CN117011876A - Map processing method, electronic equipment and computer readable medium - Google Patents
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Abstract
The application relates to a map processing method, electronic equipment and a computer readable medium, wherein after map data are acquired, the map processing method divides an overall complex and irregular working area map, and divides the working area into a plurality of sub-functional areas, so that a robot can work in different sub-functional areas in a targeted manner, and the working efficiency is improved.
Description
[ technical field ]
The present application relates to the field of robots, and more particularly, to a map processing method, an electronic device, and a computer readable medium.
[ background Art ]
Along with the development of scientific technology, intelligent robots are gradually known, and more intelligent robots are applied to daily work and life of people, and common intelligent robots include mowers, sweeping robots, snowploughs and the like.
The robot can carry out the operation in different regions when the operation process, among the prior art, the robot can when the work: the robot works in the set working area, and before the robot works, the robot needs to walk along the boundary for one circle or the user needs to manually guide the robot to walk along the boundary for one circle so as to establish a boundary line coordinate map of the working area, and then the robot can work autonomously in the working area. However, in the working process, the robot only works in the whole area, the working area is not partitioned, the map can not be further partitioned according to specific operation information and environment information, if only one preset mode is adopted to cope with all areas, the working efficiency is reduced, the working effect is difficult to reach the requirement of a user, and finally the working efficiency of the robot is reduced.
[ summary of the application ]
Aiming at the defects of the prior art, the application provides an improved scheme: a map processing method, the method comprising:
acquiring a target map, wherein the target map comprises a plurality of grid blocks and coordinate information matched with the grid blocks;
comparing the current grid block and the adjacent grid block in the target map block by block to obtain a difference value of physical parameters between the current grid block and the adjacent grid block;
if the difference value of the physical parameters between the current grid block and the adjacent grid block in the target map is larger than a preset value, acquiring target coordinate information of the current grid block;
and generating a target dividing line according to the target coordinate information of the current region grid block, wherein the target dividing line is used for dividing the target map.
Preferably, the acquiring the target map includes:
acquiring an initial map;
rasterizing the initial map to obtain a plurality of grid points;
establishing a two-dimensional coordinate system on the initial map based on a preset coordinate system and determining coordinate information of each grid point;
according to the coordinate information of the grid points in the initial map, identifying and processing each grid point in the initial map, and generating a target map;
the identification process includes:
if the coordinate information of the grid point is on the boundary line of the initial map, marking the grid point as a first type of grid point;
if the coordinate information of the grid point is in the boundary inner area of the initial map, marking the grid point as a second type grid point;
and if the coordinate information of the grid point is in the area outside the boundary of the initial map, marking the grid point as a third type of grid point.
Preferably, the method for obtaining the difference value of the physical parameter between the current grid block and the adjacent grid block includes:
acquiring grid points matched with a second type in the target map;
according to the grid points matched with the second type, grid blocks matched with the second type are obtained;
and comparing the current grid block and the adjacent grid block in the target map block by block according to the grid blocks matched by the second type, and obtaining the difference value of the physical parameters between the current grid block and the adjacent grid block.
Preferably, the method for obtaining the difference value of the physical parameter between the current grid block and the adjacent grid block includes:
acquiring physical parameters of the grid block;
comparing the current grid block and the adjacent grid block in the target map block by block to obtain a difference value of physical parameters between the current grid block and the adjacent grid block;
wherein the physical parameters of the grid blocks at least comprise the number of the grid blocks in the same row or the same column or the number of the grid points contained in each grid block; the grid blocks are composed of a preset number of adjacent grid points in the same row or column.
Preferably, the method for obtaining the difference value of the physical parameter between the current grid block and the adjacent grid block includes:
calculating the number of grid blocks in the target map row by row or column by column;
the number of adjacent two rows or adjacent two columns of grid blocks is compared row by row;
and calculating the difference value between the number of grid blocks in the current row or the current column and the number of grid blocks in the previous row or the previous column, and obtaining the difference value of the physical parameters of the adjacent area grid blocks in the target map.
Preferably, the method for obtaining the difference value of the physical parameter between the current grid block and the adjacent grid block includes:
calculating the number of grid points contained in the grid block row by row or column by column;
comparing the number of grid points contained in the adjacent two rows or the adjacent two columns row by row;
and calculating the difference value between the number of grid points contained in the grid block in the current row or the current column and the number in the previous row or the previous column, and obtaining the difference value of the physical parameters of the current grid block and the adjacent grid block.
Preferably, the generating the target parting line includes:
acquiring coordinate information of target grid points according to the target coordinate information of the current grid block;
acquiring coordinate information of an end point grid point corresponding to the target grid point, wherein at least one axis coordinate value of the end point grid point is the same as one axis coordinate value of the target grid point;
and generating a target dividing line according to the terminal grid point coordinate information and the target grid point coordinate information, wherein the target dividing line is positioned in the boundary inner area of the target map.
Preferably, after generating the target parting line, the method further comprises:
acquiring an initial parting line from the target parting line;
scanning the target map row by row or column by column in a preset direction, and finding out at least one termination dividing line in the target map;
and forming a closed area according to the initial dividing line, the ending dividing line and the boundary line, and completing the division of the target map.
The application also provides an electronic device comprising a memory, a processor, on which a computer program is stored which can be run on the processor, the processor implementing the method when executing the computer program.
The application also provides a computer readable medium having non-volatile program code executable by a processor, the program code causing the processor to perform the method.
Compared with the prior art, the application has the following beneficial effects: the map processing method, the electronic equipment and the computer readable medium provided by the application are used for reading and processing the working area map of the robot, determining the dividing line according to the grid blocks by extracting the grid blocks in the working area map, dividing the whole complex and irregular working area map into a plurality of sub-functional areas by the dividing line, so that the robot can work in different sub-functional areas in a targeted manner, and the working efficiency is improved.
[ description of the drawings ]
The following describes the embodiments of the present application in further detail with reference to the accompanying drawings:
FIG. 1 is a flow chart of a map processing method according to an embodiment of the present application;
fig. 2 is a schematic diagram of a dividing line of a target map according to an embodiment of the present application.
Detailed description of the preferred embodiments
The application will be described in further detail with reference to the drawings and embodiments.
The terminology used in the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
The control method described in the present application is suitable for intelligent devices such as electric tools and electric devices, as long as the above devices and tools can adopt the following technical solutions, which fall within the scope of the present application.
Robots typically need to obtain a working map before working and then work in the working map. However, the working map is often irregular and complex, if the working map is divided into a plurality of subareas, the robot cannot work in a targeted manner according to specific operation information, environment information and the like, so that the working efficiency of the robot is easy to be low, and the user experience is poor.
The application aims to solve the problem of map segmentation, and process the map of the working area to obtain a plurality of sub-functional areas, so that the robot can have different operation modes in different sub-functional areas, and the working efficiency and the user satisfaction of the robot are improved.
In the embodiment of the present specification, the robot may include a robot having a walking function such as an intelligent mower, a floor sweeping robot, an automatic snowplow, or the like.
In order to solve the problems in the prior art, the present application provides a map processing method, as shown in fig. 1, comprising the following steps:
s1, acquiring a target map, wherein the target map comprises a plurality of grid blocks and coordinate information matched with the grid blocks.
Specifically, an initial map is first acquired. In this embodiment, the robot walks one turn along the boundary line before working to form a closed loop, the boundary line of the working area of the robot, and the inner area of the closed loop is the working area of the robot. The working area is placed in a regular figure, such as a rectangle, which comprises the working area, the boundary line of the working area, the outside of the working area, said rectangle being said initial map, and a two-dimensional coordinate system is established for the initial map.
And rasterizing the initial map, specifically dividing the x value and the y value of the data in the initial map by one grid width and rounding the x value and the y value, thereby obtaining the grid map with a plurality of grids. In this embodiment, the grid width is set to 0.05m, however, in other embodiments, the grid width may be other values, and different precise values may be obtained by setting different grid widths.
Establishing a two-dimensional coordinate system for the grid map, and determining coordinate information of each grid point; and identifying and processing each grid point in the grid map according to the coordinate information of the grid point in the grid map, determining the coordinate information of a grid block according to the coordinate information of each grid point, wherein the grid block consists of a continuous preset number of adjacent grid points in the same row or the same column, and generating a target map according to the coordinate information of the grid point and the coordinate information of the grid block.
Specifically, the identification processing method comprises the following steps: if the coordinate information of the grid points is positioned on the boundary line of the working area in the initial map, marking the grid points as first type grid points; if the coordinate information of the grid points is in the working area, namely the boundary inner area, in the initial map, marking the grid points as second type grid points; if the coordinate information of the grid point is outside the working area, namely, outside the boundary area in the initial map, the grid point is marked as a third type of grid point. Specifically, in the present embodiment, the grid point color is set to distinguish the first type of grid point, the second type of grid point, and the third type of grid point, for example, the first type of grid point is a gray grid point, the second type of grid point is a white grid point, and the third type of grid point is a black grid point. Of course, other data may be set for distinguishing the first, second and third types of grid points, for example, the first type of grid point is set to have a value of 150, the second type of grid point is set to have a value of 255, the third type of grid point is set to have a value of 0, and the value setting is not unique.
The steps convert the initial map into the grid map, so that data favorable for robot processing are obtained, the boundary characteristics of the working area are reserved, and the convenience of data processing is improved.
S2, comparing the current grid block and the adjacent grid block in the target map block by block according to a preset rule, and obtaining the difference value of the physical parameters between the current grid block and the adjacent grid block.
First, grid points matched with a second type in a target map, namely grid points in a working area, are obtained, and grid blocks matched with the second type are obtained according to the grid points matched with the second type. Specifically, the grid block is composed of a preset number of adjacent grid points in the same row or column, and further, the grid points are of a second type.
Obtaining physical parameters of the grid blocks, and comparing a current grid block and an adjacent grid block in a target map block by block according to the physical parameters of the grid blocks, wherein when the current grid block is a current grid block, the adjacent grid block is a last grid block; when the current grid block is the grid block of the current column, the adjacent grid block is the grid block of the last column, and the difference value of the physical parameters between the current grid block and the adjacent grid block is obtained.
The physical parameters of the grid blocks at least comprise the number of the grid blocks in the same row or the same column or the number of grid points contained in each grid block.
And S3, if the difference value of the physical parameters between the current grid block and the adjacent grid block in the target map is larger than a preset value, acquiring target coordinate information of the current grid block.
Specifically, the number of the grid blocks in the target map is calculated row by row or column by column, the number of the grid blocks in two adjacent rows or two adjacent columns is compared row by row, the difference between the number of the grid blocks in the current row or the current column and the number of the grid blocks in the previous row or column is calculated, and the difference is the difference of the physical parameters between the current row or the current column and the grid blocks in the previous row or column, so that the difference of the physical parameters of the grid blocks in the adjacent area in the target map is obtained. And if the difference value is larger than a preset value, acquiring target coordinate information of the current grid block.
In this embodiment, the preset value is 0, which is specifically shown in that when the difference between the number of grid blocks in the current row or the current column and the number of grid blocks in the previous row or the previous column is greater than 0, that is, greater than or equal to 1, that is, the number of grid blocks in the current row or the current column is different from the number of grid blocks in the previous row or the previous column, the difference between the physical parameters between the current grid block and the adjacent grid blocks is greater than the preset value, and coordinate information of the current grid block is obtained.
Further, when the number of the grid blocks in the current row or the current column is smaller than the number of the grid blocks in the previous row or the previous column, acquiring the target coordinate information of the grid blocks in the current row or the current column; when the number of grid blocks in the current row or the current column is greater than the number of grid blocks in the previous row or the previous column, the target coordinate information of the grid blocks in the previous row or the previous column is acquired.
In another embodiment, the number of grid points contained in the grid block in the current row or the current column is calculated row by row or column by column, the number of grid points contained in the grid block in the current row or the current column is compared with the number of grid points contained in the grid block in the adjacent two rows or columns row by row, the difference value between the number of grid points contained in the grid block in the current row or the current column and the number in the previous row or column is calculated, and the difference value of the physical parameters of the current grid block and the adjacent grid block is obtained. And if the difference value is larger than a preset value, acquiring target coordinate information of the current grid block.
In this embodiment, the preset value is 10, although in other embodiments, the preset value may be set to other values, related to the size of the target map and the width of the single grid point, for example, when the target map is larger, the preset value may be set to a larger number, and when the target map is smaller, the preset value may be set to a smaller number; for example, when the width of a single grid point is small, the preset value may be set to a large number.
Further, when the number of grid points contained in the grid block in the current row or the current column is more than the number of grid points contained in the grid block in the previous row or the previous column, acquiring target coordinate information of the grid block in the current row or the current column; and when the number of the grid points contained in the grid blocks in the current row or the current column is smaller than that of the grid points contained in the grid blocks in the previous row or the previous column, acquiring the target coordinate information of the grid blocks in the previous row or the previous column.
The target coordinate information of the current grid block includes an ordinate or an abscissa of the current grid block.
As shown in fig. 2, the map shown in fig. 2A is a target map without dividing line processing, the map shown in fig. 2B is a target map after dividing the dividing line, and the map in fig. 2B includes a plurality of areas, wherein the dividing line 1 dividing the first area and the second area is a dividing line determined after comparing and analyzing the number of grid points included in two adjacent rows of grid blocks; the dividing line 2 for dividing the second region, the third region and the fourth region is a dividing line determined after the number of two adjacent rows of grid blocks is analyzed according to comparison.
The schematic diagram in fig. 2A, B is only for clearly describing the generation of the dividing lines, in practical application, the map processing method provided in the embodiment of the present application may also be applicable to a map with any shape, and the generated dividing lines may also be generated according to the shape of the map, as shown in fig. 2C, where the diagram includes a plurality of dividing lines, and the generating process of the dividing lines is described above and will not be repeated here.
And S4, generating a target dividing line according to the target coordinate information of the current region grid block, wherein the target dividing line is used for dividing the target map.
Acquiring coordinate information of target grid points according to the target coordinate information of the current grid block; acquiring coordinates of an end point grid point corresponding to the target grid point, wherein at least one axis coordinate value of the end point grid point is the same as one axis coordinate value of the target grid point; and generating a target dividing line according to the terminal grid point coordinate information and the target grid point coordinate information, wherein the target dividing line is positioned in the boundary inner area of the target map, namely in the working area. Further, the target grid point and the end grid point are also located in a boundary inner area, namely a working area.
According to the target coordinate information of the current grid block, acquiring the coordinate information of the target grid point specifically comprises the following steps: and finding an endpoint of the current grid block according to the ordinate or the abscissa of the current grid block, wherein the endpoint is a target grid point, and the ordinate or the abscissa of the target grid point is the same as the ordinate or the abscissa of the current grid block.
And acquiring coordinates of a corresponding end point grid point according to the target grid point, finding an end point of a non-target grid point of the current grid block according to the ordinate or the abscissa of the current grid block, wherein the end point is the end point grid point, the end point grid point is identical to the ordinate or the abscissa of the target grid point, the end point grid point and the target grid point are respectively positioned at two ends of the grid block, and marking coordinate information of the end point grid point.
And connecting the end point grid point with the target grid point according to the coordinate information of the end point grid point and the coordinate information of the target grid point to generate a target dividing line, wherein the ordinate or the abscissa of the target dividing line is the same as the ordinate or the abscissa of the target grid point and the end point grid point.
After the target dividing line is generated, a first dividing line is found from top to bottom or from left to right in the target map, and the first dividing line is an initial dividing line. And scanning the target map line by line or column by column in a preset direction, finding at least one termination dividing line in the target map, and determining the closed area as a sub-functional area determined by the initial dividing line and the termination dividing line when the initial dividing line, the termination dividing line and the boundary line can form the closed area and the area of the closed area is minimum.
And after determining one sub-functional area, deleting the sub-functional area from the target map to generate a second target map, and repeating the step of determining the sub-functional area until the target area is completely divided into the sub-functional areas, namely finishing the division of the target area.
In an embodiment, when the end dividing line is searched for in the target area in a progressive scan manner, the preset direction is from top to bottom, and in other embodiments, the preset direction may be from bottom to top; when the terminating parting line is found in the target area by column scanning, the preset direction is from left to right, and in other embodiments, the preset direction may be from right to left.
Specifically, obtaining the area of the closed region includes: and obtaining the number of the grid points in the closed area, and multiplying the area of the single grid point by the number of the grid points to obtain the area in the closed area. In the present embodiment, the area of the single grid point is 0.0025m 2 In other embodiments a single grid area may be set to other data.
According to the map processing method, the whole complex and irregular working area map is divided into a plurality of sub-functional areas, so that the robot can work in different sub-functional areas in a targeted manner, and the working efficiency is improved. Meanwhile, the complex working map is converted into the grid map, so that the convenience of data processing is improved, the processing time is shortened, and the experience of a user is improved.
In order to solve the problems in the prior art, the application also provides an electronic device, which comprises a memory and a processor, wherein the memory stores a computer program which can run on the processor, and the processor realizes the robot function partitioning method in the first embodiment when executing the computer program.
The electronic device may execute the map processing method, and have the same technical effects as the map processing method, and will not be described herein.
In order to solve the problems of the prior art, the present application also provides a computer readable medium having a non-volatile program code executable by a processor, the program code causing the processor to perform the robot function partitioning method of the first embodiment. In this embodiment, the functions and effects of the program code embodied in the computer readable medium may be explained in contrast to the above embodiment, and will not be repeated herein.
It will be appreciated by those skilled in the art that embodiments of the application may be provided as a method, tool, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (tools), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above examples are only specific embodiments of the present application for illustrating the technical solution of the present application, but not for limiting the scope of the present application, and although the present application has been described in detail with reference to the foregoing examples, it will be understood by those skilled in the art that the present application is not limited thereto: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (10)
1. A map processing method, characterized in that the method comprises:
acquiring a target map, wherein the target map comprises a plurality of grid blocks and coordinate information matched with the grid blocks;
comparing the current grid block and the adjacent grid block in the target map block by block to obtain a difference value of physical parameters between the current grid block and the adjacent grid block;
if the difference value of the physical parameters between the current grid block and the adjacent grid block in the target map is larger than a preset value, acquiring target coordinate information of the current grid block;
and generating a target dividing line according to the target coordinate information of the current region grid block, wherein the target dividing line is used for dividing the target map.
2. The map processing method according to claim 1, wherein the acquiring the target map includes: acquiring an initial map;
rasterizing the initial map to obtain a plurality of grid points;
establishing a two-dimensional coordinate system on the initial map based on a preset coordinate system and determining coordinate information of each grid point;
according to the coordinate information of the grid points in the initial map, identifying and processing each grid point in the initial map, and generating a target map;
the identification process includes:
if the coordinate information of the grid point is on the boundary line of the initial map, marking the grid point as a first type of grid point;
if the coordinate information of the grid point is in the boundary inner area of the initial map, marking the grid point as a second type grid point;
and if the coordinate information of the grid point is in the area outside the boundary of the initial map, marking the grid point as a third type of grid point.
3. The map processing method according to claim 2, wherein the method of obtaining the difference in physical parameters between the current grid block and the adjacent grid block includes:
acquiring grid points matched with a second type in the target map;
according to the grid points matched with the second type, grid blocks matched with the second type are obtained;
and comparing the current grid block and the adjacent grid block in the target map block by block according to the grid blocks matched by the second type, and obtaining the difference value of the physical parameters between the current grid block and the adjacent grid block.
4. A map processing method according to claim 3, wherein the method of obtaining the difference in physical parameters between the current grid block and the adjacent grid block comprises:
acquiring physical parameters of the grid block;
comparing the current grid block and the adjacent grid block in the target map block by block to obtain a difference value of physical parameters between the current grid block and the adjacent grid block;
wherein the physical parameters of the grid blocks at least comprise the number of the grid blocks in the same row or the same column or the number of the grid points contained in each grid block; the grid blocks are composed of a preset number of adjacent grid points in the same row or column.
5. The map processing method according to claim 4, wherein the method of obtaining the difference in physical parameters between the current grid block and the adjacent grid block includes:
calculating the number of grid blocks in the target map row by row or column by column;
the number of adjacent two rows or adjacent two columns of grid blocks is compared row by row;
and calculating the difference value between the number of grid blocks in the current row or the current column and the number of grid blocks in the previous row or the previous column, and obtaining the difference value of the physical parameters of the adjacent area grid blocks in the target map.
6. The map processing method according to claim 4, wherein the method of obtaining the difference in physical parameters between the current grid block and the adjacent grid block includes:
calculating the number of grid points contained in the grid block row by row or column by column;
comparing the number of grid points contained in the adjacent two rows or the adjacent two columns row by row;
and calculating the difference value between the number of grid points contained in the grid block in the current row or the current column and the number in the previous row or the previous column, and obtaining the difference value of the physical parameters of the current grid block and the adjacent grid block.
7. The map processing method according to any one of claims 5 to 6, characterized in that the generating of the target division line includes:
acquiring coordinate information of target grid points according to the target coordinate information of the current grid block;
acquiring coordinate information of an end point grid point corresponding to the target grid point, wherein at least one axis coordinate value of the end point grid point is the same as one axis coordinate value of the target grid point;
and generating a target dividing line according to the terminal grid point coordinate information and the target grid point coordinate information, wherein the target dividing line is positioned in the boundary inner area of the target map.
8. The map processing method according to claim 1, characterized in that the method further comprises, after generating the target parting line:
acquiring an initial parting line from the target parting line;
scanning the target map row by row or column by column in a preset direction, and finding out at least one termination dividing line in the target map;
and forming a closed area according to the initial dividing line, the ending dividing line and the boundary line, and completing the division of the target map.
9. An electronic device comprising a memory, a processor, the memory having stored thereon a computer program executable on the processor, characterized by: the processor, when executing the computer program, implements the method of any of the preceding claims 1-8.
10. A computer readable medium having non-volatile program code executable by a processor, characterized by: the program code causes the processor to perform the method of any of claims 1-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310834968.3A CN117011876A (en) | 2023-07-08 | 2023-07-08 | Map processing method, electronic equipment and computer readable medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310834968.3A CN117011876A (en) | 2023-07-08 | 2023-07-08 | Map processing method, electronic equipment and computer readable medium |
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