WO2023236734A1 - Map region division method, chip, terminal and robot system - Google Patents

Abstract

A map region division method, a chip, a terminal and a robot system, which can improve map region division accuracy. The method comprises: in response to region selection and division operations of a user, determining a region to be divided and a division line segment; obtaining all vertexes of said region and recording the vertexes in a vertex list; selecting one vertex from the vertex list as a first path point, and selecting a second path point according to a clockwise selection rule; selecting a third path point on the basis of the second path point and according to an anticlockwise selection rule, by analogy to the selection method for the third path point, obtaining a next path point until the Nth path point coincides with the first path point, and determining to obtain a loopback path formed by a path consisting of N path points; and updating the vertex list, determining whether the updated vertex list is empty, if not, obtaining a next loopback path, and if yes, determining to divide said region into sub-regions, the number of which is the same as that of loopback paths.

Description

A map area segmentation method, chip, terminal and robot system Technical field

The invention relates to the field of map area division, and specifically relates to a map area division method, a chip, a terminal and a robot system.

Background technique

With the rapid development of science and technology, robots are used in various fields. Robots refer to intelligent devices that can work semi- or fully autonomously. When robots are working, they usually move using autonomous path planning or user remote path planning. For robot autonomous path planning, it is necessary to divide the areas according to the map obtained by the robot, and calculate a reasonable path that can cover the entire area in each area. However, the areas on the map usually appear in the form of polygons or irregular graphics. For larger areas, For irregular graphic areas, in order to avoid obstacles and cover the entire area, the robot will repeat some of its paths, which will cause the robot to repeatedly move some plots in the irregular graphic area, resulting in low robot work efficiency. .

Contents of the invention

In order to solve the above problems, the present invention provides a map area segmentation method, chip, terminal and robot system. In response to the user's area selection operation and division operation, according to the connection relationship between the vertex of the area to be segmented and the intersection of the segmentation line , divide the area to be segmented into more than one sub-area, improve the accuracy of map area segmentation, and improve the efficiency of the robot. The specific technical solutions of the present invention are as follows:

A map area segmentation method. The map area segmentation method includes the following steps: Step 1: In response to the user's area selection operation, determine an area to be divided; Step 2: In response to the user's division operation, determine a region to be divided. The dividing line segment of the divided area; Step 3: Obtain all the vertices of the area to be divided and record all the vertices of the area to be divided in the vertex list; Step 4: Obtain and record the area to be divided and the dividing line segment All intersection points of The second path point; select the third path point based on the second path point combined with the counterclockwise selection rule, select the fourth path point based on the third path point combined with the counterclockwise selection rule, and use the difference between the third path point and the fourth path point By analogy with the selection method, the next path is selected until the selected Nth path point coincides with the first path point, then it is determined that a loop path is obtained, and step 7 is entered; Step 7: Remove the vertices included in the loop path from the vertex Delete from the list, complete the update of the vertex list, and determine whether the updated vertex list is empty. If not, return to step 6 to obtain the next loop path. If so, determine that the area to be divided is divided into the loop path. With the same number of sub-areas, it is determined that the map area segmentation is completed and the map area segmentation ends; where N is greater than 4 is an integer, the connection line between the first path point and the second path point is the first path, the connection line between the second path point and the third path point is the second path, and the The connection between the N-1 path point and the N-th path point is the N-1th path, and the loop path is composed of the first path to the N-1th path connected in sequence. Compared with the existing technology, the present invention obtains more than one loop path based on the connection relationship information between the vertices and intersections of the area to be divided and the corresponding selection rules, and divides the area to be divided into more than one sub-area by the loop path, which is effective Improve map area segmentation accuracy.

The invention also discloses a chip. A computer program is stored inside the chip. When the computer program is executed, the map area segmentation method as described above is implemented.

The invention also discloses a map area segmentation terminal including: a processor, a touch display screen and a main control chip. The main control chip is the chip as described above and is used to store a computer program. When the computer program is executed The map area segmentation terminal implements the map area segmentation method as described above; the touch display screen is used to display the map and receive the user's area selection operation and division operation.

The invention also discloses a robot system including: a map area segmentation terminal and a robot body; the map area segmentation terminal is the map area segmentation terminal as mentioned above, and is used for receiving the user's area selection operation and division operation, and The area is segmented to obtain more than one loop path; the robot body is used to receive more than one loop path segmented by the map area segmentation terminal, perform path planning based on the loop path and move based on the planned path.

Description of the drawings

Figure 1 is a schematic flowchart of a map area segmentation method according to an embodiment of the present invention.

Figure 2 is a schematic diagram of map area division according to an embodiment of the present invention.

Figure 3 is a schematic diagram of multiple intersection points for dividing a map area according to an embodiment of the present invention.

Figure 4 is a schematic diagram of map area segmentation failure according to an embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present invention clearer, the present invention will be described and illustrated below with reference to the drawings and embodiments. It should be understood that the specific embodiments described below are only used to explain the present invention and are not intended to limit the present invention. In addition, it can also be understood that, for those of ordinary skill in the art, making some design, manufacturing or production changes on the technical content disclosed in the present application is just a conventional technical means, and should not be understood to mean that the content disclosed in the present application does not change the technical content disclosed in the present application. full.

Unless otherwise defined, the technical terms or scientific terms involved in the present invention shall have the usual meanings understood by those with ordinary skills in the technical field to which this application belongs. Words such as "a", "an", "a", "the", etc. involved in this application do not indicate a quantitative limit and may indicate singular or plural numbers. The terms "include", "include" and "have" used in this application and any variations thereof, intended to cover non-exclusive inclusions, such as: processes, methods, system products or equipment that include a series of steps or modules are not limited to the listed steps or units, but may also include unlisted steps or modules, or may also include other steps or units inherent to these processes, methods, products or devices. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar correspondences and do not represent a specific ordering of objects.

An embodiment of the present invention provides a map area segmentation method. As shown in Figure 1, the map area segmentation method includes the following steps:

Step 11: In response to the user's area selection operation, determine an area to be divided on the map; wherein the area to be divided is a closed area.

Step 21: In response to the user's dividing operation, determine a dividing line segment on the map for dividing the area to be divided.

Step 22: Extend both ends of the dividing line segment by a first preset distance; the first preset distance is set after comprehensive consideration of various factors such as screen size and map size of different map dividing terminals. Use In order to extend the length of the dividing line segment, it reduces the probability that the length of the dividing line segment is not enough to divide the area to be divided.

Step 31: Convert the area to be divided into a polygon to be divided; specifically, the method of converting the area to be divided into a polygon to be divided may be but is not limited to a method of obtaining the outline of the area to be divided and converting the area outline into a polygon boundary. , or the method of dividing the area using a rectangle with a minimum area.

Step 32: Obtain all the vertices of the polygon to be divided and record all the vertices of the polygon to be divided in the vertex list; specifically, the method of obtaining all the vertices of the polygon to be divided is based on converting the area to be divided into the polygon to be divided. The method differs depending on the method. If the method of converting the area outline into a polygon boundary is used, all the vertices of the area outline are obtained. If the method of dividing the area by a rectangle with a minimum area is used, the four vertices of the rectangle are obtained; Splitting all vertices of a polygon includes obtaining the coordinate information and name of the vertices.

Step 41: Determine whether the number of intersections between the dividing line segment and the polygon to be divided is greater than or equal to 2. If so, proceed to step 42. If not, it is determined that the map area segmentation has failed, and the map area segmentation ends; specifically, When the number of intersections between the dividing line segment and the polygon to be divided is less than 2, it means that the dividing line segment cannot divide the polygon to be divided into more than one closed loop, the dividing line segment is invalid, and the map area segmentation fails.

Step 42: Obtain and record all intersection points of the polygon to be divided and the dividing line segments; wherein, obtaining and recording all intersection points of the polygon to be divided and the dividing line segments includes recording coordinate information of all intersection points.

Step 51: Select a vertex from all the vertices of the polygon to be divided and determine whether there is a connection with this vertex. At least one vertex and intersection point of the relationship, determine all the vertices and intersection points that have a connection relationship with the one vertex, and then select the next vertex to determine at least one connection relationship with the next vertex. of the vertices and intersections, determine all the vertices and intersections that have a connection relationship with the next vertex as the connection relationship information of the next vertex, and so on, until all vertices are traversed, and the connection relationship information of all vertices is obtained;

Step 52: Select an intersection point from all the intersection points of the polygon to be divided and the dividing line segment, determine at least one vertex and intersection point that has a connection relationship with the intersection point, and sum up all the vertices and intersection points that have a connection relationship with the intersection point. The intersection point is determined as the connection relationship information of the intersection point, then the next intersection point is selected, at least one vertex and intersection point that has a connection relationship with the next intersection point is determined, and all the vertices and intersection points that have a connection relationship with the next intersection point are determined as The connection relationship information of this intersection point, and so on, until all intersection points are traversed, the connection relationship information of all intersection points is obtained; wherein, the existence of connection relationship means that an intersection point/vertex passes through the boundary or dividing line segment of the polygon to be divided and the Another intersection/vertex connection.

Step 61: Select a vertex from the vertex list as the first path point, and select a second path point from the intersections and/or vertices that are connected to the first path point according to the first path point combined with the clockwise selection rule. , the connection between the first path point and the second path point is the first path; specifically, the clockwise selection rule refers to using the first path point based on the connection relationship information of the first path point. As the center, in the clockwise direction of the boundary of the area to be divided, select the first intersection or vertex that has a connection relationship with the first path point as the second path point; wherein, in the clockwise direction of the boundary of the area to be divided, The clockwise direction is determined based on the point coordinate information on the boundary line segment of the area to be divided. In Figure 2, the boundary of the area to be divided ABCD includes line segment AB, line segment BC, line segment CD and line segment DA. Randomly select two lines from each line segment. points, calculate the product of the X-axis coordinate difference and the Y-axis coordinate sum of two points randomly selected on each line segment in the same direction, and sum the product results on each line segment. If If the summation result is a positive number, then determine the

One direction is the clockwise direction of the boundary of the area to be divided. On the contrary, if the summation result is a negative number, it is determined that the one direction is the counterclockwise direction of the boundary of the area to be divided. In Figure 2, the clockwise direction of the rectangle ABCD is ADCB. If point A is selected as the first path point, it can be seen that the points connected to point A are point E and point B. Then, with point A as the center, in the area to be divided On the clockwise ADCB of the boundary, the first intersection or vertex that has a connection relationship with point A is intersection point E, and point E is selected as the second path point.

Step 62: According to the second path point combined with the counterclockwise selection rule, select a third path point from the intersection points and/or vertices that have a connection relationship with the second path point. The second path point and the third path point are The connection between is the second path;

Step 63: According to the third path point combined with the counterclockwise selection rule, select a fourth path point from the intersection points and/or vertices that have a connection relationship with the third path point. The third path point and the fourth path point are The connection between is the third path, taking the The selection methods of the third path point and the fourth path point are analogous. Select the next path point until the selected Nth path point coincides with the first path point, then it is determined to obtain a path from the first path to the N-1th path. A loop path composed of sequential connections, the first path point is the starting point of the first path, the second path point is the end point of the first path, and the second path point is also the starting point of the second path. The first path The loop path composed of sequential connections to the N-1th path means that the end point of the first path is connected to the starting point of the second path, the end point of the second path is connected to the starting point of the third path, and so on. The starting point of a path is connected to the end point of the N-1th path to form a loop path; where N is an integer greater than or equal to 4. Specifically, the counterclockwise selection rule refers to taking the current path point as the center, taking the connecting direction of the current path point and the previous path point as the 0-degree direction, and selecting the third path point that has a connection relationship with the current path point in the counterclockwise direction. An intersection or vertex serves as the next path point; wherein, the current path point may be but is not limited to any one of the second path point to the N-1th path point.

Step 71: Delete all vertices included in the loop path from the vertex list to complete the update of the vertex list; specifically, when a vertex is deleted from the vertex list, the distance between other vertices/intersection points and the vertex list Existing connections are not recognized when retrieving new waypoints.

Step 72: Determine whether the updated vertex list is empty. If not, return to step 61. If so, it is determined that the polygon to be divided is divided into sub-regions with the same number as the loop paths, and it is determined that the map area segmentation is completed. End map area division.

Preferably, the method for obtaining the region contour and converting the region contour into a polygon boundary specifically includes: obtaining the region contour of the region to be segmented based on computer vision and machine learning software OpenCV; converting the region to be segmented into a polygon boundary based on the region to be segmented. The area outline of the divided area is the boundary of the polygon to be divided.

Preferably, the method of circumscribing the area to be divided using a rectangle with the smallest area specifically includes: Step 31-1: Enumerating all coordinate points on the area to be divided; Step 31-2: Starting from the area to be divided Obtain the minimum value of the x-axis coordinate, the maximum value of the x-axis coordinate, the minimum value of the y-axis coordinate, and the maximum value of the y-axis coordinate from all coordinate points; Step 31-3: Convert the area to be segmented into a region to be segmented The rectangle to be divided with the smallest area enclosed by it; Step 31-4: Determine the coordinates of the first vertex of the upper left corner of the polygon to be divided to be the minimum x-axis coordinate and the maximum y-axis coordinate; determine the upper right corner of the polygon to be divided The coordinates of the second vertex of the angle are the maximum value of the x-axis coordinate and the maximum value of the y-axis coordinate; determine that the coordinates of the third vertex of the lower left corner of the polygon to be divided are the minimum value of the x-axis coordinate and the minimum value of the y-axis coordinate; determine the The coordinates of the fourth vertex of the lower right corner of the polygon to be divided are the maximum value of the x-axis coordinate and the minimum value of the y-axis coordinate.

Preferably, the step 51 and the step 52 are steps to obtain the connection relationship information of all vertices and all intersections. The execution order of the step 51 and the step 52 is not limited, and may be but is not limited to being executed first. Perform step 51 again Step 52, or step 52 is performed first and then step 51 is performed, or step 51 and step 52 can be performed simultaneously.

Another embodiment of the present invention provides a map based on the map area segmentation method described in the above embodiment. As shown in Figure 2, in response to the user's area selection operation, area 1 is determined on the map to be the area to be divided. ; In response to the user's dividing operation, the thick black line on the map is the dividing line segment. The intersection of the dividing line segment and the area to be divided includes point E and point F. As can be seen from Figure 2, the area to be divided is in a "concave" shape. area, use the method of circumscribing the "concave" font area with a rectangle of minimum area to obtain a rectangle that surrounds the area to be divided. The dotted line in Figure 2 is the boundary of the rectangle to be divided. It can be seen that the vertices of the rectangle to be divided include points A and B. Points 1, C, and D, record all the vertices of the rectangle to be divided in the vertex list, and determine the connection relationships of all the vertices and all intersections of the rectangle to be divided.

Specifically, as shown in Figure 2, the points that have a connection relationship with point A include point B and point E. Therefore, the connection relationship information of point A is that point A is connected to point B and point E respectively; there is a connection relationship with point E. The points include point A, point D and point F. Therefore, the connection relationship information of point E is that point E is connected to point A, point D and point F respectively; the points with connection relationship with point D include point E and point C, Therefore, the connection relationship information of point D is that point D is connected to point E and point C respectively; the points that have a connection relationship with point C include point D and point F. Therefore, the connection relationship information of point C is that point C is connected to point D respectively. It is connected to point F; the points that have a connection relationship with point F include point C, point E and point B. Therefore, the connection relationship information of point F is that point F is connected to point C, point E and point B respectively; it has a connection relationship with point B. The connection relationship points include point F and point A. Therefore, the connection relationship information of point B is that point B is connected to point F and point A respectively.

Select point A from the vertex list as the first path point. According to the clockwise direction of the boundary of the rectangle to be divided, ADCB determines that the first vertex or intersection point connected to point A is point E. Select point E as the second path point. point, the line connecting point A and point E forms the first path; with point E as the center, and the direction AE of the line connecting point A and point E as 0 degrees, determine the first path that has a connection relationship with point E in the counterclockwise direction. A vertex or intersection is point F, select point F as the third path point, and the line connecting point E and point F forms the second path; with point F as the center, the direction EF of the line connecting point E and point F is 0 Degree, determine the first vertex or intersection point connected with point F in the counterclockwise direction as point B, select point B as the fourth path point, and the connection between point F and point B forms the third path; take point B As the center, taking the connecting direction FB of point F and point B as 0 degrees, determine the first vertex or intersection point connected to point B in the counterclockwise direction as point A, and select point A as the fifth path point. The line connecting point B and point A forms the fourth path. Since the fifth path point coincides with the first path point, it is determined that a path consisting of the first path, the second path, the third path and the fourth path is obtained. Loop path AEFB; The loop path AEFB includes the vertices A and B of the rectangle to be divided. Delete point A and B from the vertex list and update the vertex list. It can be seen that the updated vertex list also contains points C and D. , select a point C from the updated vertex list as the first path point, and determine the first vertex or intersection point that has a connection relationship with point C as point F based on the clockwise direction ADCB of the boundary of the rectangle to be divided, Select point F as the second path point, and the connection between point C and point F forms the first path; with point F as the center, and the direction CF of the connection between point C and point F is 0 degrees, in the counterclockwise direction Determine the first vertex or intersection point that has a connection relationship with point F as point E, select point E as the third path point, and the connection between point E and point F forms the second path; with point E as the center, point F and The connection direction FE of point E is 0 degrees. In the counterclockwise direction, determine the first vertex or intersection point that is connected to point E as point D. Select point D as the third path point. The connection between point E and point D The line forms the second path; with point D as the center, and the connecting direction ED between point E and point D as 0 degrees, determine the first vertex or intersection point that is connected to point D in the counterclockwise direction as point C. Select point C as the fifth path point, and the line connecting point C and point D forms the fourth path. Since the fifth path point coincides with the first path point, it is determined that a path consisting of the first path, the second path, and The loop path CFED composed of the third path and the fourth path; the loop path CFED includes the vertices C and D of the rectangle to be divided. Delete the C and D points from the vertex list to complete the update of the vertex list. It can be seen that the update The final vertex list is empty, and it is determined that the rectangle to be divided is divided into two sub-areas AEFB and CFED, and the map area division is completed.

It should be noted that when a vertex is deleted from the vertex list, the connection relationship between other vertices and/or intersection points and the vertex will not be recognized when obtaining the path point. Understandably, when a vertex is deleted from the vertex list, After a vertex is deleted from the vertex list, the connection relationship between the vertex and other vertices or intersections will be ignored to ensure the accuracy of path point acquisition in the loop path.

Based on the above embodiment, another embodiment of the present invention provides a map of area division. As shown in Figure 3, the bold line is the dividing line segment. When the area to be divided is area 2, the dividing line segment and the area to be divided are The number of intersection points is 4, and the dividing line segment divides the area to be divided into three sub-regions.

Based on the above embodiment, another embodiment of the present invention provides a region-divided map, as shown in Figure 4. The bold line is a dividing line segment, and both ends of the dividing line segment have been extended by a first preset distance. As shown in Figure 4, it can be seen that the number of intersections between the dividing line segment and the area to be divided is less than 2. In this embodiment, because the number of intersections between the dividing line segment and the area to be divided is less than 2, the map area segmentation is directly terminated and it is determined that the map area segmentation fails.

An embodiment of the present invention provides a chip. A computer program is stored inside the chip. When the computer program is executed, the map area segmentation method as described in the previous embodiment is implemented. Those skilled in the art can understand that all or part of the steps in the method of implementing the above embodiments can be completed by instructing relevant hardware through a program. The program is stored in a storage medium and includes several instructions to cause the microcontroller, chip or processor to (processor) performs all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code. .

An embodiment of the present invention provides a map area dividing terminal including: a processor, a touch display screen and a main control chip; the touch display screen is used to display a map and receive the user's area selection operation and division operation; The main control chip is the same as the chip described in the previous embodiment, and is used to store a computer program. When the computer program is executed, the map area segmentation method as described in the previous embodiment is implemented.

An embodiment of the present invention provides a robot system. The robot system includes: a map area segmentation terminal and a robot body; the map area segmentation terminal is the map area segmentation terminal described in the previous embodiment, and is used for receiving the user's The area selection operation and division operation are to divide the area to be divided and obtain more than one loop path; the robot body is used to receive more than one loop path segmented by the map area segmentation terminal, perform path planning on the loop path and based on Planned path movement.

Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art will understand that various changes, modifications, and substitutions can be made to these embodiments without departing from the principles and spirit of the invention. and modifications, the scope of the present invention is defined by the appended claims and their equivalents. The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and changes. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims (13)

A map area segmentation method, characterized in that the map area segmentation method includes the following steps: Step 1: In response to the user's area selection operation, determine an area to be divided; Step 2: In response to the user's dividing operation, determine a dividing line segment used to divide the area to be divided; Step 3: Obtain all the vertices of the region to be divided and record all the vertices of the region to be divided in a vertex list; Step 4: Obtain and record all intersection points of the area to be divided and the dividing line segments; Step 5: Obtain the connection relationship information of all the vertices and all the intersection points; Step 6: Select a vertex from the vertex list as the first path point, select the second path point based on the first path point combined with the clockwise selection rule; select the third path point based on the second path point combined with the counterclockwise selection rule, According to the third path point combined with the counterclockwise selection rule, the fourth path point is selected. By analogy with the selection method of the third path point and the fourth path point, the next path is selected until the selected Nth path point is the same as the first path point. If they overlap, it is determined to obtain a loop path and enter step 7; Step 7: Delete the vertices contained in the loop path from the vertex list, complete the update of the vertex list, and determine whether the updated vertex list is empty. If not, return to step 6 to obtain the next loop path. If so, Then it is determined that the area to be divided is divided into the same number of sub-areas as the loop path, it is determined that the map area division is completed, and the map area division is completed; Wherein, N is an integer greater than or equal to 4, the connection line between the first path point and the second path point is the first path, and the line between the second path point and the third path point is The connection is the second path, the connection between the N-1th path point and the N-th path point is the N-1th path, and the loop path is composed of the first path to the N-1th path connected in sequence . The map area segmentation method according to claim 1, wherein step 3 of obtaining all vertices of the area to be segmented specifically includes: Convert the area to be divided into a polygon to be divided; Get all the vertices of the polygon to be divided. The map area segmentation method according to claim 2, wherein converting the area to be segmented into a polygon to be segmented specifically includes: obtaining the area outline of the area to be segmented based on computer vision and machine learning software library OpenCV, and converting the area to be segmented into polygons. The area to be divided is converted into a polygon to be divided with the outline of the area as a boundary. The map area segmentation method according to claim 2, characterized in that converting the area to be segmented into a polygon to be segmented, and obtaining all the vertices of the polygon to be segmented specifically includes: Enumerate all coordinate points on the area to be divided; Obtain the minimum x-axis coordinate value, the maximum x-axis coordinate value, the minimum y-axis coordinate value, and the maximum y-axis coordinate value from all coordinate points on the area to be segmented; Convert the area to be divided into a polygon to be divided with a minimum area surrounding the area to be divided; Determine the coordinates of the first vertex of the upper left corner of the polygon to be divided to be the minimum x-axis coordinate and the maximum y-axis coordinate; Determine the coordinates of the second vertex of the upper right corner of the polygon to be divided to be the maximum x-axis coordinate and the maximum y-axis coordinate; Determine the coordinates of the third vertex of the lower left corner of the polygon to be divided to be the minimum x-axis coordinate and the minimum y-axis coordinate; Determine the coordinates of the fourth vertex of the lower right corner of the polygon to be divided to be the maximum value of the x-axis coordinate and the minimum value of the y-axis coordinate; Wherein, the polygon to be divided is a rectangle. The map area segmentation method according to claim 1, wherein the step 2 further includes: extending both ends of the segmentation line segment by a first preset distance. The map area segmentation method according to claim 1, characterized in that, before executing the step 4, it further includes: determining whether the number of intersections between the area to be segmented and the segmentation line segment is greater than or equal to 2, and if so, enter Step 4, if not, it is determined that the map area segmentation has failed, and the map area segmentation ends. The map area segmentation method according to claim 1, characterized in that, in step 5, obtaining the connection relationship information of all vertices and all intersections specifically includes the following steps: Select a vertex from all the vertices, determine at least one vertex and intersection point that has a connection relationship with the one vertex, determine all the vertices and intersection points that have a connection relationship with the one vertex, and determine the connection relationship information of the one vertex, and then select the next For a vertex, determine at least one vertex and intersection point that has a connection relationship with the next vertex, and determine all the vertices and intersection points that have a connection relationship with the next vertex as the connection relationship information of the next vertex, and so on, until After traversing all vertices, obtain the connection relationship information of all vertices; Select an intersection point from all intersection points, determine at least one vertex and intersection point that has a connection relationship with this intersection point, determine all the vertices and intersection points that have a connection relationship with this intersection point, and determine the connection relationship information of this intersection point, and then select the next For an intersection point, determine at least one vertex and intersection point that has a connection relationship with the next intersection point, and determine all the vertices and intersection points that have a connection relationship with the next intersection point as the connection relationship information of this intersection point, and so on, until After all intersection points have been traversed, the connection relationship information of all intersection points is obtained; Wherein, the existence of a connection relationship means that one intersection/vertex is connected to another intersection/vertex through the boundary or dividing line segment of the polygon to be divided. The map area segmentation method according to claim 7, wherein the clockwise selection rule specifically includes: based on the connection relationship information of the first path point, with the first path point as the center, in the region to be segmented, border smoothness In the clockwise direction, select the first intersection or vertex that is connected to the first path point as the second path point. The map area segmentation method according to claim 7, wherein the counterclockwise selection rule specifically includes: based on the connection relationship information of the current path point, with the current path point as the center, with the current path point and the previous path point The connection direction is 0 degrees, and the first intersection or vertex that is connected to the current path point in the counterclockwise direction is selected as the next path point. The map area segmentation method according to claim 8 or 9, characterized in that when a vertex is deleted from the vertex list, the connection relationships existing between other vertices and intersection points and the one vertex are used when acquiring new path points. not recognized. A chip with a computer program stored inside the chip, characterized in that when the computer program is executed, the map area segmentation method described in any one of claims 1 to 10 is implemented. A map area segmentation terminal, characterized in that the map area segmentation terminal includes: a processor, a touch display screen and a main control chip. The main control chip is the chip according to claim 11 and is used to store computer programs. , when the computer program is executed, the map area segmentation terminal implements the map area segmentation method described in any one of claims 1 to 10; the touch display screen is used to display a map, receive the user's area selection operation and partition operation. A robot system, characterized in that the robot system includes: a map area segmentation terminal and a robot body; the map area segmentation terminal is the map area segmentation terminal according to claim 12, and is used to receive the user's area selection operation and The dividing operation is to divide the area to be divided to obtain more than one loop path; the robot body is used to receive more than one loop path divided by the map area segmentation terminal, perform path planning based on the loop path and move based on the planned path .