Patent ID: 11914391
Assignee: AMICRO SEMICONDUCTOR CO., LTD.
Field: Control (Instruments)
Classification: CPC G  A  B | IPC A  B  G

Claim 12:
13. The cleaning partition planning method according to claim 12, wherein the specific judgment method of the preset room cleaning partition comprises:
when the outline boundary line segments which define the initial room cleaning partition are not non-wall obstacle line segments, and length of the isolated obstacle line segments in the initial room cleaning partition is smaller than a relatively small value in length of the line segment corresponding to the number of the pixel points of the wall fitting quantity value and the preset ratio of length of any side of the initial room cleaning partition, determining that the initial room cleaning partition belongs to the preset room cleaning partition;
when one of the outline boundary line segments which define the initial room cleaning partition is a non-wall obstacle line segment, or the length of the isolated obstacle line segment inside the initial room cleaning partition is greater than or equal to the length of the line segment corresponding to the number of the pixel points of the wall.fitting quantity value, or the length of the isolated obstacle line segment inside the initial room cleaning partition is greater than or equal to a preset ratio of the length of one side of the initial room cleaning partition, determining that the initial room cleaning partition does not belong to the preset room cleaning partition;
wherein the outline boundary line segments are divided into non-wall obstacle line segments and wall obstacle line segments according to the number of white pixel points, the number of the white pixel points in the non-wall obstacle line segments is greater than or equal to a preset threshold value, and the number of the white pixel points in the wall obstacle line segments is smaller than the preset threshold value; and
wherein isolated obstacle line segments scanned also exist in the laser map, when the length of the isolated obstacle line segment is greater than or equal to one of the preset error ratio of length of one side of the initial room cleaning partition and the length of the line segment corresponding to the number of the pixel points of the wall fitting number value, the isolated obstacle tine segment is marked as the wall obstacle line segment.