WO2019104666A1

WO2019104666A1 - Sweeping robot and method for performing area division thereof

Info

Publication number: WO2019104666A1
Application number: PCT/CN2017/114014
Authority: WO
Inventors: 张立新; 周毕兴
Original assignee: 深圳市沃特沃德股份有限公司
Priority date: 2017-11-30
Filing date: 2017-11-30
Publication date: 2019-06-06

Abstract

Provided by the present invention are a sweeping robot and a method for performing area division thereof. The method comprises: acquiring an outer contour of a two-dimensional plane map of an area to be cleaned; performing a line segment extraction processing on the outer contour to extract line segments in the outer contour; calculating the positional relationships between all line segments; generating virtual line segments according to the positional relationships; and the virtual line segments are boundaries of area division. The area is divided according to features of the outer contour of the area to be cleaned, and the rationality of dividing the area to be cleaned is increased.

Description

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Sweeping robot and method for performing area division thereof

[ _0001] The present invention relates to a cleaning robot, and more particularly to a cleaning robot and a method for performing area division.

Background technique

_[0002] With the development of technology and the improvement of people's living standards, the sweeping robot with autonomous movement function has been greatly popularized. The sweeping robot, also known as the robot vacuum cleaner, uses the fan mounted on the fuselage to suck the ground garbage into the dust box and move it autonomously through the walking wheel to achieve the purpose of automatically cleaning the room.

_[0003] At present, the sweeping robots on the market are still mainly based on random cleaning, which is inefficient and easy to miss. The more intelligent planning type sweeping robot generally adopts a bow-shaped cleaning method, which greatly improves the intelligence of the sweeping robot. However, when the room that the user needs to clean is relatively large, the direct cleaning will appear unwise, and the control precision is lowered, and the cleaning effect is deteriorated. At this point, a reasonable division of the room is required.

_[0004] There are two main methods for current robots to perform partitioning. The first is to divide the environment into several parts in a fixed-size manner according to the position information of the robot. This method is simple to implement, but it is relatively rigid and cannot adapt to the different characteristics of different environments. It is often unreasonable to divide the area. The second method is to provide virtual restrictions by external devices to ensure that the cleaning robot can pass the restriction after cleaning the adjacent areas, thereby achieving the purpose of partitioning; this partitioning method requires additional devices, which greatly increases the cost, and Installation or placement of the device may disrupt the original design of the room or require excessive user intervention.

_[0005] Therefore, the current division mode of the sweeping robot needs to be improved.

technical problem

_[0006] The main object of the present invention to provide a cleaning robot and a method of area division performed to improve the cleaning of the area division is reasonable.

Problem solution

Technical solution \¥0 2019/104666 卩(:17(:\2017/114014

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_[0007] The present invention provides a method for area division of a cleaning robot, which includes the following steps:

_[0008] obtaining a two-dimensional planar map regions of the outer contour of the cleaning;

_[0009] the outer contour line segment extracting processing to extract the segment of the outer contour;

_[0010] calculating a positional relationship between all line segments;

[ _0011] screening, according to the positional relationship, a first specified line segment pair that satisfies the first specified condition;

_[0012] acquiring an end position of the center line segment of the first specified line segment;

_[0013] generating a virtual line segment according to the second specified condition according to the positional relationship of the end point and the positional relationship of the center line segment of the first specified line segment; the virtual line segment is a boundary of the area division.

_[0014] Further, the virtual line segment is generated according to the second specified condition according to the positional relationship between the end point position and the center line segment of the first specified line segment; and the virtual line segment is included as a boundary of the area division, including :

_{[0015] The} cleaning robot recognizes the positional relationship between the position of the area and the boundary of the area division, and performs preset processing according to the recognition result.

_[0016] Further, the step of filtering out the first specified line segment pair that satisfies the first specified condition according to the positional relationship includes:

_[0017] culling the pair of line segments having intersection points according to the positional relationship, and filtering out the first specified line segment pairs that are perpendicular to each other or on the same straight line;

_[0018] The step of generating a virtual line segment according to the second specified condition according to the positional relationship of the end point position and the center line segment of the first specified line segment comprises:

_[0019] When the selected positional relationship of the first designated line segment is perpendicular to each other, the position of the foot is calculated.

_[0020] determining, according to the foot position and the end position, whether the foot is located on one of the first designated line segments;

_[0021] if located, generating the virtual line segment according to the foot and the closest end point of another line segment of the first specified line segment pair;

_[0022] The step of generating a virtual line segment according to the second specified condition according to the positional relationship between the end point position and the center line segment of the first specified line segment further includes:

_[0023] when the selected positional relationship of the first designated line segment to the center line segment is located on the same line, according to the The first specified line segment generates a virtual line segment for the adjacent two endpoints of the midline segment.

[0024] Further, before the virtual line segment is used as a boundary of the area division, the method includes:

_[0025] Gets the virtual line segment length value;

_[0026] According to the length value, a virtual line segment that satisfies the set length range is selected.

_[0027] Further, the step of acquiring the outer contour of the two-dimensional plane map of the cleaning area includes:

_[0028] drawing a two-dimensional plan map of the cleaning area;

_[0029] Extracting an outer contour of the two-dimensional planar map.

_[0030] Further, after the step of drawing a two-dimensional plane map of the cleaning area, the method further includes:

_[0031] performing binarization preprocessing on the two-dimensional plane map;

_[0032] Performing a denoising process on the two-dimensional planar map after preprocessing.

_[0033] Further, the denoising process includes any one of Gaussian filtering, median filtering, or morphological operations.

[0034] Further, after the step of extracting the line segment in the outer contour, the step of extracting the line segment in the outer contour further includes:

_[0035] Gets the value of the length of the line segment;

_[0036] Based on the length value, a line segment larger than a set threshold is screened.

_[0037] The present invention also provides a cleaning robot, comprising:

_a first acquiring unit, configured to acquire an outer contour of the two-dimensional plane map of the cleaning area;

_{[0039] an} extracting unit, configured to perform line segment extraction processing on the outer contour, and extract a line segment in the outer contour

[0040] a calculating unit, configured to calculate a positional relationship between all line segments;

_{[0041] The} first screening unit is configured to filter, according to the location relationship, a first specified line segment pair that satisfies the first specified condition;

[0042] a second acquiring unit, configured to acquire an end position of the center line segment of the first specified line segment;

And a generating unit, configured to generate a virtual line segment according to the second specified condition according to the positional relationship of the end point and the positional relationship of the center line segment of the first specified line segment; the virtual line segment is a boundary of the area division.

[0044] Further, the method further includes:

_a processing unit, configured to determine a position between a boundary of the sweeping robot itself and a boundary of the region \¥0 2019/104666 卩(:17(:\2017/114014

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The relationship is identified and the preset processing is performed based on the recognition result.

[0046] Further, the first screening unit is specifically configured to:

[0047] culling the pair of line segments having intersection points according to the positional relationship, and filtering out the first specified line segment pairs that are perpendicular to each other or on the same straight line;

[0048] The generating unit includes:

_[0049] calculating a subunit, wherein the positional relationship of the center line segments of the first designated line segment for screening is perpendicular to each other, and calculating the position of the foot;

_{[0050] a} determining subunit, configured to determine, according to the foot position and the end position, whether the foot is located on one of the first designated line segments;

_{[0051] a} first generating subunit, wherein the foot is located on one of the first designated line segments, and the closest to the other line segment according to the foot and the first designated line segment The endpoint generates the virtual line segment;

_a second generating sub-unit, configured to: when the positional relationship of the first specified line segment alignment line segment is located on the same straight line, generate a virtual line segment according to the adjacent two end points of the first designated line segment center line segment .

[ _0053] Further, the method further includes:

[0054] a third obtaining unit, configured to acquire a length value of the virtual line segment;

_{[0055] The} second screening unit is configured to filter, according to the length value, a virtual line segment that meets the set length range.

[ _0056] Further, the first acquiring unit includes:

_{[0057] a} drawing subunit for drawing a two-dimensional plane map of the cleaning area;

_{[0058] an} extraction subunit, configured to extract an outer contour of the two-dimensional planar map.

_[0059] Further, the first acquiring unit further includes:

_{[0060] a} preprocessing subunit, configured to perform binarization preprocessing on the two-dimensional plane map;

_{[0061] The} denoising subunit is configured to perform denoising processing on the two-dimensional plane map after the preprocessing.

_[0062] Further, the denoising process includes any one of Gaussian filtering, median filtering, or morphological operations.

_[0063] Further, the method further includes:

[0064] a fourth obtaining unit, configured to acquire a length value of the line segment;

_{[0065] The} third screening unit is configured to filter out a line segment larger than the set threshold according to the length value. Advantageous effects of the invention

Beneficial effect

_[0066] The cleaning robot and the method for dividing the same according to the present invention have the following beneficial effects

An outer contour of the planar map; a line segment extraction process for extracting the outer contour, extracting a line segment in the outer contour; calculating a positional relationship between all the line segments; and screening the first specified condition according to the positional relationship a specified line segment pair; acquiring an end point position of the first designated line segment center line segment; generating a virtual line segment according to the second specified condition according to the end point position and the positional relationship of the first designated line segment center line segment; The line segment is used as the boundary of the area division; the area is divided according to the outer contour feature of the cleaning area, and the rationality of dividing the cleaning area is increased, so that the cleaning robot is easier to clean and the use experience of the cleaning robot is improved.

Brief description of the drawing

DRAWINGS

_[0068] FIG. 1 is an example embodiment of a cleaning robot of the present invention is a schematic diagram of a method of area division step;

_[0069] FIG. 2 is a diagram of the cleaning robot further embodiment of the present invention, the area dividing process step schematic diagrams;

_[0070] FIG. 3 is a step S6 particular embodiment step a schematic view of a embodiment of the present invention;

_[0071] FIG. 4 is an embodiment of the present invention generates a schematic diagram of a virtual line segment;

_[0072] FIG. 5 is a schematic view of another embodiment of the present embodiment generates a virtual line invention;

_[0073] FIG. 6 is a schematic view of still another embodiment of the present embodiment generates a virtual line invention;

7 is a schematic structural view of a sweeping robot according to an embodiment of the present invention;

_[0075] FIG. 8 is a configuration block diagram of a generating unit of the present embodiment of the invention;

_[0076] FIG. 9 is a schematic diagram of another embodiment of the structure of the cleaning robot of the present invention;

_[0077] FIG. 10 is a block diagram showing another embodiment of the present invention, the first obtaining unit embodiment.

_[0078] The implementation, functional features, and advantages of the present invention will be further described with reference to the accompanying drawings.

BEST MODE FOR CARRYING OUT THE INVENTION

_{[0079] It} should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to \¥0 2019/104666 卩(:17(:\2017/114014

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Bright.

_[0080] The singular forms "a", "the", "the" It should be further understood that the phraseology used in the present specification "comprises" means the presence of stated features, integers, steps, operations, elements, units, modules and _/ or components, but do not preclude the presence or addition of one or more Other features, integers, steps, operations, components, units, modules, components, and _/ or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element. Further, "connected" or "coupled" as used herein may include a wireless connection or a wireless coupling. The phrase "and _/ or" used herein includes all or any one and all combinations of one or more of the associated listed.

_[0081] Those skilled in the art will appreciate that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. It should also be understood that terms such as those defined in a general dictionary should be understood to have meaning consistent with the meaning in the context of the prior art, and will not be idealized or excessive unless specifically defined as here. The formal meaning is explained.

1, FIG. 1 is a schematic diagram showing the steps of a method for performing area division of a cleaning robot according to an embodiment of the present invention.

[0083] In an embodiment of the present invention, a method for area division of a cleaning robot is provided, including the following steps: [0084] Step 31: acquiring an outer contour of a two-dimensional plane map of the cleaning area;

_[0085] Step _32, performing line segment extraction processing on the outer contour, and extracting line segments in the outer contour;

_[0086] Step _33, calculating a positional relationship between all line segments;

[0087] Step 34: Filter, according to the location relationship, a first specified line segment pair that satisfies the first specified condition;

_[0088] Step _35: Acquire an end position of the center line segment of the first specified line segment;

_[0089] Step _36: Generate a virtual line segment according to the second specified condition according to the positional relationship between the end point position and the center line segment of the first specified line segment; the virtual line segment serves as a boundary of the area division.

_[0090] In the present embodiment, before the cleaning area is cleaned by the cleaning robot, the cleaning area is reasonably divided to facilitate proper cleaning. Since most of the cleaning areas are not regular shapes, they may be complex polygonal structures. It is obviously unreasonable to divide according to the existing area division. Therefore, in this embodiment, the outer contour of the two-dimensional plane map of the area to be cleaned is first acquired, and the outer contour may be \¥0 2019/104666 卩(:17(:\2017/114014

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It is the outer contour of the two-dimensional plane map drawn by the sweeping robot based on the position information collected by the built-in sensor. It can also be the user's pre-drawn input value in the sweeping robot system. Since the cleaning area may be a complex polygonal shape, after acquiring the outer contour, performing line segment extraction processing on the outer contour, and extracting line segments on each side length; and then calculating between the extracted line segments The positional relationship, the positional relationship intersects, the vertical, the same line, and the like. It should be noted that the vertical and the same straight line in this embodiment may allow a certain error range; for example, the allowable error range is _0-10 degrees, and when the angle between the two line segments is _80-100 degrees, Both are identified as two segments that are perpendicular to each other.

_[0091] Finally, according to the positional relationship between the line segments, corresponding screening and processing are performed according to the first specified condition and the second specified condition, and finally a virtual line segment that meets the condition is generated, and the virtual line segment is used as a boundary of the area division.

_[0092] Referring to Figure _2, in one embodiment, the position and the end position according to the relationship of the first segment of the specified line segment, and generating a second virtual line segment in accordance with the specified conditions; the virtual line as a dividing region After step ₃₆ of the boundary, it includes:

_[0093] Step ₃₇ : The cleaning robot identifies the positional relationship between the position of the area and the boundary of the area division, and performs preset processing according to the recognition result.

_[0094] After the cleaning area is reasonably divided, when the cleaning robot is used for cleaning, the position information of the self is obtained, and the boundary is determined and compared with the boundary defined in the above embodiment, and the boundary between the position and the area is determined. The positional relationship between the two, when the sweeping robot is close to the dividing boundary, it is processed in a preset manner, such as turning, turning, and so on.

_[0095] Specifically, in an embodiment, the step _{34 of} filtering the first specified line segment pair that satisfies the first specified condition according to the location relationship includes:

_[0096] According to the positional relationship, the pair of line segments having intersection points are eliminated, and the first specified line segment pair that is perpendicular to each other or on the same straight line is selected.

_[0097] In this embodiment, the first specified condition is set to filter out the first specified line segment pairs that are perpendicular to each other or on the same straight line; the area division is usually internally divided, and thus the intersections on the outer contours need to be eliminated. Line segment pair.

_[0098] In other embodiments, the first specified condition may also be that all line segments are aligned to meet the positional relationship. A pair of conditional line segments, such as line segment pairs where the extension lines intersect at a specified angle ( ₄₅ degrees, ₆₀ degrees, etc.), or line segments that are parallel to each other.

_[0099] Referring to FIG. _3, in the embodiment, the step _{S6 of} generating a virtual line segment according to the second specified condition according to the positional relationship between the end point position and the center line segment of the first specified line segment includes:

_[0100] Step _S6a , when the positional relationship of the selected center line segment of the first specified line segment is perpendicular to each other, the position of the foot is calculated;

_[0101] Step _S6b , determining, according to the foot position and the end position, whether the foot is located on one of the first designated line segments;

_[0102] Step _S6c , if located, generating the virtual line segment according to the foot and the closest endpoint of another line segment of the first designated line segment pair.

_[0103] Referring to FIGS. _4, in this embodiment, the first specified line segment of the pair of two line segments are segments _MN, _X _Z, when a foot of two line segments _(V) in the first segment pair designated Above one of the line segments ( _MN ), the foot is located within the outer contour of the cleaning area, and the virtual line segment may be generated according to the foot and the closest end point ( _Z ) of the other line segment of the first specified line segment pair ( _ZV ).

_[0104] Referring to FIG. 5, when the foot of the two line segments is outside the two line segments of the first designated line segment pair, the foot is not located on the outer contour of the cleaning area, and is marked outside the outer contour. Obviously unreasonable, therefore, it is necessary to eliminate this situation.

_[0105] In another embodiment, the step _{S6 of} generating the virtual line segment according to the second specified condition according to the positional relationship of the end point and the positional relationship of the center line segment of the first specified line segment further includes:

_[0106] Step _S61 : When the selected positional relationship of the center line segment of the first specified line segment is located on the same line, the virtual line segment is generated according to the adjacent two end points of the center line segment of the first specified line segment.

_[0107] Referring to FIG _6, a first pair in the same specified line segment are straight line segment _AB and _{the CD,} _C _D and the line segment _EF; specify the virtual line segments _BC and _DE as the limits of the divided region.

_[0108] In the foregoing embodiment, before the virtual line segment is used as the boundary of the area division, the method includes:

_[0109] Gets the virtual line segment length value;

[ _0110] According to the length value, a virtual line segment that satisfies the set length range is selected.

_[0111] In this embodiment, if the two line segments are close to each other, the boundary area thereof is correspondingly small. In this case, if the generated virtual line segment is used as the boundary of the area division, it is not reasonable; therefore, the length is eliminated. Value does not match \¥02019/104666 卩(:17(:\2017/114014

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Set a virtual line segment of the length range (for example, set the length range from 0.5 ₁₁₁ -2 ₁₁₁ ).

_[0112] In the above embodiment, the step _{31 of} acquiring the outer contour of the two-dimensional plane map of the cleaning area specifically includes:

_[0113] Step ₃₁₀₁ , drawing a two-dimensional plane map of the cleaning area;

_[0114] Step ₃₁₀₂ : Extract an outer contour of the two-dimensional planar map.

_[0115] In the embodiment, the outer contour is a two-dimensional plane map drawn by the sweeping robot according to the position information collected by the built-in sensor (such as a laser radar or a visual sensor), and the two-dimensional plane map is extracted.

Not limited to this method. Preferably, when the outer contour is screened, only the outer contour of the largest side length is retained.

_[0116] In this embodiment, after the step _{3101 of} drawing the two-dimensional plane map of the cleaning area, the method further includes

_[0117] Step ₃₁₀₃ : Perform binarization preprocessing on the two-dimensional plane map; at the same time, process the unknown region as an obstacle. Avoid unrecognized areas that affect the outer contour extraction of 2D planar maps.

_[0118] Step _3104, performing denoising processing on the two-dimensional plane map after preprocessing. Specifically, denoising processing may be performed using Gaussian filtering, median filtering, or morphological operations or the like.

After _[0119] In the present embodiment, the line segment extraction processing of the outer contour, the outer contour of the extracted line segments in step _32, further comprising:

_[0120] Gets the value of the length of the line segment;

_[0121] Based on the length value, a line segment larger than the set threshold is screened.

_[0122] In the present embodiment, in order to reduce the amount of calculation, when the length of the line segment is too short, it can be culled. Therefore, a threshold is set to filter out line segments that are not less than the threshold.

_[0123] Specifically, in the step ₃₂ of extracting the line segment in the outer contour by performing the line segment extraction processing on the outer contour, the extraction method is an improved method based on the Hough line extraction. Specifically, each pixel point on the outer contour is projected into the Hough space in order, and unlike the conventional Hough method, pixel data corresponding to each pixel point transmitted to the Hough space is classified here, according to The relative position between the pixels is constrained, and the pixel can be added to the class only if the distance between the pixel and any pixel in a certain class is within the set threshold. In this way, it is possible to prevent several pixels that are far apart from being calculated as a straight line. Count statistics for different classes of members. If a certain threshold is exceeded, use it as a line segment. , and record its line parameters and endpoint positions.

In summary, the method for area division of the cleaning robot provided in the embodiment of the present invention divides the area according to the outer contour feature of the cleaning area, increases the rationality of dividing the cleaning area, and makes the cleaning robot easier to clean. Improve the experience of the sweeping robot.

[0125] Referring to FIG. 7, an embodiment of the present invention further provides a cleaning robot, including:

[0126] The first acquiring unit 10 is configured to acquire an outer contour of the two-dimensional plane map of the cleaning area;

[0127] The extracting unit 20 is configured to perform line segment extraction processing on the outer contour, and extract a line segment in the outer contour;

[0128] a calculating unit 30, configured to calculate a positional relationship between all line segments;

[0129] The first screening unit 40 is configured to filter, according to the location relationship, a first specified line segment pair that satisfies the first specified condition;

[0130] The second obtaining unit 50 is configured to acquire an end position of the center line segment of the first specified line segment;

[0131] The generating unit 60 is configured to generate a virtual line segment according to the second specified condition according to the positional position of the end point and the positional relationship of the center line segment of the first specified line segment; the virtual line segment serves as a boundary of the area division.

[0132] In the present embodiment, before the cleaning area is cleaned by the cleaning robot, the cleaning area is reasonably divided to facilitate the cleaning. Since the cleaning area is mostly not a regular shape, it may be a complex polygonal structure, and it is obviously unreasonable to divide according to the existing area division. Therefore, in the embodiment, the first acquiring unit 10 first acquires an outer contour of the two-dimensional plane map of the area to be cleaned, and the outer contour may be a two-dimensional plane drawn by the sweeping robot according to the position information collected by the built-in sensor. The outline of the map can also be pre-drawn by the user in the input value of the sweeping robot system. Since the cleaning area may be a complex polygonal shape, after the first acquiring unit 10 acquires the outer contour, the extracting unit 20 performs a line segment extracting process on the outer contour, and extracts a line segment on each side length; The calculation unit 30 calculates the positional relationship between the extracted line segments, which are intersected, vertically, on the same straight line, and the like. It should be noted that the vertical and the same straight line in this embodiment may allow a certain error range; for example, the allowable error range is 0-10 degrees, and when the angle between the two line segments is 80-100 degrees, Both are identified as two segments that are perpendicular to each other.

[0133] Finally, according to the positional relationship between the line segments, the corresponding screening and processing are performed according to the first specified condition and the second specified condition, and finally, the virtual line segment that meets the condition is generated, and the virtual line segment is used as the regional line. \¥0 2019/104666 卩(:17(:\2017/114014

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The boundaries of the points.

_[0134] In an embodiment, the cleaning robot further includes:

_{[0135] The} processing unit is configured to identify according to a positional relationship between a position of the cleaning robot itself and a boundary of the area division, and perform preset processing according to the recognition result.

_[0136] After the cleaning area is properly divided, when the cleaning robot is used for cleaning, the position information of the self is acquired, and the boundary is determined and compared with the boundary defined in the above embodiment, and the processing unit determines the position of the self and the area. The positional relationship between the boundaries, when the sweeping robot is close to the dividing boundary, it is processed in a preset manner, such as turning, turning, and the like.

_[0137] Specifically, in another embodiment, the first screening unit _{40 is} specifically configured to:

_[0138] According to the positional relationship, the pair of line segments having intersection points are eliminated, and the first specified line segment pair that is perpendicular to each other or on the same straight line is selected.

_[0139] In the present embodiment, the first specified condition is set to filter out the first specified line segment pairs that are perpendicular to each other or on the same straight line; the area division is usually internally divided, and thus the intersections on the outer contours need to be eliminated. Line segment pair.

_[0140] In other embodiments, the first specified condition may also be a line segment pair that filters out all the line segment alignment positions satisfying the specified condition, for example, a line segment pair in which the extension lines intersect at a specified angle ( ₄₅ degrees, ₆₀ degrees, etc.). Or line segments that are parallel to each other.

_[0141] In this embodiment, referring to FIG. ₈ , the generating unit ₆₀ includes:

_{[0142] The} calculation subunit _{601 is} configured to calculate a position of the foot of the first designated line segment when the positional relationship of the center line segments is perpendicular to each other;

_{[0143] a} determining subunit _602, configured to determine _, according to the foot position and the end position, whether the foot is located on one of the first specified line segments;

_{[0144] The} first generation subunit _{603 is} configured to be located on one of the first designated line segment pairs, and then according to the foot and the other line segment of the first designated line segment. The virtual endpoint is generated by a similar endpoint.

_[0145] Referring to FIGS. _4, in this embodiment, the first specified line segment of the pair of two line segments are segments _MN, _X a foot when the two segments _(V) in the first pair wherein a specified line Above the line segment ( _MN ), the foot is located within the outer contour of the cleaning region, and the first generating sub-unit ₆₀₃ can be sufficiently vertical \¥0 2019/104666 卩(:17(:\2017/114014

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And the closest end point of the other line segment of the first specified line segment pair) generating the virtual line segment

_[0146] Referring to FIG. 5, when the footings of the two line segments are outside the two line segments of the first designated line segment pair, the foot is not located on the outer contour of the cleaning area, and is performed outside the outer contour. The scribing is obviously unreasonable, so it is necessary to remove this case.

_[0147] In another embodiment, the generating unit 60 includes:

_{[0148] The} second generation sub-unit 604 is configured to: when the positional relationship of the first designated line segment alignment line segment is located on the same straight line, generate virtuality according to the adjacent two end points of the center line segment of the first specified line segment. Line segment

_[0149] Referring to FIG. 6 together, the line segments on the same straight line of the first specified line segment pair are respectively line segments eight: ₈ and € ₀ .

_[0150] Referring to FIG. 9, in the above embodiment, the cleaning robot may further include:

_{[0151] The} third obtaining unit _{70 is} configured to acquire a length value of the virtual line segment.

_{[0152] The} second screening unit 80 is configured to filter, according to the length value, a virtual line segment that meets a set length range.

_[0153] In this embodiment, if the two line segments are close to each other, the boundary area thereof is correspondingly small. At this time, if the generated virtual line segment is used as the boundary of the area division, it is not reasonable; therefore, the length is eliminated. The value does not match the virtual line segment of the set length range (for example, the set length range is 0.5 _111-2111 ).

_[0154] Referring to FIG. 10, in the foregoing embodiment, the first acquiring unit 10 includes:

_{[0155] a} drawing subunit 101, configured to draw a two-dimensional plane map of the cleaning area;

_{[0156] The} extraction subunit 102 is configured to extract an outer contour of the two-dimensional plane map.

_[0157] In the embodiment, the outer contour is a two-dimensional plane map drawn by the drawing subunit 101 of the cleaning robot according to the position information collected by the built-in sensor (such as a laser radar or a visual sensor), and the sub-sheet is extracted.

The ^ ₃₈ method extracts the outer contour, and of course, is not limited to this method. Preferably, when the outer contour is screened, only the outer contour of the largest side length is retained.

_[0158] Further, the first acquiring unit 10 further includes:

_{[0159] a} pre-processing sub-unit 103, configured to perform binarization preprocessing on the two-dimensional plane map; \¥0 2019/104666 卩(:17(:\2017/114014

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The known area is treated as an obstacle. Avoid unrecognized areas that affect the outer contour extraction of 2D planar maps.

_{[0160] The} denoising subunit _{104 is} configured to perform denoising processing on the two-dimensional plane map after preprocessing. Specifically, denoising processing may be performed using Gaussian filtering, median filtering, or morphological operations or the like.

_[0161] In another embodiment, the cleaning robot further includes:

_{[0162] a} fourth obtaining unit, configured to acquire a length value of the line segment;

_{[0163] The} third screening unit is configured to filter out a line segment larger than the set threshold according to the length value.

_[0164] In the present embodiment, in order to reduce the amount of calculation, when the length of the line segment is too short, it can be culled. Therefore, a threshold is set to filter out line segments that are not less than the threshold.

_[0165] Specifically, the extraction method in the above-described extraction unit ₂₀ is an improved method based on Hough line extraction. Specifically, each pixel point on the outer contour is projected into the Hough space in order, and unlike the conventional Hough method, pixel data corresponding to each pixel point transmitted to the Hough space is classified here, according to The relative position between the pixels is constrained, and the pixel can be added to the class only if the distance between the pixel and any pixel in a certain class is within the set threshold. In this way, it is possible to prevent several pixels that are far apart from being calculated as a straight line. Counts the statistics of different classes of members. When a certain threshold is exceeded, it is used as a line segment, and its line parameters and endpoint positions are recorded.

_[0166] In summary, the present invention provides a cleaning robot and a method for performing area division thereof, by acquiring an outer contour of a two-dimensional plane map of a cleaning area; performing line segment extraction processing on the outer contour, and extracting Extracting a line segment in the outer contour; calculating a positional relationship between all the line segments; screening a first specified line segment pair satisfying the first specified condition according to the positional relationship; acquiring an end position of the first designated line segment centering line segment And generating, according to the positional relationship of the end point and the positional relationship of the center line segment of the first specified line segment, a virtual line segment according to the second specified condition; the virtual line segment is used as a boundary of the area division; and performing area division according to the outer contour feature of the cleaning area, Increasing the rationality of dividing the cleaning area makes it easier for the sweeping robot to clean and improve the experience of the sweeping robot.

_[0167] Those skilled in the art will appreciate that each block of the block diagrams and _/ or block diagrams and _/ or flow diagrams can be implemented by computer program instructions, and _/ or in the block diagrams and _/ or block diagrams and _/ or flow diagrams. The combination of boxes. Those skilled in the art will appreciate that these computer program instructions can be implemented by a general purpose computer, a professional computer, or a processor of other programmable data processing methods, such that \¥0 2019/104666 卩(:17(:\2017/114014

The processor of other programmable data processing methods is used to perform the block diagrams or block diagrams of the present disclosure and/or the schemes specified in the blocks of the flow diagrams.

[0168] Those skilled in the art can understand that the various operations, methods, and steps, measures, and solutions in the present invention may be alternated, changed, combined, or deleted. Further, various operations, methods, and other steps, measures, and arrangements in the process of the present invention may be alternated, changed, rearranged, decomposed, combined, or deleted. Further, the steps, measures, and solutions in the various operations, methods, and processes disclosed in the prior art may be alternated, changed, rearranged, decomposed, combined, or deleted.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the present invention and the drawings are used directly or indirectly. Other related technical fields are equally included in the scope of patent protection of the present invention.

Claims

\¥0 2019/104666 卩(:170^2017/114014 15 Claims

[Claim 1] A method for performing area division by a cleaning robot, comprising the steps of: acquiring an outer contour of a two-dimensional plane map of a cleaning area;

Performing line segment extraction processing on the outer contour, extracting line segments in the outer contour; calculating a positional relationship between all line segments;

And selecting, according to the location relationship, a first specified line segment pair that satisfies the first specified condition; acquiring an end position of the first designated line segment center line segment;

And generating a virtual line segment according to the second specified condition according to the positional relationship of the end point and the positional relationship of the center line segment of the first designated line segment; the virtual line segment is a boundary of the area division.

[Claim 2] The method for performing area division by the cleaning robot according to claim ₁ , wherein the positional relationship between the end point position and the center line segment of the first designated line segment is according to a second specified condition Generating a virtual line segment; after the step of dividing the virtual line segment as a boundary of the area division, the method includes:

The cleaning robot recognizes the positional relationship between the position of the area and the boundary of the area division, and performs preset processing based on the recognition result.

[Claim 3] The method for performing area division by the cleaning robot according to claim ₁ , wherein the step of screening the first specified line segment pair that satisfies the first specified condition according to the positional relationship comprises:

Determining, according to the positional relationship, a pair of line segments having intersection points, and filtering out a first specified line segment pair that is perpendicular to each other or on the same line;

The step of generating a virtual line segment according to the second specified condition according to the positional relationship between the end point position and the center line segment of the first specified line segment includes:

When the selected positional relationship of the first designated line segment is perpendicular to each other, the position of the foot is calculated;

Determining, according to the foot position and the end position, whether the foot is located on one of the first designated line segments;

If located, generating the virtual line segment according to the foot and the closest endpoint of another line segment of the first specified line segment pair; \¥0 2019/104666 卩(:17(:\2017/114014

The step of generating a virtual line segment according to the second specified condition according to the positional relationship of the end point position and the center line segment of the first specified line segment further includes: when the selected positional relationship of the first specified line segment to the center line segment is When they are in the same straight line, a virtual line segment is generated according to the adjacent two end points of the center line segment of the first specified line segment.

[Claim 4] The method for performing area division by the cleaning robot according to claim 1, wherein the virtual line segment before the boundary of the area division includes: acquiring a length value of the virtual line segment;

According to the length value, a virtual line segment that satisfies the set length range is selected.

[Claim 5] The method for performing area division by the cleaning robot according to claim 1, wherein the step of acquiring the outer contour of the two-dimensional plane map of the cleaning area comprises: drawing a two-dimensional plane map of the cleaning area ;

Extracting the outer contour of the two-dimensional planar map.

[Claim 6] The method for performing area division by the cleaning robot according to claim 5, wherein after the step of drawing the two-dimensional plane map of the cleaning area, the method further comprises: performing the two-dimensional plane map Binary pretreatment;

The two-dimensional planar map after the pre-processing is subjected to denoising processing.

[Claim 7] The method for performing area division by a cleaning robot according to claim 6, wherein the denoising processing includes any one of Gaussian filtering, median filtering, or morphological operation.

[Claim 8] The method for performing area division by the cleaning robot according to claim 1, wherein the step of extracting the line segment in the outer contour after the step of extracting the line segment from the outer contour is further Includes:

Obtaining a length value of the line segment;

Based on the length value, a line segment larger than a set threshold is screened.

[Claim 9] A cleaning robot, comprising:

a first acquiring unit, configured to acquire an outer contour of the two-dimensional plane map of the cleaning area, and an extracting unit, configured to perform line segment extraction processing on the outer contour, and extract a line segment in the outer contour; \¥0 2019/104666 卩(:17(:\2017/114014

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a calculating unit, configured to calculate a positional relationship between all the line segments; a first screening unit, configured to filter, according to the positional relationship, a first specified line segment pair that satisfies the first specified condition;

a second acquiring unit, configured to acquire an end position of the center line segment of the first specified line segment; and a generating unit, configured to perform, according to the positional relationship between the end point position and the center line segment of the first specified line segment, according to a second specified condition Generating a virtual line segment; the virtual line segment is a boundary of the area division.

[Claim 10] The cleaning robot according to claim ₉ , further comprising:

The processing unit is configured to identify the positional relationship between the position of the cleaning robot itself and the boundary of the area division, and perform preset processing according to the recognition result.

[Claim 11] The cleaning robot according to claim ₉ , wherein the first screening unit is specifically configured to:

The generating unit includes:

a calculation subunit, configured to calculate a position of the foot of the first specified line segment when the positional relationship of the center line segment is perpendicular to each other;

a determining subunit, configured to determine, according to the foot position and the end position, whether the foot is located on one of the first specified line segments;

a first generating subunit, wherein the foot is located on one of the first specified line segment pairs, and then generates a location according to the foot and the closest end point of another line segment of the first specified line segment pair Virtual line segment

And a second generating sub-unit, configured to: when the positional relationship of the first specified line segment alignment line segment is located on the same straight line, generate a virtual line segment according to the adjacent two end points of the center line segment of the first specified line segment.

[Claim 12] The cleaning robot according to claim ₉ , further comprising:

a third acquiring unit, configured to acquire a length value of the virtual line segment, and a second screening unit, configured to filter, according to the length value, a virtual value that meets a set length range \¥0 2019/104666 卩(:17(:\2017/114014

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The line segment.

[Claim 13] The cleaning robot according to claim ₉ , wherein the first acquisition unit

Includes:

Drawing a sub-unit for drawing a two-dimensional plan map of the cleaning area;

An extraction subunit is configured to extract an outer contour of the two-dimensional planar map.

[Claim 14] The cleaning robot according to claim ₁₃ , wherein the first acquiring unit further comprises:

a preprocessing subunit, configured to perform binarization preprocessing on the two-dimensional plane map; and a denoising subunit, configured to perform denoising processing on the two-dimensional plane map after preprocessing.

[Claim 15] The cleaning robot according to claim ₁₄ , wherein the denoising processing includes any one of Gaussian filtering, median filtering, or morphological operation.

[Claim 16] The cleaning robot according to claim ₉ , further comprising:

a fourth acquiring unit, configured to acquire a length value of the line segment;

And a third screening unit, configured to filter, according to the length value, a line segment that is greater than a set threshold.