CN116363208A - Method and device for operating cleaning robot based on limiting points - Google Patents
Method and device for operating cleaning robot based on limiting points Download PDFInfo
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- CN116363208A CN116363208A CN202111622078.3A CN202111622078A CN116363208A CN 116363208 A CN116363208 A CN 116363208A CN 202111622078 A CN202111622078 A CN 202111622078A CN 116363208 A CN116363208 A CN 116363208A
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Abstract
The invention discloses a method and a device for operating a cleaning robot based on a limiting point, wherein the method comprises the following steps: acquiring limit point information; the limiting point information comprises limiting points of a plurality of target areas; the limiting point is one of the limiting points when the cleaning robot is operated to perform cleaning operation; detecting and identifying the limit point information to obtain active area information; the activity area information comprises a plurality of movable range information; the movable range information includes a first ground area; the first ground area includes at least one virtual boundary; the virtual boundary is used for restricting the cleaning operation of the cleaning robot; integrating the information of the active areas to obtain scene map information; the scene map information is used to indicate a cleaning job operation on the cleaning robot. Therefore, the invention is beneficial to realizing the accurate and rapid division of the operation area of the cleaning robot, reduces the time consumption of the operation and improves the operation efficiency.
Description
Technical Field
The invention relates to the technical field of cleaning robots, in particular to a method and a device for operating a cleaning robot based on limiting points.
Background
Cleaning robots, including mobile robots that can autonomously perform cleaning tasks within an environment (e.g., home), are currently being pursued for work area division of cleaning robots, or by guidance from external devices, but are time consuming, inefficient, and have yet to be improved in accuracy. Therefore, the method for operating the cleaning robot based on the limiting points is provided, so that the accurate and rapid division of the operation area of the cleaning robot is realized, the time consumption of the operation is reduced, and the improvement of the operation efficiency is particularly important.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method and a device for operating a cleaning robot based on limit points, which can obtain the information of an active area containing a virtual boundary for limiting the cleaning operation of the cleaning robot through detection and identification processing of the information of the limit points, and obtain scene map information for indicating the cleaning operation of the cleaning robot through integration processing, thereby being beneficial to realizing accurate and rapid division of the operation area of the cleaning robot, reducing the time consumption of the operation and improving the operation efficiency.
To solve the above technical problems, a first aspect of an embodiment of the present invention discloses a method for operating a cleaning robot based on a limiting point, the method comprising:
Acquiring limit point information; the limiting point information comprises limiting points of a plurality of target areas; the limiting point is one of the limiting points when the cleaning robot is operated to perform cleaning operation;
detecting and identifying the limit point information to obtain active area information; the activity area information comprises a plurality of pieces of movable range information; the movable range information includes a first ground area; the first ground area includes at least one virtual boundary; the virtual boundary is used for restraining the cleaning operation of the cleaning robot;
integrating the active area information to obtain scene map information; the scene map information is used to indicate a cleaning job operation on the cleaning robot.
In an optional implementation manner, in a first aspect of the embodiment of the present invention, the detecting and identifying the limiting point information to obtain active area information includes:
detecting the limit point information to obtain point location image information; the point location image information comprises a plurality of limiting point image information; the limit point image information includes a limit point image;
and carrying out conversion segmentation processing on the point location image information to obtain the activity area information.
In a first aspect of the embodiment of the present invention, the performing a transformation segmentation process on the point location image information to obtain active area information includes:
dividing a limiting point image corresponding to any limiting point image information to obtain a second ground area corresponding to the limiting point image information; the second ground area comprises a plurality of ground area images;
performing filtering fitting processing on the second ground area to obtain a point location ground plane corresponding to the limiting point image information;
and screening the second ground area by using the point location plane to obtain a first ground area corresponding to the limiting point image information.
In an optional implementation manner, in a first aspect of the embodiment of the present invention, the dividing the limiting point image corresponding to the limiting point image information to obtain the second ground area corresponding to the limiting point image information includes:
performing color conversion and screening processing on the limiting point image corresponding to the limiting point image information to obtain ground area information to be selected; the ground area information to be selected comprises a plurality of ground areas to be selected;
And filtering and integrating the ground area information to be selected to obtain a second ground area corresponding to the limiting point image information.
In an optional implementation manner, in a first aspect of the embodiment of the present invention, the integrating the active area information to obtain scene map information includes:
superposing the activity area information to obtain third ground area information; the third ground area information comprises a plurality of virtual boundaries;
judging whether the third ground area information meets an area closing condition or not to obtain a first judging result;
when the first judgment result is yes, processing the third ground area information by using a preset map model to obtain scene map information;
when the first judging result is negative, breakpoint analysis is carried out on the third ground area information to obtain breakpoint information; the breakpoint information comprises a plurality of breakpoints;
and updating the limit point information by utilizing the breakpoint information, and triggering and executing the detection and identification processing on the limit point information to obtain the active area information.
In an optional implementation manner, in a first aspect of the embodiment of the present invention, after the stacking processing is performed on the active area information to obtain third ground area information, the method includes, before the determining whether the third ground area information meets an area closing condition and obtains a first determination result:
Judging whether historical third ground area information exists in a preset database or not to obtain a second judging result;
and when the second judging result is yes, updating the third ground area information by utilizing the historical third ground area information.
In an optional implementation manner, in a first aspect of the embodiment of the present invention, the performing breakpoint analysis on the third ground area information to obtain breakpoint information includes:
performing breakpoint search on all virtual boundaries in the third ground area information to obtain breakpoint information to be used; the standby breakpoint information comprises a plurality of standby breakpoints;
and screening the standby breakpoint information to obtain breakpoint information.
The second aspect of the embodiment of the invention discloses a device for operating a cleaning robot based on a limiting point, which comprises:
the acquisition module is used for acquiring limit point information; the limiting point information comprises limiting points of a plurality of target areas; the limiting point is one of the limiting points when the cleaning robot is operated to perform cleaning operation;
the first processing module is used for detecting and identifying the limit point information to obtain active area information; the activity area information comprises a plurality of pieces of movable range information; the movable range information includes a first ground area; the first ground area includes at least one virtual boundary; the virtual boundary is used for restraining the cleaning operation of the cleaning robot;
The second processing module is used for carrying out integration processing on the active area information to obtain scene map information; the scene map information is used to indicate a cleaning job operation on the cleaning robot.
As one such alternative implementation manner, in the second aspect of the embodiment of the present invention, the first processing module includes a first processing sub-module and a second processing sub-module, where:
the first processing sub-module is used for detecting the limit point information to obtain point location image information; the point location image information comprises a plurality of limiting point image information; the limit point image information includes a limit point image;
and the second processing sub-module is used for carrying out conversion segmentation processing on the point location image information to obtain the active area information.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the second processing sub-module performs a conversion segmentation process on the point location image information, and a specific manner of obtaining the active area information is:
dividing a limiting point image corresponding to any limiting point image information to obtain a second ground area corresponding to the limiting point image information; the second ground area comprises a plurality of ground area images;
Performing filtering fitting processing on the second ground area to obtain a point location ground plane corresponding to the limiting point image information;
and screening the second ground area by using the point location plane to obtain a first ground area corresponding to the limiting point image information.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the specific manner of dividing the limiting point image corresponding to the limiting point image information by the second processing sub-module to obtain the second ground area corresponding to the limiting point image information is:
performing color conversion and screening processing on the limiting point image corresponding to the limiting point image information to obtain ground area information to be selected; the ground area information to be selected comprises a plurality of ground areas to be selected;
and filtering and integrating the ground area information to be selected to obtain a second ground area corresponding to the limiting point image information.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the second processing module performs an integration process on the active area information to obtain scene map information in the following specific manner:
superposing the activity area information to obtain third ground area information; the third ground area information comprises a plurality of virtual boundaries;
Judging whether the third ground area information meets an area closing condition or not to obtain a first judging result;
when the first judgment result is yes, processing the third ground area information by using a preset map model to obtain scene map information;
when the first judging result is negative, breakpoint analysis is carried out on the third ground area information to obtain breakpoint information; the breakpoint information comprises a plurality of breakpoints;
and updating the limit point information by utilizing the breakpoint information, and triggering and executing the detection and identification processing on the limit point information to obtain the active area information.
As an optional implementation manner, in a second aspect of the embodiment of the present invention, after the second processing module performs superposition processing on the active area information to obtain third ground area information, the determining whether the third ground area information meets an area closing condition, and before obtaining a first determination result, the apparatus includes:
the judging module is used for judging whether historical third ground area information exists in a preset database or not to obtain a second judging result;
and the third processing module is used for updating the third ground area information by utilizing the historical third ground area information when the second judging result is yes.
As an optional implementation manner, in the second aspect of the embodiment of the present invention, the specific manner of performing breakpoint analysis on the third ground area information by the second processing module to obtain breakpoint information is:
performing breakpoint search on all virtual boundaries in the third ground area information to obtain breakpoint information to be used; the standby breakpoint information comprises a plurality of standby breakpoints;
and screening the standby breakpoint information to obtain breakpoint information.
In a third aspect, the invention discloses another device for operating a cleaning robot based on a limiting point, the device comprising:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform some or all of the steps in the method for operating a cleaning robot based on a limit point disclosed in the first aspect of the embodiment of the present invention.
A fourth aspect of the invention discloses a computer storage medium storing computer instructions for performing part or all of the steps of the method for operating a cleaning robot based on limit points disclosed in the first aspect of the invention when the computer instructions are called.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
in the embodiment of the invention, the information of the limiting point is obtained; the limiting point information comprises limiting points of a plurality of target areas; the limiting point is one of the limiting points when the cleaning robot is operated to perform cleaning operation; detecting and identifying the limit point information to obtain active area information; the activity area information comprises a plurality of movable range information; the movable range information includes a first ground area; the first ground area includes at least one virtual boundary; the virtual boundary is used for restricting the cleaning operation of the cleaning robot; integrating the information of the active areas to obtain scene map information; the scene map information is used to indicate a cleaning job operation on the cleaning robot. Therefore, the method and the device can obtain the information of the movable area containing the virtual boundary for limiting the cleaning operation of the cleaning robot through detection and identification processing of the limit point information, and obtain the scene map information for indicating the cleaning operation of the cleaning robot through integration processing, thereby being beneficial to realizing accurate and rapid division of the operation area of the cleaning robot, reducing the time consumption of the operation and improving the operation efficiency.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a method for operating a cleaning robot based on a limit point according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method of operating a cleaning robot based on a limit point according to an embodiment of the present invention;
fig. 3 is a schematic structural view of an apparatus for operating a cleaning robot based on a limit point according to an embodiment of the present invention;
fig. 4 is a schematic structural view of another apparatus for operating a cleaning robot based on a limit point according to an embodiment of the present invention;
FIG. 5 is a schematic view of a structure of another apparatus for operating a cleaning robot based on a limit point according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a scenario disclosed in an embodiment of the present invention.
Detailed Description
In order to make the present invention better understood by those skilled in the art, the following description will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terms first, second and the like in the description and in the claims and in the above-described figures are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, apparatus, article, or device that comprises a list of steps or elements is not limited to the list of steps or elements but may, in the alternative, include other steps or elements not expressly listed or inherent to such process, method, article, or device.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
The invention discloses a method and a device for operating a cleaning robot based on limit points, which can obtain active area information containing virtual boundaries for limiting the cleaning operation of the cleaning robot through detection and identification processing of limit point information, and obtain scene map information for indicating the cleaning operation of the cleaning robot through integration processing, thereby being beneficial to realizing accurate and rapid division of the operation area of the cleaning robot, reducing operation time consumption and improving operation efficiency.
The schematic view shown in fig. 6 is only for illustrating a scene to which the method of operating the cleaning robot based on the limit point is applied, and the cleaning robot, the server, and the like are also only schematically shown, and the schematic view shown in fig. 6 is not limited thereto. The following will describe in detail.
Example 1
Referring to fig. 1, fig. 1 is a flow chart of a method for operating a cleaning robot based on a limiting point according to an embodiment of the invention. The method for operating the cleaning robot based on the limiting point described in fig. 1 is applied to a robot management system, such as a local server or a cloud server for managing the cleaning robot based on the limiting point, which is not limited in the embodiments of the present invention. As shown in fig. 1, the method of operating a cleaning robot based on a limit point may include the operations of:
101. and acquiring limit point information.
In the embodiment of the invention, the limiting point information includes limiting points of a plurality of target areas.
In the embodiment of the invention, the limiting point is one of the limiting points when the cleaning robot is operated to perform cleaning operation.
102. And detecting and identifying the limit point information to obtain the information of the active area.
In the embodiment of the present invention, the active area information includes a plurality of pieces of active area information.
In an embodiment of the present invention, the movable range information includes a first ground area.
In an embodiment of the present invention, the first ground area includes at least one virtual boundary.
In the embodiment of the invention, the virtual boundary is used for restricting the cleaning operation of the cleaning robot.
103. And integrating the information of the active areas to obtain scene map information.
In the embodiment of the invention, the scene map information is used for indicating the cleaning operation of the cleaning robot.
Optionally, the limit point may be set by a user through an intelligent terminal, may be preset in the intelligent terminal, or may be generated by the intelligent terminal according to a requirement, and the embodiment of the present invention is not limited.
Optionally, the limiting point may be a boundary point of an edge position of the target area, or may be any intermediate position in the target area, which is not limited by the embodiment of the present invention.
Alternatively, the virtual boundaries described above may be used to distinguish between different cleaning zones.
Optionally, the cleaning robot will take evasive measures at the virtual boundary.
Optionally, the avoidance measures include steering, and/or backing, and/or alarming, and embodiments of the present invention are not limited.
Therefore, the method for operating the cleaning robot based on the limit points described by the embodiment of the invention can obtain the information of the active area including the virtual boundary for limiting the cleaning operation of the cleaning robot through the detection and identification processing of the limit point information, and obtain the scene map information for indicating the cleaning operation of the cleaning robot through the integration processing, thereby being beneficial to realizing the accurate and rapid division of the operation area of the cleaning robot, reducing the time consumption of the operation and improving the operation efficiency.
In an optional embodiment, the detecting and identifying the limiting point information in step 102 to obtain the active area information includes:
detecting the limit point information to obtain point location image information; the point location image information comprises a plurality of limiting point image information; the limit point image information includes a limit point image;
and carrying out conversion segmentation processing on the point location image information to obtain the active region information.
Optionally, the above-mentioned limit point image obtained by detection may be photographed by a camera, or may be scanned and mapped, or may be uploaded by an intelligent terminal, which is not limited by the embodiment of the present invention.
Therefore, the method for operating the cleaning robot based on the limit points, which is described by the embodiment of the invention, can obtain the limit point image through detecting the limit point information, and then obtain the active area information through converting and dividing the limit point image, thereby being beneficial to realizing the accurate and rapid division of the operation area of the cleaning robot, reducing the time consumption of operation and improving the operation efficiency.
In another optional embodiment, the converting and dividing the point image information to obtain the active area information includes:
dividing a limiting point image corresponding to any limiting point image information to obtain a second ground area corresponding to the limiting point image information; the second ground area comprises a plurality of ground area images;
performing filtering fitting processing on the second ground area to obtain a point ground plane corresponding to the image information of the limiting point image;
and screening the second ground area by using the point location plane to obtain a first ground area corresponding to the limiting point image information.
In this optional embodiment, as an optional implementation manner, the specific manner of performing the filtering fitting processing on the second ground area to obtain the point ground plane corresponding to the image information of the limiting point is:
acquiring track characteristic point information corresponding to a second ground area; the characteristic point information comprises a plurality of track characteristic points;
screening the track characteristic point information to obtain ground characteristic point information; the ground characteristic point information comprises a plurality of ground characteristic points;
removing outliers from the ground characteristic point information by using a preset filtering model to obtain target characteristic point information; the target feature point information comprises a plurality of target feature points;
And carrying out plane fitting on the target characteristic point information by using a preset fitting model to obtain a point ground plane corresponding to the limiting point image information.
Optionally, the filtering model is a filtering model based on a statistical method.
Optionally, the specific manner of screening the track feature point information to obtain the ground feature point information is as follows:
judging whether a ground area image corresponding to any track feature point is matched with ground feature information or not according to any track feature point to obtain a feature matching result;
and when the feature matching result is yes, determining the track feature point as a ground feature point.
In this optional embodiment, as another optional implementation manner, the specific manner of obtaining the first ground area corresponding to the limiting point image information by using the dot location horizon to perform the screening processing on the second ground area is:
for any ground area image, determining the position relation between all track characteristic points on the ground area image and the point ground plane; the positional relationship includes a first positional relationship, or, a second positional relationship;
calculating the number of the second position relations to obtain the relation number;
judging whether the relation quantity exceeds a quantity threshold value or not to obtain a quantity judgment result;
When the number judgment result is negative, determining the ground area image as a target ground area image;
and integrating all the target ground area images to obtain a first ground area corresponding to the limiting point image information.
Optionally, the first position relation characterizes the track feature point to be located in the point ground plane.
Optionally, the second position relation characterizes that the trace feature point is not located in the point ground plane.
Therefore, the method for operating the cleaning robot based on the limiting points, which is described by the embodiment of the invention, can obtain the first ground area through comprehensive processing such as segmentation, filtering, fitting, screening and the like of the images of the limiting points, is beneficial to realizing accurate and rapid division of the operation area of the cleaning robot, reduces the time consumption of operation and improves the operation efficiency.
In still another optional embodiment, the dividing the limiting point image corresponding to the limiting point image information to obtain the second ground area corresponding to the limiting point image information includes:
performing color conversion and screening processing on the limiting point image corresponding to the limiting point image information to obtain ground area information to be selected; the ground area information to be selected comprises a plurality of ground areas to be selected;
And filtering and integrating the ground area information to be selected to obtain a second ground area corresponding to the limiting point image information.
In this optional embodiment, as an optional implementation manner, the specific manner of performing color conversion and filtering processing on the limiting point image corresponding to the limiting point image information to obtain the ground area information to be selected is as follows:
performing color conversion on the limiting point image corresponding to the limiting point image information, and performing pixel matching on the color-converted limiting point image by using a preset reference image to obtain basic ground area information;
performing pixel component value calculation on the limit point image subjected to color conversion by using the basic ground area information to obtain pixel component value information;
and judging and screening the pixel component value information to obtain the ground area information to be selected.
Alternatively, the color conversion is to convert the limit point image from RGB to HSV.
Alternatively, the pixel component value calculation described above is a calculation of the H, S, V component of the pixel.
In this optional embodiment, as another optional implementation manner, the filtering and integrating the to-be-selected ground area information to obtain the second ground area corresponding to the limiting point image information specifically includes:
Performing open operation processing on the ground area information to be selected to obtain candidate area information;
and carrying out connected domain division on the candidate region information by utilizing the basic ground region information to obtain a second ground region corresponding to the limiting point image information.
Therefore, the method for operating the cleaning robot based on the limiting points, which is described by the embodiment of the invention, can be used for comprehensively obtaining the second ground area by carrying out color conversion, screening, filtering integration and the like on the images of the limiting points, is more beneficial to realizing accurate and rapid division of the operation area of the cleaning robot, reduces the time consumption of operation and improves the operation efficiency.
Example two
Referring to fig. 2, fig. 2 is a flow chart of another method for operating a cleaning robot based on a limiting point according to an embodiment of the invention. The method for operating the cleaning robot based on the limiting point described in fig. 2 is applied to a robot management system, such as a local server or a cloud server for managing the cleaning robot based on the limiting point, which is not limited in the embodiments of the present invention. As shown in fig. 2, the method of operating the cleaning robot based on the limit points may include the operations of:
201. and acquiring limit point information.
202. And detecting and identifying the limit point information to obtain the information of the active area.
203. And carrying out superposition processing on the active area information to obtain third ground area information.
In the embodiment of the present invention, the third ground area information includes a plurality of virtual boundaries.
204. And judging whether the third ground area information meets the area closing condition or not to obtain a first judging result.
205. And when the first judgment result is yes, processing the third ground area information by using a preset map model to obtain scene map information.
206. And when the first judging result is negative, performing breakpoint analysis on the third ground area information to obtain breakpoint information.
In the embodiment of the present invention, the breakpoint information includes a plurality of breakpoints.
207. And updating the limit point information by utilizing the breakpoint information, triggering and executing detection and identification processing on the limit point information, and obtaining the active area information.
In the embodiment of the present invention, for specific technical details and technical term explanations of the steps 201 to 202, reference may be made to the detailed descriptions of the steps 101 to 102 in the first embodiment, and the detailed descriptions of the embodiment of the present invention are omitted.
In this optional embodiment, as an optional implementation manner, the specific manner of processing the third ground area information by using the preset map model to obtain the scene map information is:
Projecting the scene map information to an area ground plane to obtain first map information;
and filtering the first map information to obtain scene map information.
Optionally, the regional ground plane is determined according to all the point ground planes.
Optionally, the filtering radius of the filtering process is L. Further, L is a positive integer greater than 1/100.
Therefore, the method for operating the cleaning robot based on the limit points, which is described by the embodiment of the invention, can obtain the information of the active area containing the virtual boundary for limiting the cleaning operation of the cleaning robot through detection and identification processing of the limit point information, and obtain the scene map information for indicating the cleaning operation of the cleaning robot through comprehensive processing of superposition, judgment, updating and map model, thereby being beneficial to realizing accurate and rapid division of the operation area of the cleaning robot, reducing the time consumption of the operation and improving the operation efficiency.
In an alternative embodiment, after the active area information is overlapped to obtain third ground area information, the method includes, before the first determination result is obtained, judging whether the third ground area information meets an area closing condition:
Judging whether historical third ground area information exists in a preset database or not to obtain a second judging result;
and when the second judging result is yes, updating the third ground area information by utilizing the historical third ground area information.
Optionally, the historical third ground area information used for updating the third ground area information is a historical third ground area information closest to the current third ground area information.
Alternatively, each third floor area information obtained will be stored in the database.
Therefore, the method for operating the cleaning robot based on the limiting points, which is described by the embodiment of the invention, can update the information of the third ground area by judging the information of the historical third ground area, is more beneficial to realizing the accurate and rapid division of the operation area of the cleaning robot, reduces the time consumption of operation and improves the operation efficiency.
In another optional embodiment, the performing breakpoint analysis on the third ground area information to obtain breakpoint information includes:
searching break points of all virtual boundaries in the third ground area information to obtain standby break point information; the standby breakpoint information comprises a plurality of standby breakpoints;
And screening the breakpoint information to be used to obtain the breakpoint information.
Optionally, the standby breakpoint is a virtual boundary where one end of the virtual boundary is not connected.
In this optional embodiment, as an optional implementation manner, the specific manner of filtering the breakpoint information to be used to obtain the breakpoint information is as follows:
for any piece of breakpoint information to be used, calculating the distance between the breakpoint information and the nearest virtual boundary to obtain the breakpoint distance corresponding to the breakpoint information to be used;
judging whether the breakpoint distance is greater than or equal to a breakpoint threshold value, and obtaining a breakpoint judgment result;
and when the breakpoint judging result is yes, determining the standby breakpoint information as breakpoint information.
Therefore, the method for operating the cleaning robot based on the limit points, which is described by the embodiment of the invention, can obtain the breakpoint information through searching and screening the breakpoints of the virtual boundary, is more beneficial to realizing the accurate and rapid division of the operation area of the cleaning robot, reduces the time consumption of the operation and improves the operation efficiency.
Example III
Referring to fig. 3, fig. 3 is a schematic structural diagram of an apparatus for operating a cleaning robot based on a limiting point according to an embodiment of the invention. The device described in fig. 3 can be applied to a robot management system, such as a local server or a cloud server for managing the cleaning robot based on the limit point operation, which is not limited in the embodiments of the present invention. As shown in fig. 3, the apparatus may include:
An acquiring module 301, configured to acquire limit point information; the limiting point information comprises limiting points of a plurality of target areas; the limiting point is one of the limiting points when the cleaning robot is operated to perform cleaning operation;
the first processing module 302 is configured to perform detection and identification processing on the limiting point information to obtain active area information; the activity area information comprises a plurality of movable range information; the movable range information includes a first ground area; the first ground area includes at least one virtual boundary; the virtual boundary is used for restricting the cleaning operation of the cleaning robot;
the second processing module 303 is configured to perform integration processing on the active area information to obtain scene map information; the scene map information is used to indicate a cleaning job operation on the cleaning robot.
Therefore, the device for operating the cleaning robot based on the limit points described in fig. 3 can obtain the information of the active area including the virtual boundary for limiting the cleaning operation of the cleaning robot by detecting and identifying the information of the limit points, and obtain the scene map information for indicating the cleaning operation of the cleaning robot by integrating the information of the active area, thereby being beneficial to realizing the accurate and rapid division of the operation area of the cleaning robot, reducing the time consumption of the operation and improving the operation efficiency.
In another alternative embodiment, as shown in fig. 4, the first processing module 302 includes a first processing sub-module 3021 and a second processing sub-module 3022, wherein:
the first processing sub-module 3021 is configured to perform detection processing on the limiting point information to obtain point location image information; the point location image information comprises a plurality of limiting point image information; the limit point image information includes a limit point image;
the second processing sub-module 3022 is configured to perform conversion segmentation processing on the point location image information to obtain active area information.
Therefore, the device for operating the cleaning robot based on the limit points, which is described in fig. 4, can obtain the limit point image by detecting the limit point information, and then obtain the active area information by converting and dividing the limit point image, thereby being beneficial to realizing the accurate and rapid division of the operation area of the cleaning robot, reducing the time consumption of the operation and improving the operation efficiency.
In yet another alternative embodiment, as shown in fig. 4, the second processing sub-module 3022 performs the transformation segmentation processing on the point location image information to obtain the active area information in a specific manner:
dividing a limiting point image corresponding to any limiting point image information to obtain a second ground area corresponding to the limiting point image information; the second ground area comprises a plurality of ground area images;
Performing filtering fitting processing on the second ground area to obtain a point ground plane corresponding to the image information of the limiting point image;
and screening the second ground area by using the point location plane to obtain a first ground area corresponding to the limiting point image information.
Therefore, the device for operating the cleaning robot based on the limit points, which is described in fig. 4, can obtain the first ground area through comprehensive processing such as segmentation, filtering, fitting, screening and the like of the limit point images, thereby being beneficial to realizing accurate and rapid division of the operation area of the cleaning robot, reducing time consumption of operation and improving operation efficiency.
In yet another alternative embodiment, as shown in fig. 4, the specific manner of dividing the limiting point image corresponding to the limiting point image information by the second processing sub-module 3022 to obtain the second ground area corresponding to the limiting point image information is:
performing color conversion and screening processing on the limiting point image corresponding to the limiting point image information to obtain ground area information to be selected; the ground area information to be selected comprises a plurality of ground areas to be selected;
and filtering and integrating the ground area information to be selected to obtain a second ground area corresponding to the limiting point image information.
Therefore, the device for operating the cleaning robot based on the limiting points described in fig. 4 can be used for comprehensively obtaining the second ground area by performing color conversion, screening, filtering integration and the like on the images of the limiting points, so that the accurate and rapid division of the operation area of the cleaning robot can be realized, the time consumption of the operation is reduced, and the operation efficiency is improved.
In yet another alternative embodiment, as shown in fig. 4, the second processing module 303 performs an integration process on the active area information to obtain scene map information in the following specific manner:
superposing the active area information to obtain third ground area information; the third ground area information comprises a plurality of virtual boundaries;
judging whether the third ground area information meets an area closing condition or not to obtain a first judging result;
when the first judgment result is yes, processing the third ground area information by using a preset map model to obtain scene map information;
if the first judgment result is negative, breakpoint analysis is carried out on the third ground area information to obtain breakpoint information; the breakpoint information comprises a plurality of breakpoints;
and updating the limit point information by utilizing the breakpoint information, triggering and executing detection and identification processing on the limit point information, and obtaining the active area information.
Therefore, the device for operating the cleaning robot based on the limit points described in fig. 4 can obtain the information of the active area including the virtual boundary for limiting the cleaning operation of the cleaning robot by detecting and identifying the information of the limit points, and obtain the scene map information for indicating the cleaning operation of the cleaning robot by the comprehensive processing of superposition, judgment, updating and map model, thereby being beneficial to realizing the accurate and rapid division of the operation area of the cleaning robot, reducing the time consumption of the operation and improving the operation efficiency.
In yet another alternative embodiment, as shown in fig. 4, after the second processing module 303 performs superposition processing on the active area information to obtain third ground area information, the apparatus includes, before obtaining the first determination result, determining whether the third ground area information meets the area closure condition:
the judging module 304 is configured to judge whether historical third ground area information exists in a preset database, so as to obtain a second judging result;
and the third processing module 305 is configured to update the third ground area information with the historical third ground area information when the second determination result is yes.
Therefore, the device for operating the cleaning robot based on the limiting points described in fig. 4 can update the third ground area information by judging the historical third ground area information, which is more beneficial to realizing the accurate and rapid division of the operation area of the cleaning robot, reducing the time consumption of the operation and improving the operation efficiency.
In yet another alternative embodiment, as shown in fig. 4, the second processing module 303 performs breakpoint analysis on the third ground area information, and the specific manner of obtaining the breakpoint information is:
searching break points of all virtual boundaries in the third ground area information to obtain standby break point information; the standby breakpoint information comprises a plurality of standby breakpoints;
and screening the breakpoint information to be used to obtain the breakpoint information.
Therefore, the device for operating the cleaning robot based on the limit points described in fig. 4 can obtain the breakpoint information by searching and screening the breakpoints of the virtual boundary, which is more beneficial to realizing the accurate and rapid division of the operation area of the cleaning robot, reducing the time consumption of the operation and improving the operation efficiency.
Example IV
Referring to fig. 5, fig. 5 is a schematic structural diagram of another apparatus for operating a cleaning robot based on a limiting point according to an embodiment of the present invention. The device described in fig. 5 can be applied to a robot management system, such as a local server or a cloud server for managing the cleaning robot based on the limit point operation, which is not limited in the embodiments of the present invention. As shown in fig. 5, the apparatus may include:
A memory 401 storing executable program codes;
a processor 402 coupled with the memory 401;
the processor 402 invokes executable program code stored in the memory 401 for performing the steps in the method of operating the cleaning robot based on the limit point described in the first or second embodiment.
Example five
The embodiment of the invention discloses a computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program causes a computer to execute the steps in the method for operating a cleaning robot based on limit points described in the first embodiment or the second embodiment.
Example six
An embodiment of the present invention discloses a computer program product comprising a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps in the method of operating a cleaning robot based on a limit point described in embodiment one or embodiment two.
The apparatus embodiments described above are merely illustrative, in which the modules illustrated as separate components may or may not be physically separate, and the components shown as modules may or may not be physical, i.e., may be located in one place, or may be distributed over multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above detailed description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course by means of hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in the form of a software product that may be stored in a computer-readable storage medium including Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (Compact Disc Read-Only Memory, CD-ROM) or other optical disc Memory, magnetic disc Memory, tape Memory, or any other medium that can be used for computer-readable carrying or storing data.
Finally, it should be noted that: the method and the device for operating the cleaning robot based on the limiting points disclosed by the embodiment of the invention are only disclosed as the preferred embodiment of the invention, and are only used for illustrating the technical scheme of the invention, but not limiting the technical scheme; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. A method of operating a cleaning robot based on a limit point, the method comprising:
acquiring limit point information; the limiting point information comprises limiting points of a plurality of target areas; the limiting point is one of the limiting points when the cleaning robot is operated to perform cleaning operation;
detecting and identifying the limit point information to obtain active area information; the activity area information comprises a plurality of pieces of movable range information; the movable range information includes a first ground area; the first ground area includes at least one virtual boundary; the virtual boundary is used for restraining the cleaning operation of the cleaning robot;
Integrating the active area information to obtain scene map information; the scene map information is used to indicate a cleaning job operation on the cleaning robot.
2. The method for operating a cleaning robot based on a limiting point according to claim 1, wherein the detecting and identifying the limiting point information to obtain the active area information includes:
detecting the limit point information to obtain point location image information; the point location image information comprises a plurality of limiting point image information; the limit point image information includes a limit point image;
and carrying out conversion segmentation processing on the point location image information to obtain the activity area information.
3. The method for operating the cleaning robot based on the limiting points according to claim 2, wherein the performing the conversion and segmentation processing on the point location image information to obtain the active area information includes:
dividing a limiting point image corresponding to any limiting point image information to obtain a second ground area corresponding to the limiting point image information; the second ground area comprises a plurality of ground area images;
Performing filtering fitting processing on the second ground area to obtain a point location ground plane corresponding to the limiting point image information;
and screening the second ground area by using the point location plane to obtain a first ground area corresponding to the limiting point image information.
4. A method of operating a cleaning robot based on a limiting point according to claim 3, wherein the dividing the limiting point image corresponding to the limiting point image information to obtain the second floor area corresponding to the limiting point image information includes:
performing color conversion and screening processing on the limiting point image corresponding to the limiting point image information to obtain ground area information to be selected; the ground area information to be selected comprises a plurality of ground areas to be selected;
and filtering and integrating the ground area information to be selected to obtain a second ground area corresponding to the limiting point image information.
5. The method for operating a cleaning robot based on a limiting point according to claim 1, wherein the integrating the active area information to obtain scene map information includes:
superposing the activity area information to obtain third ground area information; the third ground area information comprises a plurality of virtual boundaries;
Judging whether the third ground area information meets an area closing condition or not to obtain a first judging result;
when the first judgment result is yes, processing the third ground area information by using a preset map model to obtain scene map information;
when the first judging result is negative, breakpoint analysis is carried out on the third ground area information to obtain breakpoint information; the breakpoint information comprises a plurality of breakpoints;
and updating the limit point information by utilizing the breakpoint information, and triggering and executing the detection and identification processing on the limit point information to obtain the active area information.
6. The method for operating a cleaning robot based on a limiting point according to claim 5, wherein after the overlapping processing is performed on the active area information to obtain third ground area information, the method comprises, before the first determination result is obtained, the step of determining whether the third ground area information satisfies an area closing condition:
judging whether historical third ground area information exists in a preset database or not to obtain a second judging result;
and when the second judging result is yes, updating the third ground area information by utilizing the historical third ground area information.
7. The method for operating the cleaning robot based on the limiting point according to claim 5, wherein the performing breakpoint analysis on the third ground area information to obtain breakpoint information includes:
performing breakpoint search on all virtual boundaries in the third ground area information to obtain breakpoint information to be used; the standby breakpoint information comprises a plurality of standby breakpoints;
and screening the standby breakpoint information to obtain breakpoint information.
8. An apparatus for operating a cleaning robot based on a limit point, the apparatus comprising:
the acquisition module is used for acquiring limit point information; the limiting point information comprises limiting points of a plurality of target areas; the limiting point is one of the limiting points when the cleaning robot is operated to perform cleaning operation;
the first processing module is used for detecting and identifying the limit point information to obtain active area information; the activity area information comprises a plurality of pieces of movable range information; the movable range information includes a first ground area; the first ground area includes at least one virtual boundary; the virtual boundary is used for restraining the cleaning operation of the cleaning robot;
The second processing module is used for carrying out integration processing on the active area information to obtain scene map information; the scene map information is used to indicate a cleaning job operation on the cleaning robot.
9. An apparatus for operating a cleaning robot based on a limit point, the apparatus comprising:
a memory storing executable program code;
a processor coupled to the memory;
the processor invokes the executable program code stored in the memory to perform the method of operating a cleaning robot based on limit points as claimed in any one of claims 1-7.
10. A computer storage medium, characterized in that the computer storage medium stores computer instructions for performing the method of operating a cleaning robot based on limit points according to any of claims 1-7 when called.
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| CN202111622078.3A CN116363208A (en) | 2021-12-28 | 2021-12-28 | Method and device for operating cleaning robot based on limiting points |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117576255A (en) * | 2024-01-16 | 2024-02-20 | 腾讯科技（深圳）有限公司 | Method, device, computer equipment and storage medium for determining working area |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117576255A (en) * | 2024-01-16 | 2024-02-20 | 腾讯科技（深圳）有限公司 | Method, device, computer equipment and storage medium for determining working area |
| CN117576255B (en) * | 2024-01-16 | 2024-05-03 | 腾讯科技（深圳）有限公司 | Method, device, computer equipment and storage medium for determining working area |
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