The method recognizes the indoor area in the map by dividing grid map based on simultaneous localization and mapping（ SLAM） technology

and realizes the flexible marking of the robot navigation target position. Firstly

the grid map constructed by SLAM technology is binarized. Line segment detector（ LSD） is used to identify all the line segments in the map. Grouping and fitting methods are used to obtain the line segments of the indoor environment boundary. The map is divided into multiple rectangular blocks

and finally the rectangular blocks are merged and aggregated to divide the indoor area on the grid map. The combination of the marked indoor area and the voice function expands the input mode of robot navigation. The results show that this method has a higher recall rate when dividing the grid maps generated in different indoor environments and in the presence of furniture into indoor areas.