Map drawing method and device, medium and electronic apparatus
AssigneeBeijing Roborock Innovation Technology Co., Ltd.
InventorsZhengtao Hou, Yiming Cong, Jianbin Sun, Lizhi Xiang, Zhendong Jia
Life of this patent
Estimating the term…
Abstract
Provided are a map drawing method, a map drawing device, a computer-readable storage medium and an electronic apparatus. The map drawing method comprises scanning a boundary of a surface medium region to generate an initialized region; merging boundary coordinates of the initialized region to obtain a merged region; dividing the merged region into a plurality of sub-regions according to a preset shape; and drawing the boundary of the surface medium region based on the sub-regions and the merged region to obtain a map of the surface medium region. The method can improve the detailedness of the drawn map of the surface medium region.
Claims14
A map drawing method performed by a robotic cleaning device, comprising:
- scanning a boundary of a surface medium region to generate an initialized region;
- merging boundary coordinates of the initialized region to obtain a merged region;
- forming a plurality of sub-regions from the merged region according to a preset shape;
- generating the boundary of the surface medium region from the sub-regions and the merged region to obtain a map of the surface medium region;
- and
- controlling movement of the robotic cleaning device based on the generated map,
- wherein the initialized region comprises a plurality of initial boundary coordinates, and the merged region comprises a plurality of merged boundary coordinates;
- and
- wherein generating the boundary of the surface medium region from the sub-regions and the merged region comprises:
- deleting the merged boundary coordinates located outside the sub-regions and close to the sub-regions, and connecting the remaining merged boundary coordinates in sequence to generate the boundary of the surface medium region.
A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the computer program, when executed by at least one hardware processor, implements a map drawing method performed by a robotic cleaning device, comprising:
- scanning a boundary of a surface medium region to generate an initialized region;
- merging boundary coordinates of the initialized region to obtain a merged region;
- forming a plurality of sub-regions from the merged region according to a preset shape, and generating the boundary of the surface medium region from the sub-regions and the merged region to obtain a map of the surface medium region;
- and
- controlling movement of the robotic cleaning device based on the generated map,
- wherein the initialized region comprises a plurality of initial boundary coordinates, and the merged region comprises a plurality of merged boundary coordinates;
- and
- wherein generating the boundary of the surface medium region from the sub-regions and the merged region comprises:
- deleting the merged boundary coordinates located outside the sub-regions and close to the sub-regions, and connecting the remaining merged boundary coordinates in sequence to generate the boundary of the surface medium region.
An electronic apparatus, wherein the electronic apparatus is a robotic cleaning device or comprised in the robotic cleaning device, the electronic apparatus comprising:
- at least one hardware processor;
- and
- a memory having processor-executable instructions stored thereon that, when executed, direct the at least one hardware processor to perform a map drawing method, comprising:
- scanning a boundary of a surface medium region to generate an initialized region;
- merging boundary coordinates of the initialized region to obtain a merged region;
- forming a plurality of sub-regions from the merged region according to a preset shape, and generating the boundary of the surface medium region from the sub-regions and the merged region to obtain a map of the surface medium region;
- and
- controlling movement of the robotic cleaning device based on the generated map,
- wherein the initialized region comprises a plurality of initial boundary coordinates, and the merged region comprises a plurality of merged boundary coordinates;
- and
- wherein generating the boundary of the surface medium region from the sub-regions and the merged region comprises:
- deleting the merged boundary coordinates located outside the sub-regions and close to the sub-regions, and connecting the remaining merged boundary coordinates in sequence to generate the boundary of the surface medium region.
Dependencies are inferred from the claim text.