Map zone fusing method, apparatus, autonomous mobile device and storage medium
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Solution Overview
Problem
Existing autonomous mobile devices face challenges in accurately dividing and recognizing functional zones within indoor spaces, often resulting in over-division issues where areas meant to be part of the same zone are mistakenly separated, leading to low accuracy in map zone division.
Innovation Solution
A map zone fusing method that identifies adjacency relationships between candidate rooms based on crossing borders and fuses adjacent rooms when specific conditions are met, such as crossing border length thresholds or area ratios, to improve the accuracy of zone division by combining mistakenly separated areas into single functional zones.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If zone division is performed on the map of the work zone, then the map can be segmented into multiple candidate rooms for task execution, but over-division occurs where areas that should belong to the same zone are mistakenly separated into multiple zones, reducing zone division accuracy
Solution Approach 1:
The patent merges adjacent candidate rooms that should belong to the same functional zone by analyzing crossing border characteristics and adjacency relationships. The system calculates crossing border lengths between adjacent rooms and compares them against threshold values to determine whether to merge the rooms, thereby correcting over-division errors and improving zone division accuracy while maintaining task execution efficiency
Solution Approach 2:
The patent changes the parameter of crossing border length from a neutral geometric feature to a decision-making criterion for zone merging. By introducing threshold values for crossing border length and calculating area ratios of adjacent rooms, the system transforms geometric parameters into functional criteria that guide the merging process, effectively resolving over-division issues
Data Source
AI summary
The present disclosure provides a map zone fusing method, apparatus, an autonomous mobile device and a storage medium. The method includes: obtaining a label map of a target zone, the label map including a plurality of candidate rooms; obtaining crossing borders between the candidate rooms; determining an adjacency relationship between the candidate rooms based on the crossing borders, to determine adjacent rooms; fusing the adjacent rooms when the adjacent rooms satisfy a fusing condition. In the present disclosure, through determining the adjacency relationship between the candidate rooms in the label map, the adjacent rooms that satisfy the fusing condition are fused. Fusion of map zones obtained after division may be realized based on the zone features, such that the post-zone-division map can better and more accurately match the division of the functional zones of the actual target zone, thereby increasing the accuracy of the map zone division.