Abstract: The present disclosure provides a visual-tactile perception apparatus and a small-sized robot. The apparatus includes a visual perception module, a tactile perception module, a control module, and a signal transmission module. The signal transmission module is separately connected to the visual perception module, the tactile perception module, and the control module. The visual perception module is configured to obtain image information of a surrounding environment of the apparatus; the tactile perception module is configured to obtain tactile information of the surrounding environment of the apparatus; the signal transmission module is configured to transmit the image information and the tactile information to the control module; and the control module is configured to generate a control instruction based on the image information and the tactile information, and transmit the control instruction.

Abstract: A method for residential unit floorplan generation, includes obtaining a current status of a floorplan, performing a plurality of iterations to obtain a plurality of scores until a predetermined number of iterations is reached, and deploying the one or more rooms to be deployed according to a highest score of the plurality of the scores to update the floorplan. In each of the plurality of iterations, the method further includes obtaining room information of one or more rooms to be deployed through a particle swarm algorithm, according to the room information of the one or more rooms to be deployed, performing multiple Monte Carlo tree searches to obtain coordinate information of the one or more rooms to be deployed, and determining one of the plurality of scores of the room information and the coordinate information through an evaluation function.

Abstract: A method for residential unit floorplan generation, includes obtaining a current status of a floorplan and room information of one or more rooms to be deployed, according to the current status of the floorplan and the room information of the one or more rooms to be deployed, performing multiple Monte Carlo tree searches to obtain a search result, and deploying a room of the one or more rooms to be deployed according to the search result to update the floorplan.

Abstract: The present disclosure provides a visual-tactile perception apparatus and a small-sized robot. The apparatus includes a visual perception module, a tactile perception module, a control module, and a signal transmission module. The signal transmission module is separately connected to the visual perception module, the tactile perception module, and the control module. The visual perception module is configured to obtain image information of a surrounding environment of the apparatus; the tactile perception module is configured to obtain tactile information of the surrounding environment of the apparatus; the signal transmission module is configured to transmit the image information and the tactile information to the control module; and the control module is configured to generate a control instruction based on the image information and the tactile information, and transmit the control instruction.