Method and device for drawing room layout

Patent metadata

Field	Value
Publication number	US-10747232-B2
Application number	US-201815962615-A
Country	US
Kind code	B2
Filing date	Apr 25, 2018
Priority date	Apr 25, 2017
Publication date	Aug 18, 2020
Grant date	Aug 18, 2020

Abstract

The present disclosure relates to a method and a device for drawing a room layout. The method includes obtaining a sweeping path graph of a sweeping robot, the sweeping path graph comprising positions of N first obstacles and shapes and positions of M second obstacles encountered by the sweeping robot when sweeping a room, a bottom area of each of the N first obstacles being less than or equal to a first preset threshold, a bottom area of each of the M second obstacles being greater than or equal to a second preset threshold, wherein N and M are integers greater than or equal to 0; determining Q pieces of furniture arranged in the room based on the positions of the N first obstacles and the shapes and the positions of the M second obstacles, wherein Q is an integer greater than or equal to 0 and less than or equal to (N+M); and marking the Q pieces of furniture on a plan of the room to generate the layout of the room.

First claim

What is claimed is:

1. A method for drawing a room layout, comprising:
obtaining a sweeping path graph of a sweeping robot, the sweeping path graph comprising positions of N first obstacles and shapes and positions of M second obstacles encountered by the sweeping robot when sweeping a room, a bottom area of each of the N first obstacles being less than or equal to a first preset threshold, a bottom area of each of the M second obstacles being greater than or equal to a second preset threshold, wherein N and M are integers greater than or equal to 0;
determining Q pieces of furniture arranged in the room based on the positions of the N first obstacles and the shapes and the positions of the M second obstacles, wherein Q is an integer greater than or equal to 0 and less than or equal to (N+M); and
marking the Q pieces of furniture on a plan of the room to generate the layout of the room.

2. The method according to claim 1 , wherein the first preset threshold is less than the second preset threshold.

3. The method according to claim 2 , wherein determining the Q pieces of furniture arranged in the room based on the positions of the N first obstacles and the shapes and the positions of the M second obstacles comprises:
obtaining a distance between each of the N first obstacles within a preset distance based on the positions of the N first obstacles;
obtaining sizes of S closed geometries formed by the N first obstacles based on the distances between each of the N first obstacles within the preset distance;
determining sizes of M objects represented by the M second obstacles based on the shapes and the positions of the M second obstacles and a size of the room; and
determining the Q pieces of furniture arranged in the room based on the sizes of the S closed geometries, the sizes of the M objects, and a preset furniture size database.

4. The method according to claim 3 , wherein determining the Q pieces of furniture arranged in the room based on the sizes of the S closed geometries, the sizes of the M objects, and the preset furniture size database comprises:
determining and displaying a plurality of options for each piece of furniture arranged in the room based on the sizes of the S closed geometries, the sizes of the M objects, and the preset furniture size database;
receiving a selecting operation instruction, the selecting operation instruction comprising a specified option of each piece of furniture determined in the plurality of options of each piece of furniture; and
determining the Q pieces of furniture arranged in the room based on the specified option of each piece of furniture.

5. The method according to claim 1 , further comprising:
obtaining a panoramic scene picture of the room; and
drawing the Q pieces of furniture arranged in the room on the panoramic scene picture to obtain a panoramic layout of the room.

6. A method for drawing a room layout, comprising:
marking positions of N first obstacles and shapes and positions of M second obstacles encountered when sweeping a room on a sweeping path graph, a bottom area of each of the N first obstacles being less than or equal to a first preset threshold, a bottom area of each of the M second obstacles being greater than or equal to a second preset threshold, wherein N and M are integers greater than or equal to 0; and
sending the sweeping path graph marked with the positions of the N first obstacles and the shapes and positions of the M second obstacles to a terminal.

7. The method according to claim 6 , wherein the first preset threshold is less than the second preset threshold.

8. The method according to claim 6 , wherein marking the positions of the N first obstacles and the shapes and the positions of the M second obstacles encountered when sweeping the room on the sweeping path graph comprises:
when a number of times of encountering a reference obstacle when sweeping the room is greater than or equal to a preset number of times, obtaining a bottom area of the reference obstacle;
when the bottom area of the reference obstacle is less than or equal to the first preset threshold, marking the reference obstacle as one of the N first obstacles on the sweeping path graph based on a position of the reference obstacle; and
when the bottom area of the reference obstacle is greater than or equal to the second preset threshold, marking the reference obstacle as one of the M second obstacles on the sweeping path graph based on a shape of the reference obstacle and the position of the reference obstacle.

9. A device for drawing a room layout, comprising:
a processor; and
a memory configured to store instructions executable by the processor,
wherein the processor is configured to:
obtain a sweeping path graph of a sweeping robot, the sweeping path graph comprising positions of N first obstacles and shapes and positions of M second obstacles encountered by the sweeping robot when sweeping a room, a bottom area of each of the N first obstacles being less than or equal to a first preset threshold, a bottom area of each of the M second obstacles being greater than or equal to a second preset threshold, wherein N and M are integers greater than or equal to 0;
determine Q pieces of furniture arranged in the room based on the positions of the N first obstacles and the shapes and the positions of the M second obstacles, wherein Q is an integer greater than or equal to 0 and less than or equal to (N+M); and
mark the Q pieces of furniture on a plan of the room to generate the layout of the room.

10. The device according to claim 9 , wherein the first preset threshold is less than the second preset threshold.

11. The device according to claim 10 , wherein the processor is configured to:
obtain a distance between each of the N first obstacles within a preset distance based on the positions of the N first obstacles;
obtain sizes of S closed geometries formed by the N first obstacles based on the distances between each of the N first obstacles within the preset distance;
determine sizes of M objects represented by the M second obstacles based on the shapes and the positions of the M second obstacles and a size of the room; and
determine the Q pieces of furniture arranged in the room based on the sizes of the S closed geometries, the sizes of the M objects and a preset furniture size database.

12. The device according to claim 11 , wherein the processor is configured to:
determine and display a plurality of options for each piece of furniture arranged in the room based on the sizes of the S closed geometries, the sizes of the M objects, and the preset furniture size database;
receive a selecting operation instruction, the selecting operation instruction comprises a specified option of each piece of furniture determined in the plurality of options of each piece of furniture; and
determine the Q pieces of furniture arranged in the room based on the specified option of each piece of furniture.

13. The device according to claim 9 , wherein the processor is further configured to:
obtain a panoramic scene picture of the room; and
draw the Q pieces of furniture arranged in the room on the panoramic scene picture to obtain a panoramic layout of the room.

Assignees

• Beijing Xiaomi Mobile Software Co Ltd

Inventors

• Xia Yongfeng
• Wu Ke

Classifications

• G06V20/58

  Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads · CPC title

• G05D2105/10

  for cleaning, vacuuming or polishing · CPC title

• G05D2109/10

  Land vehicles · CPC title

• G05D2101/10

  using artificial intelligence [AI] techniques · CPC title

• G05D1/246

  using environment maps, e.g. simultaneous localisation and mapping [SLAM] · CPC title