CN113223020A - Zoning method and device for cleaning area and cleaning equipment - Google Patents
Zoning method and device for cleaning area and cleaning equipment Download PDFInfo
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Abstract
The application discloses a partitioning method, a partitioning device and cleaning equipment, wherein an initial segmentation line is obtained, then the initial segmentation line is corrected to obtain an optimal line segment, when the optimal line segment can be used for independently segmenting a closed region, the optimal line segment is determined to be an accurate segmentation line, and finally, the region to be segmented is partitioned according to the accurate segmentation line; the cleaning equipment obtains an initial dividing line, corrects the area to be divided according to the initial dividing line to obtain an optimal line segment, and if the optimal line segment can be used for independently dividing a closed area, the closed area is the accurate dividing line, and final partitioning operation is executed according to the accurate dividing line to obtain a partitioning result which meets the requirements of users and is high in accuracy, so that partitioning information is provided for subsequent personalized cleaning.
Description
Technical Field
The application relates to the technical field of sweeping robots, in particular to a method and a device for partitioning a sweeping area and sweeping equipment.
Background
Sweeping apparatuses (e.g., sweeping robots, etc.) have been widely used in various scenes, such as home use, etc., as apparatuses for automated cleaning. However, in order to achieve different positions, different sweeping parameters are set, for example: the balcony is easily dirty, and when the sweeping robot walks to the balcony, the sweeping suction force is increased, so that the sweeping area is divided.
Generally, a user can manually edit a dividing line to realize the division, however, due to the fact that objects stacked at positions such as corners of walls and the like interfere with the accuracy of the manual editing, the manual editing of the user can be inaccurate, and the sweeping robot is difficult to directly use, so that the difficulty of the division work is increased.
Disclosure of Invention
The present application is proposed to solve the above-mentioned technical problems. The embodiment of the application provides a partition method and device for a cleaning area and cleaning equipment, and aims to solve the problem that the partition difficulty of the cleaning area is high.
According to one aspect of the present application, there is provided a zoning method for sweeping an area, comprising: obtaining an initial dividing line; wherein the initial dividing line represents a line segment dividing the region to be divided into a plurality of partitions; correcting the initial segmentation line to obtain an optimal line segment, wherein the optimal line segment represents a continuous segmentation line segment closest to the initial line segment; when the best line segment can be used for independently segmenting a closed region, determining the best line segment as an accurate segmentation line; and partitioning the region to be partitioned according to the accurate partition line.
In an embodiment, the modifying the initial segmentation line to obtain the optimal line segment includes: obtaining a first line segment in the region to be segmented according to two end points of the initial segmentation line; wherein the first segment connects two end points of the initial split line; selecting pixel points on the first line segment in the region to be segmented as segmentation line points; grouping the dividing line points to obtain a plurality of dividing line point groups; wherein each of the division line point groups represents a second line segment including a plurality of the division line points in succession; determining segmentation properties of each of the second line segments; wherein the segmentation property indicates whether the second line segment can be separately segmented into an enclosed region; and selecting the second line segment with the highest similarity with the initial segmentation line as the optimal line segment.
In an embodiment, the selecting, as the dividing line point, a pixel point located in the region to be divided on the first line segment includes: acquiring surrounding pixel points of each pixel point on the first line segment; and when the surrounding pixel points are all located in the region to be segmented, determining the corresponding pixel points on the first line segment as segmentation line points.
In an embodiment, the segmentation properties comprise occlusion properties, which indicate that the second segment can be individually segmented out of an occlusion region; wherein the determining the segmentation property of each of the second line segments comprises: changing the pixel value of the second line segment; filling and rendering the region to be segmented on one side of the second line segment; and when the area to be segmented on the other side of the second line segment is not subjected to filling rendering, determining the segmentation property of the second line segment as a closed property.
In an embodiment, the segmentation properties include an open property indicating that the second segment cannot be segmented out of an enclosed region alone; wherein the determining the segmentation property of each of the second line segments comprises: changing the pixel value of the second line segment; filling and rendering the region to be segmented on one side of the second line segment; and when the area to be segmented on the other side of the second line segment is subjected to filling rendering, determining the segmentation property of the second line segment as an open property.
In an embodiment, the selecting, as the best line segment, the second line segment with the highest similarity to the initial dividing line includes: calculating the coincidence degree or distance between each second line segment and the initial segmentation line; and selecting the second line segment corresponding to the maximum contact ratio or the minimum distance as the optimal line segment.
In an embodiment, the accurately segmenting the image of the region to be segmented according to the initial segmentation line to obtain the image of the region to be segmented including an accurate segmentation line includes: when the segmentation property of the optimal line segment is that a closed region cannot be segmented independently, selecting a necessary line segment matched with the optimal line segment from the second line segment; wherein the segmentation property of the necessary line segment is that a closed region cannot be segmented separately; and obtaining the accurate segmentation line according to the optimal line segment and the necessary line segment.
In an embodiment, the selecting an essential line segment of the second line segments that matches the optimal line segment includes: changing the pixel value of a second line segment of which the dividing property is that a closed region cannot be divided independently in the second line segment; restoring pixel values of a single one of the second line segments that changed pixel values; filling and rendering the region to be segmented on one side of the optimal line segment; and when the area to be segmented on the other side of the optimal line segment is subjected to filling rendering, determining the single line segment as the necessary line segment.
According to another aspect of the present application, there is provided a zoning apparatus for sweeping an area, comprising: the acquisition module is used for acquiring an initial segmentation line; wherein the initial dividing line represents a line segment dividing the region to be divided into a plurality of partitions; the correction module is used for correcting the initial segmentation line to obtain an optimal line segment; wherein the optimal line segment represents a continuous segmentation line segment closest to the initial line segment; the fine segmentation module is used for determining the optimal line segment as a fine segmentation line when the optimal line segment can be used for independently segmenting a closed region; and the partition execution module is used for partitioning the area to be partitioned according to the accurate partition line.
According to another aspect of the present application, there is provided a sweeping apparatus including: cleaning the equipment body; a partition control device; the partition control device is configured to execute any one of the above-described partition methods for the cleaning area.
According to the method, the device and the equipment for partitioning the cleaning area, the initial segmentation line is obtained, then the initial segmentation line is corrected to obtain the optimal line segment, when the optimal line segment can be used for independently segmenting the closed area, the optimal line segment is determined to be the accurate segmentation line, and finally the area to be segmented is partitioned according to the accurate segmentation line; the cleaning equipment obtains an initial dividing line, corrects the area to be divided according to the initial dividing line to obtain an optimal line segment, and if the optimal line segment can be used for independently dividing a closed area, the closed area is the accurate dividing line, and final partitioning operation is executed according to the accurate dividing line to obtain a partitioning result which meets the requirements of users and is high in accuracy, so that partitioning information is provided for subsequent personalized cleaning.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in more detail embodiments of the present application with reference to the attached drawings. The accompanying drawings are included to provide a further understanding of the embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings, like reference numbers generally represent like parts or steps.
Fig. 1 is a schematic flow chart of a method for partitioning a cleaning area according to an exemplary embodiment of the present application.
Fig. 2 is a schematic flowchart of a method for correcting a dividing line of a cleaning region according to an exemplary embodiment of the present application.
Fig. 3 is a flowchart illustrating a method for selecting a partition line point according to an exemplary embodiment of the present application.
Fig. 4 is a flowchart illustrating a method for selecting a partition line point according to another exemplary embodiment of the present application.
Fig. 5 is a flowchart illustrating a segmentation property determination method for a second line segment according to an exemplary embodiment of the present application.
Fig. 6 is a flowchart illustrating a method for correcting a dividing line of a cleaning region according to another exemplary embodiment of the present application.
Fig. 7 is a flowchart illustrating a method for correcting a dividing line of a cleaning region according to another exemplary embodiment of the present application.
FIG. 8 is a schematic structural diagram of a zoning apparatus for sweeping a zone according to an exemplary embodiment of the present application.
FIG. 9 is a schematic diagram of a zoning apparatus for sweeping a zone according to another exemplary embodiment of the present application.
Fig. 10 is a structural view of a cleaning apparatus according to an exemplary embodiment of the present application.
Detailed Description
Hereinafter, example embodiments according to the present application will be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are only some embodiments of the present application and not all embodiments of the present application, and that the present application is not limited by the example embodiments described herein.
Summary of the application
Because the cleaning habits of different users are different, and the cleaning equipment is used in different use environments, the cleaning requirements of each cleaning equipment in different use scenes are different. For example, some users have more cooking and more oil stains in their household kitchens, and therefore, the cleaning force of the kitchen needs to be increased. However, the cleaning device cannot distinguish the boundary between the kitchen area and other cleaning areas, and the cleaning area needs to be divided to obtain a plurality of divided areas with different cleaning requirements, so as to perform corresponding cleaning for different cleaning requirements.
If the user manually divides the object, the accuracy of the manual operation is not high, which often results in low dividing accuracy, i.e. it is difficult to accurately divide the object, and the difference between the cleaning result and the expected effect is large.
In order to solve the problems, the expected dividing line is obtained firstly, the cleaning equipment is corrected based on the dividing line to obtain an accurate dividing line, and the area is divided according to the accurate dividing line to ensure that the follow-up cleaning work meets the requirements of users.
The zoning method and the zoning device for cleaning the area can be respectively applied to the intelligent sweeping robot, the area to be cleaned is accurately divided through the zoning method for cleaning the area, and the expected requirements of users can be met.
Exemplary method
Fig. 1 is a schematic flow chart of a method for partitioning a cleaning area according to an exemplary embodiment of the present application. The zoning method for the cleaning area is applied to a cleaning equipment end, wherein the cleaning equipment is in communication connection with a client end, as shown in fig. 1, the zoning method for the cleaning area comprises the following steps:
step 100: obtaining an initial dividing line; wherein the initial dividing line represents a line segment dividing the region to be divided into a plurality of partitions.
When cleaning equipment cleans for the first time, the terrain of the whole home can be scanned, a map of the home is constructed, namely an image of a region to be segmented is obtained, and the image of the region to be segmented can be sent to a client. The client can comprise an electronic device such as a mobile phone and a tablet which can be operated by a user directly, the client is in communication connection with the cleaning device, the user gives an expected dividing line, namely an initial dividing line, on the client, the cleaning device receives an image of a region to be divided containing the initial dividing line from the client, and performs subsequent dividing operation based on the initial dividing line so as to meet personalized requirements of the user. It should be understood that the initial dividing line in the present application may also be obtained by the cleaning device itself, for example, if a region is detected to be connected through only a narrow opening, the opening may be determined to be a door, and the cleaned region may be divided to obtain the initial dividing line.
Step 200: correcting the initial segmentation line to obtain an optimal line segment; wherein the best line segment represents the continuous segmentation line segment closest to the initial line segment.
After receiving an initial segmentation line specified by a user, the cleaning equipment corrects the image of the region to be segmented according to the initial segmentation line so as to obtain an optimal line segment. Because the initial segmentation line given by the user may not be standard, or because the image of the region to be segmented is relatively complex (for example, sundries are placed at the corner), the initial segmentation line given by the user is not accurate enough, and at this time, the initial segmentation line needs to be corrected or compensated by cleaning to obtain an accurate optimal line segment, so that the subsequent partition cleaning work is guaranteed to be performed smoothly.
Step 300: and when the closed area can be separately divided by the optimal line segment, determining the optimal line segment as an accurate dividing line.
If the selected optimal line segment closest to the initial segmentation line can be used for separately segmenting the closed region, namely, the optimal line segment can be used for separately dividing the region to be segmented into two regions, the optimal line segment is determined to be an accurate segmentation line, namely, the accurate segmentation line closest to the expected requirement of a user.
Step 400: and partitioning the region to be partitioned according to the accurate partition line.
The cleaning equipment divides the region to be divided according to the region image to be divided containing the accurate dividing line to obtain a plurality of divided regions, and different cleaning strategies are carried out on different divided regions.
According to the method, the device and the equipment for partitioning the cleaning area, the initial segmentation line is obtained, then the initial segmentation line is corrected to obtain the optimal line segment, when the optimal line segment can be used for independently segmenting the closed area, the optimal line segment is determined to be the accurate segmentation line, and finally the area to be segmented is partitioned according to the accurate segmentation line; the cleaning equipment obtains an initial dividing line, corrects the area to be divided according to the initial dividing line to obtain an optimal line segment, and if the optimal line segment can be used for independently dividing a closed area, the closed area is the accurate dividing line, and final partitioning operation is executed according to the accurate dividing line to obtain a partitioning result which meets the requirements of users and is high in accuracy, so that partitioning information is provided for subsequent personalized cleaning.
Fig. 2 is a schematic flowchart of a method for correcting a dividing line of a cleaning region according to an exemplary embodiment of the present application. As shown in fig. 2, the step 200 may include:
step 210: obtaining a first line segment in the region to be segmented according to two end points of the initial segmentation line; wherein the first segment connects the two end points of the initial dividing line.
Typically the dividing line is one or more line segments and the position or equation of the line segment may be determined from the coordinates of the two end points. The initial segmentation line given by the user may be a curve, so that it is difficult to obtain an accurate segmentation line directly according to the initial segmentation line, and at this time, a line segment, i.e. a first line segment with the two end points as end points, may be determined according to the two end points of the initial segmentation line, and the first line segment may be used as a target segmentation line expected by the user for correction and compensation.
Step 220: and selecting pixel points in the region to be segmented on the first line segment as segmentation line points.
Since the first line segment is determined according to the two end points of the initial dividing line, and the initial dividing line may be inaccurate or have errors, the first line segment obtained according to the end points of the initial dividing line may also be inaccurate, and even may have a part located outside the region to be divided. At this time, the pixel points in the region to be segmented on the first line segment can be selected as segmentation line points, namely, the pixel points outside the region to be segmented are deleted, and the segmentation line is determined from the angle of the pixel, so that the segmentation precision can be provided as much as possible.
Step 230: grouping the dividing line points to obtain a plurality of dividing line point groups; wherein each set of dividing line points represents a second line segment comprising a plurality of consecutive dividing line points.
Since the dividing line may be a plurality of discontinuous line segments, a single dividing line should be a continuous line segment (i.e. including a plurality of continuous pixel points). At this time, the dividing line points may be grouped to obtain a plurality of dividing line point groups, where the dividing line points in each dividing line point group are continuous pixel points, that is, each dividing line point group is a set of pixel points of one continuous line segment (second line segment).
Step 240: determining the segmentation property of each second line segment; wherein the segmentation property indicates whether the second line segment can separately segment the closed region.
After the second line segments are obtained, determining the segmentation property of each second line segment, namely determining whether each second line segment can separately segment a closed region, namely determining whether each second line segment can separately enclose a closed region in the region to be segmented.
Step 250: and selecting the second line segment with the highest similarity to the initial segmentation line as the optimal line segment.
And after the second line segment is obtained, selecting the second line segment with the highest similarity with the initial segmentation line as the optimal line segment, namely the second line segment closest to the initial segmentation line. The second line segment may be one or multiple (for example, a similarity threshold is preset, and the second line segment with the similarity greater than the similarity threshold is selected). And selecting a second line segment closest to the initial segmentation line to obtain the segmentation line segment which most possibly reflects the expected requirement of the user.
In an embodiment, the specific implementation manner of step 250 may be: and calculating the contact ratio or distance between each second line segment and the initial segmentation line, and selecting the second line segment corresponding to the maximum contact ratio or the minimum distance as the optimal line segment.
Fig. 3 is a flowchart illustrating a method for selecting a partition line point according to an exemplary embodiment of the present application. As shown in fig. 3, the step 220 may include:
step 221: and acquiring surrounding pixel points of each pixel point on the first line segment.
For a single pixel point on the first line segment, peripheral pixel points of the single pixel point, for example, eight peripheral pixel points of the single pixel point, such as upper, lower, left, right, upper left, upper right, lower left, and the like, are obtained to determine the attribute of the single pixel point.
Step 222: and when the surrounding pixel points are all located in the region to be segmented, determining the corresponding pixel points on the first line segment as segmentation line points.
When the surrounding pixels of the single pixel are all located in the region to be divided, it is stated that the single pixel located in the middle of the surrounding pixels is also necessarily located in the region to be divided, and at this time, the single pixel can be determined to be a dividing line point. When the single pixel point is not in the region to be segmented, the single pixel point can be excluded. In the above embodiment, when the single pixel point is in the region to be divided and some or all of the peripheral pixel points of the single pixel point are located outside the region to be divided, the single pixel point is a critical point. In this way, the attribute of each pixel point on the first line segment can be determined.
Fig. 4 is a flowchart illustrating a method for selecting a partition line point according to another exemplary embodiment of the present application. As shown in fig. 4, the step 220 may include:
step 223: judging whether a next pixel exists or not; if yes, go to step 224, otherwise, end.
And judging whether the next pixel point still exists on the first line segment, namely judging whether the attributes of the pixel points on the first line segment are determined, and if the pixel points which do not have the determined attributes exist, determining the pixel points.
Step 224: judging whether the pixel point is in the area to be partitioned; if so, go to step 225, otherwise go to step 223.
When the pixel point is not in the region to be segmented, the pixel point can be excluded.
Step 225: judging whether surrounding pixel points of the pixel point are all in the area to be segmented; if so, go to step 226, otherwise go to step 227.
When the surrounding pixels of the pixel (for example, the eight surrounding pixels) are all in the region to be segmented, the pixel is determined to be a segmentation line point.
Step 226: and determining the pixel point as a parting line point.
Step 227: and determining the pixel point as a critical point.
Fig. 5 is a flowchart illustrating a segmentation property determination method for a second line segment according to an exemplary embodiment of the present application. The division properties comprise a closing property and an opening property, the closing property represents that the second line segment can be singly divided into a closed area, and the opening property represents that the second line segment cannot be singly divided into a closed area; as shown in fig. 5, the step 240 may include:
step 241: the pixel value of the second line segment is changed.
By changing the pixel value of the second line segment, the pixel value of the pixel point on the second line segment is different from the pixel values of other pixel points in the region to be segmented, and a separating line for separating two sides of the second line segment is constructed.
Step 242: and filling and rendering the region to be segmented on one side of the second line segment.
The region to be segmented on one side of the second line segment is filled and rendered, pixel points with the same or similar pixel values can be rendered by utilizing the filling and rendering, and when the second line segment is rendered, the pixel points on the second line segment cannot be rendered due to the fact that the pixel values of the pixel points on the second line segment are different from the pixel values of other pixel points or the difference is large.
Step 243: and when the area to be segmented on the other side of the second line segment is not subjected to filling rendering, determining the segmentation property of the second line segment as a closed property.
If the area to be segmented on the other side of the second line segment is not filled and rendered, that is, the rendering process cannot bypass the second line segment to reach the other side of the second line segment, the second line segment can be segmented into the closed area alone, that is, the segmentation property of the second line segment is the closed property.
In an embodiment, as shown in fig. 5, the step 240 may further include:
step 244: when the region to be segmented on the other side of the second line segment is filled and rendered, the segmentation property of the second line segment is determined to be an open property.
If the region to be segmented on the other side of the second line segment is filled and rendered, that is, the rendering process can bypass the second line segment to reach the other side of the second line segment, it is indicated that the second line segment can not be separately segmented into a closed region, that is, the segmentation property of the second line segment is an open property.
Fig. 6 is a flowchart illustrating a method for correcting a dividing line of a cleaning region according to another exemplary embodiment of the present application. As shown in fig. 6, the step 200 may further include:
step 260: when the segmentation property of the optimal line segment is that the closed region cannot be segmented independently, selecting a necessary line segment matched with the optimal line segment from the second line segment; wherein the segmentation property of the necessary line segments is that closed regions cannot be segmented separately.
When the dividing property of the optimal line segment is that the closed region cannot be divided independently, namely the dividing property of the optimal line segment is open property, the optimal line segment cannot form a dividing line of a dividing scheme independently. In this case, the necessary line segment that is matched with the optimal line segment to form a segmentation scheme, that is, the optimal line segment needs to form the second line segment combination necessary for a segmentation scheme, may be selected from the second line segments with open segmentation properties.
Step 270: and obtaining an accurate segmentation line according to the optimal line segment and the necessary line segment.
And after the necessary line segment is obtained, combining the optimal line segment and the necessary line segment to obtain a dividing line which can combine and divide the closed region, wherein the dividing line is an accurate dividing line.
Fig. 7 is a flowchart illustrating a method for correcting a dividing line of a cleaning region according to another exemplary embodiment of the present application. As shown in fig. 7, the step 260 may include:
step 261: and changing the pixel value of the second line segment of which the dividing property is that the closed region cannot be divided separately in the second line segment.
The pixel values of all second line segments (namely, the second line segments with the opening property and including the optimal line segment) with the division property that the closed region cannot be independently divided are changed into the pixel values different from the pixel values with the division region, so that the pixel points on the second line segments are distinguished from other pixel points, and a separation line formed by the second line segments with the opening property is formed.
Step 262: restoring the pixel values of the single line segment of the second line segments that change the pixel values.
And restoring the pixel value of a single line segment in the second line segments once, namely restoring the pixel value of one line segment in the second line segments with changed pixel values to be the same as or similar to the pixel values of other pixel points in the belt segmentation area every time so as to judge whether the line segment is a necessary line segment.
Step 263: and filling and rendering the area to be segmented on one side of the optimal line segment.
And when the pixel values of the pixel points on the optimal line segment and the second line segment with the changed pixel values are different from or have larger difference with the pixel values of other pixel points, the pixel points on the optimal line segment and the second line segment with the changed pixel values cannot be rendered.
Step 264: when the area to be segmented on the other side of the optimal line segment is filled and rendered, determining the single line segment as a necessary line segment.
If the area to be segmented on the other side of the optimal line segment is filled and rendered, namely, the rendering process can bypass the optimal line segment to reach the other side of the optimal line segment, the second line segment which lacks the recovered pixel value can not be segmented into a closed area, namely, the second line segment which recovers the pixel value is a necessary line segment; otherwise, the second line segment with the recovered pixel value is not necessarily the line segment.
Exemplary devices
FIG. 8 is a schematic structural diagram of a zoning apparatus for sweeping a zone according to an exemplary embodiment of the present application. The zoning means 80 of the cleaning zone is applied to the cleaning equipment side, and as shown in fig. 8, the zoning means 80 of the cleaning zone comprises: an obtaining module 81, configured to obtain an initial segmentation line; the initial segmentation line represents a line segment which divides the region to be segmented into a plurality of partitions; a correction module 82, configured to correct the initial segmentation line to obtain an optimal line segment; wherein the best line segment represents the closest consecutive segmentation line segment to the initial line segment; the fine segmentation module 83 is configured to determine the optimal line segment as a fine segmentation line when the optimal line segment can be used for separately segmenting a closed region; and a partitioning execution module 84, configured to partition the region to be partitioned according to the precise partition line.
According to the partitioning device for cleaning the area, the initial dividing line is obtained through the obtaining module 81, then the correcting module 82 corrects the initial dividing line to obtain the optimal line segment, when the optimal line segment can be used for independently dividing the closed area, the fine dividing module 83 determines the optimal line segment to be the accurate dividing line, and finally the partitioning execution module 84 partitions the area to be divided according to the accurate dividing line; the cleaning equipment obtains an initial dividing line, corrects the area to be divided according to the initial dividing line to obtain an optimal line segment, and if the optimal line segment can be used for independently dividing a closed area, the closed area is the accurate dividing line, and final partitioning operation is executed according to the accurate dividing line to obtain a partitioning result which meets the requirements of users and is high in accuracy, so that partitioning information is provided for subsequent personalized cleaning.
FIG. 9 is a schematic diagram of a zoning apparatus for sweeping a zone according to another exemplary embodiment of the present application. As shown in fig. 9, the modification module 82 may include: a first line segment obtaining unit 821, configured to obtain a first line segment in the region to be segmented according to two end points of the initial segmentation line, where the first line segment is connected to the two end points of the initial segmentation line; a dividing line point obtaining unit 822, configured to select a pixel point located in the region to be divided on the first line segment as a dividing line point; a grouping unit 823, configured to group the dividing line points to obtain multiple dividing line point groups, where each dividing line point group represents a second line segment including multiple continuous dividing line points; a segmentation property determination unit 824, configured to determine a segmentation property of each second line segment, where the segmentation property indicates whether the second line segment can be individually segmented into a closed region; the optimal segment selecting unit 825 is configured to select a second segment with the highest similarity to the initial segmentation line as the optimal segment.
In an embodiment, the optimal line segment selecting unit 825 may be further configured to: and calculating the contact ratio or distance between each second line segment and the initial segmentation line, and selecting the second line segment corresponding to the maximum contact ratio or the minimum distance as the optimal line segment.
In an embodiment, the dividing line point obtaining unit 822 may be further configured to: and acquiring surrounding pixel points of each pixel point on the first line segment, and determining the corresponding pixel points on the first line segment as the segmentation line points when the surrounding pixel points are all located in the region to be segmented.
In an embodiment, the dividing line point obtaining unit 822 may be further configured to: judging whether a next pixel exists or not; if not, judging whether the pixel point is in the region to be segmented or not; if not, judging the next pixel point, if so, judging whether the surrounding pixel points of the pixel point are all in the area to be segmented; if yes, the pixel point is determined to be a dividing line point, and if not, the pixel point is determined to be a critical point.
In an embodiment, the segmentation property confirmation unit 824 may be further configured to: changing the pixel value of the second line segment; filling and rendering the region to be segmented on one side of the second line segment; when the region to be segmented on the other side of the second line segment is not subjected to filling rendering, determining the segmentation property of the second line segment as a closed property; when the region to be segmented on the other side of the second line segment is filled and rendered, the segmentation property of the second line segment is determined to be an open property.
In an embodiment, as shown in fig. 9, the modification module 82 may further include: and an essential line segment selecting unit 826, configured to select an essential line segment matching the optimal line segment from the second line segments when the segmentation property of the optimal line segment is that the closed region cannot be segmented separately, where the segmentation property of the essential line segment is that the closed region cannot be segmented separately. Correspondingly, the modification module 82 may be further configured to: and obtaining an accurate segmentation line according to the optimal line segment and the necessary line segment.
In an embodiment, the necessary line segment selecting unit 826 may be further configured to: changing the pixel value of a second line segment of which the segmentation property is that a closed region cannot be segmented independently in the second line segment; restoring the pixel values of a single line segment of the second line segments of changed pixel values; filling and rendering the region to be segmented on one side of the optimal line segment; and when the area to be segmented on the other side of the optimal line segment is filled and rendered, determining the single line segment as the necessary line segment.
The present application further provides a cleaning apparatus, including: cleaning the equipment body; a partition control device; the partition control device is configured to execute any one of the above-described partition methods for the cleaning area.
The cleaning equipment obtains an initial segmentation line, then corrects the initial segmentation line to obtain an optimal line segment, determines the optimal line segment as an accurate segmentation line when the optimal line segment can independently segment a closed region, and finally partitions the region to be segmented according to the accurate segmentation line; the cleaning equipment obtains an initial dividing line, corrects the area to be divided according to the initial dividing line to obtain an optimal line segment, and if the optimal line segment can be used for independently dividing a closed area, the closed area is the accurate dividing line, and final partitioning operation is executed according to the accurate dividing line to obtain a partitioning result which meets the requirements of users and is high in accuracy, so that partitioning information is provided for subsequent personalized cleaning.
Exemplary sweeping device
Next, a sweeping apparatus according to an embodiment of the present application is described with reference to fig. 10. The sweeping device may comprise either or both of the first device and the second device, or a stand-alone device separate therefrom, which may be in communication with the first device and the second device to receive the collected input signals therefrom.
FIG. 10 illustrates a block diagram of a cleaning apparatus according to an embodiment of the application.
As shown in fig. 10, sweeping device 10 includes one or more processors 11 and memory 12.
Processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing capabilities and/or instruction execution capabilities, and may clean other components in device 10 to perform desired functions.
Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer readable storage medium and executed by the processor 11 to implement the method of partitioning a cleaning area of the various embodiments of the present application described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, etc. may also be stored in the computer-readable storage medium.
In one example, sweeping device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other form of connection mechanism (not shown).
When the electronic device is a stand-alone device, the input means 13 may be a communication network connector for receiving the acquired input signals from the first device and the second device.
The input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information including the determined distance information, direction information, and the like to the outside. The output devices 14 may include, for example, a display, speakers, a printer, and a communication network and its connected remote output devices, among others.
Of course, for simplicity, only some of the components of sweeping device 10 relevant to the present application are shown in fig. 10, omitting components such as buses, input/output interfaces, and the like. In addition, sweeping device 10 may include any other suitable components depending on the particular application.
Exemplary computer program product and computer-readable storage Medium
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions that, when executed by a processor, cause the processor to perform the steps in the method of partitioning a cleaning area according to various embodiments of the present application described in the "exemplary methods" section of this specification, supra.
The computer program product may be written with program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, cause the processor to perform the steps in the method of partitioning a cleaning area according to various embodiments of the present application described in the "exemplary methods" section above in this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.
The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the devices, apparatuses, and methods of the present application, the components or steps may be decomposed and/or recombined. These decompositions and/or recombinations are to be considered as equivalents of the present application.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the application to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. A method of zoning a cleaning zone, comprising:
obtaining an initial dividing line; wherein the initial dividing line represents a line segment dividing the region to be divided into a plurality of partitions;
correcting the initial segmentation line to obtain an optimal line segment; wherein the optimal line segment represents a continuous segmentation line segment closest to the initial line segment;
when the best line segment can be used for independently segmenting a closed region, determining the best line segment as an accurate segmentation line; and
and partitioning the region to be partitioned according to the accurate partition line.
2. The method of claim 1, wherein the modifying the initial segmentation line to obtain the best line segment comprises:
obtaining a first line segment in the region to be segmented according to two end points of the initial segmentation line; wherein the first segment connects two end points of the initial split line;
selecting pixel points on the first line segment in the region to be segmented as segmentation line points;
grouping the dividing line points to obtain a plurality of dividing line point groups; wherein each of the division line point groups represents a second line segment including a plurality of the division line points in succession;
determining segmentation properties of each of the second line segments; wherein the segmentation property indicates whether the second line segment can be separately segmented into an enclosed region; and
and selecting the second line segment with the highest similarity with the initial segmentation line as the optimal line segment.
3. The partition method of claim 2, wherein the selecting the pixel points on the first segment in the region to be partitioned as the partition line points comprises:
acquiring surrounding pixel points of each pixel point on the first line segment; and
and when the surrounding pixel points are all located in the region to be segmented, determining the corresponding pixel points on the first line segment as segmentation line points.
4. The partition method according to claim 2, wherein the partition property includes a close property indicating that the second segment can be separately partitioned into a closed region; wherein the determining the segmentation property of each of the second line segments comprises:
changing the pixel value of the second line segment;
filling and rendering the region to be segmented on one side of the second line segment; and
when the area to be segmented on the other side of the second line segment is not subjected to filling rendering, determining that the segmentation property of the second line segment is a closed property.
5. The partition method of claim 2 wherein the partition property comprises an open property indicating that the second segment cannot be separately partitioned into a closed region; wherein the determining the segmentation property of each of the second line segments comprises:
changing the pixel value of the second line segment;
filling and rendering the region to be segmented on one side of the second line segment; and
when the area to be segmented on the other side of the second line segment is subjected to filling rendering, determining that the segmentation property of the second line segment is an open property.
6. The partition method of claim 2, wherein the selecting the second segment with the highest similarity to the initial partition line as the best segment comprises:
calculating the coincidence degree or distance between each second line segment and the initial segmentation line; and
and selecting the second line segment corresponding to the maximum contact ratio or the minimum distance as the optimal line segment.
7. The partition method of claim 2, wherein the accurately dividing the image of the region to be divided according to the initial dividing line to obtain the image of the region to be divided containing the accurate dividing line comprises:
when the segmentation property of the optimal line segment is that a closed region cannot be segmented independently, selecting a necessary line segment matched with the optimal line segment from the second line segment; wherein the segmentation property of the necessary line segment is that a closed region cannot be segmented separately; and
and obtaining the accurate segmentation line according to the optimal line segment and the necessary line segment.
8. The method of claim 7, wherein said selecting the necessary ones of the second line segments that match the best line segment comprises:
changing the pixel value of a second line segment of which the dividing property is that a closed region cannot be divided independently in the second line segment;
restoring pixel values of a single one of the second line segments that changed pixel values;
filling and rendering the region to be segmented on one side of the optimal line segment; and
when the area to be segmented on the other side of the optimal line segment is subjected to filling rendering, determining the single line segment as the necessary line segment.
9. A partition device for cleaning an area is applied to a cleaning equipment end, wherein the cleaning equipment is in communication connection with a client end, and the partition device is characterized by comprising:
the acquisition module is used for acquiring an initial segmentation line; wherein the initial dividing line represents a line segment dividing the region to be divided into a plurality of partitions;
the correction module is used for correcting the initial segmentation line to obtain an optimal line segment; wherein the optimal line segment represents a continuous segmentation line segment closest to the initial line segment;
the fine segmentation module is used for determining the optimal line segment as a fine segmentation line when the optimal line segment can be used for independently segmenting a closed region; and
and the partition execution module is used for partitioning the area to be partitioned according to the accurate partition line.
10. A sweeping apparatus, comprising:
cleaning the equipment body;
a partition control device;
the zoning control device is used for executing the zoning method of the cleaning zone according to any of the claims 1 to 8.
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