Method for area dividing in map for mobile robot, mobile robot and computer-readable storage medium

A mobile robot comprising:

• one or more processors;
• and
• a memory coupled to the one or more processors, the memory storing programs that, when executed by the one or more processors, cause performance of operations comprising:
• obtaining a binary map corresponding to a target area;
• determining one or more first areas in the binary map according to partition information, wherein the one or more first areas are undivided areas in the binary map, the partition information corresponds to second areas in the binary map, and the second are as are divided areas in the binary map;
• for each first area of the one or more first areas, determining, according to a size of the first area, the first area as a newly added second area, or merging the first area into a third area that is one of the second areas, thereby obtaining a target area-dividing map;
• and
• controlling the mobile robot according to the target area-dividing map;
• wherein determining, according to the size of the first area, the first area as the newly added second area, or merging the first area into the third area that is one of the second are as, comprises:
• determining a length and a width of the first area;
• in response to the length and the width of the first area being greater than or equal to a first preset threshold, determining an area of the first area;
• in response to the area of the first area being greater than or equal to a second preset threshold, determining the first area as the newly added second area;
• and
• in response to the length or the width of the first area being less than the first preset threshold, or the area of the first area being less than the second preset threshold, merging the first area into the third area.

A non-transitory computer-readable storage medium storing instructions that, when executed by at least one processor of a mobile robot, cause the at least one processor to perform a method, the method comprising:

• obtaining a binary map corresponding to a target area;
• determining one or more first areas in the binary map according to partition information, wherein the one or more first areas are undivided areas in the binary map, the partition information corresponds to second areas in the binary map, and the second areas are divided areas in the binary map;
• for each first area of the one or more first areas, determining, according to a size of the first area, the first area as a newly added second area, or merging the first area into a third area that is one of the second areas, thereby obtaining a target area-dividing map;
• and
• controlling the mobile robot according to the target area-dividing map;
• wherein determining, according to the size of the first area, the first area as the newly added second area, or merging the first area into the third area that is one of the second are as, comprises:
• determining a length and a width of the first area;
• in response to the length and the width of the first area being greater than or equal to a first preset threshold, determining an area of the first area;
• in response to the area of the first area being greater than or equal to a second preset threshold, determining the first area as the newly added second area;
• and
• in response to the length or the width of the first area being less than the first preset threshold, or the area of the first area being less than the second preset threshold, merging the first area into the third area.