WO2023155681A1 - Procédé et dispositif de traitement d'information de région, support de stockage et dispositif électronique - Google Patents

Procédé et dispositif de traitement d'information de région, support de stockage et dispositif électronique Download PDF

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Publication number
WO2023155681A1
WO2023155681A1 PCT/CN2023/074095 CN2023074095W WO2023155681A1 WO 2023155681 A1 WO2023155681 A1 WO 2023155681A1 CN 2023074095 W CN2023074095 W CN 2023074095W WO 2023155681 A1 WO2023155681 A1 WO 2023155681A1
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WIPO (PCT)
Prior art keywords
boundary
boundaries
area
matching
target
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PCT/CN2023/074095
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English (en)
Chinese (zh)
Inventor
蔡洲
张新静
孙佳佳
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追觅创新科技(苏州)有限公司
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Publication of WO2023155681A1 publication Critical patent/WO2023155681A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4002—Installations of electric equipment
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/23—Updating
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/23—Updating
    • G06F16/235—Update request formulation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/32—Indexing scheme for image data processing or generation, in general involving image mosaicing

Definitions

  • the present application relates to the field of smart home, in particular, to a method and device for processing area information, a storage medium and an electronic device.
  • the purpose of this application is to provide a method and device for processing area information, a storage medium, and an electronic device, so as to at least solve the problem of high complexity of area information processing due to the need to maintain additional information in the area information processing method in the related art question.
  • a method for processing area information including: obtaining a group of first boundaries corresponding to the map of the target area, wherein the group of first boundaries is used to Dividing the area boundaries of multiple first partitions in the area map; performing a partition operation on the target area map according to the set of first boundaries to obtain area information of each of the multiple first partitions ; Save the area information of each first partition, wherein, The set of first boundaries is not saved.
  • the obtaining a group of first boundaries corresponding to the target area map includes: obtaining a group of boundaries to be updated, wherein the group of boundaries to be updated is In the process of cleaning the area to be cleaned in the map, the area boundary identified by the cleaning equipment; in the case that the area to be cleaned contains a group of existing partitions, according to the group of existing partitions From the area information of each existing partition, a group of existing boundaries is extracted, wherein the group of existing boundaries is the area boundaries of the group of existing partitions; The set of existing boundaries is updated to obtain the set of first boundaries.
  • the updating the set of existing boundaries by using the set of boundaries to be updated to obtain the set of first boundaries includes: determining the set of boundaries to be updated and the set of boundaries At least one matching boundary pair having a matching relationship in the set of existing boundaries, wherein each matching boundary pair in the at least one matching boundary pair includes the first matching boundary belonging to the set of boundaries to be updated and the A second matching boundary matching the first matching boundary in the set of existing boundaries; according to the first matching boundary and the second matching boundary in each matching boundary pair, determine the The fusion boundaries corresponding to the matching boundary pairs are obtained at least one fusion boundary; according to the at least one fusion boundary, the first target boundary and the second target boundary, the set of first boundaries is determined, wherein the first target The boundary is a boundary in the set of boundaries to be updated except for the first matching boundary, and the second target boundary is a boundary in the group of existing boundaries except for the second matching boundary.
  • the determining the fusion boundary corresponding to each matching boundary pair according to the first matching boundary and the second matching boundary in each matching boundary pair includes : determining the first matching boundary in each matching boundary pair as the fusion boundary corresponding to each matching boundary pair; or determining the second matching boundary in each matching boundary pair Determined as the fusion boundary corresponding to each matching boundary pair; or performing boundary fusion on the first matching boundary and the second matching boundary in each matching boundary pair to obtain the fusion boundary corresponding to each matching boundary pair Matches the fused boundaries corresponding to the boundary pairs.
  • the determining the set of first boundaries according to the at least one fused boundary, the first target boundary and the second target boundary includes: determining the to-be-moved in the second target boundary In addition to the boundary, wherein the boundary to be removed is based on the set of boundaries to be updated The determined invalid area boundary in the second target boundary; combining the at least one merged boundary, the first target boundary and the second target boundary except the boundary to be removed , determined as the set of first boundaries.
  • the method further includes: displaying the target area map on the target configuration interface of the target application, wherein the target area Different partitions are represented by different regional parameters in the map; a partitioning operation performed on the region to be partitioned in the target region map is detected, wherein the region to be partitioned includes at least one second partition, and the partitioning operation is an operation of adding a set of second boundaries in the area to be partitioned; performing a partition operation on the area to be partitioned according to the set of second boundaries to obtain each third partition in the plurality of third partitions The area information of each third partition is saved, wherein the group of second boundaries is not saved.
  • the method further includes: displaying the target area map on the target configuration interface of the target application, wherein the target area In the map, different subregions are represented by different region parameters; a combined region operation performed on at least two fourth subregions in the target region map is detected, wherein the combined region operation is to combine the at least two fourth subregions The operation of merging partitions into one partition; according to the area information of each of the fourth partitions in the two fourth partitions, merging the two fourth partitions into one merged partition; saving the area information of the one merged partition .
  • an area information processing device including: an acquisition unit, configured to acquire a set of first boundaries corresponding to the target area map, wherein the set of first boundaries is an area boundary used to divide a plurality of first partitions in the target area map; a first execution unit is configured to perform a partition operation on the target area map according to the set of first boundaries to obtain the multiple The area information of each of the first partitions in the first partitions; the first storage unit is configured to store the area information of each of the first partitions, wherein the group of first boundaries is not stored.
  • the acquisition unit includes: an acquisition module, configured to acquire a group of boundaries to be updated, wherein the group of boundaries to be updated is the boundaries to be cleaned in the target area map of the cleaning device During the cleaning process of the area, the area boundary identified by the cleaning equipment; the extraction module is used to, when the area to be cleaned contains a group of existing partitions, According to the region information of each existing partition in the group of existing partitions, a group of existing boundaries is extracted, wherein the group of existing boundaries is the region boundaries of the group of existing partitions; the update module , configured to use the set of boundaries to be updated to update the set of existing boundaries to obtain the set of first boundaries.
  • the update module includes: a first determining submodule, configured to determine at least one matching boundary pair having a matching relationship between the set of boundaries to be updated and the set of existing boundaries, Wherein, each matching boundary pair in the at least one matching boundary pair includes the first matching boundary belonging to the set of boundaries to be updated and the first matching boundary matching the first matching boundary in the set of existing boundaries.
  • a second determining submodule configured to determine the fusion boundary corresponding to each matching boundary pair according to the first matching boundary and the second matching boundary in each matching boundary pair , to obtain at least one fusion boundary
  • a third determining submodule configured to determine the set of first boundaries according to the at least one fusion boundary, the first target boundary and the second target boundary, wherein the first target boundary
  • the second target boundary is a boundary in the group of boundaries to be updated except the first matching boundary
  • the second target boundary is a boundary in the group of existing boundaries except the second matching boundary.
  • the second determining submodule includes: a first determining subunit, configured to determine the first matching boundary in each matching boundary pair as matching each a fusion boundary corresponding to the boundary pair; or a second determining subunit, configured to determine the second matching boundary in each matching boundary pair as the fusion boundary corresponding to each matching boundary pair; or A fusion subunit is configured to perform boundary fusion on the first matching boundary and the second matching boundary in each matching boundary pair to obtain a fusion boundary corresponding to each matching boundary pair.
  • the third determining submodule includes: a third determining subunit, configured to determine a boundary to be removed in the second target boundary, wherein the boundary to be removed is based on The invalid area boundary among the second target boundaries determined by the set of boundaries to be updated; a fourth determining subunit, configured to combine the at least one fused boundary, the first target boundary, and the second target boundary Among the two target boundaries, other boundaries except the boundary to be removed are determined as the group of first boundaries.
  • the device further includes: a first display unit configured to After the area information of each first partition is saved, the target area map is displayed on the target configuration interface of the target application, wherein different area parameters are used to represent different partitions in the target area map; the first detection unit , used to detect a partitioning operation performed on the region to be partitioned in the target region map, wherein the region to be partitioned includes at least one second partition, and the partitioning operation is to add in the region to be partitioned An operation on a set of second boundaries; a second execution unit, configured to perform a partition operation on the area to be partitioned according to the set of second boundaries, to obtain the area of each third partition in the plurality of third partitions information; a second saving unit, configured to save the area information of each third partition, wherein the set of second boundaries is not saved.
  • a first display unit configured to After the area information of each first partition is saved, the target area map is displayed on the target configuration interface of the target application, wherein different area parameters are used to represent different partitions in the target
  • the device further includes: a second display unit, configured to display the target area map on the target configuration interface of the target application after the area information of each first partition is saved. , wherein, different regions are represented by different region parameters in the target area map; the second detection unit is configured to detect the merge operation performed on at least two fourth partitions in the target area map, wherein, The region combining operation is an operation of merging the at least two fourth partitions into one partition; the merging unit is configured to combine the two fourth partitions according to the region information of each fourth partition in the two fourth partitions. The fourth partitions are merged into one merged partition; the third storage unit is configured to save the area information of the one merged partition.
  • a computer-readable storage medium is also provided, and a computer program is stored in the computer-readable storage medium, wherein the computer program is configured to execute the above-mentioned regional information when running. Approach.
  • an electronic device including a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the above-mentioned processor executes the above-mentioned The processing method of region information.
  • a set of first boundaries is an area boundary used to divide a plurality of first partitions in the target area map; a partition operation is performed on the target area map according to a set of first boundaries, and each of the multiple first partitions is obtained.
  • the regional information without saving additional regional boundaries can achieve the purpose of reducing the additional information saved and maintained, and achieve the technical effect of improving the processing efficiency of regional information, thereby solving the problem of the processing method of regional information in related technologies due to the need for maintenance.
  • FIG. 1 is a schematic diagram of a hardware environment of an optional region information processing method according to an embodiment of the present application
  • FIG. 2 is a schematic flowchart of an optional method for processing area information according to an embodiment of the present application
  • FIG. 3 is a schematic diagram of an optional method for processing area information according to an embodiment of the present application.
  • Fig. 4 is a structural block diagram of an optional device for processing area information according to an embodiment of the present application.
  • Fig. 5 is a structural block diagram of an optional electronic device according to an embodiment of the present application.
  • a method for processing area information is provided.
  • the above method for processing area information may be applied to a hardware environment composed of a terminal device 102 , a cleaning device 104 and a server 106 as shown in FIG. 1 .
  • the terminal device 102 can communicate with the cleaning device 104 and/or the server 106 (for example, Internet of Things) through the network platform or cloud server) to control the cleaning device 104, for example, bind with the cleaning device 104 and configure the cleaning function of the cleaning device 104.
  • the cleaning device 104 may include a host computer and a base station (for example, a sweeping machine and a base station, a cleaning machine and a base station), and the host computer and the base station may be connected through a network to determine the current status of the peer terminal (for example, battery status, working status, location, etc.) information, etc.).
  • a host computer and a base station for example, a sweeping machine and a base station, a cleaning machine and a base station
  • the host computer and the base station may be connected through a network to determine the current status of the peer terminal (for example, battery status, working status, location, etc.) information, etc.).
  • the foregoing network may include but not limited to at least one of the following: a wired network and a wireless network.
  • the above-mentioned wired network may include but not limited to at least one of the following: wide area network, metropolitan area network, local area network, and the above-mentioned wireless network may include but not limited to at least one of the following: WIFI (Wireless Fidelity, Wireless Fidelity), bluetooth, infrared.
  • WIFI Wireless Fidelity, Wireless Fidelity
  • the network used by the terminal device 102 to communicate with the cleaning device 104 and/or the server 106 and the network used by the cleaning device 104 to communicate with the server 106 may be the same or different.
  • the terminal device 102 may not be limited to PC, mobile phone, tablet computer, etc.
  • the cleaning device 104 may include but not limited to: a sweeping robot, for example, an automatic mop washing robot, a self-cleaning robot, etc.
  • the server 106 may be a server of an Internet of Things platform .
  • the method for processing area information in this embodiment of the present application may be executed solely by the terminal device 102 , the cleaning device 104 or the server 106 , or jointly executed by at least two of the terminal device 102 , the cleaning device 104 and the server 106 .
  • the method for processing area information in the embodiment of the present application performed by the terminal device 102 or the cleaning device 104 may also be performed by a client installed on it.
  • FIG. 2 is a schematic flowchart of an optional method for processing area information according to an embodiment of the present application. As shown in FIG. 2 , the The flow of the method may include the following steps:
  • Step S202 acquiring a group of first boundaries corresponding to the target area map, wherein the group of first boundaries are area boundaries used to divide a plurality of first partitions in the target area map.
  • the method for processing area information in this embodiment can be applied to the scene where the map operation is performed based on the area boundary collected by the cleaning equipment.
  • the above-mentioned area boundary can be the area boundary in the target area map of the cleaning equipment, which can correspond to
  • the detected obstacles such as grid doors, moving doors, walls, and large pieces of furniture can also be other area boundaries that can be used as dividing lines for partitions.
  • the above map operation may be performing a partition operation, a merge operation of partitions, an addition operation of partitions, etc. on the target area map.
  • the type of area boundary and the type of map operation are different No limit.
  • detection components such as lidar may be used to detect the target area (for example, the entire room, bedroom, living room, etc.) , bathroom, etc.) for detection, and through area detection, the boundary information in the target area can be obtained.
  • detection components such as infrared sensors can also be used to identify preset targets in the target area (for example, different types of doors such as grid doors and sliding doors, steps, etc.), and the grid doors, sliding doors, etc. can be used for Information for performing partition processing.
  • the aforementioned boundary information and preset target information identified from the target area can be used for partitioning.
  • the detected area information (for example, the aforementioned boundary information, the information of the preset target, etc.) may be sent to the target application running on the terminal device.
  • the target application may be an application for performing map operations, for example, an application for performing map partitioning.
  • the target application can acquire area information detected by the cleaning device, and based on the detected area information, can generate or update a target area map corresponding to the target area.
  • the target application can obtain a set of first boundaries (or in other words, a set of first dividing lines) corresponding to the target area map, and the set of first boundaries can be used as area boundaries to divide the target area map into A plurality of first partitions, each first partition may correspond to an area in the target area.
  • a set of first boundaries may be all area boundaries in the target area map, or may be partial area boundaries in the target area map, which is not limited in this embodiment.
  • the target area is usually divided into multiple partitions by door frames, etc. Therefore, the target area map can be divided into different partitions based on information such as grid doors and sliding doors.
  • the above target application may also run on the cleaning device, that is, the cleaning device may execute the region information processing method in this embodiment. Therefore, each step in this embodiment may also be performed by a cleaning device if there is no contradiction.
  • Step S204 perform a partition operation on the target area map according to a set of first boundaries, and obtain area information of each first partition in the plurality of first partitions.
  • the target application may perform a partition operation on the target area map based on the set of first boundaries to obtain multiple first partitions.
  • Each of the multiple first partitions The area boundaries of the first partitions may include at least one first boundary in a set of first boundaries.
  • the position of each first subregion on the target area map may be calculated and processed to obtain the area information of each first subregion.
  • the area information of each first partition may be stored by one or more area attributes.
  • the regional map can be divided into multiple partitions by a set of dividing lines, and the partition information of each partition can be determined, such as the coordinates of the center point of the partition, the length and width of the partition, and the area information of the partition. Including the color information displayed on the map of the target area for this subdivision, etc.
  • Step S206 saving the area information of each first partition, wherein a group of first boundaries is not saved.
  • the area information of each first partition can be saved, for example, it can be saved locally on the terminal device, or can be sent to the server for storage, or can be saved through the server Send to clean facility for storage.
  • the manner of storing the area information of each first partition there is no limitation on the manner of storing the area information of each first partition.
  • first boundaries For a set of first boundaries, if they are saved separately as the dividing line of the first partition, then the area information of each first partition and a set of first boundaries need to be maintained at the same time, which will not only increase the saved information, but also display Mapping the target area, or performing other map processing, also increases the complexity of map processing.
  • each area can be calculated based on the area information of each first area area boundaries. Therefore, in this embodiment, instead of saving a group of first boundaries, only the area information of each first partition is saved, which is convenient for the cleaning device to call when cleaning.
  • the sweeping robot can return to the charging stand for charging and partition processing.
  • partition processing only the grid gate, sliding door and other information can be used for partitioning after processing, and the partition line related information will not be saved after partitioning is completed.
  • a group of first boundaries corresponding to the target area map is obtained, wherein a group of first boundaries is an area boundary for dividing a plurality of first partitions in the target area map; according to a set of The first boundary performs a partition operation on the target area map to obtain multiple The area information of each first partition in the first partition; save the area information of each first partition, wherein, a group of first boundaries are not saved, which solves the problem of the processing method of the area information in the related art due to the need for maintenance
  • the problem of high complexity of regional information processing caused by additional information reduces the complexity of regional information processing and reduces the amount of information to be saved.
  • obtaining a set of first boundaries corresponding to the target area map includes:
  • the set of first boundaries may be a set of area boundaries identified by the cleaning device during an area cleaning process, or a set of area boundaries obtained by using newly identified area boundaries to update existing area boundaries. Group area boundaries.
  • detection components such as lidar and infrared sensors in the foregoing embodiments can be invoked to identify the area to be cleaned (which can be the target area or a part of the target area) Detecting, obtaining a group of borders to be updated (area borders, which may be a group of second dividing lines), and sending the obtained group of borders to be updated to the target application on the terminal device through the server.
  • the target application can extract the area boundaries of a set of existing partitions, that is, determine a set of area boundaries based on the area information of a set of existing partitions Group the region boundaries of the existing partitions to obtain a set of existing boundaries (eg, a set of third dividing lines).
  • the region boundary of each existing partition can be determined according to the region information of each existing partition, a group of region boundaries of a group of existing partitions can be obtained, and the region boundaries in a group of region boundaries can be deduplicated and processed. /or fusion processing to obtain a set of existing boundaries.
  • Deduplication processing refers to the removal of different region edges corresponding to the same boundary of adjacent existing partitions in a group of region boundaries
  • the fusion process refers to the fusion of different region boundaries corresponding to different boundaries that partially overlap with adjacent existing partitions in a group of region boundaries.
  • the target application can use a set of bounds to be updated to update a set of existing bounds, for example, it can directly update a set of existing bounds to a set of bounds to be updated , you can also add boundaries to be updated that are not included in a set of existing boundaries in a set of boundaries to be updated to a set of existing boundaries.
  • the updated set of existing boundaries is a set of first boundaries.
  • the sweeping robot when the sweeping robot cleans the area again, it can reuse the previous area map, and it will also identify doors such as grid doors and sliding doors like the first cleaning. After returning to the charging stand, the area map will be updated. Actively extract the area boundary of the existing partition, combine the information of the grid door, sliding door and other doors identified by this cleaning, and update the area map in combination with the increase or decrease of the dividing line in the area map, and do not save any dividing line after the update information.
  • a group of boundaries to be updated is used to update a group of existing boundaries to obtain a group of first boundaries, including:
  • each pair of matching boundaries in at least one pair of matching boundaries includes the first pair of boundaries belonging to a group of boundaries to be updated a matching boundary and a second matching boundary from a set of existing boundaries matching the first matching boundary;
  • S23 Determine a set of first boundaries according to at least one fused boundary, the first target boundary, and the second target boundary, wherein the first target boundary is a boundary other than the first matching boundary in a set of boundaries to be updated, and the second target boundary A boundary is a boundary in a set of existing boundaries except the second matching boundary.
  • each matching boundary pair contains the first A matching boundary and a second matching boundary matching the first matching boundary in the set of existing boundaries.
  • the boundaries other than the first matching boundary in a set of boundaries to be updated are the first target boundaries (the number can be one or more), and the boundaries in a group of existing boundaries except the second matching boundary are the second target boundaries (the number can be one or more).
  • the judging condition of the above-mentioned matching relationship may include at least one of the following: the boundary positions are close (for example, the distance between the center points is less than or equal to the preset distance threshold), the boundary length is similar (for example, the difference between the boundary lengths is less than or equal to the preset Length difference threshold), border angles are similar (for example, the difference of border angles is less than or equal to the preset angle difference threshold), etc., can also be other ways of judging the matching relationship, which is not limited in this embodiment.
  • a fusion boundary corresponding to each matching boundary pair can be determined to obtain at least one fusion boundary.
  • the target application may determine a set of first boundaries based on at least one of the fused boundaries, the first target boundary, and the second target boundary.
  • determining the fusion boundary corresponding to each matching boundary pair includes:
  • the determination of the fusion boundary corresponding to each matching boundary pair can be realized in various ways, which may include but not limited to at least one of the following ways:
  • Way 1 Determine the first matching boundary in each matching boundary pair as the fusion boundary corresponding to each matching boundary pair.
  • the newly identified region boundary can be used as the fusion area boundaries.
  • an area boundary belonging to a set of boundaries to be updated (that is, the first matching boundary) in each matching boundary pair may be used as a fusion boundary corresponding to each matching boundary.
  • Manner 2 determining the second matching boundary in each matching boundary pair as the fusion boundary corresponding to each matching boundary pair.
  • the original regional boundary can be used as the fused regional boundary.
  • an area boundary belonging to a group of existing boundaries (that is, a second matching boundary) in each matching boundary pair may be used as a fusion boundary corresponding to each matching boundary.
  • Mode 3 Boundary fusion is performed on the first matching boundary and the second matching boundary in each matching boundary pair to obtain a fusion boundary corresponding to each matching boundary pair.
  • boundary fusion may be performed on the first matching boundary and the second matching boundary in each matching boundary pair.
  • the second location point in the second matching boundary that matches each first location point in the first matching boundary can be determined respectively, and the center point of the first location point and the second location point can be determined as the fusion location point , and retain the part of the first matching boundary and the second matching boundary that has no matching position points, and obtain the fusion boundary.
  • the boundary between the first matching boundary and the second matching boundary and at the same distance from them may also be determined as the fusion boundary, and other regional boundary fusion methods may also be used, which is not limited in this embodiment.
  • the matching boundaries in the matching boundary pair are fused in different ways according to usage scenarios, which can improve the flexibility of boundary fusion.
  • a set of first boundaries is determined according to at least one fusion boundary, a first target boundary and a second target boundary, comprising:
  • the second target boundary for the second target boundary, all the second target boundaries may be directly removed. Considering that if part of the area to be cleaned is not identified due to the newly added area boundary, it is impossible to determine whether the existing boundary in it still exists. Therefore, the second target boundary in the cleaned area and the uncleaned area can be The second target boundary in the region uses a different way of processing.
  • the invalid area boundary in the second target boundary can be determined first, so as to obtain the boundary to be removed.
  • the cleaned area in the area to be cleaned may be determined, and the second target boundary located in the cleaned area is determined as the boundary to be removed.
  • an area boundary in the second target boundary that partially overlaps with a group of boundaries to be updated may be determined, and the determined area boundary may be determined as the boundary to be removed. Since the to-be-removed boundary in the second target boundary has expired, it may not be reserved.
  • At least one fusion boundary, the first target boundary, and other boundaries other than the to-be-removed boundary in the second target boundary can be determined as an updated one Group first border.
  • the first target boundary can be considered as a newly added region boundary, while other boundaries can be considered as region boundaries whose validity cannot be determined.
  • the accuracy of determining the region boundary can be improved by removing the invalid existing boundary and retaining the existing boundary whose validity cannot be determined.
  • the above method further includes:
  • the user can view and modify the target area map through the target application, for example, the target area map can be displayed through the target application's target configuration interface, so that the user can perform related partition operations on the target area map .
  • different area parameters can be used to distinguish and display different partitions.
  • the area parameters here can be used for area filling parameters, which can be color parameters, grayscale parameters, or other parameters. This is not limited in this embodiment.
  • partitions can be distinguished by being filled with different colors, partition 1 can be filled with one color, and partition 2 can be filled with another color.
  • different partitions can be distinguished by filling different grayscales, partition 1 can be filled with one grayscale, and partition 2 can be filled with another grayscale.
  • different partitions may be distinguished using different identifiers, partition 1 may be filled with a left slash, and partition 2 may be filled with a right slash, and so on.
  • Users can redefine existing partitions by adding partition boundaries. For example, the user may first select an area to be partitioned, which may include a group of second partitions, and then add a group of second boundaries in the area to be partitioned, without considering the original area boundaries of a group of second partitions.
  • the target application may detect the above partitioning operation, and in response to the detected partitioning operation, add a group of second boundaries in the area to be partitioned.
  • the user can select Partition 1 and Partition 2 during the division operation, and then add a dividing line to the selected Partition 1 and Partition 2 as a whole, and partition 1 and Partition 2 have been re-divided into Three partitions, namely partition3, partition4 and partition5.
  • the target application can perform a partition operation on the area to be partitioned.
  • the partition operation can divide the area to be partitioned into multiple third partitions (for example, the aforementioned partition 3, partition 4, and partition 5).
  • the area information of each third partition can be acquired and saved as a historical area map of the target area for reference in subsequent operations, and a set of second boundaries is not saved.
  • the partition processing is directly performed based on the added region boundary, and the region boundary is not retained after partitioning, which can improve the convenience of the partition operation.
  • the above method further includes:
  • different zones in the target area map may be displayed on the target configuration interface of the target application through the aforementioned different area parameters.
  • the user may perform a merge operation by selecting at least two subregions (fourth subregions) in the target area map, so as to merge at least two fourth subregions into one subregion.
  • the target application may detect a region merge operation performed on at least two fourth partitions, and in response to the region merge operation, obtain region information of the merged partition according to region information of each of the two fourth partitions, so that the The two fourth partitions are merged into one merged partition.
  • the merged partitions can be displayed on the target configuration interface according to the preset regional parameters, and can also be displayed according to the regional parameters of any of the partitions, which is not limited here.
  • the area merge operation is directly performed on the selected partitions based on the area information without considering the area boundaries of the partitions, which can improve the efficiency of area merging.
  • FIG. 4 is a structural block diagram of an optional device for processing area information according to an embodiment of the present application. As shown in Fig. 4 , the device may include:
  • An acquiring unit 402 configured to acquire a group of first boundaries corresponding to the target area map, wherein the group of first boundaries is an area boundary for dividing a plurality of first partitions in the target area map;
  • the first execution unit 404 connected to the acquisition unit 402, is configured to perform a partition operation on the target area map according to a set of first boundaries, and obtain area information of each first partition in the plurality of first partitions;
  • the first saving unit 406 is connected to the first execution unit 404 and configured to save the area information of each first partition, wherein a group of first boundaries is not saved.
  • the acquiring unit 402 in this embodiment can be used to execute the above step S202
  • the first executing unit 404 in this embodiment can be used to execute the above step S204
  • the first saving unit 406 in this embodiment can be It is used to execute the above step S206.
  • a group of first boundaries corresponding to the target area map is obtained, wherein, a group of first boundaries are area boundaries used to divide a plurality of first partitions in the target area map; according to a set of first boundary pairs
  • the target area map performs a partition operation to obtain the area information of each of the first partitions in the plurality of first partitions; save the area information of each first partition, wherein a group of first boundaries is not saved, which solves the problem in the related art
  • the regional information processing method has the problem of high complexity of regional information processing due to the need to maintain additional information, which reduces the complexity of regional information processing and reduces the amount of information to be saved.
  • the obtaining unit 402 includes:
  • An acquisition module configured to acquire a group of boundaries to be updated, wherein the group of boundaries to be updated is an area boundary identified by the cleaning device during the process of cleaning the area to be cleaned in the target area map by the cleaning device;
  • the extraction module is used to extract a group of existing boundaries according to the area information of each existing partition in the group of existing partitions when the area to be cleaned contains a group of existing partitions, wherein a group of existing Boundary is the boundary of a region with a set of existing partitions;
  • the update module is used to update a set of existing boundaries with a set of boundaries to be updated, and obtain A set of first boundaries.
  • the update module includes:
  • the first determining submodule is used to determine at least one matching boundary pair that has a matching relationship among a set of boundaries to be updated and a set of existing boundaries, wherein each matching boundary pair in the at least one matching boundary pair includes a set of boundaries to be updated. updating a first matching boundary of the boundaries and a second matching boundary of the set of existing boundaries matching the first matching boundary;
  • the second determination submodule is used to determine the fusion boundary corresponding to each matching boundary pair according to the first matching boundary and the second matching boundary in each matching boundary pair, and obtain at least one fusion boundary;
  • the third determining submodule is used to determine a set of first boundaries according to at least one fusion boundary, the first target boundary and the second target boundary, wherein the first target boundary is a set of boundaries to be updated except for the first matching boundary , the second target boundary is a boundary in a set of existing boundaries except the second matching boundary.
  • the second determining submodule includes:
  • the first determination subunit is configured to determine the first matching boundary in each matching boundary pair as the fusion boundary corresponding to each matching boundary pair;
  • the second determination subunit is configured to determine the second matching boundary in each matching boundary pair as the fusion boundary corresponding to each matching boundary pair;
  • the fusion subunit is configured to perform boundary fusion on the first matching boundary and the second matching boundary in each matching boundary pair to obtain a fusion boundary corresponding to each matching boundary pair.
  • the third determining submodule includes:
  • the third determination subunit is configured to determine a boundary to be removed in the second target boundary, wherein the boundary to be removed is an invalid area boundary in the second target boundary determined according to a set of boundaries to be updated;
  • the fourth determination subunit is configured to determine at least one of the fused boundary, the first target boundary and the second target boundary except the boundary to be removed as a group of first boundaries.
  • the above-mentioned device also includes:
  • the first display unit is configured to display the target area map on the target configuration interface of the target application after storing the area information of each first partition, wherein the target area map is passed through different Region parameters characterize different partitions;
  • the first detection unit is configured to detect a division operation performed on the area to be divided in the target area map, wherein the area to be divided contains at least one second division, and the division operation is to add a group of second divisions to the area to be divided operation of the boundary;
  • the second execution unit is configured to perform a partition operation on the area to be partitioned according to a set of second boundaries, and obtain area information of each third partition in the plurality of third partitions;
  • the second storage unit is configured to store the area information of each third partition, wherein a set of second boundaries is not stored.
  • the above-mentioned device also includes:
  • the second display unit is configured to display the target area map on the target configuration interface of the target application after storing the area information of each first partition, wherein different area parameters are used to represent different partitions in the target area map;
  • the second detection unit is configured to detect a merge operation performed on at least two fourth partitions in the target area map, wherein the join operation is an operation of merging at least two fourth partitions into one partition;
  • a merging unit configured to merge the two fourth partitions into one merged partition according to the area information of each of the fourth partitions in the two fourth partitions;
  • the third storage unit is configured to store area information of a merged partition.
  • the above modules can run in the hardware environment shown in FIG. 1 , and can be implemented by software or by hardware, wherein the hardware environment includes a network environment.
  • a storage medium is also provided.
  • the foregoing storage medium may be used to execute program codes of any one of the foregoing region information processing methods in the embodiments of the present application.
  • the foregoing storage medium may be located on at least one network device among the plurality of network devices in the network shown in the foregoing embodiments.
  • the storage medium is configured to store the code:
  • the above-mentioned storage medium may include, but not limited to, various media capable of storing program codes such as USB flash drive, ROM, RAM, removable hard disk, magnetic disk, or optical disk.
  • an electronic device for implementing the above method for processing area information is also provided, and the electronic device may be a server, a terminal, or a combination thereof.
  • Fig. 5 is a structural block diagram of an optional electronic device according to an embodiment of the present application. 504 and memory 506 complete mutual communication through communication bus 508, wherein,
  • the communication bus may be a PCI (Peripheral Component Interconnect, Peripheral Component Interconnect Standard) bus, or an EISA (Extended Industry Standard Architecture, Extended Industry Standard Architecture) bus, or the like.
  • the communication bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only a thick line is used in Figure 5, but it does not represent indicates only one bus or one type of bus.
  • the communication interface is used for communication between the electronic device and other devices.
  • the above-mentioned memory may include RAM, and may also include non-volatile memory (non-volatile memory), for example, at least one disk memory.
  • non-volatile memory non-volatile memory
  • the memory may also be at least one storage device located away from the aforementioned processor.
  • the memory 506 may include, but is not limited to, the acquisition unit 402, the first execution unit 404, and the first storage unit 406 in the control device of the above-mentioned device. In addition, it may also include but not limited to other module units in the control device of the above equipment, which will not be described in detail in this example.
  • processor can be general-purpose processor, can include but not limited to: CPU (Central Processing Unit, central processing unit), NP (Network Processor, network processor) etc.; Can also be DSP (Digital Signal Processing, digital signal processor ), ASIC (Application Specific Integrated Circuit, application specific integrated circuit), FPGA (Field-Programmable Gate Array, field programmable gate array) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • CPU Central Processing Unit, central processing unit
  • NP Network Processor, network processor
  • DSP Digital Signal Processing, digital signal processor
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array, field programmable gate array
  • other programmable logic devices discrete gate or transistor logic devices, discrete hardware components.
  • the device implementing the above-mentioned method for processing area information may be a terminal device, and the terminal device may be a smart phone (such as an Android phone, an iOS phone, etc.), a tablet Computers, PDAs, and mobile Internet devices (Mobile Internet Devices, MID), PAD and other terminal equipment.
  • FIG. 5 does not limit the structure of the above-mentioned electronic device.
  • the electronic device may also include more or fewer components (such as a network interface, a display device, etc.) than those shown in FIG. 5 , or have a different configuration from that shown in FIG. 5 .
  • the integrated units in the above embodiments are realized in the form of software functional units and used as independent When the independent product is sold or used, it can be stored in the above-mentioned computer-readable storage medium.
  • the technical solution of the present application is essentially or part of the contribution to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium.
  • Several instructions are included to make one or more computer devices (which may be personal computers, servers or network devices, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the disclosed client can be implemented in other ways.
  • the device embodiments described above are only illustrative, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components can be combined or can be Integrate into another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of units or modules may be in electrical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution provided in this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

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Abstract

La présente invention concerne un procédé et un dispositif de traitement d'information de région, un support de stockage, et un dispositif électronique. Le procédé comprend les étape suivantes: l'obtention d'un groupe de premières limites correspondant à une carte régionale cible, ledit groupe de premières limites étant utilisé pour la division des limites régionales d'une pluralité de premières partitions dans la carte régionale cible; l'exécution d'une opération de partitions sur la carte régionale cible selon ledit groupe de premières limites pour obtenir une information de région de chaque première partition dans la pluralité de premières partitions; et le stockage de l'information de région de chaque première partition, ledit groupe de premières limites n'étant pas stocké. En utilisant la solution technique selon la présente invention, le problème de complexité élevée de traitement d'information de région provoqué en raison du fait qu'une information supplémentaire doit être maintenue dans le procédé de traitement d'information de région dans des technologies associées est résolu.
PCT/CN2023/074095 2022-02-18 2023-02-01 Procédé et dispositif de traitement d'information de région, support de stockage et dispositif électronique WO2023155681A1 (fr)

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CN112990098A (zh) * 2021-04-13 2021-06-18 追创科技(苏州)有限公司 区域划分方法和装置、存储介质、电子装置

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CN108803586A (zh) * 2017-04-26 2018-11-13 松下家电研究开发（杭州）有限公司 一种扫地机器人的工作方法
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