CN108335302A - A kind of region segmentation method and device - Google Patents
A kind of region segmentation method and device Download PDFInfo
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- CN108335302A CN108335302A CN201810077082.8A CN201810077082A CN108335302A CN 108335302 A CN108335302 A CN 108335302A CN 201810077082 A CN201810077082 A CN 201810077082A CN 108335302 A CN108335302 A CN 108335302A
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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Abstract
The embodiment of the invention discloses a kind of region segmentation method and devices.Wherein, this method includes：Generate the contour line of grating map；The contour line is traversed, each concave point feature for including in the grating map is extracted；Each concave point feature is traversed, two contour lines where the concave point feature are extended to obtain two extended lines, and determine whether two extended lines are region segmentation line；The region for including in the grating map is obtained according to the region segmentation line determined.Technical solution provided in an embodiment of the present invention generates the subregion by the segmentation of true environment room area that is, according to the grating map information of environment, can realize that mobile equipment of sweeping the floor covers the total space by traversing all subregions, and then promote the experience of user.
Description
Technical field
The present invention relates to mobile robot technology field more particularly to a kind of region segmentation method and devices.
Background technology
In the information age, as intellectual technology develops, Information technology Related product and people's daily life are closely bound up,
In, intelligent mobile equipment such as sweeping robot of sweeping the floor is cleared up by the region of planning and is even more brought to people’s lives automatically
It is convenient.
Currently, applied to intelligent mobile sweep the floor equipment region division technology mainly by total space fixed size just
Rectangular carry out region division, then traverses each square area to cover the total space.But the subregion that this method is generated is not
It can be exactly matched with practical key, be easy to cause that sweeping efficiency is not high, and obtained cleaning map is not beautiful enough.
Invention content
A kind of region segmentation method of offer of the embodiment of the present invention and device, according to the grating map information of environment, generation is pressed
The subregion of true environment room area segmentation can realize that mobile equipment of sweeping the floor covers the total space, in turn by traversing all subregions
Promote the experience of user.
In a first aspect, an embodiment of the present invention provides a kind of region segmentation method, this method includes：
Generate the contour line of grating map；
The contour line is traversed, each concave point feature for including in the grating map is extracted；
Each concave point feature is traversed, two contour lines where the concave point feature are extended to obtain two extended lines,
And determine whether two extended lines are region segmentation line；
The region for including in the grating map is obtained according to the region segmentation line determined.
Second aspect, the embodiment of the present invention additionally provide a kind of region segmentation device, which includes：
Contour generating module, the contour line for generating grating map；
It is special to extract in the grating map each concave point for including for traversing the contour line for concave point characteristic extracting module
Sign；
Cut-off rule determining module, for traversing each concave point feature, by two contour lines where the concave point feature
Extension obtains two extended lines, and determines whether two extended lines are region segmentation line；
Area determination module, for obtaining the region for including in the grating map according to the region segmentation line determined.
Region segmentation method provided in an embodiment of the present invention and device, by the contour line extraction for traversing grating map first
Secondly each concave point feature for including in grating map traverses each concave point feature and judges that the corresponding contour line of concave point feature extends to obtain
Extended line whether be region segmentation line, if so, can be obtained region included in grating map according to region segmentation line
I.e. according to the grating map information of environment, the subregion by the segmentation of true environment room area is generated, it can by traversing all subregions
It realizes the mobile equipment covering total space of sweeping the floor, and then promotes the experience of user.
Description of the drawings
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, of the invention other
Feature, objects and advantages will become more apparent upon：
Fig. 1 is a kind of flow chart of the region segmentation method provided in the embodiment of the present invention one；
Fig. 2 is a kind of schematic diagram of the region segmentation method concave point feature provided in the embodiment of the present invention one；
Fig. 3 is the schematic diagram of cut zone in a kind of region segmentation method provided in the embodiment of the present invention one；
Fig. 4 is a kind of flow chart of the region segmentation method provided in the embodiment of the present invention two；
Fig. 5 is the schematic diagram of region segmentation line in a kind of region segmentation method provided in the embodiment of the present invention two；
Fig. 6 is a kind of structure diagram of the region segmentation device provided in the embodiment of the present invention three.
Specific implementation mode
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is only used for explaining the present invention rather than limitation of the invention.It also should be noted that for the ease of
Description, only some but not all contents related to the present invention are shown in the drawings.
Embodiment one
Fig. 1 is the flow chart of a kind of region segmentation method that the embodiment of the present invention one provides, the present embodiment be applicable to as
What makes intelligent mobile sweep the floor equipment such as the case where sweeping robot covers full room space during sweeping the floor.This method can be with
It is executed by region segmentation device provided in an embodiment of the present invention, which can be used software and/or the mode of hardware is realized.Ginseng
See that Fig. 1, this method are specifically included：
S110 generates the contour line of grating map.
Wherein, grating map is the digitlization production of the paper delivery medium topographic map of various engineer's scales and coloured picture that various professions use
Product are formed on content, geometric accuracy and color and are protected with topographic map after scanned every width figure, geometric correction and colour correction
Hold consistent raster data file.It is provided with laser ranging system on equipment such as sweeping robot specifically, intelligent mobile is swept the floor,
It can be based on barrier ranging according to true environment room, to draw out grating map.Contour line be based on to grating map into
Row respective handling obtains.
Illustratively, generating the operating process of the contour line of grating map can be：Edge detection is carried out to grating map；
The line feature positioned at intramarginal grating map is generated by Hough transformation；Fusion is carried out to line feature and generates contour line.
Wherein, the essence of edge detection is to extract the boundary line between objects in images and background using certain algorithm,
Traditional edge detection operator such as Sober operators, Prewitt operators, Roberts operators etc., the effect largely handled is not
It is fine, and Canny operators can inhibit noise, detection performance preferable while improving the sensibility to image border, because
This present embodiment carries out edge detection preferably by Canny operators.Hough transformation is used for being isolated from image with certain phase
With the geometry such as straight line, circle etc. of feature, most basic Hough transformation is that straight line is detected from black white image.The present embodiment is adopted
The line feature positioned at intramarginal grating map obtained via edge detection, i.e. short-term are can get with Hough transformation.
Illustratively, being merged to line feature to be：If two parallel short-term end-point distances are less than apart from threshold
Value is shown to be straight line, then is directly connected to two short-terms, and what is finally obtained is that line feature is end to end, according to clockwise
Direction stores.Wherein, distance threshold is customized, can be modified according to actual conditions, such as can be 1cm.
In order to enable ambient conditions of the contour line arrived closer to actual room, to grating map carry out edge detection it
Before, grating map can be pre-processed and the noise in grating map is eliminated with this.Specifically, intermediate value can be selected to filter
Wave, gaussian filtering, morphologic filtering etc. are handled, and morphologic filtering is a kind of effectively quick nonlinear filtering skill
Art keeps image apparent under the premise of not destroying original image useful details, and therefore, the present embodiment preferably uses morphologic filtering
Processing method carries out corrosion expansive working to achieve the purpose that filter noise to grating map.
Specific operating process is：First to the processing of grating map morphologic filtering；Then by treated, image uses
Canny operators carry out edge detection；The then short-term inside the grating map after edge detection in order to obtain, using Hough transformation
It is handled, and the fusion of obtained short-term can be obtained to the contour line of the grating map.
S120 traverses contour line, extracts each concave point feature for including in grating map.
Wherein, concave point is characterized as the point of two contour lines intersection, and optionally, concave point is characterized as joining end to end and along counterclockwise
Angular separation is more than the intersection point of two contour lines of 180 degree, is end to end two contour lines and first contour line side
It is more than 0 to Article 2 contour line direction cross product.Specifically, referring to Fig. 2, first contour line 1 intersects with Article 2 contour line 2
Point 20 be a concave point feature.
S130 traverses each concave point feature, two contour lines where concave point feature is extended to obtain two extended lines, and really
Whether fixed two extended lines are region segmentation line.
Wherein, extended line is that contour line extends obtained line towards concave point characteristic direction；Region segmentation line refers to being used for
Divide the line of room area.
Determine that two extended lines whether be region segmentation line can be judged according to preset rule, it such as can be with
It is：If the region of the corresponding extended line composition of two contour lines and two contour lines where concave point feature is to be closed, the area
All interior angles are respectively less than the area in 180 degree and the region and ensure that intelligent mobile is swept the floor in certain threshold range and set in domain
It is standby traversed all regions such as sweeping robot after can cover entire room area.
S140 obtains the region for including in grating map according to the region segmentation line determined.
After having traversed all concave point features, you can all areas cut-off rule in the grating map is determined, according to true
Fixed region segmentation line can obtain the region for including in grating map.Specifically, referring to Fig. 3, the concave point that is determined by contour line
Characterized by 30 and 40, it can determine that the extended line 3 and 4 of concave point 30 and 40 corresponding contour lines is region segmentation according to default rule
Line, the enclosed region 5,6 and 7 being made of region segmentation line and contour line are the region for including in grating map.
Region segmentation method provided in an embodiment of the present invention traverses grating map first by traversing grating map twice
Contour line extraction grating map in include each concave point feature, secondly each concave point feature of traversal judge the corresponding wheel of concave point feature
Whether the extended line that profile extends is cut-off rule, if so, can be obtained area included in grating map according to cut-off rule
Domain is the grating map information according to environment, generates the subregion by the segmentation of true environment room area, by traversing all subregions
Achievable movement sweep the floor equipment covering the total space, and then promoted user experience.
Embodiment two
Fig. 4 is a kind of region segmentation method flow chart provided by Embodiment 2 of the present invention.The region segmentation method is with this hair
Based on bright embodiment one, further provide a kind of two extended lines of determination whether be region segmentation line method.Referring to
Fig. 4, this method specifically include：
S410 generates the contour line of grating map.
S420 traverses contour line, extracts each concave point feature for including in grating map.
S430 traverses each concave point feature, and two contour lines where concave point feature are extended to obtain two extended lines.
S440, determines whether two extended lines meet region segmentation condition, and obtains new region point according to definitive result
Secant.
Wherein, region segmentation condition is the contour line of extended line and grating map and/or predetermined region segmentation line
Closed loop convex polygon is formed, and the area of the closed loop convex polygon formed is in preset threshold range.
Preset threshold range is pre-set according to factors such as actual room environment and areas, such as can be 1m2-
10m2.It sweeps the floor the working efficiency of equipment such as sweeping robot in order to facilitate handling and improving intelligent mobile, by extended line and grid
All interior angles are both less than the convex more of 180 degree in the contour line of map and/or predetermined region segmentation line composition closed loop region
Side shape screens, and the area of the convex polygon is matched with preset threshold range, if the area of the convex polygon
In preset threshold range, then the extended line for forming the convex polygon is determined as to new region segmentation line.
Illustratively, it determines whether two extended lines meet region segmentation condition, and new area is obtained according to definitive result
Regional partition line may include：
If 1) wherein an extended line meets region segmentation condition, using the extended line for the condition that meets as new region point
Secant.
If 2) two extended lines are satisfied by region segmentation condition, the larger extended line of convex polygon area of composition is selected
As new region segmentation line.
Specifically, referring to Fig. 5,8 corresponding two extended lines of concave point feature are 9 and 10 respectively, and extended line 9,10 and wheel
It is convex polygon less than 180 degree that all interior angles, which are 90 degree, in the enclosed region 11 and 12 of profile composition, works as convex polygon
The area of 11 and 12 compositions is in 1m2-10m2In range and the area of convex polygon 12 is less than 11, then can will form convex polygon 11
Corresponding extended line 10 deletes extended line 9 as new region segmentation line.
If 3) two extended lines are unsatisfactory for region segmentation condition, current concave point feature is turned back into concave point to be traversed
In feature.
The concave point characteristic storage that traversal contour line is obtained is in pre-set concave point feature set, when concave point feature corresponds to
Extended line when meeting region segmentation condition, the concave point feature is deleted automatically；If when the corresponding extended line of concave point feature is discontented
When sufficient region segmentation condition, then it is corresponding that the concave point feature can be inserted into behind all concave point features or concave point position
Behind next position etc., when being sky in the concave point feature set, stop traversal.
When the region of the contour line and/or predetermined region segmentation line composition of two extended lines and grating map is not
Can also be the wheel of two extended lines and grating map when at least one interior angle is more than 180 degree in closed or enclosed region
The area of the convex polygon of profile and/or predetermined region segmentation line composition is not in preset threshold range, then by two
The corresponding concave point feature of extended line is put back in the concave point feature set for storing the concave point feature.
Specifically, alternative concave point feature can also be stored with alternative point feature collection, it is not traversed wherein being placed with
It is unsatisfactory for the concave point feature gone through that region segmentation condition is turned back to after concave point feature, and traversal.By constantly traversing alternative point
Each concave point feature for including in feature set, to determine the region segmentation line of concave point feature, until alternative point feature collection is empty,
In other words until each concave point feature is corresponding with region segmentation line, region segmentation all in grating map can be obtained
Line.
S450 obtains the region for including in grating map according to the region segmentation line determined.
Region segmentation method provided in an embodiment of the present invention traverses grating map first by traversing grating map twice
Contour line extraction grating map in include each concave point feature, secondly each concave point feature of traversal judge the corresponding wheel of concave point feature
Whether the extended line that profile extends is cut-off rule, if so, can be obtained area included in grating map according to cut-off rule
Domain is the grating map information according to environment, generates the subregion by the segmentation of true environment room area, by traversing all subregions
Achievable movement sweep the floor equipment covering the total space, and then promoted user experience.
Illustratively, after obtaining the region for including in grating map according to the region segmentation line determined, can also include：
For each convex polygon that contour line and/or region segmentation line form, if the area of the convex polygon is less than face
Product threshold value, then merge the convex polygon with adjacent convex polygon.
Wherein, area threshold be not in preset threshold range, and less than preset threshold range lower limiting value, such as
1.The convex polygon of multiple jingle bells less than 1 is merged, the convex polygon or concave polygon that can be connected to.After merging
The area of polygon judged, retain if the area is in preset threshold range, if it was not then re-starting conjunction
And until all regions have all merged.
Embodiment three
Fig. 6 is a kind of structure diagram for region segmentation device that the embodiment of the present invention three provides, which can perform this hair
The region segmentation method that bright any embodiment is provided has the corresponding function module of execution method and advantageous effect.Such as Fig. 6 institutes
Show, which may include：
Contour generating module 610, the contour line for generating grating map；
It is special to extract each concave point for including in grating map for traversing the contour line for concave point characteristic extracting module 620
Sign；
Cut-off rule determining module 630 extends two contour lines where concave point feature for traversing each concave point feature
To two extended lines, and determine whether two extended lines are region segmentation line；
Area determination module 640, for obtaining the region for including in grating map according to the region segmentation line determined.
Region segmentation device provided in an embodiment of the present invention traverses grating map first by traversing grating map twice
Contour line extraction grating map in include each concave point feature, secondly each concave point feature of traversal judge the corresponding wheel of concave point feature
Whether the extended line that profile extends is cut-off rule, if so, can be obtained area included in grating map according to cut-off rule
Domain is the grating map information according to environment, generates the subregion by the segmentation of true environment room area, by traversing all subregions
Achievable movement sweep the floor equipment covering the total space, and then promoted user experience.
Optionally, cut-off rule determining module 630 specifically can be used for：
It determines whether two extended lines meet region segmentation condition, and new region segmentation line is obtained according to definitive result,
Wherein region segmentation condition be extended line and grating map contour line and/or predetermined region segmentation line composition closed loop it is convex
Polygon, and the area of the closed loop convex polygon formed is in preset threshold range.
Illustratively, cut-off rule determining module 630 specifically can be used for：
If wherein an extended line meets region segmentation condition, using the extended line for the condition that meets as new region segmentation
Line；
If two extended lines are satisfied by the region segmentation condition, the larger extension of convex polygon area of composition is selected
Line is as new region segmentation line；
If two extended lines are unsatisfactory for the region segmentation condition, current concave point feature is turned back to be traversed recessed
In point feature.
Optionally, the concave point is characterized as two wheels to join end to end and angle is more than 180 degree in the counterclockwise direction
The intersection point of profile.
Optionally, contour generating module 610 specifically can be used for：
Edge detection is carried out to grating map；The line feature positioned at intramarginal grating map is generated by Hough transformation；
Fusion is carried out to line feature and generates contour line.
Illustratively, above-mentioned apparatus can also include：
Merging module, after obtaining the region for including in grating map in the region segmentation line that foundation determines, for
Each convex polygon of contour line and/or region segmentation line composition should if the area of the convex polygon is less than area threshold
Convex polygon merges with adjacent convex polygon.
Note that above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The present invention is not limited to specific embodiments described here, can carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out to the present invention by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
May include other more equivalent embodiments, and the scope of the present invention is determined by scope of the appended claims.
Claims (12)
1. a kind of region segmentation method, which is characterized in that including：
Generate the contour line of grating map；
The contour line is traversed, each concave point feature for including in the grating map is extracted；
Each concave point feature is traversed, two contour lines where the concave point feature are extended to obtain two extended lines, and really
Whether fixed two extended lines are region segmentation line；
The region for including in the grating map is obtained according to the region segmentation line determined.
2. according to the method described in claim 1, it is characterized in that, determine two extended lines whether be region segmentation line,
Including：
It determines whether two extended lines meet region segmentation condition, and new region segmentation line is obtained according to definitive result,
The wherein described region segmentation condition is the contour line of extended line and the grating map and/or predetermined region segmentation line group
At closed loop convex polygon, and the area of the closed loop convex polygon formed is in preset threshold range.
3. according to the method described in claim 2, it is characterized in that, determining whether two extended lines meet region segmentation item
Part, and new region segmentation line is obtained according to definitive result, including：
If wherein an extended line meets region segmentation condition, using the extended line for the condition that meets as new region segmentation
Line；
If two extended lines are satisfied by the region segmentation condition, the larger extension of convex polygon area of composition is selected
Line is as new region segmentation line；
If two extended lines are unsatisfactory for the region segmentation condition, current concave point feature is turned back to be traversed recessed
In point feature.
4. according to the method described in claim 1, it is characterized in that, the concave point is characterized as joining end to end and in the counterclockwise direction
Angle is more than the intersection point of two contour lines of 180 degree.
5. according to the method described in claim 1, it is characterized in that, generate grating map contour line, including：
Edge detection is carried out to the grating map；
The line feature positioned at intramarginal grating map is generated by Hough transformation；
Fusion is carried out to the line feature and generates contour line.
6. according to the method described in claim 1, it is characterized in that, obtaining the grating map according to determining region segmentation line
In include region after, further include：
For each convex polygon that contour line and/or region segmentation line form, if the area of the convex polygon is less than area threshold
Value, then merge the convex polygon with adjacent convex polygon.
7. a kind of region segmentation device, which is characterized in that including：
Contour generating module, the contour line for generating grating map；
Concave point characteristic extracting module extracts each concave point feature for including in the grating map for traversing the contour line；
Cut-off rule determining module extends two contour lines where the concave point feature for traversing each concave point feature
Two extended lines are obtained, and determine whether two extended lines are region segmentation line；
Area determination module, for obtaining the region for including in the grating map according to the region segmentation line determined.
8. device according to claim 7, which is characterized in that the cut-off rule determining module is specifically used for：
It determines whether two extended lines meet region segmentation condition, and new region segmentation line is obtained according to definitive result,
The wherein described region segmentation condition is the contour line of extended line and the grating map and/or predetermined region segmentation line group
At closed loop convex polygon, and the area of the closed loop convex polygon formed is in preset threshold range.
9. device according to claim 8, which is characterized in that the cut-off rule determining module is specifically used for：
If wherein an extended line meets region segmentation condition, using the extended line for the condition that meets as new region segmentation
Line；
If two extended lines are satisfied by the region segmentation condition, the larger extension of convex polygon area of composition is selected
Line is as new region segmentation line；
If two extended lines are unsatisfactory for the region segmentation condition, current concave point feature is turned back to be traversed recessed
In point feature.
10. device according to claim 7, which is characterized in that the concave point is characterized as joining end to end and along side counterclockwise
It is more than the intersection point of two contour lines of 180 degree to angle.
11. device according to claim 7, which is characterized in that the contour generating module is specifically used for：
Edge detection is carried out to the grating map；
The line feature positioned at intramarginal grating map is generated by Hough transformation；
Fusion is carried out to the line feature and generates contour line.
12. device according to claim 7, which is characterized in that further include：
Merging module, after obtaining the region for including in the grating map in the region segmentation line that foundation determines, for
Each convex polygon of contour line and/or region segmentation line composition should if the area of the convex polygon is less than area threshold
Convex polygon merges with adjacent convex polygon.
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