Patent ID: 11877716
Assignee: HANGZHOU EZVIZ SOFTWARE CO., LTD.
Field: Furniture, games (Other fields)
Classification: CPC A  G | IPC A  G

Claim 0:
1. A computer-implemented method of determining a region attribute realized by a computer software, wherein the computer software runs on any one of an intelligent cleaning device, a cloud server providing management services for the intelligent cleaning device, or a mobile terminal of a user of the intelligent cleaning device, and the mobile terminal communicates with at least one of the intelligent cleaning device or the cloud server, and the method comprising:
in response to a user instruction about a marker line sent by the user for a target map displayed on the mobile terminal or a display screen of the intelligent cleaning device, identifying a marker line in the target map, wherein the target map is a map of a to-be-cleaned target scene;
determining, based on the identified marker line and an auxiliary object in the target map, an unenclosed region with a first position as a reference point and an enclosed region in the target map, wherein the auxiliary object includes a map boundary and an obstacle, and the first position is a position of a preset reference object in the target map;
determining the enclosed region as a user-defined cleaning region;
determining the unenclosed region as a normal cleaning region such that the intelligent cleaning device cleans the target scene based on the user-defined cleaning region and the normal cleaning region,
wherein the marker line comprises a polygon, the polygon is a rectangle, and the method further comprises:
obtaining current obstacle coordinate information in the to-be-cleaned target scene, wherein the obstacle coordinate information is obtained through:
detecting, by the intelligent cleaning device, coordinates of the obstacle in a coordinate system with the intelligent cleaning device as a origin on the to-be-cleaned target scene with one or more of a radar, a laser, an ultrasound, a visual camera of the intelligent cleaning device, and
converting the coordinates of the obstacle in the coordinate system with the intelligent cleaning device as the origin into coordinates of the obstacle in a world coordinate system;

performing boundary refinement processing on the user-defined cleaning region based on the obstacle coordinate information and the marker line; and
modifying the normal cleaning region based on a processing result obtained by performing the boundary refinement processing, and

wherein performing the boundary refinement processing on the user-defined cleaning region based on the obstacle coordinate information and the marker line comprises:
determining, based on the obstacle coordinate information, a position relationship between the obstacle and a scene region corresponding to the marker line; and
performing boundary refinement processing on the user-defined cleaning region based on the position relationship and a number of obstacles,

wherein, for cleaning the target scene based on the user-defined cleaning region and the normal cleaning region, coordinates of the intelligent cleaning device in the world coordinate system at a moment next to a current moment is determined based on the coordinates of the intelligent cleaning device in the world coordinate system at the current moment, respective distances travelled by a left wheel and a right wheel of the intelligent cleaning device, travelling direction of the intelligent cleaning device, and a distance between the left wheel and the right wheel.