CN116300974A - Operation planning, partitioning, operation method, autonomous mobile device and cleaning robot - Google Patents

Abstract

Translated fromChinese

本申请实施例提供一种作业规划、分区、作业方法及自主移动设备、清洁机器人。其中，一方法包括：获取自主移动设备所在场所的场所特征信息；根据所述场所特征信息，将所述场所划分为多个分区；确定所述多个分区中各分区的分区特征信息；根据各分区的分区特征信息，为所述自主移动设备分别确定在各分区作业时所适配的作业模式。采用本申请提供的技术方案，能保证所划分的分区更加合理，较能满足实际的作业需求，此外，还能保证确定的作业模式能与分区的特征相匹配，利于提高自主移动设备作业的效率和效果。

Embodiments of the present application provide an operation plan, a partition, an operation method, an autonomous mobile device, and a cleaning robot. Wherein, a method includes: obtaining the place characteristic information of the place where the autonomous mobile device is located; dividing the place into multiple partitions according to the place characteristic information; determining the partition characteristic information of each partition in the multiple partitions; The partition characteristic information of the partition is used to respectively determine the working mode adapted to each partition for the autonomous mobile device. Adopting the technical solution provided by this application can ensure that the divided partitions are more reasonable and can better meet the actual operation needs. In addition, it can also ensure that the determined operation mode can match the characteristics of the partitions, which is conducive to improving the efficiency of autonomous mobile equipment operations. and effects.

Description

Translated fromChinese

作业规划、分区、作业方法及自主移动设备、清洁机器人Operation planning, zoning, operation methods and autonomous mobile equipment, cleaning robots

技术领域technical field

本申请涉及人工智能技术领域，尤其涉及一种作业规划、分区、作业方法及自主移动设备、清洁机器人。This application relates to the technical field of artificial intelligence, and in particular to an operation planning, zoning, operation method, autonomous mobile equipment, and cleaning robot.

背景技术Background technique

随着人工智能技术的发展，智能清洁设备的使用越来越普遍，比如，家用或商用的清洁机器人。目前，清洁机器人多是按照分区逐区清扫的，具体地，是先将需要清洁的目标环境划分为多个分区，从而再一个分区、一个分区地对目标环境进行逐区清洁。With the development of artificial intelligence technology, the use of smart cleaning equipment is becoming more and more common, such as household or commercial cleaning robots. At present, cleaning robots mostly clean area by area. Specifically, first divide the target environment to be cleaned into multiple areas, and then clean the target environment area by area.

现有的清洁机器人在对目标环境进行分区过程中，通常是以“门”作为分区依据、或者仅依赖于环境的形态学结构来进行分区，上述分区方式使得划分的分区仅能满足结构上的合理性，并不满足实际的清洁需求，进而常会导致所划分的分区不利于清洁机器人的清洁作业，使得清洁机器人清洁的效率和效果均较低下。此外，现有清洁机器人在上述多个不同分区内执行清洁任务时，基本都是采用同一套配置参数，如同一个移动速度、滚刷转速、喷水量等，这也是清洁机器人清洁的效率和效果常比较低的一大原因。In the process of partitioning the target environment, the existing cleaning robots usually use "doors" as the basis for partitioning, or only rely on the morphological structure of the environment to partition. The above partitioning methods make the partitions only meet the structural requirements. The rationality does not meet the actual cleaning needs, which often leads to the division of partitions that are not conducive to the cleaning operation of the cleaning robot, making the cleaning efficiency and effect of the cleaning robot lower. In addition, when the existing cleaning robots perform cleaning tasks in the above-mentioned multiple different zones, they basically use the same set of configuration parameters, such as the same moving speed, rotating speed of the roller brush, water spray volume, etc., which is also the efficiency and effect of the cleaning robot. A major reason is often relatively low.

发明内容Contents of the invention

鉴于上述问题，本申请提供一种解决上述问题或至少部分地解决上述问题的一种作业规划、分区、分区作业方法及自主移动设备、清洁机器人。In view of the above problems, the present application provides an operation planning, partitioning, partitioning operation method, autonomous mobile equipment, and cleaning robot that solve the above problems or at least partially solve the above problems.

在本申请的一个实施例中，提供了一种作业规划方法。该方法包括：In one embodiment of the present application, a job planning method is provided. The method includes:

获取自主移动设备所在场所的场所特征信息；Obtain information on site characteristics of the site where the autonomous mobile device is located;

根据所述场所特征信息，将所述场所划分为多个分区；dividing the place into a plurality of partitions according to the characteristic information of the place;

确定所述多个分区中各分区的分区特征信息；determining partition characteristic information of each partition in the plurality of partitions;

根据各分区的分区特征信息，为所述自主移动设备分别确定在各分区作业时所适配的作业模式。According to the partition characteristic information of each partition, the working mode adapted to each partition is determined for the autonomous mobile device respectively.

在本申请的另一个实施例中，还提供了一种分区方法。该方法包括：In another embodiment of the present application, a partitioning method is also provided. The method includes:

获取自主移动设备所在场所的环境数据；Obtain environmental data on the premises where autonomous mobile devices are located;

基于所述环境数据，识别所述场所的场所特征信息；identifying site characteristic information of the site based on the environmental data;

根据所述场所特性信息，对所述场所进行分区。The places are partitioned according to the place characteristic information.

在本申请的又一个实施例中，还提供一种分区作业方法。该方法包括：In yet another embodiment of the present application, a partition operation method is also provided. The method includes:

确定自主移动设备所在场所对应的多个分区各自的分区特征信息；Determine the respective partition characteristic information of multiple partitions corresponding to the place where the autonomous mobile device is located;

为所述自主移动设备分别确定与各分区的分区特征信息相匹配的作业模式；Determining, for the autonomous mobile device, an operation mode that matches the partition characteristic information of each partition;

控制所述自主移动设备采用与各分区的分区特征信息相匹配的作业模式，在各分区内执行作业任务。The autonomous mobile device is controlled to adopt an operation mode matching the partition feature information of each partition, and execute the operation task in each partition.

本申请的又一个实施例中，提供一种自主移动设备，该自主移动设备包括：In yet another embodiment of the present application, an autonomous mobile device is provided, and the autonomous mobile device includes:

行进装置，用于为自主移动设备提供行进动力；Propulsion devices for providing propulsion power for autonomous mobile equipment;

存储器，存储一条或多条计算机指令；memory, storing one or more computer instructions;

处理器，与所述存储器耦合，用于执行所述一条或多条计算机指令，以用于实现上述作业规划方法或分区方法或分区作业方法中的步骤。A processor, coupled with the memory, is used to execute the one or more computer instructions, so as to implement the steps in the above job planning method or partitioning method or partitioning operation method.

本申请各实施例提供的技术方案，是基于自主移动设备（或清洁机器人）所在场所的场所特征信息，来将该场所划分为多个分区的，这种分区方案能够使得分区更加合理，更能满足实际的作业需求，利于后续自主移动设备的作业，提高自主移动设备（或清洁机器人）作业的效率和效果。进一步地，还会确定多个分区中各分区的分区特征信息，进而根据各分区的分区特征信息来为自主移动设备（或清洁机器人）分别确定在各分区作业时所适配的作业模式，这种作业模式确定方式，能保证自主移动设备（或清洁机器人）按照分区执行作业任务时，分别在各分区内采用的作业模式与各分区的分区特性信息相匹配，利于更进一步地提高自主移动设备作业的效率和效果。The technical solutions provided by the embodiments of the present application are based on the feature information of the place where the autonomous mobile device (or cleaning robot) is located, to divide the place into multiple partitions. This partition scheme can make the partitions more reasonable and more efficient. Meet the actual operation needs, facilitate the subsequent operation of autonomous mobile equipment, and improve the efficiency and effect of autonomous mobile equipment (or cleaning robot) operations. Furthermore, the partition characteristic information of each partition in the multiple partitions will be determined, and then according to the partition characteristic information of each partition, the autonomous mobile device (or cleaning robot) will be respectively determined to work in each partition. This way of determining the operation mode can ensure that when the autonomous mobile device (or cleaning robot) performs the operation task according to the partition, the operation mode adopted in each partition matches the partition characteristic information of each partition, which is conducive to further improving the autonomous mobile device. work efficiency and effectiveness.

附图说明Description of drawings

为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present application. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

图1为本申请一实施例提供的作业规划方法的流程示意图；FIG. 1 is a schematic flow chart of a job planning method provided by an embodiment of the present application;

图2a至图2e为本申请实施例提供的场所中可能出现的不同区域的示意图；Figures 2a to 2e are schematic diagrams of different areas that may appear in the places provided by the embodiments of the present application;

图3为本申请一实施例提供的作业模式设置原理示意图；Fig. 3 is a schematic diagram of the operating mode setting principle provided by an embodiment of the present application;

图4为本申请另一实施例提供的作业模式设置原理示意图；Fig. 4 is a schematic diagram of the operating mode setting principle provided by another embodiment of the present application;

图5为本申请一实施例提供的分区方法的流程示意图；FIG. 5 is a schematic flowchart of a partitioning method provided by an embodiment of the present application;

图6为本申请一实施例提供的分区作业方法的流程示意图；FIG. 6 is a schematic flow diagram of a partition operation method provided by an embodiment of the present application;

图7为本申请一实施例提供的自主移动设备的结构示意图；FIG. 7 is a schematic structural diagram of an autonomous mobile device provided by an embodiment of the present application;

图8为本申请一实施例提供的某商场的平面示意图；Fig. 8 is a schematic plan view of a shopping mall provided by an embodiment of the present application;

图9为本申请一实施例提供的计算机程序产品的结构示意图。FIG. 9 is a schematic structural diagram of a computer program product provided by an embodiment of the present application.

具体实施方式Detailed ways

清洁机器人是一种可以自动在需要清洁的环境中执行清洁任务的设备。目前，按照使用环境，清洁机器人主要分为如下两类：用于清洁家庭环境的家用清洁机器人、用于清洁商场环境的商用清洁机器人。无论是家庭环境还是商用环境，清洁机器人的清洁效果和清洁效率都是影响用户体验的重要指标，上述两个指标主要依赖于清洁机器人的清洁规划逻辑，该清洁规划逻辑包括：分区规划、清洁作业规划策略；其中，清洁作业规划策略，即为规划的清洁作业逻辑（也称为清洁作业模式），具体可理解为对上文所述的配置参数（如清洁时的移动速度、滚刷转速、喷水量等）的规划。A cleaning robot is a device that can automatically perform cleaning tasks in an environment that needs to be cleaned. At present, according to the use environment, cleaning robots are mainly divided into the following two categories: household cleaning robots used to clean the home environment, and commercial cleaning robots used to clean the shopping mall environment. Whether it is a home environment or a commercial environment, the cleaning effect and cleaning efficiency of the cleaning robot are important indicators that affect the user experience. The above two indicators mainly depend on the cleaning planning logic of the cleaning robot. The cleaning planning logic includes: partition planning, cleaning operations Planning strategy; among them, the cleaning operation planning strategy is the planned cleaning operation logic (also known as the cleaning operation mode), which can be specifically understood as the configuration parameters mentioned above (such as the moving speed during cleaning, the rotation speed of the roller brush, Water spray volume, etc.) planning.

现有的清洁机器人在对需要清洁的环境实现按照分区清洁时，由于其在对环境进行分区时仅简单地是使划分的分区满足形态学结构上的合理性、以及在清洁过程中基本在每个分区内都是用同一套清洁作业规划策略（即上文所述的同一套配置参数）来进行清洁，为此使得实际上清洁的效率和效果均并不高，尤其在复杂多变的商用场景下，现有清洁机器人实际清洁的效率和效果往往更差。例如，现有的清洁机器人对环境分区时，所得到的分区有些形状比较特殊，如形状、轮廓不规整，从而造成不利于清洁机器人的清洁作业；或者，因有的分区静态障碍物比较多，有的分区动态障碍物比较多，有的分区形状特殊、有的分区比较空旷等，而现有的清洁机器人针对上述具有不同特征的分区，仅简单地均用同一套清洁作业规划逻辑来对不同的分区进行清洁，并未考虑各分区自身的特征，其清洁的效率和效果必然低下，难以达到预期。When the existing cleaning robot cleans the environment that needs to be cleaned according to the partitions, because it simply makes the partitions meet the rationality of the morphological structure when partitioning the environment, and basically in each cleaning process The same set of cleaning operation planning strategy (that is, the same set of configuration parameters mentioned above) is used for cleaning in each partition, so the efficiency and effect of cleaning are actually not high, especially in complex and changeable commercial areas. In this scenario, the actual cleaning efficiency and effect of existing cleaning robots are often worse. For example, when the existing cleaning robot partitions the environment, some partitions obtained have special shapes, such as irregular shapes and contours, which are not conducive to the cleaning operation of the cleaning robot; or, because some partitions have more static obstacles, Some partitions have more dynamic obstacles, some partitions have special shapes, and some partitions are relatively empty, etc. However, the existing cleaning robots simply use the same set of cleaning operation planning logic for different partitions with different characteristics. The cleaning of the partitions does not take into account the characteristics of each partition, so the cleaning efficiency and effect are bound to be low, and it is difficult to meet expectations.

为此，为更好的提高清洁机器人清洁的效率和效果，本申请针对清洁机器人提供了一种基于环境特征来实现作业规划（包括分区、作业模式）的技术方案。具体地，是先基于清洁机器人所在场所的场所特征来对该场所进行分区，得到多个分区；之后，再结合各分区的分区特征，来为清洁机器人确定在各分区内作业时应采用的与各分区的分区特征相匹配的作业模式，从而使得清洁机器人在各分区内使用相匹配的作业模式执行清洁任务。上述所述的场所即为需要进行清洁的目标环境。For this reason, in order to better improve the cleaning efficiency and effect of the cleaning robot, this application provides a technical solution for the cleaning robot to implement operation planning (including partitions and operation modes) based on environmental characteristics. Specifically, the site is first partitioned based on the site characteristics of the cleaning robot to obtain multiple partitions; then, combined with the partition characteristics of each partition, the cleaning robot should be used when working in each partition. Each partition has a matching operation mode, so that the cleaning robot uses a matching operation mode to perform cleaning tasks in each partition. The places mentioned above are the target environments that need to be cleaned.

为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

在本申请的说明书、权利要求书及上述附图中描述的一些流程中，包含了按照特定顺序出现的多个操作，这些操作可以不按照其在本文中出现的顺序来执行或并行执行。操作的序号如101、102等，仅仅是用于区分各个不同的操作，序号本身不代表任何的执行顺序。另外，这些流程可以包括更多或更少的操作，并且这些操作可以按顺序执行或并行执行。需要说明的是，本文中的“第一”、“第二”等描述，是用于区分不同的模式、设备、模块等，不代表先后顺序，也不限定“第一”和“第二”是不同的类型。此外，下文所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。Some processes described in the specification, claims, and above-mentioned drawings of the present application contain multiple operations appearing in a specific order, and these operations may not be executed in the order in which they appear herein or executed in parallel. The serial numbers of the operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. Additionally, these processes can include more or fewer operations, and these operations can be performed sequentially or in parallel. It should be noted that the descriptions of "first" and "second" in this article are used to distinguish different modes, devices, modules, etc. are different types. In addition, the embodiments described below are only some of the embodiments of the present application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of this application.

以下结合附图，详细说明本申请各实施例提供的技术方案。The technical solutions provided by various embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

图1示出了本申请一实施例提供的作业规划方法的流程示意图。该方法的执行主体可以是自主移动设备，更具体地，可以是自主移动设备内的处理器，处理器可为具有数据处理、计算能力的器件，如CPU（Central Processing Unit，中央处理器）、微处理器等。上述自主移动设备可以是带有清洁功能的智能设备，如家用或商用的清洁机器人；或者，还可以是智能巡检机器人、公共服务机器人（如引导机器人）等等，本申请对此不作具体限定。如图1所示，本实施例提供的所述作业规划方法包括如下步骤：Fig. 1 shows a schematic flowchart of a job planning method provided by an embodiment of the present application. The subject of execution of the method may be an autonomous mobile device, more specifically, it may be a processor in the autonomous mobile device, and the processor may be a device with data processing and computing capabilities, such as a CPU (Central Processing Unit, central processing unit), Microprocessor etc. The aforementioned autonomous mobile device may be a smart device with cleaning functions, such as a household or commercial cleaning robot; or, it may also be an intelligent inspection robot, a public service robot (such as a guiding robot), etc., which are not specifically limited in this application . As shown in Figure 1, the operation planning method provided in this embodiment includes the following steps:

101、获取自主移动设备所在场所的场所特征信息；101. Acquiring site characteristic information of the site where the autonomous mobile device is located;

102、根据所述场所特征信息，将所述场所划分为多个分区；102. Divide the place into multiple partitions according to the place feature information;

103、确定所述多个分区中各分区的分区特征信息；103. Determine partition characteristic information of each partition in the multiple partitions;

104、根据各分区的分区特征信息，为所述自主移动设备分别确定在各分区内所适配的作业模式。104. According to the partition characteristic information of each partition, respectively determine, for the autonomous mobile device, an adapted operation mode in each partition.

上述101中，场所即为自主移动设备需要作业的环境区域。具体地，场所可以为家庭场所；或者，也可以为小中大型商用场所，比如商场、银行大厅、医院区域、办公大厦等等，此处不作限定。In the above 101, the location is the environmental area where the autonomous mobile device needs to work. Specifically, the place may be a home place; or, it may also be a small, medium or large commercial place, such as a shopping mall, a bank lobby, a hospital area, an office building, etc., which is not limited here.

自主移动设备上可设置有一个或多个传感器，该一个或多个传感器用于在自主移动设备行进过程中采集自主移动设备自身的数据和与其周围环境有关的数据。例如，在一应用场景中，自主移动设备上安装有摄像头，通过摄像头可以采集行进过程中的环境图像，并基于该环境图像识别环境特征、构建相应的地图等。再例如，在另一应用场景中，自主移动设备上还安装有激光雷达，通过激光雷达可以采集行进过程中周围环境的三维点云数据，并基于采集的三维点云数据识别环境特征、构建相应地图等。其中，自主移动设备可采用但不局限于SLAM（Simultaneous Localization and Mapping，即时定位与地图构建）技术构建相应区域的地图。基于此，在一种可实现技术方案中，上述101“获取自主移动设备所处场所的场所特征信息”，可具体包括：One or more sensors may be arranged on the autonomous mobile device, and the one or more sensors are used to collect data of the autonomous mobile device itself and data related to its surrounding environment during the traveling process of the autonomous mobile device. For example, in an application scenario, a camera is installed on the autonomous mobile device, and the camera can collect environmental images during travel, identify environmental features based on the environmental images, and construct corresponding maps. For another example, in another application scenario, the autonomous mobile device is also equipped with a laser radar, which can collect 3D point cloud data of the surrounding environment during travel, and based on the collected 3D point cloud data, identify environmental features and build a corresponding map etc. Among them, the autonomous mobile device can use but not limited to SLAM (Simultaneous Localization and Mapping, real-time positioning and map construction) technology to construct a map of the corresponding area. Based on this, in an achievable technical solution, the above 101 "obtaining the location characteristic information of the location where the autonomous mobile device is located" may specifically include:

1011、获取所述场所的环境数据；1011. Obtain the environmental data of the place;

1012、基于所述环境数据，识别所述场所的场所特征信息。1012. Based on the environment data, identify the place characteristic information of the place.

具体实施时，上述环境数据可为环境图像、环境三维点云数据中的至少一种。利用适配的识别分析方法，比如通过深度学习神经网络训练得到的识别模型，对环境数据进行识别，从而识别出该场所的场所特征信息，以备后续辅助对场所进行分区。During specific implementation, the above-mentioned environment data may be at least one of environment images and environment three-dimensional point cloud data. Using an adapted recognition analysis method, such as a recognition model trained by a deep learning neural network, to recognize the environmental data, thereby identifying the characteristic information of the place for subsequent assistance in partitioning the place.

上述场所特征信息可包括但不限于如下中的至少一项：障碍物信息、边界信息、地面材质信息、区域面积信息。上述障碍物信息可包括障碍物的分布信息（能反映出障碍物所处位置）、数量信息、类型等，障碍物可是指动态障碍物（如走动的人、动物、移动的机械设备等）、静态障碍物（如墙体、前台、模拟花坛、固定座椅等）。上述边界信息可包括场所的外边界、内边界等信息，其中，内边界可是指由场所内固定物体的外轮廓形成的边界，比如：场所内有一模拟花坛，该模拟花坛的外轮廓即为此场所的内边界。The above site feature information may include but not limited to at least one of the following: obstacle information, boundary information, ground material information, area area information. The above obstacle information may include the distribution information of the obstacle (which can reflect the location of the obstacle), quantity information, type, etc. The obstacle may refer to a dynamic obstacle (such as walking people, animals, moving mechanical equipment, etc.), Static obstacles (such as walls, front desks, simulated flower beds, fixed seats, etc.). The above boundary information may include information such as the outer boundary and inner boundary of the place, wherein the inner boundary may refer to the boundary formed by the outer contour of a fixed object in the place, for example: there is a simulated flower bed in the place, and the outer contour of the simulated flower bed is this The inner boundary of the place.

例如，以环境数据为环境三维点云数据为例，其中，该环境三维点云数据中包含场所的地面三维点云数据，则：基于该地面三维点云数据，可先识别出场所的地面特性信息，从而根据该地面特征信息确定场所的地面材质信息；其中，上述地面特征信息可以是指能够反映场所内地面特征的任何信息，如地面纹理特征。基于上述确定出的地面材质信息，也就可以确定场所中不同区域地面所采用的地面材质类型，其中，地面材质类型可以为但不限于：地砖（如瓷砖）、地板、混凝土地面、石材地面、塑胶材质地面、地毯等等。地面材质不同，表示区域不同，为此可以将地面材质类型作为场所的一种特征信息，用于辅助后续对场所进行分区。For example, taking the environmental data as the environmental three-dimensional point cloud data as an example, where the environmental three-dimensional point cloud data includes the ground three-dimensional point cloud data of the site, then: based on the ground three-dimensional point cloud data, the ground characteristics of the site can be identified first Information, so as to determine the ground material information of the site according to the ground feature information; wherein, the above ground feature information may refer to any information that can reflect the ground features in the site, such as ground texture features. Based on the ground material information determined above, it is also possible to determine the type of ground material used on the ground in different areas of the site, where the type of ground material can be but not limited to: floor tiles (such as ceramic tiles), floors, concrete floors, stone floors, Plastic floors, carpets, etc. Different ground materials represent different areas. Therefore, the type of ground material can be used as a kind of characteristic information of the site to assist in subsequent zoning of the site.

此外，在示例中利用上述环境三维点云数据还可以识别地面的边界线信息、障碍物信息等。In addition, in an example, using the above-mentioned three-dimensional point cloud data of the environment can also identify ground boundary line information, obstacle information, and the like.

在得到场所的场所特征信息后，可以进一步地结合本实施例预设的分区规则，实现对场所进行分区。其中，分区规则可以是但不限于以面积、边界形状、障碍物数量、地面材质类型等作为依据进行事先预设的。基于此，即在一种可实现技术方案中，上述102“根据所述场所特征信息，将所述场所划分为多个分区”，可具体包括：After the location feature information of the location is obtained, the partitioning rule preset in this embodiment may be further combined to implement partitioning of the location. Wherein, the division rules may be, but not limited to, pre-preset based on area, boundary shape, number of obstacles, ground material type, etc. Based on this, that is, in an achievable technical solution, the above 102 "dividing the place into multiple partitions according to the characteristic information of the place" may specifically include:

1021、获取至少一项分区规则；1021. Obtain at least one partition rule;

1022、根据所述场所特性信息，按照所述至少一项分区规则将所述场所划分为多个分区。1022. According to the place characteristic information, divide the place into multiple partitions according to the at least one partition rule.

其中，上述至少一项分区规则包括但不限于如下中的至少一项规则：Among them, the above at least one partition rule includes but is not limited to at least one of the following rules:

规则①：将所述场所中区域面积大于或等于第一阈值的区域划分为一个单独的分区、面积小于所述第一阈值的区域则与相邻区域合并为一个分区；Rule ①: Divide the area in the site with an area greater than or equal to the first threshold into a separate subregion, and the area with an area smaller than the first threshold is merged with adjacent areas into one subregion;

规则②：将所述场所中障碍物密度满足不同第二阈值条件的不同区域，划分为不同的分区；Rule ②: Divide different regions in the place where the obstacle density satisfies different second threshold conditions into different partitions;

规则③：将所述场所中边界形状满足预设形状条件的区域，划分为一个分区；Rule ③: Divide the area in the place where the boundary shape meets the preset shape condition into a partition;

规则④：在所述场所中边界形状不满足预设形状条件的区域内，确定最大内接几何图形；将所述最大内接几何图形围成的区域划分为一个分区；Rule ④: In the area where the boundary shape of the site does not meet the preset shape conditions, determine the largest inscribed geometric figure; divide the area surrounded by the largest inscribed geometric figure into a partition;

规则⑤：将所述场所中长度和宽度的比值大于第三阈值的区域划分为一个分区；Rule ⑤: Divide the area in the place where the ratio of length to width is greater than the third threshold as a partition;

规则⑥：将所述场所中未同一地面材质类型的区域划分为一个分区。Rule ⑥: Divide the areas in the site that do not have the same type of ground material into one partition.

上述中，一区域的障碍物密度反映的是该区域内的障碍物数量。所述的第一阈值、第二阈值条件、第三阈值、预设形状条件等，都可以根据实际情况灵活设置，此处不作限定。比如，第一阈值可以根据自主移动设备的机身尺寸大小进行设置；第二阈值条件可包括至少一个第二阈值；预设形状条件主要是用来约束边界形状应为较为规整的形状，比如预设形状条件可包括但不限于三角形、四边形（如矩形、正方形、平行四边形、梯形）、六边形、圆形，等等。对于边界形状如呈类似于散射状（如图2d中示出的边界形状为十六角星），则视为是不规整形状。In the above, the obstacle density of an area reflects the number of obstacles in the area. The first threshold, the second threshold condition, the third threshold, the preset shape condition, etc. can be flexibly set according to the actual situation, and are not limited here. For example, the first threshold can be set according to the body size of the autonomous mobile device; the second threshold condition can include at least one second threshold; the preset shape condition is mainly used to constrain the boundary shape to be a more regular shape, such as the preset The shape conditions may include, but are not limited to, triangles, quadrilaterals (such as rectangles, squares, parallelograms, trapezoids), hexagons, circles, and the like. If the boundary shape is similar to a scattering shape (the boundary shape shown in Figure 2d is a sixteen-pointed star), it is considered to be an irregular shape.

根据场所特性信息并结合上述至少一项分区规则，可以通过对场所的地图进行分区，以此来实现将场所划分为多个分区。According to the place characteristic information and in combination with at least one of the above partition rules, the map of the place can be partitioned, so as to divide the place into multiple partitions.

为便于理解，下面针对上述所述的至少一项分区规则举几个示例详述一下上述步骤1022的具体实现。For ease of understanding, the specific implementation of the above-mentioned step 1022 will be described in detail below with a few examples for the above-mentioned at least one partition rule.

示例1、根据场所的边界信息，自主移动设备是可以在场所的地图上绘制出其所在的此场所相应的边界信息的。基于上述绘制的边界信息，假设确定场所的地图中包含如图2a中示出的三个区域，即区域A、区域B、区域C，其中，区域A和区域C的面积均小于第一阈值、区域C的面积大于第一阈值，则：在划分分区时，既使区域A和区域B的边界形状为规整的形状（即满足预设形状条件），但由于面积较小，故并不会将区域A和区域B分别单独划分为一个区域，而是会将区域A和区域B与其相邻的区域C合并，以此将合并后的区域A、区域B和区域C划分为一个分区。Example 1. According to the boundary information of the place, the autonomous mobile device can draw the corresponding boundary information of the place where it is located on the map of the place. Based on the boundary information drawn above, it is assumed that the map of the determined site contains three areas as shown in Figure 2a, namely area A, area B, and area C, wherein the areas of area A and area C are both smaller than the first threshold, If the area of area C is greater than the first threshold, then: when dividing partitions, even if the boundary shapes of area A and area B are regular shapes (that is, satisfy the preset shape condition), but because the area is small, it will not be divided into Area A and area B are separately divided into one area, but area A, area B and its adjacent area C will be merged to divide the merged area A, area B, and area C into one partition.

示例2、假设上述分区规则②中的第二阈值条件包括高密度阈值和低密度阈值，高密度阈值大于低密度阈值。在该分区规则②对场所进行分区时，可以先将场所的地图进行栅格化；然后根据场所的障碍物信息，确定每个栅格的障碍物密度；若某栅格的障碍物密度大于高密度阈值，则该网格属于高密度区域（或称稠密区域）；若某栅格的障碍物密度小于或等于高密度阈值，且大于或等于低密闭阈值，则该网格属于普通密度区域（或称中密度区域、少量密度区域）；若某栅格的障碍物密度小于低密度阈值，则该网格属于低密度区域（或称空闲区域）。其中，若相邻的两个栅格的障碍物密度满足同一密度阈值条件，比如均大于高密度阈值，则可以将该相邻的两个栅格进行合并为一个栅格。由上，分析出地图中各区域的障碍物密度属性后，可以将障碍物密度属性不同的区域单独划分成不同的分区，以便利于后续的作业模式规划。Example 2. It is assumed that the second threshold condition in the above partition rule ② includes a high-density threshold and a low-density threshold, and the high-density threshold is greater than the low-density threshold. When the zoning rule ② divides the site, the map of the site can be gridded first; then according to the obstacle information of the site, the obstacle density of each grid can be determined; if the obstacle density of a certain grid is greater than the high Density threshold, the grid belongs to high density area (or dense area); if the obstacle density of a grid is less than or equal to the high density threshold, and greater than or equal to the low airtight threshold, the grid belongs to the normal density area ( Or called a medium-density area, a small amount of density area); if the obstacle density of a grid is less than the low-density threshold, the grid belongs to a low-density area (or a free area). Wherein, if the obstacle densities of two adjacent grids meet the same density threshold condition, for example, both are greater than a high density threshold, the two adjacent grids may be merged into one grid. From the above, after analyzing the obstacle density attributes of each area in the map, the areas with different obstacle density attributes can be divided into different partitions separately, so as to facilitate subsequent operation mode planning.

例如，参见图2b所示，假设地图中的区域D、区域E的障碍物密度属性分别为低密度区域、高密度区域，则在划分时，便会将区域D划分为一个分区，将区域E划分为另一个分区。图2b中示出的六角星表示障碍物。For example, as shown in Figure 2b, assuming that the obstacle density attributes of area D and area E in the map are low-density area and high-density area respectively, then when dividing, area D will be divided into one partition, and area E into another partition. The six-pointed star shown in Figure 2b represents an obstacle.

示例3、参见图2c所示，根据地图中包含的场所的边界信息，确定区域G的边界形状为矩形（满足预设形状条件要求）、且该区域G的长度比其宽度大很多，即该区域G的长度与宽度的比值大于第三阈值，该类区域一般为长走廊区域，则在分区时，会将区域G单独划分为一个分区，而并不会将该区域G与其相连的区域F和区域H合并划分为一个分区。此外，若上述区域H和区域F的面积均大于第一阈值、且边界形状也满足预设形状条件，则也会将该区域H和区域F分别单独划分为一个分区。Example 3, see Figure 2c, according to the boundary information of the place contained in the map, determine that the boundary shape of the area G is a rectangle (meeting the preset shape condition requirements), and the length of the area G is much larger than its width, that is, the The ratio of the length to width of the area G is greater than the third threshold, and this type of area is generally a long corridor area. When partitioning, the area G will be divided into a separate partition, and the area G will not be connected to the area F It is merged with area H and divided into one partition. In addition, if the area of the above-mentioned area H and area F is greater than the first threshold and the boundary shape also meets the preset shape condition, then the area H and the area F will be separately divided into a partition.

示例4、参见图2d所示，根据地图中包含的场所的边界信息，确定区域K面积大于第一阈值，但其边界形状为十六角星，不满足预设形状条件，则在分区时，是先确定该区域K的最大内接圆形（如图2d中以虚线示出的最大内接圆形），进而将该最大内接圆形围成的区域划分为一个分区。Example 4, see Figure 2d, according to the boundary information of the place contained in the map, it is determined that the area of the area K is greater than the first threshold, but its boundary shape is a sixteen-pointed star, which does not meet the preset shape conditions, then when partitioning, It is first to determine the largest inscribed circle of the area K (such as the largest inscribed circle shown by a dotted line in Figure 2d), and then divide the area enclosed by the largest inscribed circle into a partition.

示例5、参见图2e所示，假设根据场所的地面材质信息，确定场所的地图中的区域L包含的子区域M的地面材质类型为地毯，除子区域M之外的剩余区域为瓷砖，则在分区时，将子区域M划分为一个分区，区域L中除子区域M之外的剩余区域则划分为另一个分区。Example 5, as shown in Figure 2e, assuming that according to the ground material information of the place, it is determined that the ground material type of the sub-region M contained in the region L in the map of the place is carpet, and the remaining regions except the sub-region M are ceramic tiles, then When partitioning, the subregion M is divided into one partition, and the remaining regions in the region L except the subregion M are divided into another partition.

上述给出的示例1至示例5，主要是从按照单一分区规则角度来介绍说明对场所进行划分以分区的，在实际中，上述所述的至少一项分区规则之间有一定逻辑顺序，在划分时还会结合至少一个项分区规则的逻辑顺序。即，上述1022“根据所述场所特性信息，按照所述至少一项分区规则将所述场所划分为多个分区”，可采用如下具体步骤来实现：The examples 1 to 5 given above mainly introduce and illustrate the division and zoning of places from the perspective of a single zoning rule. In practice, there is a certain logical order among at least one of the zoning rules mentioned above. Partitioning is also combined with a logical order of at least one item partitioning rule. That is, the above-mentioned 1022 "dividing the place into multiple partitions according to the at least one partition rule according to the characteristic information of the place" can be realized by the following specific steps:

确定所述至少一项分区规则的逻辑顺序；determining a logical order of the at least one partitioning rule;

根据所述场所特征信息，按照所述至少一项分区规则和所述至少一项分区规则的逻辑顺序，将所述场所划分为多个分区。According to the place feature information, the place is divided into multiple partitions according to the at least one partition rule and the logical sequence of the at least one partition rule.

具体实施时，上述所述的逻辑顺序是：与面积和形状有关的规则优先于与障碍物密度和地面材质类型有关的规则；对于与面积有关的规则（如上述规则①）和与形状有关的规则（如上述规则③、规则④、规则⑤）之间的逻辑顺序、以及与障碍物密度有关的规则（如上述规则②）和与地面材质类型有关的规则（如上述规则⑥）之间的逻辑顺序，本实施例则不作具体限定，例如，与面积有关的规则可优先于与形状有关的规则、与障碍物密度有关的规则可优先于与地面材质类型有关的规则。In actual implementation, the logical sequence mentioned above is: the rules related to area and shape take precedence over the rules related to obstacle density and ground material type; The logical sequence between the rules (such as the above-mentioned rule ③, rule ④, and rule ⑤), and the rules related to the obstacle density (such as the above-mentioned rule ②) and the rules related to the ground material type (such as the above-mentioned rule ⑥) The logical sequence is not specifically limited in this embodiment. For example, rules related to area may take priority over rules related to shape, and rules related to obstacle density may take priority over rules related to ground material type.

由上，本实施例在对场所划分以分区时，划分逻辑是：先满足于面积和形状上的规则，之后再去满足障碍物密度和地面材质类型上的规则。From the above, when this embodiment divides the site into zones, the division logic is: first satisfy the rules of area and shape, and then satisfy the rules of obstacle density and ground material type.

例如，可继续参见图2a示出的场所中包含的三个区域：区域A、区域B、区域C，其中，区域A和区域C的面积均小于第一阈值、区域C的面积大于第一阈值，假设区域A的地面为地毯、区域B的地面为瓷砖、区域C的地面为木质地板，则：按照分区规则的如下逻辑顺序：与面积有关的规则优先于与形状有关的规则、与形状有关的规则优先于与地面材质有关的规则，在对场所进行分区时，虽然上述区域A、区域B和区域C的地面材质不同、且区域A和区域B的边界形状为规整的形状（即满足预设形状条件），但由于面积较小，为此并不会将区域A和区域B分别单独的划分为一个分区，而是会将区域A和区域B与其相邻的区域C合并，以此将合并后的区域A、区域B和区域C划分为一个分区。上述合并后所获得的一个分区中虽包含有三种地面材质，不过由于其中的地毯地面、瓷砖地面相对于木质地板地面占比是比较小的，后续在确定此分区的分区特征信息以用于为自主移动设备确定在此分区的作业模式时，可根据此分区包含的地面材质类型，将此分区的分区类型确定为木质地板区，这对自主移动设备整体的作业效率和效果并不会存在太大的影响。For example, you can continue to refer to the three areas contained in the place shown in Figure 2a: area A, area B, and area C, wherein the areas of area A and area C are both smaller than the first threshold, and the area of area C is greater than the first threshold , assuming that the floor in area A is carpet, the floor in area B is ceramic tiles, and the floor in area C is wooden floor, then: according to the following logical sequence of zoning rules: rules related to area take precedence over rules related to shape, and rules related to shape The rules of the rules take precedence over the rules related to the ground material. When the site is divided, although the ground materials of the above-mentioned area A, area B, and area C are different, and the boundary shape of area A and area B is a regular shape (that is, it meets the predetermined set the shape condition), but due to the small area, the area A and the area B will not be divided into a separate partition, but the area A and the area B will be merged with the adjacent area C, so that the The merged Region A, Region B, and Region C are divided into one partition. Although a partition obtained after the above merger contains three types of floor materials, since the proportion of the carpet floor and tile floor is relatively small compared to the wooden floor, the subsequent determination of the partition feature information of this partition will be used for When the autonomous mobile device determines the operation mode of this partition, it can determine the partition type of this partition as a wooden floor area according to the type of ground material contained in this partition, which will not have much effect on the overall operating efficiency and effect of the autonomous mobile device. big impact.

通过上述对场所进行划分分区得到多个分区之后，可以根据每个分区的面积、边界形状、障碍物数量、地面材质类型等等，来确定每个分区的特性信息，以作为后续为自主移动设备规划在每个分区内的作业模式的衡量指标。上述分区的边界形状即为分区的外边界形状。分区的特性信息可包括但不限于：面积等级、障碍物密度等级、分区形状、分区类型（反映是分区的地面材质类型）。基于此，若目标分区为上述多个分区中的一个，则上述103中“确定目标分区的分区特征信息”的一具体可实现方式为：After the multiple partitions are obtained through the above-mentioned division and partition of the site, the characteristic information of each partition can be determined according to the area, boundary shape, number of obstacles, ground material type, etc. of each partition, as a follow-up for autonomous mobile devices Plan the metrics for the job patterns within each partition. The boundary shape of the above partition is the outer boundary shape of the partition. The characteristic information of the zone may include but not limited to: area level, obstacle density level, zone shape, zone type (reflecting the ground material type of the zone). Based on this, if the target partition is one of the above-mentioned multiple partitions, a specific implementation method of "determining the partition characteristic information of the target partition" in the above-mentioned 103 is as follows:

1031、根据所述目标分区的边界形状、长度与宽度的比值中的至少一项，确定所述目标分区的分区形状；1031. Determine the partition shape of the target partition according to at least one of the boundary shape of the target partition and the ratio of length to width;

1032、根据所述目标分区的面积，确定所述目标分区的面积等级；1032. Determine the area level of the target partition according to the area of the target partition;

1033、根据所述目标分区内的障碍物数量。确定所述目标分区的障碍物密度等级；1033. According to the number of obstacles in the target zone. determining the obstacle density level of the target zone;

1034、根据所述目标分区的地面材质类型，确定所述目标分区的分区类型。1034. Determine the zone type of the target zone according to the ground material type of the target zone.

上述1031中，根据目标分区的边界形状、长度与宽度的比值中的至少一项，可以确定目标分区的分区形状为但不限于如下中的任一种：圆形、长走廊形、多边形（如矩形、六变形等）。In the above 1031, according to at least one of the boundary shape of the target partition and the ratio of length to width, it can be determined that the partition shape of the target partition is but not limited to any of the following: circle, long corridor, polygon (such as rectangle, hexamorph, etc.).

例如，若边界形状为规整的、类似于圆，则判定目标分区的分区形状为圆形；若边界形状为矩形、且长度与宽度的比值小于或等于上文所述的第三阈值，则反映该分区的长度与宽度相差较小，可判定该目标分区的分区形状为矩形；若边界形状为矩形、但长度与宽度的比值大于上文所述的第三阈值，则反映该分区的长度与宽度相差较大，可判定该目标分区的分区形状为长走廊形。对于边界形状为除上述之外的其它形状，均可近似的判定为多边形（其边数大于4）。For example, if the shape of the boundary is regular and similar to a circle, it is determined that the shape of the target partition is a circle; If the difference between the length and width of the partition is small, it can be determined that the partition shape of the target partition is rectangular; If there is a large difference in width, it can be determined that the partition shape of the target partition is a long corridor shape. For boundary shapes other than those mentioned above, they can be approximated as polygons (the number of sides is greater than 4).

上述1032中，可以根据预设的至少一个面积阈值，将分区的面积等级划分多个面积等级，如若预设有两个面积阈值，面积等级可包括如下三个等级：大、中、小。基于此，假设本实施例中预设有两个面积阈值：即第一面积阈值、第二面积阈值，其中，第一面积阈值小于第二面积阈值，则：若目标分区的面积小于第一面积阈值，则判定该目标分区的面积等级为小；若目标分区的面积大于或等于第一面积阈值、且小于或等于第二面积阈值，则判定该目标分区的面积等级为中；若目标分区的面积大于第二面积阈值，则判定该目标分区的面积等级为大。In the above 1032, the area class of the partition can be divided into multiple area classes according to at least one preset area threshold. If there are two preset area thresholds, the area class can include the following three classes: large, medium and small. Based on this, it is assumed that two area thresholds are preset in this embodiment: the first area threshold and the second area threshold, wherein the first area threshold is smaller than the second area threshold, then: if the area of the target partition is smaller than the first area threshold, it is determined that the area level of the target partition is small; if the area of the target partition is greater than or equal to the first area threshold and less than or equal to the second area threshold, it is determined that the area level of the target partition is medium; If the area is greater than the second area threshold, it is determined that the area level of the target partition is large.

上述1033中，可以根据预设的至少一个障碍物数量阈值，结合分区内障碍物数量的多少，将分区的障碍物密度等级划分为多个等级。如若预设有两个障碍物数量阈值，障碍物密度等级可包括如下三个等级：空闲、少量、稠密。基于此，假设本实施例中预设有两个障碍物数量阈值：即第一障碍物数量阈值、第二障碍物数量阈值，其中，第一障碍物数量阈值小于第二障碍物数量阈值，则：若目标分区内的障碍物数量小于第一障碍物数量阈值，则判定该目标分区的障碍物密度等级空闲；若目标分区的障碍物数量大于或等于第一障碍物数量阈值、且小于或等于第二障碍物数量阈值，则判定该目标分区的障碍物密度等级等级为少量；若目标分区的障碍物数量大于第二障碍物数量阈值，则判定该目标分区的障碍物密度等级为稠密。其中，在确定分区内的障碍物，障碍物的类型不限于静态障碍物，还包括动态障碍物（如走动的人）。In the above step 1033, according to at least one preset obstacle quantity threshold, combined with the number of obstacles in the zone, the obstacle density level of the zone can be divided into multiple levels. If two obstacle quantity thresholds are preset, the obstacle density level may include the following three levels: free, few, and dense. Based on this, it is assumed that there are two thresholds of the number of obstacles preset in this embodiment: the first threshold of the number of obstacles and the second threshold of the number of obstacles, wherein the first threshold of the number of obstacles is smaller than the second threshold of the number of obstacles, then : If the number of obstacles in the target partition is less than the first obstacle number threshold, it is determined that the obstacle density level of the target partition is free; if the number of obstacles in the target partition is greater than or equal to the first obstacle number threshold and less than or equal to If the second obstacle number threshold is used, it is determined that the obstacle density level of the target partition is a small number; if the number of obstacles in the target partition is greater than the second obstacle number threshold, it is determined that the obstacle density level of the target partition is dense. Among them, in determining the obstacles in the zone, the types of obstacles are not limited to static obstacles, but also include dynamic obstacles (such as walking people).

上述1034中，分区类型即反映的时分区的地面材质类型。例如，若目标分区的地面材质类型为地毯，则该目标分区的分区类型为地毯区；若目标分区的地面材质类型为木质地板，则该目标分区的分区类型为木质地板区，等等。In the above 1034, the zone type is the ground material type of the reflected time zone. For example, if the ground material type of the target partition is carpet, then the partition type of the target partition is carpet area; if the ground material type of the target partition is wooden floor, then the partition type of the target partition is wooden floor area, and so on.

上述104中，基于上述确定的各分区的分区特性信息，可以为自主移动设备确定与各分区的分区特性信息相匹配的作业模式。即，分区的分区特性信息，决定自主移动设备在该分区内的作业模式。具体实施时，上述为自主移动设备确定与各分区的分区特性信息相匹配的作业模式，可以由自主移动设备通过调取自身内预置的分区特性与作业参数的对应关系来自主完成；或者，也可以将各分区的分区特性信息显示给用户，由用户手动设置来完成，此处不作限定。基于此，承接上述步骤103，若目标分区为多个分区中的一个，则：In theabove step 104, based on the above determined partition characteristic information of each partition, an operation mode matching the partition characteristic information of each partition may be determined for the autonomous mobile device. That is, the partition characteristic information of the partition determines the operation mode of the autonomous mobile device in the partition. During specific implementation, the above-mentioned determination of the operation mode for the autonomous mobile device that matches the partition characteristic information of each partition can be completed by the autonomous mobile device by calling the corresponding relationship between the preset partition characteristics and operation parameters in itself; or, The partition characteristic information of each partition may also be displayed to the user, and the user manually sets it to complete, which is not limited here. Based on this, followingstep 103 above, if the target partition is one of multiple partitions, then:

在一种可实现技术方案中，上述104中“根据目标分区的分区特性信息，为所述自主移动设备确定在所述目标分区作业时所适配的作业模式”，可具体包括：In an achievable technical solution, in the above 104, "according to the partition characteristic information of the target partition, determine for the autonomous mobile device the adapted operation mode when operating in the target partition" may specifically include:

1041、获取预设的分区特性与作业参数的对应关系；1041. Obtain the correspondence between preset partition characteristics and operation parameters;

1042、基于所述对应关系，为所述自主移动设备确定与所述目标分区的分区特性信息相匹配的作业参数。1042. Based on the correspondence, determine, for the autonomous mobile device, operation parameters that match the partition characteristic information of the target partition.

为便于对上述步骤1041~1042的理解，下面结合下述给出的表1，以自主移动设备为清洁机器人为例，举几个例子来说明。其中，在下面例子中，是假设清洁机器人所支持的移动速度、滚刷（前/后滚刷）转速、喷水量、吸风功率、清洁液加入量分别如下：In order to facilitate the understanding of the above steps 1041-1042, in combination with Table 1 given below, taking the autonomous mobile device as a cleaning robot as an example, several examples are given for illustration. Among them, in the following example, it is assumed that the moving speed supported by the cleaning robot, the rotating speed of the rolling brush (front/rear rolling brush), the amount of water spray, the suction power, and the amount of cleaning fluid added are as follows:

移动速度包括依次增大的以下几个速度：0，第一移动速度、第二移动速度、第三移动速度。滚刷转速包括依次增大的以下几个转速：0，第一转速、第二转速、第三转速。喷水量包括依次增大的以下几个水量值：0、第一水量值、第二水量值、第三水量值；吸风功率包括依次增大的以下几个功率值：0、第一功率值、第二功率值、第三功率值；值清洁液加入量包括依次增大的以下几个液量值：0、第一液量值、第二液量值、第三液量值。基于上述假设前提条件，The movement speed includes the following speeds that increase sequentially: 0, the first movement speed, the second movement speed, and the third movement speed. The rotation speed of the roller brush includes the following rotation speeds that increase in turn: 0, the first rotation speed, the second rotation speed, and the third rotation speed. The water spray volume includes the following water volume values that increase sequentially: 0, the first water volume value, the second water volume value, and the third water volume value; the suction power includes the following several power values that increase sequentially: 0, the first power value, the second power value, the third power value; the value of cleaning liquid addition includes the following liquid volume values that increase in sequence: 0, the first liquid volume value, the second liquid volume value, and the third liquid volume value. Based on the above assumptions,

例如，若目标分区的分区特征信息包括：面积等级为大、分区形状为矩形、障碍物密度等级为空闲、地面材质类型为地砖如瓷砖，则清洁机器人的移动速度可以高，以保证清洁效率比较快；此外，清洁机器针对地砖可以采用拖地、尘推和吸等方式进行清洁，故喷水量、滚刷转速及清洁液加入的量也可以高，这样可保证能有效清洁掉地面上的污物；吸风功率可以适中，无需太高；滚刷则需要下降，以保证滚刷与地面接触，以通过滚刷清洁地面。吸水耙需要呈下降状态，以与地面接触，进而产生一个密封空间，使得能够把从地面上刮出来的一些污水等进行回收。有上即，上述为清洁机器人确定与目标分区的分区特性信息相匹配的多个作业参数1可以为：移动速度为较高的第三移动速度，滚刷转速为较高的第三转速、滚刷及吸水耙呈下降状态、喷水量为较高的第三水量值，吸风功率为适中的第二功率值，清洁液加入的量为较高的第三液量值。也即为清洁机器人确定的目标分区作业时所适配的作业模式为模式1，模式1中包含上述所述的多个作业参数1。For example, if the partition feature information of the target partition includes: the area level is large, the partition shape is rectangular, the obstacle density level is free, and the ground material type is floor tiles such as ceramic tiles, then the moving speed of the cleaning robot can be high to ensure that the cleaning efficiency is relatively high. Fast; in addition, the cleaning machine can use methods such as mopping, dust pushing and suction to clean the floor tiles, so the amount of water sprayed, the rotating speed of the roller brush and the amount of cleaning liquid added can also be high, which can ensure that the dirt on the ground can be effectively cleaned. Dirt; the suction power can be moderate, not too high; the roller brush needs to be lowered to ensure that the roller brush is in contact with the ground to clean the floor through the roller brush. The suction rake needs to be in a descending state to contact the ground, thereby creating a sealed space, so that some sewage scraped from the ground can be recovered. That is to say, the above-mentioned multiple operating parameters 1 determined by the cleaning robot to match the partition characteristic information of the target partition can be: the moving speed is the third higher moving speed, the rotating speed of the rolling brush is the third higher rotating speed, the rolling brush The brush and the water-absorbing rake are in a downward state, the water spraying volume is the higher third water volume value, the suction power is the moderate second power value, and the amount of cleaning liquid added is the higher third liquid volume value. That is to say, the working mode adapted to the target partition operation determined by the cleaning robot is mode 1, and mode 1 includes a plurality of working parameters 1 mentioned above.

再例如，若目标分区的分区特征信息包括：面积等级为中、分区形状为圆形、障碍物密度等级为少量、地面材质类型为地毯，则为降低清洁机器人行走过程中发生摔倒风险，清洁机器人的移动速度不能太快、且其也不能喷水、不能加清洁液等，只能采用尘推和吸方式进行清洁、为此滚刷处于下降状态且高转速，高吸风功率，吸水耙则需处于上升状态。有上即，为清洁机器人确定与该目标分区的分区特性信息相匹配的多个作业参数2可以为：移动速度为较低的第一移动速度，滚刷转速为较高的第三转速、滚刷呈下降状态、吸水耙呈上升状态、喷水量为无（即为0），吸风功率为较高的第三功率值，清洁液加入的量为无（即为0）。也即为清洁机器人确定的目标分区作业时所适配的作业模式为模式2，模式2中包含上述所述的多个作业参数2。For another example, if the partition feature information of the target partition includes: the area level is medium, the partition shape is circular, the obstacle density level is small, and the floor material type is carpet, then in order to reduce the risk of falling during the cleaning robot walking, the cleaning The moving speed of the robot cannot be too fast, and it cannot spray water or add cleaning fluid, etc. It can only be cleaned by dust push and suction. For this reason, the roller brush is in a downward state and has a high speed, high suction power, and a water suction rake. need to be on the rise. That is, for the cleaning robot to determine a plurality of operating parameters 2 that match the partition characteristic information of the target partition can be: the moving speed is the first moving speed that is relatively low, the rotation speed of the roller brush is the third rotation speed that is relatively high, and the rotation speed of the roller brush The brush is in a downward state, the water-absorbing rake is in an upward state, the amount of water spray is none (that is, 0), the suction power is a higher third power value, and the amount of cleaning fluid added is none (that is, 0). That is to say, the working mode adapted to the target partition operation determined by the cleaning robot is mode 2, and the mode 2 includes the above-mentioned multiple working parameters 2 .

又例如，若目标分区的分区特征信息包括：面积等级为中、分区形状为长走廊形、障碍物密度等级为空闲、地面材质类型为地板（木质地板），则：虽障碍物比较少，但清洁机器人的移动速度也不能太快，因为走廊比较狭窄，突然出现障碍物清洁机器人将无法快速躲避，不过移动速度可以适中以保证清洁效率；可以进行拖地清洁，不过为保护地板，喷水量、清洁液加速量等不能太大。有上，为清洁机器人确定与该目标分区的分区特性信息相匹配的多个作业参数3可以为：移动速度、滚刷转速分别为适中的第二移动速度、第二转速，滚刷及吸水耙均呈下降状态，喷水量、吸风功率及清洁液加入量分别为适中的第二水量值、第二功率值、第二液量值。也即为清洁机器人确定的目标分区作业时所适配的作业模式为模式3，模式3中包含上述所述的多个作业参数3。For another example, if the partition characteristic information of the target partition includes: the area level is medium, the partition shape is a long corridor, the obstacle density level is free, and the ground material type is floor (wooden floor), then: although there are fewer obstacles, but The moving speed of the cleaning robot should not be too fast, because the corridor is relatively narrow, and the cleaning robot will not be able to dodge quickly when obstacles appear suddenly, but the moving speed can be moderate to ensure the cleaning efficiency; mopping and cleaning can be carried out, but in order to protect the floor, the amount of water sprayed should be limited. , cleaning fluid acceleration, etc. should not be too large. As mentioned above, for the cleaning robot to determine a plurality of operating parameters 3 that match the partition characteristic information of the target partition can be: the moving speed and the rotating speed of the rolling brush are respectively moderate, the second moving speed, the second rotating speed, the rolling brush and the water-absorbing rake They are all in a declining state, and the water spray volume, suction power and cleaning liquid addition are respectively the moderate second water volume value, the second power value, and the second liquid volume value. That is to say, the working mode adapted to the target partition determined by the cleaning robot is mode 3, and mode 3 includes a plurality of working parameters 3 mentioned above.

这里需要补充说明的是，在确定与目标分区的分区特性信息相匹配的作业参数时，除了确定上述各示例中所述的移动速度、滚刷（前/后滚刷）转速、滚刷升降、吸水耙升降、喷水量、吸风功率、清洁液加入量等类参数外，还可以确定其他类的作业参数，比如在目标分区内的行进方式，如沿“弓”字形行进路线行进、“回”字形行进路线行进等，此处不作限定。What needs to be supplemented here is that when determining the operation parameters that match the partition characteristic information of the target partition, in addition to determining the moving speed, the rotating speed of the roller brush (front/rear roller brush), the lifting and lowering of the roller brush, In addition to parameters such as the lifting and lowering of the water-absorbing rake, water spray volume, suction power, and the amount of cleaning fluid added, other types of operating parameters can also be determined, such as the way of traveling in the target area, such as traveling along the "bow"-shaped traveling route, " "back"-shaped travel route, etc., are not limited here.

表1Table 1

在另一种可实现技术方案中，上述104中“根据目标分区的分区特征信息，为所述自主移动设备确定在所述目标分区作业时所适配的作业模式”，包括：In another achievable technical solution, in the above 104, "according to the zone feature information of the target zone, determine for the autonomous mobile device the adapted operation mode when operating in the target zone", including:

1041’、显示目标分区的分区特征信息1041', display the partition feature information of the target partition

1042’、响应于用户根据所述目标分区的分区特征信息触发的设置操作，确定设置的作业模式；1042'. In response to the setting operation triggered by the user according to the partition feature information of the target partition, determine the set operation mode;

1043’、将所述设置的作业模式，确定为自主移动设备在所述目标分区作业时所适配的作业模式。1043'. Determine the set operation mode as the operation mode that the autonomous mobile device is adapted to when operating in the target partition.

具体实施时，可以将自主移动设备所支持的多种作业模式展示给用户，以供用户选择，实现作业模式设置。或者，用户也可以通过相应的参数输入控件来输入相应的作业参数，以此来设置作业模式。即。上述1042’“响应于用户根据所述目标分区的分区特征信息触发的设置操作，确定设置的作业模式”，可采用如下中任一项方式中来实现：During specific implementation, multiple operation modes supported by the autonomous mobile device can be displayed to the user for selection by the user to realize operation mode setting. Alternatively, the user may also input corresponding operation parameters through corresponding parameter input controls, so as to set the operation mode. Right now. The above-mentioned 1042' "in response to the setting operation triggered by the user according to the partition feature information of the target partition, determine the set operation mode" can be implemented in any of the following ways:

方式一：展示自主移动设备所支持的多种作业模式；响应于用户针对所述多种作业模式触发的选择操作，将选择的作业模式确定为针对目标分区设置的作业模式。Way 1: displaying multiple operation modes supported by the autonomous mobile device; in response to a selection operation triggered by the user for the multiple operation modes, determine the selected operation mode as the operation mode set for the target partition.

方式二、显示参数输入控件；获取用户通过所述参数输入控件输入的作业参数；根据所述作业参数，确定设置的作业模式。Method 2: displaying the parameter input control; obtaining the operation parameters input by the user through the parameter input control; and determining the set operation mode according to the operation parameters.

例如，参见图3，假设用户针对自主移动设备的分区展示界面上展示出的多个分区，对多个分区中的目标分区触发了点选操作，此时自主移动设备响应于该点选操作，可在目标分区的附近显示出该目标分区的分区特征信息，用户针对该分区特征信息进一步地点击可分区展示页面中的作业模式配置控件后，切换进入配置页面，在该配置页面中展示出自主移动设备所支持的多个作业模式，如作业模式1、作业模式2、作业模式3等，在展示出该多个作业模式时，还可以在针对目标分区特征信息所确定出的向用户推荐的作业模式旁边显示推荐标识，如图中在作业模式2旁边显示的“推荐此模式”字样，以便辅助用户为自主移动设备针对目标分区快速选择出较适配的作业模式。基于目标分区的分区特征信息，用户选择展示出的多个作业模式中的任一个模式作为针对目标分区为自主移动设备设置的作业模式，比如可以选择带有推荐标识的作业模式2作为设置的作业模式，当然也可以选择作业模式1、或作业模式3等作为设置模式。For example, referring to FIG. 3 , assuming that the user triggers a click operation on a target partition in the multiple partitions displayed on the partition display interface of the autonomous mobile device, and the autonomous mobile device responds to the click operation at this time, The partition feature information of the target partition can be displayed near the target partition. After the user further clicks the operation mode configuration control on the partitionable display page for the partition feature information, the user switches to the configuration page, and the autonomous mode is displayed on the configuration page. Multiple operating modes supported by the mobile device, such as operating mode 1, operating mode 2, operating mode 3, etc., when displaying the multiple operating modes, can also be recommended to the user based on the target partition feature information. The recommended logo is displayed next to the operation mode, such as the words "recommended this mode" displayed next to the operation mode 2 in the figure, so as to assist the user to quickly select a more suitable operation mode for the target partition for the autonomous mobile device. Based on the partition feature information of the target partition, the user selects any one of the displayed multiple operation modes as the operation mode set for the autonomous mobile device for the target partition, for example, the operation mode 2 with the recommended logo can be selected as the set operation Mode, of course, you can also choose operation mode 1, or operation mode 3 as the setting mode.

再例如，参见图4，假设用户针对自主移动设备的分区展示界面上展示出的多个分区，对多个分区中的目标分区触发了点选操作，此时在目标分区的附近会显示出该目标分区的分区特征信息，用户针对该分区特征信息进一步地点击在分区展示页面中的作业模式配置控件后，将会切换进入作业参数配置页面，用户通过该作业参数配置页面可以进行各项作业参数的配置。如，以为自主移动设备配置在目标分区的移动速度为例，用户可以直接在输入文本框10中输入相应的移动速度值，或者也可以点击输入文本框10上的三角标识，此时会展示出几个移动速度等级选项，如高、中、低等几个选择，其中，在显示时，还可以在基于目标分区的分区特征信息为向用户推荐的移动速度旁显示推荐标识，如图4中在“低”旁示出的“推荐此参数”字样，以便辅助用户为自主移动设备针对目标分区快速选择出较适配的移动速度。基于目标分区的分区特征信息，用户可以选择展示出的多个移动速度等级选项的任一个作为设置的移动速度值。根据用户针对目标分区所配置的各项作业参数，便可确定出用户为自主移动设备针对目标分区所设置的作业模式。For another example, referring to Figure 4, assuming that the user triggers a click operation on a target partition among the multiple partitions displayed on the partition display interface of the autonomous mobile device, then the target partition will be displayed near the target partition. The partition characteristic information of the target partition. After the user further clicks the operation mode configuration control on the partition display page according to the partition characteristic information, it will switch to the operation parameter configuration page, and the user can configure various operation parameters through the operation parameter configuration page. Configuration. For example, taking the moving speed of the autonomous mobile device configured in the target partition as an example, the user can directly input the corresponding moving speed value in theinput text box 10, or click the triangle mark on theinput text box 10, and the Several options for moving speed grades, such as high, medium, and low, etc., wherein, when displaying, a recommended logo can also be displayed next to the moving speed recommended to the user based on the partition feature information of the target partition, as shown in Figure 4 The words "recommended this parameter" displayed next to "low" are used to assist the user to quickly select a more suitable moving speed for the target partition for the autonomous mobile device. Based on the partition characteristic information of the target partition, the user can select any one of the displayed multiple moving speed level options as the set moving speed value. According to various operation parameters configured by the user for the target partition, the operation mode set by the user for the autonomous mobile device for the target partition can be determined.

为自主移动设备确定出与各分区的分区特性信息相匹配的作业模式后，后续自主移动设备便可按照与各分区的分区特性信息相匹配的作业模式，在各分区内执行相应的作业任务（如清洁任务）。After determining the operation mode that matches the partition characteristic information of each partition for the autonomous mobile device, the subsequent autonomous mobile device can perform corresponding operation tasks in each partition according to the operation mode that matches the partition characteristic information of each partition ( such as cleaning tasks).

综上，本实施例提供的技术方案，是基于自主移动设备所在场所的场所特征信息，来将该场所划分为多个分区的，这种分区方案能够使得分区更加合理，更能满足实际的作业需求，利于后续自主移动设备的作业，提高自主移动设备作业的效率和效果。进一步地，还会确定多个分区中各分区的分区特征信息，进而根据各分区的分区特征信息来为自主移动设备分别确定在各分区作业时所适配的作业模式，这种作业模式确定方式，能保证自主移动设备按照分区执行作业任务时，分别在各分区内采用的作业模式与各分区的分区特性信息相匹配，利于更进一步地提高自主移动设备作业的效率和效果。To sum up, the technical solution provided by this embodiment divides the site into multiple partitions based on the site feature information of the site where the autonomous mobile device is located. This partition scheme can make the partitions more reasonable and better meet the needs of actual operations. It is beneficial to the subsequent operations of autonomous mobile devices and improves the efficiency and effectiveness of autonomous mobile device operations. Furthermore, the partition characteristic information of each partition in the multiple partitions is also determined, and then according to the partition characteristic information of each partition, the operating mode adapted to each partition is determined for the autonomous mobile device respectively. This operation mode determination method , which can ensure that when the autonomous mobile device executes tasks according to the partitions, the operation mode adopted in each partition matches the partition characteristic information of each partition, which is conducive to further improving the efficiency and effect of the autonomous mobile device operation.

图5示出了本申请另一实施例提供的分区方法的流程示意图。该方法的执行主体可以是自主移动设备，更具体地，可以是自主移动设备内的处理器，有关自主移动设备及处理器详细介绍，可参见上文相关内容。如图5所示，本实施例提供的所述分区方法包括如下步骤：FIG. 5 shows a schematic flowchart of a partitioning method provided by another embodiment of the present application. The subject of execution of the method may be an autonomous mobile device, more specifically, may be a processor in the autonomous mobile device. For details about the autonomous mobile device and the processor, please refer to the related content above. As shown in Figure 5, the partitioning method provided in this embodiment includes the following steps:

201、获取自主移动设备所在场所的环境数据201. Obtain the environmental data of the place where the autonomous mobile device is located

202、基于所述环境数据，识别所述场所的场所特征信息；202. Identify site characteristic information of the site based on the environmental data;

203、根据所述场所特征信息，对所述场所进行分区。203. According to the place feature information, partition the place.

有关上述201~202的具体实现描述，可参件上文本申请其他实施例中的相关内容。For the specific implementation description of the above 201-202, you can refer to the relevant content in other embodiments of the above text application.

在一种可实现技术方案中，上述203“根据所述场所特征信息，对所述场所进行分区”，可具体包括：In an achievable technical solution, the above-mentioned 203 "zoning the place according to the characteristic information of the place" may specifically include:

2031、获取至少一项分区规则；2031. Obtain at least one partition rule;

2032、根据所述场所特征信息，按照所述至少一项分区规则对所述场所进行分区。2032. According to the place feature information, partition the place according to the at least one partition rule.

上述中，所述场所特征信息包括如下中的至少一种：障碍物信息、边界信息、地面材质信息、区域面积信息；In the above, the site feature information includes at least one of the following: obstacle information, boundary information, ground material information, area area information;

所述至少一项分区规则，包括如下中的至少一项：The at least one partition rule includes at least one of the following:

将所述场所中面积大于或等于第一阈值的区域划分为一个分区、面积小于所述第一阈值的区域则与相邻区域合并为一个分区；Dividing the area in the venue with an area greater than or equal to a first threshold into a subregion, and merging the area with an area smaller than the first threshold into a subregion;

将所述场所中障碍物密度满足不同第二阈值条件的不同区域，划分为不同的分区；Dividing different areas in the place where the obstacle density satisfies different second threshold conditions into different partitions;

将所述场所中外边界形状满足预设形状条件的区域，划分为一个分区；Divide the area where the external boundary shape of the site meets the preset shape condition into a partition;

在所述场所中边界形状不满足预设形状条件的区域内，确定最大内接几何图形；将所述最大内接几何图形围成的区域划分为一个分区；In the area of the site where the boundary shape does not meet the preset shape condition, determine the largest inscribed geometric figure; divide the area surrounded by the largest inscribed geometric figure into a partition;

将所述场所中长度与宽度的比值大于第三阈值的区域划分为一个分区；Divide the area in the place where the ratio of length to width is greater than a third threshold as a partition;

将所述场所中为同一地面材质类型的区域划分为一个分区。Divide the areas of the same ground material type in the place into a partition.

有关上述步骤2031~2032的具体实现描述，可参见上文本申请其他实施例中相关内容，此处不再作赘述。For the specific implementation description of the above steps 2031-2032, please refer to the relevant content in other embodiments of the above-mentioned application, and details will not be repeated here.

这里需要说明的是：本实施例提供的所述方法中各步骤更详细的内容，可参见上文本申请其他实施例中的相应描述，此处不再赘述。What needs to be explained here is: for more detailed content of each step in the method provided in this embodiment, refer to the corresponding descriptions in other embodiments of the above-mentioned application, and details will not be repeated here.

图6示出了本申请又一实施例提供的分区作业方法的流程示意图。该方法的执行主体可以是自主移动设备，更具体地，可以是自主移动设备内的处理器，有关自主移动设备及处理器详细介绍，可参见上文相关内容。如图6所示，本实施例提供的所述分区作业方法包括如下步骤：Fig. 6 shows a schematic flow chart of a partitioning operation method provided by another embodiment of the present application. The subject of execution of the method may be an autonomous mobile device, more specifically, may be a processor in the autonomous mobile device. For details about the autonomous mobile device and the processor, please refer to the related content above. As shown in Figure 6, the partition operation method provided by this embodiment includes the following steps:

301、确定自主移动设备所在场所对应的多个分区各自的分区特征信息；301. Determine the respective partition feature information of multiple partitions corresponding to the place where the autonomous mobile device is located;

302、为所述自主移动设备分别确定与各分区的分区特征信息相匹配的作业模式；302. Determine, for the autonomous mobile device, an operation mode that matches the partition characteristic information of each partition;

303、控制所述自主移动设备采用与各分区的分区特征信息相匹配的作业模式，在各分区内执行作业任务。303. Control the autonomous mobile device to adopt a job mode that matches the partition characteristic information of each partition, and execute a job task in each partition.

有关上述301~303的具体实现描述，可参见上文本申请其他实施例中相关内容。For the specific implementation description of the above-mentioned 301-303, please refer to the relevant content in other embodiments of the above-mentioned application.

在一种可实现技术方案中，目标分区为多个分区中的一个时，则上述301中“确定目标分区的分区特征信息”，可具体包括：In an achievable technical solution, when the target partition is one of multiple partitions, the "determining the partition characteristic information of the target partition" in the above-mentioned 301 may specifically include:

根据所述目标分区的边界形状、长度与宽度的比值中的至少一项，确定所述目标分区的分区形状；determining the partition shape of the target partition according to at least one of the boundary shape of the target partition and the ratio of length to width;

根据目标分区的面积，确定所述目标分区的面积等级；determining the area level of the target partition according to the area of the target partition;

根据所述目标分区内的障碍物数量，确定所述目标分区的障碍物密度等级；determining the obstacle density level of the target zone according to the number of obstacles in the target zone;

根据所述目标分区的地面材质类型，确定所述目标分区的分区类型。The partition type of the target partition is determined according to the ground material type of the target partition.

在一种可实现技术方案中，上述302“为所述自主移动设备分别确定与目标分区的分区特征信息相匹配的作业模式”，可具体包括：In an achievable technical solution, the above-mentioned 302 "determine, for the autonomous mobile device, an operation mode that matches the partition characteristic information of the target partition", may specifically include:

基于预设的分区特征信息与作业模式的对应关系，为所述自主移动设备确定与目标分区的分区特性信息相匹配的作业模式；或者Determine, for the autonomous mobile device, an operation mode that matches the partition characteristic information of the target partition based on the preset correspondence between the partition characteristic information and the operation mode; or

显示目标分区的分区特征信息，响应于用户根据所述目标分区的分区特性信息触发的设置操作，将设置的作业模式确定为与目标分区的分区特性信息相匹配的作业模式。The partition feature information of the target partition is displayed, and in response to a setting operation triggered by the user according to the partition feature information of the target partition, the set operation mode is determined as the operation mode matching the partition characteristic information of the target partition.

这里需要说明的是：本实施例提供的所述方法中各步骤更详细的内容，可参见上文本申请其他实施例中的相应描述，此处不再赘述。What needs to be explained here is: for more detailed content of each step in the method provided in this embodiment, refer to the corresponding descriptions in other embodiments of the above-mentioned application, and details will not be repeated here.

上文中，主要是从软件角度介绍本申请实施例提供的技术方案的，下面从硬件角度介绍本申请实施例提供的技术方案。Above, the technical solutions provided by the embodiments of the present application are mainly introduced from the perspective of software, and the technical solutions provided by the embodiments of the present application are introduced below from the perspective of hardware.

图7示出了本申请一实施例提供的自主移动设备的结构示意图。如图7所示，所述自主移动设备包括：行进装置45、存储器41及处理器42；其中，Fig. 7 shows a schematic structural diagram of an autonomous mobile device provided by an embodiment of the present application. As shown in FIG. 7 , the autonomous mobile device includes: a travelingdevice 45, amemory 41 and aprocessor 42; wherein,

所述行进装置45，用于为自主移动设备提供行进动力；The travelingdevice 45 is used to provide traveling power for autonomous mobile equipment;

所述存储器41，存储一条或多条计算机指令；Thememory 41 stores one or more computer instructions;

所述处理器42，与所述存储器耦合，用于执行所述一条或多条计算机指令，以用于实现上述本申请提供的各方法实施例中的步骤。Theprocessor 42 is coupled with the memory, and is configured to execute the one or more computer instructions, so as to implement the steps in the above-mentioned method embodiments provided in this application.

上述存储器可被配置为存储其它各种数据以支持在自主移动设备上的操作。这些数据的示例包括用于在自主行进设备上操作的任何应用程序或方法的指令。存储器可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器（SRAM），电可擦除可编程只读存储器（EEPROM），可擦除可编程只读存储器（EPROM），可编程只读存储器（PROM），只读存储器（ROM），磁存储器，快闪存储器，磁盘或光盘。The memory described above may be configured to store various other data to support operation on the autonomous mobile device. Examples of such data include instructions for any application or method operating on the autonomous travel device. Memory can be implemented by any type of volatile or non-volatile storage devices or a combination of them, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic Disk or Optical Disk.

进一步，如图7所示，自主行进设备还包括：电源组件44、通讯组件43、显示器（图中未示出）等其它组件。图7中仅示意性给出部分组件，并不意味着该自主移动设备只包括图7所示组件。Further, as shown in FIG. 7 , the autonomous traveling device further includes: apower supply component 44 , acommunication component 43 , a display (not shown in the figure) and other components. Fig. 7 only schematically shows some components, which does not mean that the autonomous mobile device only includes the components shown in Fig. 7 .

上述实施例中所述的自主移动设备可以为清洁机器人（可以是家用清洁机器人、也可以是商用机器人）、货运机器人、引导服务型机器人、巡检机器人等等，本实施例对此不做具体限定。优选地，上述所述的自主移动设备为清洁机器人。The autonomous mobile device described in the above embodiments can be a cleaning robot (it can be a household cleaning robot or a commercial robot), a freight robot, a guidance service robot, an inspection robot, etc. limited. Preferably, the aforementioned autonomous mobile device is a cleaning robot.

对应不同类型的清洁机器人，其上的清洁装置的具体实现会有所不同。比如，所述清洁机器人为扫地机器人，相应的，清洁装置可包括：滚刷、边刷等。所述清洁机器人为扫拖一体机器人，相应的，清洁装置可包括：滚刷、边刷、抹布、水箱等。Corresponding to different types of cleaning robots, the specific realization of the cleaning devices on them will be different. For example, the cleaning robot is a sweeping robot, and correspondingly, the cleaning device may include: a roller brush, a side brush, and the like. The cleaning robot is a sweeping and dragging integrated robot. Correspondingly, the cleaning device may include: a roller brush, a side brush, a rag, a water tank, and the like.

这里需要说明的是：有关上述自主移动设备的处理器的具体可执行功能，可参见上述本申请提供的各方法实施例中所描述的内容，此处不作赘述。此外，本实施例提供的自主移动设备各功能结构未详尽的内容，也可参见上述各实施例相关的内容，此处不再作具体赘述。What needs to be explained here is that for the specific executable functions of the processor of the above-mentioned autonomous mobile device, reference may be made to the content described in the above-mentioned method embodiments provided in this application, and details are not repeated here. In addition, for the non-exhaustive content of the functional structures of the autonomous mobile device provided in this embodiment, reference may also be made to the content related to the above embodiments, and details will not be repeated here.

下面结合具体应用场景，对本申请各实施例提供的技术方案进行说明。The technical solutions provided by the embodiments of the present application will be described below in conjunction with specific application scenarios.

以自主移动设备为用于清洁一大型商场的清洁机器人为例。假设，该清洁机器人所在场所为某商场，该商场的地图如图8所示，其主要包括大厅、走廊以及一些商铺等，清洁机器人根据获取到的该商场的障碍物、边界、地面材质等特征信息，确定大厅、走廊内的地面材质均为地砖、大厅中的部分区域（如通过虚线示出的区域）内的障碍物比较多，以及走廊的长度比宽度大很多（即长度与宽度的比值超过预设的阈值），按照自身内事先预置的至少一项分区规则，会将走廊单独划分为一个分区2、以及将大厅划分为两个分区（即分区11、分区12）。之后，会确定上述分区11、分区12、分区2各自的面积等级、分区形状、障碍度密度等级、地面材质类型等分区特性信息，进而分别确定与分区11的分区特性信息相匹配的作业模式为模式a、与分区12的分区特性信息相匹配的作业模式为模式b、与分区2的分区特性信息相匹配的作业模式为模式c。Take the example of an autonomous mobile device being a cleaning robot used to clean a large shopping mall. Assume that the place where the cleaning robot is located is a shopping mall. The map of the shopping mall is shown in Figure 8, which mainly includes halls, corridors, and some shops. Information, make sure that the floor materials in the hall and corridor are all floor tiles, there are many obstacles in some areas of the hall (such as the area shown by the dotted line), and the length of the corridor is much larger than the width (that is, the ratio of length to width Exceeding the preset threshold), according to at least one partition rule preset in itself, the corridor will be divided into a separate partition 2, and the hall will be divided into two partitions (that is, partition 11, partition 12). Afterwards, the area level, area shape, obstacle density level, ground material type and other area characteristic information of each of the above-mentioned area 11,area 12, and area 2 will be determined, and then the operation modes that match the area characteristic information of area 11 will be determined as follows: Mode a, the operation mode matching the partition characteristic information ofpartition 12 is mode b, and the operation mode matching the partition characteristic information of partition 2 is mode c.

完成上述分区和针对各分区的作业模式设置后，清洁机器人后续响应于用户触发的清洁指令，开始基于此商场的地图按照分区执行清洁任务时，在分区11内时将会采用模式1执行清洁任务；检测进入分区12时，便会切换作业模式为模式b，进一步地，检测到由分区12进入分区2时，会再次执行切换操作，将作业模式由模式b切换至模式c。有上，清洁机器人基于商场的特性信息来对商场进行分区，能使得分区划分更为合理，更能满足实际清洁需求。此外，清洁机器人在不同分区，分别采用与分区的分区特性信息相匹配的作业模式执行清洁任务，有利于提高清洁效率和清洁效果。After completing the above partitions and the setting of the operation mode for each partition, the cleaning robot will then respond to the cleaning command triggered by the user and start to perform cleaning tasks based on the map of the shopping mall according to the partition. When it is in partition 11, it will use mode 1 to perform cleaning tasks ; When it is detected to enterpartition 12, the operation mode will be switched to mode b. Further, when it is detected thatpartition 12 enters partition 2, the switching operation will be performed again, and the operation mode will be switched from mode b to mode c. Above all, the cleaning robot partitions the shopping mall based on the characteristic information of the shopping mall, which can make the division of partitions more reasonable and better meet the actual cleaning needs. In addition, the cleaning robot performs cleaning tasks in different partitions using operation modes that match the partition characteristic information of the partitions, which is conducive to improving cleaning efficiency and cleaning effect.

有上上述示例中所涉及的分区规则、以及确定与分区的分区特性信息相匹配的作业模式等的具体实现描述，可参见上文其他实施例中相关内容，此示例中就不再作详述。For the specific implementation descriptions of the partition rules involved in the above example and the determination of the operation mode that matches the partition characteristic information of the partition, you can refer to the relevant content in other embodiments above, and this example will not be described in detail .

除了上文所介绍的本申请提供的各实施例之外，本申请又一实施例还提供了一种计算机可读存储介质，其存储有计算机程序；所述计算机程序被如图7中示出的处理器执行时能够实现本申请提供的各方法实施例中的步骤或功能。In addition to the various embodiments provided by the present application described above, another embodiment of the present application also provides a computer-readable storage medium storing a computer program; the computer program is shown in FIG. 7 When executed by the processor, the steps or functions in the various method embodiments provided in the present application can be realized.

具体实施时，所述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是集成一个或多个可用介质的数据存储设备。所述可用介质可以是磁性介质，例如，软盘、硬盘、磁带；也可以是光介质，例如，数字视频光盘；还可以是半导体介质，例如，固态硬盘。该计算机可读存储介质可以是易失性或非易失性存储介质，或可包括易失性和非易失性两种类型的存储介质。During specific implementation, the computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device integrating one or more available media. The available medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; it may also be an optical medium, such as a digital video disk; or it may be a semiconductor medium, such as a solid state disk. The computer readable storage medium may be a volatile or a nonvolatile storage medium, or may include both volatile and nonvolatile types of storage media.

本申请中提供的方法实施例可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。图9示意性地示出了本申请提供的一计算机程序产品的框图。所述计算机程序产品包括一个或多个计算机程序/指令51，在如图7中示出的处理器上加载和执行所述计算机程序或指令51时，可全部或部分地执行本申请提供的各方法实施例中的步骤或功能。The method embodiments provided in this application may be fully or partially implemented by software, hardware, firmware or any combination thereof. When implemented using software, it may be implemented in whole or in part in the form of a computer program product. Fig. 9 schematically shows a block diagram of a computer program product provided by the present application. The computer program product includes one or more computer programs/instructions 51, when the computer program orinstructions 51 are loaded and executed on a processor as shown in FIG. A step or function in a method embodiment.

最后应说明的是：以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims (16)

1. A job planning method, comprising:

acquiring site characteristic information of a site where the autonomous mobile equipment is located;

dividing the place into a plurality of subareas according to the place characteristic information;

determining partition characteristic information of each partition in the plurality of partitions;

and respectively determining the operation modes adapted during operation of each partition for the autonomous mobile equipment according to the partition characteristic information of each partition.

2. The method of claim 1, wherein dividing the venue into a plurality of zones based on the venue characteristic information comprises:

acquiring at least one partition rule;

and dividing the place into a plurality of subareas according to the at least one subarea rule according to the place characteristic information.

3. The method of claim 2, wherein the venue characteristic information comprises at least one of: obstacle information, boundary information, ground material information, and area information.

4. The method of claim 2, wherein the at least one partitioning rule comprises at least one of:

dividing a region with the area larger than or equal to a first threshold value in the place into a partition, and combining the region with the area smaller than the first threshold value with an adjacent region into a partition;

dividing different areas of the place, in which the density of the barriers meets different second threshold conditions, into different subareas;

dividing a region of the place, the boundary shape of which meets the preset shape condition, into a partition;

determining a maximum inscription geometric figure in a region of the place where the boundary shape does not meet the preset shape condition; dividing the area surrounded by the maximum inscribed geometric figure into a partition;

dividing a region in the place, the ratio of the length to the width of which is greater than a third threshold value, into a partition;

dividing the area of the same ground material type in the place into a partition.

5. The method of any one of claims 1 to 4, wherein a target partition is one of the plurality of partitions;

determining partition characteristic information of the target partition, including:

determining the partition shape of the target partition according to at least one of the boundary shape, the ratio of the length to the width of the target partition;

determining the area grade of the target partition according to the area of the target partition;

determining the barrier density grade of the target partition according to the number of barriers in the target partition;

and determining the partition type of the target partition according to the ground material type of the target partition.

6. The method of claim 5, wherein determining, for the autonomous mobile device, a job mode adapted when working within the target partition based on partition characteristic information of the target partition, comprises:

acquiring a corresponding relation between preset partition characteristics and operation parameters;

and determining the operation parameters matched with the partition characteristic information of the target partition for the autonomous mobile equipment based on the corresponding relation.

7. The method of claim 5, wherein determining, for the autonomous mobile device, a job mode adapted at the time of the target partition job based on partition characteristic information of a target partition, comprises:

Displaying partition characteristic information of the target partition;

responding to a setting operation triggered by a user according to partition characteristic information of the target partition, and determining a set operation mode;

and determining the set operation mode as the operation mode adapted by the autonomous mobile equipment when the target partition operates.

8. The method of claim 7, wherein determining the set job mode in response to a set operation triggered by a user according to partition characteristic information of the target partition comprises:

displaying a plurality of operation modes supported by the autonomous mobile equipment; in response to a selection operation triggered by a user for the plurality of job modes, determining the selected job model as a job mode set for a target partition; or alternatively

Displaying a parameter input control; acquiring operation parameters input by a user through the parameter input control; and determining a set operation mode according to the operation parameters.

9. A partitioning method, comprising:

acquiring environment data of a place where the autonomous mobile equipment is located;

identifying venue characteristic information for the venue based on the environmental data;

partitioning the location according to the location characteristic information.

10. The method of claim 9, wherein partitioning the venue based on the venue characteristic information comprises:

acquiring at least one partition rule;

partitioning the place according to the place characteristic information and the at least one partitioning rule.

11. The method of claim 10, wherein the venue characteristic information comprises at least one of: obstacle information, boundary information, ground material information, and area information;

the at least one partitioning rule includes at least one of:

dividing a region with the area larger than or equal to a first threshold value in the place into a partition, and combining the region with the area smaller than the first threshold value with an adjacent region into a partition;

dividing different areas of the place, in which the density of the barriers meets different second threshold conditions, into different subareas;

dividing a region of the outer boundary shape in the place meeting the preset shape condition into a partition;

determining a maximum inscription geometric figure in a region of the place where the boundary shape does not meet the preset shape condition; dividing the area surrounded by the maximum inscribed geometric figure into a partition;

Dividing a region in the place, the ratio of the length to the width of which is greater than a third threshold value, into a partition;

dividing the area of the same ground material type in the place into a partition.

12. A method of partitioning operations, comprising:

determining respective partition characteristic information of a plurality of partitions corresponding to the places where the autonomous mobile equipment is located;

determining operation modes matched with partition characteristic information of each partition for the autonomous mobile equipment respectively;

and controlling the autonomous mobile equipment to execute the job task in each partition by adopting a job mode matched with the partition characteristic information of each partition.

13. The method of claim 12, wherein the target partition is one of a plurality of partitions;

and determining partition characteristic information of the target partition, including:

determining the partition shape of the target partition according to at least one of the boundary shape, the ratio of the length to the width of the target partition;

determining the area grade of a target partition according to the area of the target partition;

determining the barrier density grade of the target partition according to the number of barriers in the target partition;

and determining the partition type of the target partition according to the ground material type of the target partition.

14. The method of claim 12 or 13, wherein determining, for the autonomous mobile device, a job pattern matching partition characteristic information of a target partition, respectively, comprises:

determining an operation parameter matched with partition characteristic information of a target partition for the autonomous mobile equipment based on a corresponding relation between preset partition characteristics and operation parameters; or alternatively

And displaying partition characteristic information of the target partition, and determining the set operation mode as an operation mode matched with the partition characteristic information of the target partition in response to a setting operation triggered by a user according to the partition characteristic information of the target partition.

15. An autonomous mobile device, comprising:

a traveling device for providing traveling power for the autonomous mobile apparatus;

a memory storing one or more computer instructions;

a processor coupled to the memory for executing the one or more computer instructions for implementing the steps in the job planning method of any one of the preceding claims 1 to 8, or implementing the steps in the partitioning method of any one of the preceding claims 9 to 11, or implementing the steps in the partitioning job method of any one of the preceding claims 12 to 14.

16. The autonomous mobile device of claim 15, wherein the autonomous mobile device is a cleaning robot.

Images