CN112419346A - Cleaning robot and partitioning method - Google Patents
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- 238000004140 cleaning Methods 0.000 title claims abstract description 104
- 238000000638 solvent extraction Methods 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 title claims abstract description 42
- 238000005192 partition Methods 0.000 claims abstract description 112
- 230000002093 peripheral effect Effects 0.000 claims abstract description 79
- 238000005452 bending Methods 0.000 claims description 11
- 230000000877 morphologic effect Effects 0.000 claims description 4
- 238000013316 zoning Methods 0.000 claims description 3
- 239000013598 vector Substances 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
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Abstract
The present disclosure provides a cleaning robot and a partitioning method, wherein the partitioning method includes: acquiring a peripheral outline of an environment to be partitioned; and selecting a plurality of continuous contour points from the peripheral contour each time, and determining a partition area according to the area surrounded by the selected continuous contour points. When the environment to be partitioned is partitioned, the plurality of continuous contour points are sequentially selected, and the area surrounded by the plurality of contour points selected each time is determined to determine the partitioned area, so that the partitioning strategy of the cleaning robot is simpler, and meanwhile, the environment to be partitioned with a complex contour can be accurately partitioned.
Description
Technical Field
The disclosure relates to the technical field of artificial intelligence, in particular to a cleaning robot and a partitioning method.
Background
With the development of technology and the improvement of living standard of people, intelligent household appliances become an important point of force for industrial innovation. Aiming at cleaning robots, the robot has important significance for reducing the housework of people.
At present, cleaning robots can clean target environments in sequence through map partitions. Specifically, the cleaning robot acquires a map of the target environment, then acquires the contour of the map, and finally divides the map into a plurality of partitions according to the contour of the map. The cleaning robot can then clean the target environment sequentially, zone by zone.
In the process of partitioning a target environment by using an existing cleaning robot, a "door" or an "area" is usually used as a partition basis. When the cleaning robot takes the 'door' as the partition basis, contour points with the 'door' feature need to be found from the contour of the map. Specifically, whether the distance of the contour point without the obstacle in the middle is matched with the width of the door frame or not is calculated, and if the distance is matched with the width of the door frame, the contour point is used as a partition basis for partitioning. When the cleaning robot takes the area as the partition basis, the area with the area meeting the requirement is selected from the map as the partition.
However, the partition strategy based on the "door" results in the partition size being the same as the room area, and if the room is too large, the partition size will be larger. The partitioning strategy using the "area" as the basis for partitioning will result in irregular shape and contour of the obtained partitions, which is further not favorable for the cleaning operation of the cleaning robot.
Disclosure of Invention
The disclosure provides a cleaning robot and a partitioning method, which are used for solving the following technical problems in the prior art: the existing cleaning machine unreasonably divides the partition area in the process of partitioning the target environment.
In a first aspect, the present disclosure provides a zoning method of a cleaning robot, comprising: acquiring a peripheral outline of an environment to be partitioned; and selecting a plurality of continuous contour points from the peripheral contour each time, and determining a partition area according to the area surrounded by the selected plurality of continuous contour points.
Optionally, selecting a plurality of continuous contour points from the peripheral contour each time, and determining a partition area according to an area surrounded by the selected plurality of continuous contour points, includes: selecting a preset number of continuous contour points from the peripheral contour each time; determining a minimum circumscribed rectangle of a preset number of continuous contour points; and determining the partition area according to the minimum bounding rectangle.
Optionally, determining the partition area according to the minimum bounding rectangle includes: and determining the minimum bounding rectangle as the partition area.
Optionally, determining the partition area according to the minimum bounding rectangle includes: judging whether the minimum external rectangle meets a preset partition rule or not; if the minimum circumscribed rectangle meets a preset partition rule, determining the minimum circumscribed rectangle as a partition area; and if the minimum circumscribed rectangle does not meet the preset partition rule, adjusting the number of the selected contour points until the minimum circumscribed rectangle of the selected contour points meets the preset rule, and determining the minimum circumscribed rectangle of the finally selected contour points as the partition area.
Optionally, the preset partition rule includes: the area of the minimum bounding rectangle is greater than or equal to an area threshold and/or whether the aspect ratio of the minimum bounding rectangle is less than an aspect ratio threshold.
Optionally, adjusting the number of the contour points selected this time includes: increasing the number of the contour points selected at this time; or, the number of the contour points selected at this time is reduced.
Optionally, the contour points are inflection points on the peripheral contour.
Optionally, the starting contour point of each selected contour point is the end point of the last determined minimum bounding rectangle.
Optionally, acquiring a peripheral outline of the environment to be partitioned includes: acquiring an initial peripheral outline of an environment to be partitioned; and performing a morphological opening operation and a morphological closing operation on the initial peripheral outline to acquire a final peripheral outline.
In a second aspect, the present disclosure provides a cleaning robot, comprising a processor, a memory and execution instructions stored on the memory, the execution instructions being configured to, when executed by the processor, cause the cleaning robot to perform the partitioning method of the cleaning robot according to any one of the first aspect.
As can be understood by those skilled in the art, in the foregoing technical solution of the present disclosure, a plurality of continuous contour points are sequentially selected from the peripheral contour, and an area surrounded by the contour point selected each time is determined, so that the area determined each time is used as a partition area, which not only simplifies the partition strategy, but also can determine the size of the partition area by selecting a proper number of contour points, thereby avoiding the situation that the obtained partition area is too large or too small, and simultaneously making the obtained partition area more regular, which is convenient for the cleaning robot to perform the cleaning operation. Specifically, in the partitioning process, the partitioning method disclosed by the invention can complete the partitioning of the environment to be partitioned by only selecting a plurality of continuous contour points from the peripheral contour of the environment to be partitioned as a partitioning basis without calculating the distance between the contour points and the contour points (in the prior art, the distance needs to be calculated by taking a gate as the partitioning basis), so that the calculation amount of the cleaning robot in partitioning is reduced, the partitioning is quicker, and meanwhile, the wrong partitioning caused by the situation that the actual partitioning is not satisfied between some contour points but the distance between the contour points satisfies the partitioning basis is avoided.
Furthermore, the partition area is determined by determining the minimum external rectangle of the preset number of continuous contour points and determining the partition area according to the minimum external rectangle, so that the partition area is more regular, and the cleaning robot can clean the partition area conveniently.
Furthermore, the starting contour points of the contour points selected each time are the end points of the minimum circumscribed rectangle determined last time, so that the subsequent partition area can be obtained only by depending on the previous partition area, and the two previous and subsequent partition areas have a dependency relationship and are close to each other, thereby optimizing the partition strategy of the cleaning robot and avoiding the situation that the number of the obtained partition areas is large or small when any partition is not performed on the environment to be partitioned according to the dependency relationship.
And furthermore, by judging whether the minimum external rectangle meets the preset partition rule or not and determining the minimum external rectangle as a partition area when the minimum external rectangle meets the preset partition rule, the problem that the cleaning robot cannot clean or is low in cleaning efficiency when long-strip-shaped partitions or partitions with too small areas appear in the partition area is avoided. When the minimum external rectangle does not meet the preset partition rule, the number of the contour points selected at this time is adjusted, so that the cleaning robot can be ensured to divide the whole environment to be partitioned into reasonable partition areas.
Drawings
In order to more clearly illustrate the technical solutions of the present disclosure, some embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings, in which:
FIG. 1 is a flow chart of the main steps of a partitioning method according to a first embodiment of the present disclosure;
FIG. 2 is a flow chart of the main steps for determining a partition area in a second embodiment of the present disclosure;
FIG. 3 is a flow chart of the main steps for determining the partition area in the third embodiment of the present disclosure;
4A-4D are one example of a third embodiment of the present disclosure;
5A-5B are another example of a third embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of a cleaning robot according to a fourth embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more apparent, the technical solutions of the present disclosure will be clearly and completely described below with reference to specific embodiments and corresponding drawings. It should be understood by those skilled in the art that the embodiments described in this detailed description are only a few embodiments of the disclosure, and not all embodiments of the disclosure. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments described in the detailed description of the present section, do not depart from the technical principles of the present disclosure, and therefore should fall within the scope of the present disclosure.
It should be noted that the terms "first," "second," and "third" in the description of the present disclosure are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In addition, it should be noted that the partitioning method according to the present disclosure may be implemented by a cleaning robot or a server, and the present application is not limited thereto. For ease of understanding and description, the following embodiments are described in detail by way of example of a cleaning robot.
It should be further noted that, although each step of the partition method in this section has a corresponding step number, this does not mean that each step must be executed strictly according to the order specified by the step numbers, and the step numbers are introduced in this section for convenience of describing the partition method of the present disclosure and for facilitating understanding of the partition method of the present disclosure by those skilled in the art.
Some embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
In a first embodiment of the present disclosure:
as shown in fig. 1, the partition method of the cleaning robot of the present embodiment includes:
and step S110, the cleaning robot acquires the peripheral outline of the environment to be partitioned.
Specifically, the cleaning robot acquires a map of the environment to be partitioned, and then extracts a peripheral contour of the map of the environment to be partitioned to acquire the peripheral contour of the environment to be partitioned.
It should be noted that, the present application is not limited in particular to how to obtain the peripheral outline of the environment to be partitioned. Since the map of the environment to be partitioned and the peripheral outline of the environment to be partitioned can be obtained by adopting the conventional technical means, the description is not repeated herein. Illustratively, the cleaning robot scans and maps the environment to be partitioned by SLAM (simultaneous localization and mapping) technology.
Step S120, the cleaning robot selects a plurality of continuous contour points from the peripheral contour each time, and determines a partition area according to an area surrounded by the selected plurality of continuous contour points.
The contour points on the peripheral contour may be any feasible contour points, such as bending points (points where two non-parallel line segments intersect), points extracted at equal intervals, and the like on the peripheral contour. The contour point is preferably a bending point on the peripheral contour.
Specifically, the cleaning robot acquires all contour points from the peripheral contour, then uses any one contour point as a first starting contour point, then sequentially selects a preset number (e.g., 4, 5, 7, etc.) of continuous contour points from the peripheral contour along a preset selection direction, and determines a region defined by all the contour points selected each time (e.g., a region formed by sequentially connecting the contour points or a region defined by a minimum circumscribed rectangle of the contour points), so as to use the region as a partition region until the environment to be partitioned cannot be partitioned any more.
It should be noted that the selection directions of the cleaning robot for selecting a preset number of consecutive contour points each time may be the same or different. As an example one, the cleaning robot selects contour points on the peripheral contour along the clockwise direction; as an example two, the cleaning robot selects contour points on the peripheral contour in the counterclockwise direction; as example three, the cleaning robot picks contour points on the peripheral contour alternately in a clockwise direction and a counterclockwise direction.
Based on the foregoing description, it can be understood by those skilled in the art that, in the foregoing technical solution of the present disclosure, by sequentially selecting a plurality of continuous contour points from the peripheral contour and determining the area surrounded by the plurality of continuous contour points selected each time, the area determined each time is used as the partition area, which not only simplifies the partition strategy, but also can determine the size of the partition area by selecting an appropriate number of contour points, thereby avoiding the situation that the obtained partition area is too large or too small, and simultaneously making the obtained partition area regular, which facilitates the cleaning operation of the cleaning robot. Specifically, in the partitioning process, the partitioning method disclosed by the invention can complete the partitioning of the environment to be partitioned by only selecting a plurality of continuous contour points from the peripheral contour of the environment to be partitioned as a partitioning basis without calculating the distance between the contour points and the contour points (in the prior art, the distance needs to be calculated by taking a gate as the partitioning basis), so that the calculation amount of the cleaning robot in partitioning is reduced, the partitioning is quicker, and meanwhile, the wrong partitioning caused by the situation that the actual partitioning is not satisfied between some contour points but the distance between the contour points is surely satisfied with the partitioning basis is also avoided.
In a second embodiment of the disclosure:
as shown in fig. 2, the partition method of the cleaning robot of the present embodiment includes:
step S210, the cleaning robot obtains a map of the environment to be partitioned.
Illustratively, the cleaning robot scans and maps the environment to be partitioned by SLAM (simultaneous localization and mapping) technology.
Step S220, obtaining the peripheral outline of the environment to be partitioned from the map, and extracting all outline points from the peripheral outline.
Preferably, the contour point of the present embodiment refers to a bending point (a point where two non-parallel line segments intersect) on the peripheral contour.
Further, the skilled person may extract the bending point from the peripheral outline in any feasible way. For example, coordinates are assigned to each contour point on the peripheral contour, and then vectors of each contour point and neighboring contour points are obtained. If the directions of two vectors corresponding to a certain contour point are the same or opposite, the contour point and two contour points adjacent to the contour point are positioned on the same straight line; if the directions of the two vectors corresponding to a certain contour point are not the same or opposite, it means that the contour point and two contour points adjacent to the contour point are not on the same straight line, and the contour point is a bending point.
Step S230, selecting a preset number of continuous contour points on the peripheral contour, and determining a minimum bounding rectangle of the contour points.
Wherein the predetermined number may be any feasible number. Preferably, the preset number is determined according to the number of all contour points on the peripheral contour, for example, if the total number of contour points on the peripheral contour is less than 20, the preset number is 5, otherwise it is 6; if the total number of contour points on the peripheral contour is less than 20, the preset number is 6, otherwise it is 7; if the total number of contour points on the peripheral contour is less than 50, the preset number is 7, otherwise 8, etc.
Specifically, when a preset number of contour points are selected from the peripheral contour for the first time, one contour point is selected at will, and then the remaining contour points are selected until the number of the selected contour points reaches the preset number. Then, the minimum bounding rectangle of the first selected contour point is determined and recorded as the 1 st minimum bounding rectangle. When the preset number of contour points are selected from the peripheral contour for the nth time (n is a natural number larger than 1), firstly, four end points of the (n-1) th minimum circumscribed rectangle are determined, then, the distance between each end point and the remaining contour points to be selected is respectively calculated (specifically, the Euclidean distance between the four end points and the head and tail points of the remaining contour on the peripheral contour is respectively calculated), the obtained four distance values are compared, two end points corresponding to the minimum two distance values are selected, the two end points are defined as the contour points to be selected, and other contour points on or in the (n-1) th minimum circumscribed rectangle are defined as the selected contour points. Then, one of the two end points on the (n-1) th minimum bounding rectangle is taken as an initial contour point or a reference point (a contour point adjacent to the reference point is taken as the initial contour point), and the remaining contour points are continuously selected until the number of the selected contour points reaches a preset number.
Further, if the contour points are selected for the nth time, the number of the remaining contour points to be selected does not reach the preset number. Then it is determined whether the number of contour points to be selected is less than a lower limit value (e.g., 1, 2, 3, 5, etc.). If the area is smaller than the area, the area of the area surrounded by the remaining contour points to be selected is determined to be smaller, and the cleaning robot cannot perform effective cleaning operation, so that the area surrounded by the remaining contour points to be selected is merged into the (n-1) th subarea area. If the area is larger than the preset area, the area surrounded by the remaining contour points to be selected is determined, the cleaning robot can carry out effective cleaning operation, and therefore the area surrounded by the remaining contour points to be selected is used as the last subarea area.
And step S240, judging whether the minimum circumscribed rectangle meets a preset partition rule.
Wherein, presetting the partition rule comprises: the area of the minimum bounding rectangle is greater than or equal to an area threshold (e.g., 0.5 cm)2、0.6cm2、1.2cm2Etc.) and/or the aspect ratio of the minimum bounding rectangle is less than an aspect ratio threshold (e.g., 8, 20, 35, 48, etc.).
Specifically, if it is determined that the minimum bounding rectangle does not satisfy the preset partition rule, it indicates that the area of the area is too small or too narrow, and the cleaning robot cannot effectively clean the area, and step S250 is performed. If the minimum bounding rectangle is judged to meet the preset partition rule, the step S260 is executed.
And S250, enabling the cleaning robot to adjust the number of the contour points selected at this time, and determining the minimum circumscribed rectangle of the contour points selected again.
Specifically, the number of the contour points selected this time is increased by the cleaning robot, and the minimum circumscribed rectangle of the contour points selected again is determined to increase the size of the minimum circumscribed rectangle this time, so that the area of the minimum circumscribed rectangle of the contour points this time is greater than or equal to the area threshold, and the aspect ratio is smaller than the aspect ratio threshold, thereby enabling the cleaning robot to effectively clean the divided region this time.
As can be understood by those skilled in the art, if the regions to be partitioned are very regular, the area of the minimum circumscribed rectangle determined this time may be very large, which is not favorable for the cleaning operation of the cleaning robot. Therefore, a person skilled in the art can also set an area upper limit as required, and if the area of the minimum circumscribed rectangle determined this time reaches the area upper limit, the number of the contour points selected this time is reduced to make the number of the contour points smaller than the preset number, so that the area of the minimum circumscribed rectangle of the contour points this time is smaller than the area upper limit.
And step S260, determining the minimum circumscribed rectangle as a partition area.
Step S270, judging whether contour points to be selected exist on the peripheral contour, and if so, indicating that an undivided area exists in the environment to be partitioned; if not, the environment to be partitioned is divided completely.
Step S280, the cleaning robot ends the partition.
Based on the foregoing description, as can be understood by those skilled in the art, in the embodiment, the starting contour points of the contour points selected each time are the end points of the minimum circumscribed rectangle determined last time, so that the subsequent partition area can be acquired only depending on the previous partition area, and then the two previous and subsequent partition areas have a dependency relationship and are close to each other, thereby optimizing the partition strategy of the cleaning robot, and avoiding a situation that the number of the obtained partition areas is large or small when any partition is not performed on the environment to be partitioned according to the dependency relationship.
Furthermore, whether the minimum external rectangle meets the preset partition rule or not is judged, and when the minimum external rectangle meets the preset partition rule, the minimum external rectangle is determined as a partition area, so that the problem that the cleaning robot cannot clean the obtained partition area or the cleaning efficiency of the cleaning robot is low when the obtained partition area has long-strip-shaped partitions or partitions with too small areas is avoided. When the minimum external rectangle does not meet the preset partition rule, the number of the contour points selected at this time is adjusted, so that the cleaning robot can be ensured to divide the whole environment to be partitioned into reasonable partition areas.
In a third embodiment of the present disclosure:
as shown in fig. 3, the partition method of the cleaning robot of the present embodiment includes:
and S301, acquiring the peripheral outline of the environment to be partitioned.
Illustratively, the cleaning robot scans and maps the environment to be partitioned by SLAM (simultaneous localization and mapping) technology. And then, the cleaning robot acquires the peripheral outline of the environment to be partitioned from the map.
Step S302, extracting all contour points from the peripheral contour.
The contour point of the present embodiment refers to a bending point (a point where two non-parallel line segments intersect) on the peripheral contour.
Further, the skilled person may extract the bending point from the peripheral outline in any feasible way. For example, coordinates are assigned to each contour point on the peripheral contour, and then vectors of each contour point and neighboring contour points are obtained. If the directions of two vectors corresponding to a certain contour point are the same or opposite, the contour point and two contour points adjacent to the contour point are positioned on the same straight line; if the directions of the two vectors corresponding to a certain contour point are not the same or opposite, it means that the contour point and two contour points adjacent to the contour point are not on the same straight line, and the contour point is a bending point.
Step S303, selecting any one contour point as a first starting contour point.
Specifically, the cleaning robot is enabled to select contour points located at the upper left corner, the lower left corner, the upper right corner or the lower right corner of the peripheral contour from all contour points as a first starting contour point, so as to determine a starting point (reference point) when the first partition is performed, and further determine the approximate position of the first partition area.
And step S304, selecting a continuous preset number of contour points.
Wherein the predetermined number may be any feasible number. Preferably, the preset number is determined according to the number of all contour points on the peripheral contour, for example, the total number of contour points on the peripheral contour is less than 20, the preset number is 5, otherwise, it is 6; the total number of contour points on the peripheral contour is less than 20, the preset number is 6, otherwise, the preset number is 7; the total number of contour points on the peripheral contour is less than 50, the preset number is 7, otherwise 8, etc.
Specifically, the cleaning robot is enabled to sequentially select a preset number of contour points from the peripheral contour along a clockwise direction or a counterclockwise direction. Or, firstly, the cleaning robot is enabled to assign serial numbers to each contour point, and then the cleaning robot is enabled to select a preset number of contour points in sequence according to the sequence of column numbers from large to small or from small to large.
And step S305, determining the minimum circumscribed rectangle of the selected contour point.
And S306, judging that the minimum circumscribed rectangle meets a preset rule. If the minimum bounding rectangle is satisfied, the area corresponding to the minimum bounding rectangle is shown, so that the cleaning robot can perform normal cleaning operation. If the minimum bounding rectangle does not satisfy the requirement, the size of the area corresponding to the minimum bounding rectangle is too small (for example, the width of the area is only half of the width of the cleaning path of the cleaning robot), so that the cleaning robot cannot perform normal cleaning robot operation or the cleaning efficiency is low.
Specifically, it is determined whether the area of the minimum bounding rectangle is greater than or equal to an area threshold (e.g., 0.5 cm)2、0.6cm2、1.2cm2Etc.) and determines whether the aspect ratio of the minimum bounding rectangle is less than an aspect ratio threshold (e.g., 8, 20, 35, 48, etc.).
Specifically, if it is determined that the area of the minimum bounding rectangle is smaller than the area threshold, or if it is determined that the aspect ratio of the minimum bounding rectangle is greater than or equal to the aspect ratio threshold, it indicates that the area of the area is too small or too narrow, and the cleaning robot cannot effectively clean the area, and step S307 is performed. If it is determined that the area of the minimum bounding rectangle is not less than the area threshold and the aspect ratio of the minimum bounding rectangle is less than the aspect ratio threshold, the minimum bounding rectangle satisfies the preset partition rule, then step S308 is performed.
And step S307, adjusting the number of the contour points selected at this time.
Specifically, the number of the contour points selected this time is increased by the cleaning robot, and the minimum circumscribed rectangle of the contour points selected again is determined to increase the size of the minimum circumscribed rectangle this time, so that the area of the minimum circumscribed rectangle of the contour points this time is greater than or equal to the area threshold, and the aspect ratio is smaller than the aspect ratio threshold, thereby enabling the cleaning robot to effectively clean the divided region this time.
As can be understood by those skilled in the art, if the regions to be partitioned are very regular, the area of the minimum circumscribed rectangle determined this time may be very large, which is not favorable for the cleaning operation of the cleaning robot. Therefore, a person skilled in the art can also set an area upper limit as required, and if the area of the minimum circumscribed rectangle determined this time reaches the area upper limit, the number of the contour points selected this time is reduced to make the number of the contour points smaller than the preset number, so that the area of the minimum circumscribed rectangle of the contour points this time is smaller than the area upper limit.
And step S308, determining the minimum circumscribed rectangle as a partition area.
Step S309, determine whether there are contour points to be selected on the peripheral contour. If yes, indicating that the environment to be partitioned has an undivided area; if not, the environment to be partitioned is divided completely.
Step S310, the cleaning robot is made to end the partition.
Step S311, a new starting contour point is selected from the four endpoints of the minimum bounding rectangle.
Specifically, the four end points of the minimum circumscribed rectangle are determined, then the distances between each end point and the remaining contour points to be selected are calculated respectively (specifically, the euclidean distances between the four end points and the head and tail points of the remaining contour on the peripheral contour are calculated respectively), the obtained four distance values are compared, the two end points corresponding to the minimum two distance values are selected, the two end points are defined as the contour points to be selected, and the other contour points on or in the last minimum circumscribed rectangle are defined as the selected contour points. Then, one of the two end points on the minimum bounding rectangle is used as an initial contour point or a reference point (a contour point adjacent to the reference point is used as the initial contour point), and the remaining contour points are continuously selected until the number of the selected contour points reaches a preset number.
The partitioning method of the present embodiment will be described below with reference to fig. 4A to 4D and fig. 5A to 5B.
As shown in fig. 4A to 4D, in the first example of the present embodiment:
as shown in fig. 4A, the contour points on the peripheral contour of the environment to be partitioned are all bending points on the peripheral contour. The cleaning robot recognizes a total of 12 contour points from the peripheral contour of the environment to be partitioned, and accordingly determines that the preset number is 5, i.e., 5 consecutive contour points are selected at a time.
As shown in fig. 4B, the cleaning robot arbitrarily selects one contour point as a reference point, and 5 consecutive contour points are selected on the peripheral contour in the clockwise direction. Then, the cleaning robot determines the first minimum bounding rectangle according to the selected 5 continuous contour points.
As shown in FIG. 4C, the cleaning robot calculates the area of the minimum bounding rectangle to be 2m2Equal to the area threshold of 2m2(ii) a The aspect ratio of the minimum circumscribed rectangle is 2, which is smaller than the aspect ratio threshold value 3; therefore, the cleaning robot determines the minimum circumscribed rectangle selected this time as the first subarea area.
And enabling the cleaning robot to extract 4 end points of the minimum circumscribed rectangle, respectively calculating Euclidean distances between the 4 end points and the head and tail points of the rest contour on the peripheral contour, and determining two end points which are closest to the head and tail points of the contour on the rest peripheral contour. Wherein, the distance between the two nearest end points and the head and tail points of the contour on the rest peripheral contour is respectively L1 and L2.
As shown in fig. 4D, the cleaning robot selects the contour point corresponding to L1 as the starting contour point of the next partition, and continues to select 5 consecutive contour points clockwise to determine the next minimum bounding rectangle. And the minimum external rectangle meets the partition requirement, and the minimum external rectangle is used as a partition to complete the partition of the area to be partitioned.
As shown in fig. 5A-5B, in a second example of the present embodiment:
as shown in fig. 5A, the contour points on the peripheral contour of the environment to be partitioned are all bending points on the peripheral contour. The cleaning robot identifies a total of 14 contour points from the peripheral contour of the environment to be partitioned, on the basis of which a predetermined number of 6 is determined, i.e. 6 successive contour points are selected each time.
As shown in fig. 5A, the cleaning robot arbitrarily selects one contour point as a reference point, and 6 consecutive contour points on the peripheral contour in the clockwise direction. Then, the cleaning robot determines the first minimum bounding rectangle according to the selected 6 continuous contour points.
Further, the cleaning robot calculates the area of the minimum bounding rectangle to be 1.5m2Less than area threshold 2m2(ii) a The aspect ratio of the minimum bounding rectangle is 1.5, which is less than the aspect ratio threshold 3. The area threshold in the preset rule is not met, so that the number of the selected contour points needs to be adjusted.
Since the area of the partition is too small, the partition cannot be cleaned by the cleaning robot, and therefore the number of the contour points selected at this time needs to be increased by the cleaning robot. As shown in fig. 5B, the cleaning robot picks 7 consecutive contour points on the peripheral contour. Then, the cleaning robot determines the minimum circumscribed rectangle corresponding to the selected 7 continuous contour points according to the selected contour points.
Further, the cleaning robot calculates the area of the minimum bounding rectangle to be 2.1m2Greater than the area threshold by 2m2(ii) a The aspect ratio of the minimum circumscribed rectangle is 1.7, is smaller than the aspect ratio threshold value 3, and meets the preset rule. The minimum bounding rectangle is taken as the first partition area.
Continuing with fig. 5B, the lower left end of the first circumscribed rectangle in the figure is taken as the starting contour point, and 6 contour points are selected along the counterclockwise direction, and the remaining area is just divided into a partition area.
In a fourth embodiment of the disclosure:
as shown in fig. 6, the present disclosure also provides a cleaning robot including a processor, optionally a memory and a bus on a hardware level, and further allowing hardware required for other services to be included.
The memory is used for storing an execution instruction, and the execution instruction is a computer program capable of being executed. Further, the memory may include a memory and a non-volatile memory (non-volatile memory) and provide execution instructions and data to the processor. Illustratively, the Memory may be a high-speed Random-Access Memory (RAM), and the non-volatile Memory may be at least 1 disk Memory.
Wherein the bus is used to interconnect the processor, the memory, and the network interface. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 6, but this does not indicate only one bus or one type of bus.
In a possible implementation manner of the cleaning robot, the processor may first read the corresponding execution instruction from the nonvolatile memory to the memory and then operate the corresponding execution instruction, or may first obtain the corresponding execution instruction from another device and then operate the corresponding execution instruction. The processor, when executing the execution instructions stored in the memory, is capable of implementing the partitioning method in any of the above embodiments of the present disclosure.
It will be appreciated by those skilled in the art that the above described partitioning method may be applied to a processor, and may also be implemented by means of a processor. Illustratively, the processor is an integrated circuit chip having the capability to process signals. In the process of executing the partitioning method by a processor, the steps of the partitioning method can be implemented by an integrated logic circuit in the form of hardware or instructions in the form of software in the processor. Further, the Processor may be a general-purpose Processor, such as a Central Processing Unit (CPU), a Network Processor (NP), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, a microprocessor, or any other conventional Processor.
Those skilled in the art will also understand that the steps of the above-described partition method embodiments of the present disclosure may be performed by a hardware decoding processor, or may be performed by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, eprom, registers, and other storage media that are well known in the art. The storage medium is located in a memory, and the processor reads information in the memory and then completes execution of the steps in the partition method embodiment in combination with hardware of the processor.
So far, the technical solutions of the present disclosure have been described in connection with the foregoing embodiments, but it is easily understood by those skilled in the art that the scope of the present disclosure is not limited to only these specific embodiments. The technical solutions in the above embodiments can be split and combined, and equivalent changes or substitutions can be made on related technical features by those skilled in the art without departing from the technical principles of the present disclosure, and any changes, equivalents, improvements, and the like made within the technical concept and/or technical principles of the present disclosure will fall within the protection scope of the present disclosure.
Claims (10)
1. A zoning method of a cleaning robot, characterized in that the zoning method comprises:
acquiring a peripheral outline of an environment to be partitioned;
and selecting a plurality of continuous contour points from the peripheral contour each time, and determining a partition area according to the area surrounded by the selected continuous contour points.
2. The method of partitioning according to claim 1, wherein said extracting a plurality of consecutive contour points from said peripheral contour at a time and determining a partition area according to an area surrounded by said extracted plurality of consecutive contour points comprises:
selecting a preset number of continuous contour points from the peripheral contour each time;
determining the minimum circumscribed rectangle of the preset number of continuous contour points;
and determining the partition area according to the minimum circumscribed rectangle.
3. The method according to claim 2, wherein the determining the partition area according to the minimum bounding rectangle comprises:
and determining the minimum bounding rectangle as a partition area.
4. The method according to claim 2, wherein the determining the partition area according to the minimum bounding rectangle comprises:
judging whether the minimum external rectangle meets a preset partition rule or not;
if the minimum external rectangle meets the preset partition rule, determining the minimum external rectangle as a partition area;
if the minimum circumscribed rectangle does not meet the preset partition rule, adjusting the number of the selected contour points until the minimum circumscribed rectangle of the selected contour points meets the preset rule, and determining the minimum circumscribed rectangle of the finally selected contour points as a partition area.
5. The partition method of claim 4, wherein the preset partition rules comprise:
the area of the minimum bounding rectangle is greater than or equal to an area threshold, and/or,
whether an aspect ratio of the minimum bounding rectangle is less than an aspect ratio threshold.
6. The method according to claim 4, wherein the adjusting the number of the contour points selected this time comprises:
increasing the number of the contour points selected at this time; or,
and reducing the number of the contour points selected at this time.
7. The partitioning method as claimed in any one of claims 1 to 6, wherein said contour point is a bending point on said peripheral contour.
8. The partitioning method according to any one of claims 1 to 6, wherein the starting contour point of each selected contour point is an end point of the last determined minimum bounding rectangle.
9. The partitioning method according to any one of claims 1 to 6, wherein said obtaining a peripheral outline of an environment to be partitioned comprises:
acquiring an initial peripheral outline of an environment to be partitioned;
and performing a morphological opening operation and a morphological closing operation on the initial peripheral contour to obtain a final peripheral contour.
10. A cleaning robot comprising a processor, a memory, and execution instructions stored on the memory, the execution instructions being arranged, when executed by the processor, to enable the cleaning robot to perform the zone partitioning method of any one of claims 1 to 9.
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