Adaptive region division method and system

An adaptive region division system, comprising:

• a sensor module, a feature extraction module, a positioning and mapping module, a virtual door detection module, and a region coverage algorithm module, wherein
• the sensor module is configured to collect laser radar data and odometer data;
• the positioning and mapping module is configured to obtain the laser radar data and the odometer data from the sensor module, and build an environmental map, to determine information about an environment in which a target device is located;
• the feature extraction module is configured to obtain the laser radar data from the sensor module, and perform feature extraction to determine feature data, wherein the feature data comprises line feature data and point feature data;
• the virtual door detection module is configured to generate a virtual door according to the feature data generated in the feature extraction module and the information about the environment in which the target device is located;
• and
• the region coverage algorithm module is configured to divide a to-be-divided region where the target device is located according to the virtual door generated by the virtual door detection module;
• wherein the virtual door detection module is configured to:
• determine a first line according to a line feature detected on a side of the target device;
• determine a first point of the virtual door according to the first line and the point feature data;
• and
• generate the virtual door according to the first point of the virtual door and a second point determined by the first line and the first point of the virtual door, or generate the virtual door according to the first line and the line feature data;
• and
• search, in a set of point feature data, whether there is such a target point, wherein a distance of the target point to an end of the first line is within a preset distance threshold, and if yes, use the target point as the first point of the virtual door;
• or
• if not, use a current location of the target device in the environment as the first point of the virtual door.