of the target line 401 is adjusted as a whole, those skilled in the art will understand that the curvature may be adjusted only for the portion of the target line 401 passing through the obstacle 303, thereby forming a target line as shown by a new target line 401" shown by a dotted line in FIG8(c), which coincides with the target line 401 on both sides of the obstacle 303, and only the portion of the target line 401 passing through the obstacle 303 is adjusted.

[0085] In a possible implementation, after the operable area is segmented based on the drawn target line, the drawn target line may be deleted.

[0086] For example, Fig. 9 As shown, after the operable area 305 is divided into room 4 and room 5 based on the target line 401, the target line 401 can be deleted from the screen, and only the boundary between room 4 and room 5 is retained.

[0087] In a possible implementation, after the operable area is segmented based on the drawn target line, the segmented areas may be displayed in a visually distinguishable manner. In this exemplary embodiment, after the operable area is segmented, the segmented areas may be displayed distinguishably to improve the recognition of the segmented areas.

[0088] In a possible implementation, the visually distinguishable manner includes marking the segmented area with at least one of color, character, curve, graphic, icon, button, floating box, and image file.

[0089] For example, Fig. 9 As shown, after the operable area 305 is divided into room 4 and room 5 based on the target line 401, room 4 and room 5 may be filled with different colors respectively, thereby distinguishing room 4 from room 5 from each other.

[0090] In a possible implementation, after the operable area is segmented based on the drawn target line, at least two adjacent areas selected by the user from the segmented area may be obtained; and the at least two adjacent areas may be merged to eliminate the boundary between the at least two adjacent areas.

[0091] In this exemplary embodiment, after the operable area is segmented, the user can select some adjacent areas from the segmented areas and merge the selected adjacent areas into a larger area, so as to perform more appropriate processing on the merged area.

[0092] In one possible implementation, after the at least two adjacent areas are merged, in response to detecting a first touch operation of the user on the merged area, a drawing operation is performed to draw a first target line, and, in response to the end of the first touch operation, the merged area is divided based on the first target line.

[0093] In this exemplary embodiment, the drawing step S12 and the segmentation step S13 may be re-executed on the merged larger region. Thus, the merged region (obtained by merging the segmented regions) can be segmented again.

[0094] In a possible implementation, after the operable area is segmented based on the drawn target line, the segmented area selected by the user is acquired; and a cleaning task for the acquired area is created.

[0095] In this exemplary embodiment, after the operable area is segmented, the user can select an area to be cleaned from the segmented areas and create a cleaning task for the area to be cleaned, whereby the autonomous mobile device can execute the cleaning task to clean the area to be cleaned.

[0096] For example, Fig. 9 As shown, after the operable area 305 is divided into room 4 and room 5 based on the target line 401, the user can select room 4 and room 5 and set different cleaning modes for room 4 and room 5, thereby creating cleaning tasks corresponding to the selected cleaning modes for rooms 4 and 5.

[0097] Embodiment 2:

[0098] In the first embodiment, the present disclosure divides the operable area by drawing a target line passing through the operable area. Different from this, the second embodiment considers dividing the desired area inside the operable area. For example, Fig.10As shown, consider the situation that there is a carpet 1002 inside the operable area 1001, and the user wishes to adopt different cleaning modes for the carpet 1002 and the rest of the operable area (for example, adopt a carpet cleaning mode for the carpet 1002, and adopt a floor cleaning mode for the rest). In this case, the user may wish to divide the operable area 1001 into an area including the carpet and an area not including the carpet. At this time, if the segmentation is performed by drawing a target line passing through the operable area 1001, since the drawn target line and the boundary of the operable area 1001 form multiple closed areas, the operable area 1001 will be divided into an area including the carpet and multiple areas not including the carpet, which may not be consistent with the user's expectations. The same demand also exists in the case where the user wishes to divide one or more irregular areas inside the operable area, or wishes to divide the irregular areas inside the operable area.

[0099] In view of this, the present disclosure provides a second embodiment. Fig.11 , the region segmentation method includes the following steps:

[0100] In step S21 (display step), a graphical representation of a map including an operable area is displayed on the screen.

[0101] In step S22 (drawing step), in response to detecting at least three touch operations of the user on the screen, a drawing operation for drawing at least three different target lines is performed, wherein each of the target lines is located in the operable area and is fixed, and the drawing operation includes: for each touch operation of the at least three touch operations, taking the starting point of the touch operation as the starting point, taking the end point of the touch operation as the end point, and drawing the target line based on the touch operation, thereby drawing the same number of target lines as the number of touch operations detected, wherein the target line drawn based on the touch operation is fixed in response to the end of each touch operation.

[0102] In step S23 (segmentation step), the operable area is segmented based on the drawn at least three target lines.

[0103] Regarding steps S21 and S23, reference may be made to the relevant descriptions of step S11 and step S13 in the first embodiment, which will not be repeated here.

[0104] It should be understood that the main difference between drawing step S22 and drawing step S12 is that the target line drawn in drawing step S12 can be one, two or more than three. In other words, the first embodiment does not specifically limit the number of target lines drawn, and the target lines drawn must pass through the operable area. In contrast, the target lines drawn in drawing step S22 must be more than three. In other words, the second embodiment excludes the implementation of one or two target lines drawn, and the target lines drawn are located in the operable area, rather than passing through the operable area. The target line being located in the operable area includes that the entire target line is located in the operable area or that one endpoint of the target line is located on the boundary of the operable area and the portion other than the endpoint is located in the operable area.

[0105] According to the present exemplary embodiment, it is possible to divide one or more irregular regions inside the operable region in a flexible manner, or to divide the irregular regions inside the operable region.

[0106] For example, Fig.10 As shown, by drawing four target lines 401 located in the operable area 1001 and segmenting the operable area 1001 based on the drawn four target lines 401, the carpet located in the operable area 1001 is included in one of the segmented areas. Moreover, since the four target lines 401 do not intersect with the boundary of the operable area 1001, and thus do not form a closed area with the boundary of the operable area 1001, the operable area is segmented based on the four target lines 401, and only the closed area formed by the four target lines 401, that is, the area surrounding the carpet 1002, and other areas except this area are segmented, and other areas formed by the target lines 401 and the boundary of the operable area 1001 are not segmented, and such areas are not what the user expects. It can be seen that according to the second embodiment of the present disclosure, it is possible to achieve the division of one or more irregular areas inside the operable area in a flexible manner, or to divide the irregular areas inside the operable area.

[0107] See also Fig.12, the region segmentation device 1200 may include a display unit 1210, a drawing unit 1220 and a segmentation unit 1230. The display unit 1210 is used to display a graphical representation of a map including an operable region on a screen. The drawing unit 1220 is connected to the display unit 1210, and is used to perform a drawing operation for drawing a target line in response to detecting a user's touch operation on the screen, wherein the target line passes through the operable region and is fixed, and the drawing operation includes: taking the starting point of the touch operation as the starting point, taking the end point of the touch operation as the end point, and drawing the target line based on the touch operation, wherein the target line is fixed in response to the end of the touch operation. The segmentation unit 1230 is connected to the drawing unit 1220 and the display unit 1210, and is used to segment the operable region based on the target line, and display the segmentation result on the display unit 1210.

[0108] In a possible implementation, the drawing unit 1220 is configured to: perform the drawing operation once to draw the target line, and form a closed area through the drawn target line and the boundary of at least one operable area. Accordingly, the segmentation unit 1230 is configured to: segment the operable area based on the closed area.

[0109] In one possible implementation, the drawing unit 1220 is configured to: perform the drawing operation twice to draw two different target lines, and form a closed area through the two drawn target lines and the boundary of at least one operable area. Accordingly, the segmentation unit 1230 is configured to: segment the operable area based on the closed area.

[0110] See also Fig.13 , the region segmentation device 1300 may include a display unit 1310, a drawing unit 1320 and a segmentation unit 1330. The display unit 1310 is used to display a graphical representation of a map including an operable region on a screen. The drawing unit 1320 is connected to the display unit 1310, and is used to perform a drawing operation for drawing at least three different target lines in response to detecting at least three touch operations of the user on the screen, wherein each of the target lines is located in the operable region and is fixed, and the drawing operation includes: for each touch operation in the at least three touch operations, the starting point of the touch operation is used as the starting point, the end point of the touch operation is used as the end point, and the target line is drawn based on the touch operation, thereby drawing the same number of target lines as the number of touch operations detected, wherein the target line drawn based on the touch operation is fixed in response to the end of each touch operation. The segmentation unit 1330 is connected to the drawing unit 1320 and the display unit 1310, and is used to segment the operable region based on the at least three target lines drawn, and display the segmentation result on the display unit 1310.

[0111] In a possible implementation, a closed area is formed by the at least three target lines, or a closed area is formed by the at least three target lines and a boundary of the operable area. Accordingly, the segmentation unit 1330 is configured to segment the operable area based on the closed area.

[0112] In one possible implementation, the touch operation involved in the region segmentation device 1200 / 1300 includes: touching a first position point on the screen, and moving the touch point from the first position point to a second position point while maintaining the touch on the screen. Accordingly, the drawing unit 1220 / 1320 draws the target line based on the moving trajectory of the touch operation, wherein the first position point and the second position point correspond to the starting point and the end point of the target line, respectively.

[0113] In one possible implementation, the touch operation involved in the region segmentation device 1200 / 1300 includes: the touch operation includes: touching a first position point and a second position point on the screen, and accordingly, the drawing unit 1220 / 1320 draws a line connecting the first position point and the second position point as the target line, wherein the first position point and the second position point correspond to the starting point and the end point of the target line, respectively.

[0114] In a possible implementation, the region segmentation device 1200 / 1300 may further include a deleting unit (not shown), which is configured to delete the drawn target line after the segmentation unit 1230 / 1330 segments the operable region.

[0115] In a possible implementation, for the region segmentation device 1200 / 1300, if the drawn target line needs to be adjusted, the region segmentation device 1200 / 1300 deletes the drawn target line, and the drawing unit 1220 / 1320 re-executes the drawing operation to re-draw a new target line.

[0116] In a possible implementation, the region segmentation device 1200 / 1300 may also include: a judgment unit (not shown), used to judge whether to fix the first target line drawn based on the touch operation in response to the end of the touch operation; a control unit (not shown), used to fix the first target line if the judgment unit judges that the first target line is to be fixed, and if the judgment unit judges that the first target line is not to be fixed, if other touch operations are detected, delete the first target line and enable the drawing unit 1220 / 1320 to re-execute the drawing operation based on the other touch operations.

[0117] In a possible implementation, the display unit 1210 / 1310 is further configured to display the segmented areas in a visually distinguishable manner.

[0118] In a possible implementation, the visually distinguishable manner includes marking the segmented area with at least one of color, character, curve, graphic, icon, button, floating box, and image file.

[0119] In a possible implementation, the region segmentation device 1200 / 1300 may also include: an acquisition unit (not shown) for acquiring at least two adjacent regions selected by a user from the segmented region; and a merging unit (not shown) for merging the at least two adjacent regions to eliminate the boundary between the at least two adjacent regions.

[0120] In one possible implementation, the drawing unit 1220 / 1320 is further used to: in response to detecting a first touch operation of a user on the merged area, perform the drawing operation to draw a first target line, and accordingly, the segmentation unit 1230 / 1330 is further used to: in response to the end of the first touch operation, segment the merged area based on the first target line.

[0121] In a possible implementation, the drawing operation performed by the drawing unit 1220 / 1320 further includes: if the drawn target line passes through an obstacle located in the operable area, adjusting the drawn target line to a new target line that does not pass through the obstacle.

[0122] In one possible implementation, adjusting the drawn target line to a new target line that does not pass through the obstacle includes at least one of the following: rotating the drawn target line with the starting point of the target line as the center while keeping the shape of the drawn target line unchanged until a new target line is drawn that is entirely located on one side of the obstacle; adjusting the drawn target line along the boundary of the obstacle until a new target line is drawn that has the same shape as the boundary of the obstacle and is located on one side of the obstacle; and keeping the starting point and end point of the drawn target line unchanged, adjusting the curvature of the target line so that the new target line avoids the obstacle in the form of a curve.

[0123] In a possible implementation, the region segmentation device 1200 / 1300 may further include: an acquisition unit (not shown) for acquiring the segmented region selected by the user; and a creation unit (not shown) for creating a cleaning task for the acquired region.

[0124] In a possible implementation manner, the target line is a straight line and / or a curve.

[0125] In a possible implementation manner, the movement trajectory in response to the touch operation is a straight line, and the target line is a straight line.

[0126] In this exemplary embodiment, Figure 1 As shown, the control device 120 is provided with a screen 122. Of course, the control device 120 may also include a region segmentation device 1200 / 1300. For the screen 122 and the region segmentation device 1200 / 1300, please refer to the above description, which will not be repeated here.

[0127] Regarding the device in the above embodiment, the specific manner in which each unit performs the operation has been described in detail in the embodiment of the method, and will not be elaborated here.

[0128] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A region segmentation method, applied to a control device, characterized in that: include: a display step for displaying a graphical representation of a map including the operable area on a screen; a drawing step, for executing a drawing operation for drawing a target line in response to detecting a touch operation of the user on the screen, wherein the target line passes through the operable area and is fixed, and the drawing operation comprises: taking a starting point of the touch operation as a starting point and an end point of the touch operation as an end point, and drawing the target line based on the touch operation, wherein the target line is fixed in response to the end of the touch operation; and The segmentation step is used to segment the operable area based on the target line.

2. The region segmentation method according to claim 1, characterized in that: The drawing step includes: executing the drawing operation once to draw a target line, forming a closed area through the drawn target line and the boundary of at least one operable area, and accordingly, The segmentation step includes segmenting the operable area based on the closed area.

3. The region segmentation method according to claim 1, characterized in that: The drawing step includes: executing the drawing operation twice to draw two different target lines, and forming a closed area through the two drawn target lines and the boundary of at least one operable area, and accordingly, The segmentation step includes segmenting the operable area based on the closed area.

4. A region segmentation method, applied to a control device, characterized in that: include: a display step for displaying a graphical representation of a map including the operable area on a screen; a drawing step, for executing a drawing operation for drawing at least three different target lines in response to detecting at least three touch operations of the user on the screen, wherein each of the target lines is located in the operable area and is fixed, and the drawing operation comprises: for each touch operation of the at least three touch operations, taking the starting point of the touch operation as the starting point, taking the ending point of the touch operation as the ending point, and drawing a target line based on the touch operation, thereby drawing the same number of target lines as the number of touch operations detected, wherein the target line drawn based on the touch operation is fixed in response to the end of each touch operation; and The segmentation step is used to segment the operable area based on the at least three drawn target lines.

5. The region segmentation method according to claim 4, characterized in that: The at least three target lines form a closed area, or the at least three target lines and the boundary of the operable area form a closed area. Accordingly, The segmentation step includes segmenting the operable area based on the closed area.

6. The region segmentation method according to any one of claims 1 to 5, characterized in that: The touch operation includes: touching a first position point on the screen, and moving the touch point from the first position point to a second position point while maintaining the touch on the screen, and accordingly, Drawing the target line based on the touch operation includes: drawing the target line based on a moving track of the touch operation, wherein the first position point and the second position point correspond to a start point and an end point of the target line, respectively.

7. The region segmentation method according to any one of claims 1 to 5, characterized in that: The touch operation includes: touching a first position point and a second position point on the screen, and accordingly, Drawing the target line based on the touch operation includes: drawing a line connecting the first position point and the second position point as the target line, wherein the first position point and the second position point correspond to a start point and an end point of the target line, respectively.

8. The region segmentation method according to any one of claims 1 to 5, characterized in that: After the segmentation step, the region segmentation method further comprises: Delete the drawn target line.

9. The region segmentation method according to any one of claims 1 to 5, characterized in that: If the drawn target line needs to be adjusted, the drawn target line is deleted, and the drawing operation is re-executed to re-draw a new target line.

10. The region segmentation method according to any one of claims 1 to 5, characterized in that: Also includes: In response to the end of the touch operation, determining whether to fix the first target line drawn based on the touch operation, If it is determined that the first target line is to be fixed, fixing the first target line; In a case where it is determined that the first target line is not fixed, if another touch operation is detected, the first target line is deleted, and the drawing operation is re-executed based on the other touch operation.

11. The region segmentation method according to any one of claims 1 to 5, characterized in that: After the segmentation step, the region segmentation method further comprises: Display the segmented regions in a visually distinguishable manner.

12. The region segmentation method according to claim 11, characterized in that: The visually distinguishable manner includes marking the segmented area with at least one of color, character, curve, graphic, icon, button, floating frame, and image file.

13. The region segmentation method according to any one of claims 1 to 5, characterized in that: After the segmentation step, the region segmentation method further comprises: an acquisition step, for acquiring at least two adjacent areas selected by a user from the segmented areas; and The merging step is used to merge the at least two adjacent areas to eliminate the boundary between the at least two adjacent areas.

14. The region segmentation method according to claim 13, characterized in that: After the merging step, the region segmentation method further comprises: In response to detecting a first touch operation of the user on the merged area, performing the drawing operation to draw a first target line, and In response to the end of the first touch operation, the merged area is segmented based on the first target line.

15. The region segmentation method according to any one of claims 1 to 5, characterized in that: The drawing operation further includes: if the drawn target line passes through an obstacle located in the operable area, adjusting the drawn target line to a new target line that does not pass through the obstacle.

16. The region segmentation method according to claim 15, characterized in that: Adjusting the drawn target line to a new target line that does not pass through the obstacle includes at least one of the following: The drawn target line is rotated with the starting point of the target line as the center while keeping the shape unchanged, until a new target line is drawn that is entirely located on one side of the obstacle; Adjusting the drawn target line along the boundary of the obstacle until a new target line is drawn that has the same shape as the boundary of the obstacle and is located on one side of the obstacle; and The starting point and the end point of the drawn target line are kept unchanged, and the curvature of the target line is adjusted so that the new target line avoids the obstacle in a curved form.

17. The region segmentation method according to any one of claims 1 to 5, characterized in that: Also includes: Get the segmented area selected by the user; A cleaning task is created for the acquired area.

18. The region segmentation method according to any one of claims 1 to 5, characterized in that: The target line is a straight line and / or a curved line.

19. The region segmentation method according to claim 6, characterized in that: The movement trajectory in response to the touch operation is a straight line, and the target line is a straight line.

20. A region segmentation device, applied to a control device, characterized in that: include: a display unit for displaying a graphical representation of a map including an operable area on a screen; a drawing unit, configured to execute a drawing operation for drawing a target line in response to detecting a touch operation of the user on the screen, wherein the target line passes through the operable area and is fixed, the drawing operation comprising: taking a starting point of the touch operation as a starting point and an end point of the touch operation as an end point, drawing the target line based on the touch operation, wherein the target line is fixed in response to an end of the touch operation; and A segmentation unit is used to segment the operable area based on the target line.

21. A region segmentation device, applied to a control device, characterized in that: include: a display unit for displaying a graphical representation of a map including an operable area on a screen; a drawing unit, configured to execute a drawing operation for drawing at least three different target lines in response to detecting at least three touch operations of the user on the screen, wherein each of the target lines is located in the operable area and is fixed, and the drawing operation comprises: for each touch operation of the at least three touch operations, taking the starting point of the touch operation as the starting point, taking the ending point of the touch operation as the ending point, and drawing a target line based on the touch operation, thereby drawing the same number of target lines as the number of touch operations detected, wherein the target line drawn based on the touch operation is fixed in response to the end of each touch operation; and A segmentation unit is used to segment the operable area based on the at least three drawn target lines.

22. A region segmentation device, applied to a control device, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to implement the region segmentation method described in any one of claims 1 to 19 when executing the instructions stored in the memory.

23. A control device, characterized in that: include: A screen and a region dividing device as claimed in any one of claims 20 to 22.

24. A non-volatile computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the region segmentation method according to any one of claims 1 to 19 is implemented.

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