CN107625489A - Obstacle information processing method and device, processor and floor sweeping robot - Google Patents
Obstacle information processing method and device, processor and floor sweeping robot Download PDFInfo
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Abstract
The invention discloses a method and a device for processing obstacle information, a processor and a sweeping robot. Wherein, the method comprises the following steps: determining one or more obstacles existing on the current working path, wherein the one or more obstacles move under the action of the sweeping robot; acquiring image information and corresponding position information of each obstacle in one or more obstacles; and classifying and storing the acquired image information and the position information according to the class information of one or more barriers. The invention solves the technical problem that the sweeping robot in the related technology can not effectively acquire the relevant information of the obstacle found in the sweeping process and process the relevant information.
Description
Technical field
The present invention relates to controlling intelligent household appliances field, in particular to a kind of processing method of obstacle information, dress
Put, processor and sweeping robot.
Background technology
Sweeping robot, machine, intelligent dust suction, robot cleaner are also known as swept automatically, belongs to a kind of controlling intelligent household appliances,
It can complete floor cleaning work indoors automatically, and ground debris is first received into the rubbish receiver into itself, so as to complete
Into the function of land clearing.Under normal conditions, cleaning, dust suction, the robot also unified classification to work with wiping can will be completed
For sweeping robot.
Sweeping robot is most sold early in European ＆ American Market, with the horizontal raising of domestic, steps into China.
The fuselage of machine of sweeping the floor is radio equipment, is operated using rechargeable battery, mode of operation is with the operating surface on remote control or machine
Plate, its can setting time reservation sweep, voluntarily charge.There is setting inductor in front, can obstruction detection, if encountering wall
Or other barriers can voluntarily turn, and different routes is walked according to the initial set mode of each production firm.In view of
It is its simple operations, convenient, nowadays have become the conventional electrical home appliances of working clan or Modern Family.
The fuselage of sweeping robot is the movable fixture using automatic technology.Vacuum cleaning equipped with dust-collecting box fills
Put and coordinate fuselage setting control path, walk repeatedly indoors, such as：Cleaned along side, concentrate cleaning, random cleaning, straight line clear
The path such as sweep to sweep, and be aided with mode, the reinforcements such as side brush, the main brush rotation in center, rag and sweep effect, to complete house of personalizing
Cleaning effect.
The internal structure of sweeping robot mainly includes：
(1) body：Based on collar plate shape, the external form of different factory's commodity designs can be different.
(2) rechargeable battery：Based on Ni-MH battery, partly using lithium battery, but led to using the sweeping robot of lithium battery
Normal production unit cost is higher.The battery charge time of every production firm and usage time also difference.
(3) cradle：The place that robot cleaner voluntarily goes home charging can be provided.
(4) dust-collecting box：Different from the paper bag mode of dust catcher generally use, sweeping robot is each equipped with dust-collecting box to receive
Collect dust, can be divided into：Central dust-collection box is with being placed in rear end dust-collecting box.
(5) remote control：Control sweeping robot to perform cleaning, can also currently be added by the control panel on fuselage
With control.
At present, during sweeping robot carries out cleaning, in order to avoid sweeping robot and initial plan road
Emergent obstacle collides on footpath, when sweeping robot learns obstacle on forward path be present by sensor
When, it will usually carry out these obstacles and continue to move ahead or change path in advance to avoid colliding with obstacle.Former
Mode probably to obstacle, either cause to damage in itself by sweeping robot or ground, although latter approach can be avoided
Obstacle continues cleaning works, but can not effectively know the relevant information of obstacle, so can not user with
Association is established between obstacle.
For it is above-mentioned the problem of, not yet propose effective solution at present.
The content of the invention
At least part embodiment of the present invention provides a kind of processing method of obstacle information, device, processor and swept the floor
Robot, the obstacle found in cleaning process can not be effectively obtained at least to solve sweeping robot in correlation technique
Relevant information and the technical problem handled relevant information.
According to a wherein embodiment of the invention, there is provided a kind of processing method of obstacle information, including：
One or more obstacles present on work at present path are determined, wherein, one or more obstacles are being swept the floor
It is moved under the active force of robot；Obtain in one or more obstacles the image information of each obstacle and corresponding
Positional information；Classification is carried out according to the classification information of one or more obstacles to the image information and positional information that get to deposit
Storage.
Alternatively, it is determined that before one or more obstacles present on work at present path, in addition to：Pass through image
Harvester obtains indoor environment layout, generates global context map；Work at present path is planned according to global context map.
Alternatively, the image information of each obstacle and corresponding positional information bag in one or more obstacles are obtained
Include：For each obstacle, control image collecting device gathers the first image and from the second visual angle collection the from the first visual angle
Two images；Utilize the first image positional information corresponding with each obstacle of parallax acquisition of the second image.
Alternatively, the image information and positional information that get are carried out according to the classification information of one or more obstacles
Classification storage includes：The sample data stored in the image information and presetting database of each obstacle is carried out into classification to compare,
It is determined that the classification information of each obstacle；According to the classification information of each obstacle to the figure that gets in default storage region
As information and positional information carry out classification storage.
Alternatively, classification storage is carried out to the image information got in the classification information according to one or more obstacles
Afterwards, in addition to：Classification displaying is carried out to the image information and positional information got；According to user input operational order from
Obstacle to be found is determined in the image information got；User is guided according to positional information corresponding to obstacle to be found
Give obstacle to be found for change.
According to a wherein embodiment of the invention, a kind of processing unit of obstacle information is additionally provided, including：
First determining module, for determining one or more obstacles present on work at present path, wherein, one or
Multiple obstacles are moved under the active force of sweeping robot；Acquisition module, for obtaining in one or more obstacles
The image information and corresponding positional information of each obstacle；Processing module, for the class according to one or more obstacles
Other information carries out classification storage to the image information and positional information that get.
Alternatively, said apparatus also includes：Generation module, it is laid out for obtaining indoor environment by image collecting device,
Generate global context map；Planning module, for planning work at present path according to global context map.
Alternatively, acquisition module includes：Control unit, for for each obstacle, control image collecting device is from the
One visual angle gathers the first image and gathers the second image from the second visual angle；Acquiring unit, for utilizing the first image and second
The parallax of image obtains positional information corresponding to each obstacle.
Alternatively, processing module includes：Comparing unit, for by the image information and presetting database of each obstacle
The sample data of storage carries out classification comparison, it is determined that the classification information of each obstacle；Processing unit, in default memory block
Classification storage is carried out to the image information and positional information that get according to the classification information of each obstacle in domain.
Alternatively, said apparatus also includes：Display module, divide for the image information to getting and positional information
Class is shown；Second determining module, it is to be found for being determined according to the operational order that user inputs from the image information got
Obstacle；Guiding module, for giving resistance to be found for change according to positional information guiding user corresponding to obstacle to be found
Block material.
According to a wherein embodiment of the invention, a kind of storage medium is additionally provided, storage medium includes the program of storage, its
In, equipment performs the processing method of above-mentioned obstacle information where controlling storage medium when program is run.
According to a wherein embodiment of the invention, a kind of processor is additionally provided, processor is used for operation program, wherein, journey
The processing method of above-mentioned obstacle information is performed during sort run.
According to a wherein embodiment of the invention, a kind of sweeping robot is additionally provided, including：One or more processors,
Memory, image collecting device and one or more programs, wherein, one or more programs are stored in memory, and
And be configured as being performed by one or more processors, one or more programs are used for the processing side for performing above-mentioned obstacle information
Method.
In at least part embodiment of the present invention, stopped using one or more present on determination work at present path
Thing, the mode that one or more obstacles are moved under the active force of sweeping robot are one or more by obtaining
The image information of each obstacle and corresponding positional information in obstacle；According to the classification information of one or more obstacles
Classification storage is carried out to the image information and positional information got, so that the obstacle effectively found in cleaning process
Relevant information simultaneously carries out classification storage, so that user gives loss article for change in time from the obstacle of discovery, and then solves phase
Sweeping robot can not effectively obtain the relevant information of the obstacle found in cleaning process and correlation is believed in the technology of pass
Cease the technical problem handled.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, forms the part of the application, this hair
Bright schematic description and description is used to explain the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 shows a kind of hardware block diagram for being used to realize the sweeping robot of the processing method of obstacle information；
Fig. 2 is the flow chart according to the processing method of the obstacle information of a wherein embodiment of the invention；
Fig. 3 is the structured flowchart according to the processing unit of the obstacle information of a wherein embodiment of the invention；
Fig. 4 is the structured flowchart according to the processing unit of the obstacle information of a wherein preferred embodiment of the invention.
Embodiment
In order that those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, it should all belong to the model that the present invention protects
Enclose.
It should be noted that term " first " in description and claims of this specification and above-mentioned accompanying drawing, "
Two " etc. be for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so use
Data can exchange in the appropriate case, so as to embodiments of the invention described herein can with except illustrating herein or
Order beyond those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, be not necessarily limited to for example, containing the process of series of steps or unit, method, system, product or equipment
Those steps or unit clearly listed, but may include not list clearly or for these processes, method, product
Or the intrinsic other steps of equipment or unit.
According to a wherein embodiment of the invention, there is provided a kind of embodiment of the processing method of obstacle information is, it is necessary to say
It is bright, it can be held the step of the flow of accompanying drawing illustrates in the computer system of such as one group computer executable instructions
OK, although also, show logical order in flow charts, in some cases, can be with different from order herein
Perform shown or described step.
Above method embodiment can perform in sweeping robot.Fig. 1 shows a kind of for realizing obstacle information
Processing method sweeping robot hardware block diagram.As shown in figure 1, sweeping robot mainly includes：Processor 102
(processor 102 can include but is not limited to the processing unit of microprocessor (MCU) or PLD (FPGA) etc.), use
In the memory 104 and image collecting device 106 of data storage.In addition, can also include：Transmitting device, display,
Input/output interface (I/O interfaces), USB (USB) port (can be as an ends in the port of I/O interfaces
Mouthful be included), lighting device, network interface and/or power supply.It will appreciated by the skilled person that the structure shown in Fig. 1
Only illustrate, it does not cause to limit to the structure of above-mentioned electronic installation.For example, sweeping robot may also include than institute in Fig. 1
Show more either less components or there is the configuration different from shown in Fig. 1.
It is to be noted that above-mentioned processor 102 and/or other data processing circuits can generally be claimed herein
For " data processing circuit ".The data processing circuit can be presented as software, hardware, firmware or other are any with all or part of
Combination.In addition, data processing circuit can be single independent processing module, or all or part of it is attached in sweeping robot
Other elements in any one in.As involved in the embodiment of the present application, the data processing circuit is used as at one kind
Manage device control (such as the selection for the variable resistor end path being connected with interface).
Memory 104 can be used for the software program and module of storage application software, such as the stop in the embodiment of the present invention
Programmed instruction/data storage device corresponding to the processing method of thing information, processor 102 are stored in memory 104 by operation
Interior software program and module, so as to perform various function application and data processing, that is, realize above-mentioned obstacle information
Processing method.Memory 104 may include high speed random access memory, may also include nonvolatile memory, such as one or more
Magnetic storage device, flash memory or other non-volatile solid state memories.In some instances, memory 104 can be wrapped further
Network connection to sweeping robot can be passed through relative to the remotely located memory of processor 102, these remote memories by including.
The example of above-mentioned network includes but is not limited to internet, intranet, LAN, mobile radio communication and combinations thereof.
Image collecting device, by taking camera as an example, it can use and lift the top that rotary-die type of putting english is installed on sweeping robot
Portion, one can also be installed in front of sweeping robot and slides camera or a rotatable camera, can also be in ground machine
People's fuselage first position (such as：Front) and the second place (such as：Top) fixing camera is installed respectively.If sweep
Floor-washing robot enters the obvious dimmed region to be cleaned of light, then can also be by the figure of lighting device assisted acquisition obstacle
As information.
Transmitting device is used to data are received or sent via a network.Above-mentioned network instantiation may include to sweep the floor
The wireless network that the communication providerses of robot provide.In an example, transmitting device includes a network adapter
(Network Interface Controller, referred to as NIC), its can be connected by base station with other network equipments so as to
Communicated with internet.In an example, transmitting device 106 can be radio frequency (Radio Frequency, referred to as RF)
Module, it is used to wirelessly be communicated with internet.
Display can such as touch-screen type liquid crystal display (LCD), the liquid crystal display may be such that user can be with
The user interface of sweeping robot interacts.
Under above-mentioned running environment, this application provides the processing method of obstacle information as shown in Figure 2.Fig. 2 is root
According to the flow chart of the processing method of the obstacle information of a wherein embodiment of the invention.As shown in Fig. 2 this method includes following step
Suddenly：
Step S22, one or more obstacles present on work at present path are determined, wherein, one or more stops
Thing is moved under the active force of sweeping robot；
Step S24, obtain the image information of each obstacle and corresponding positional information in one or more obstacles；
Step S26, the image information and positional information that get are entered according to the classification information of one or more obstacles
Row classification storage.
By above-mentioned steps, it can use and determine one or more obstacles present on work at present path, this
Or the mode that multiple obstacles are moved under the active force of sweeping robot, it is every in one or more obstacles by obtaining
The image information of individual obstacle and corresponding positional information；According to the classification informations of one or more obstacles to getting
Image information and positional information carry out classification storage, so that the relevant information of the obstacle effectively found in cleaning process is simultaneously
Classification storage is carried out, so that user gives loss article for change in time from the obstacle of discovery, and then solves in correlation technique and sweeps
Floor-washing robot can not effectively obtain the relevant information of the obstacle found in cleaning process and relevant information is handled
Technical problem.
Above-mentioned obstacle can include but is not limited to following several classes：
(1) valuable jewellery, such as：Diamond ring, gold bracelet；
(2) carry-on articles, such as：Wrist-watch, key；
(3) medicine, such as：Eyedrops, essential wind oil；
(4) toy for children, such as：Building blocks, watercolor pencil；
(5) other are miscellaneous, such as：Needlework, button.
Alternatively,, can be with before determining one or more obstacles present on work at present path in step S22
Including step performed below：
Step S20, indoor environment is obtained by image collecting device and is laid out, generates global context map；
Step S21, work at present path is planned according to global context map.
Sweeping robot can carry out complete traverse path planning by way of off-line learning to indoor environment layout, lead to
Image acquisition device three-dimensional environment information is crossed, then again inputs the three-dimensional environment information collected to neutral net or complete
Ball alignment system is to generate global context map.In specific cleaning process, sweeping robot can be along global context map
Borderline region clean until periphery is without non-purging zone, so as to form a closed loop in global context map.Its
It is secondary, it is multiple relatively only by global context map partitioning using the plane perpendicular to the ground where the doorframe of interior as line of demarcation
Vertical region to be cleaned.Then, starting point is set respectively in each relatively independent region to be cleaned, according to routes such as " bow " shapes
Carry out indoor cleaning.For example, using starting point as origin, set respectively in the parallel direction of mutual adjacent wall at a right angle indoors
X-axis and Y-axis, establish plane right-angle coordinate.Finally, sweeping robot is advanced according to " bow " shape operating path.If run into
Obstacle is stated, then continues to advance according to former operating path after can bypassing the obstacle on the border along obstacle；If meet
To wall, then it can turn left according to the reference axis where wall or the right side turn 90 degrees and advance a fuselage along the reference axis, then
Turn left again or the right side is turn 90 degrees to continue to advance according to former operating path along the reference axis vertical with the wall.
Alternatively, in step s 24, the image information of each obstacle and correspondingly is obtained in one or more obstacles
Positional information can include step performed below：
Step S241, for each obstacle, control image collecting device from the first visual angle gather the first image and from
Second visual angle gathers the second image；
Step S242, utilize the first image positional information corresponding with each obstacle of parallax acquisition of the second image.
Sweeping robot can control image collecting device (multiple cameras or rotatable/flexible camera) from
Two or more same obstacles of view, obtain the image under different visual angles, according to the matching of pixel between image
Relation, the skew between pixel is calculated by principle of triangulation, to obtain the three-dimensional information of obstacle and depth of view information, and then
Calculate the positional information of the actual range and obstacle between obstacle and sweeping robot.
Alternatively, in step S26, according to the classification information of one or more obstacles to the image information that gets and
Positional information, which carries out classification storage, can include step performed below：
Step S261, the sample data stored in the image information and presetting database of each obstacle is subjected to classification ratio
It is right, it is determined that the classification information of each obstacle；
Step S262, in default storage region according to the classification information of each obstacle to the image information that gets and
Positional information carries out classification storage.
In sweeping robot or with sweeping robot can input necessarily in the far-end server of communication interaction
Quantity belongs to the image data of multiple classifications, so that sweeping robot carries out machine learning, and the view data of input is made
For sample data.After sweeping robot collects the image information of an obstacle, first according to pixel distance calculate with
The image information collected N (N is positive integer) pictures the most similar, then again using k nearest neighbor classifiers to N pictures
Classified, finally according to category distribution statistical result, choose point of that the most classification of picture number as the obstacle
Class.
It is determined that after the classification information of each obstacle, classification of the storage region according to each obstacle can preset
Information carries out classification storage to the image information and positional information that get, so that user subsequently checks.
Alternatively, in step S26, the image information got is carried out according to the classification information of one or more obstacles
After classification storage, step performed below can also be included：
Step S27, classification displaying is carried out to the image information and positional information got；
Step S28, obstacle to be found is determined from the image information got according to the operational order that user inputs；
Step S29, obstacle to be found is given for change according to positional information guiding user corresponding to obstacle to be found.
Sweeping robot can utilize line holographic projections technology on the wall that air stream is formed after indoor cleaning works is completed
It is projected out the image information and positional information of obstacle hunted out one by one according to classification information, or, projection can also be utilized
Instrument projects the image information of obstacle and positional information on wall.Image information and position of the user according to these obstacles
Information chooses obstacle to be found, then can input lost article on the matched remote controller or control panel of sweeping robot
Searching instruction.Sweeping robot can guide user to find with the positional information according to obstacle to be found by optimal path
The obstacle.
Such as：One Ms After Hours picks up child after school and gone back home, and enters kitchen in a hurry and prepares dinner for child.But just
After this Ms opens the door, overcoat is placed on a couch conveniently and enabling key is placed on overcoat pocket close to opening
Place.During Ms cooks, key is slid between two couch on the ground in gap from pocket edge.When this female
When this string key is found out in upper preparation, catch sight of key and disappear, but key is placed on where by completely no impression, impatiently such as
Burn.Therefore, this Ms starts sweeping robot after supper, it is desirable to helps its determination while ground health in cleaning chamber
The positional information of key.Sweeping robot is formed after indoor cleaning works is completed using line holographic projections technology in air stream
The image information and positional information of obstacle hunted out is projected out according to classification information on wall one by one.This Ms is according to these
The image information of obstacle chooses key to be found, then can be in the matched remote controller or control panel of sweeping robot
Upper input lost article searching instruction.Sweeping robot can be to be guided according to the positional information of key to be found by optimal path
User finds key.Certainly, this Ms can also voluntarily find key according to the positional information being projected out.
According to a wherein embodiment of the invention, there is provided a kind of embodiment of the processing unit of obstacle information, Fig. 3 is root
According to the structured flowchart of the processing unit of the obstacle information of a wherein embodiment of the invention.As shown in figure 3, the device includes：The
One determining module 10, for determining one or more obstacles present on work at present path, wherein, one or more stops
Thing is moved under the active force of sweeping robot；Acquisition module 20, each hindered for obtaining in one or more obstacles
The image information of block material and corresponding positional information；Processing module 30, for being believed according to the classification of one or more obstacles
Cease and classification storage is carried out to the image information and positional information that get.
Alternatively, Fig. 4 is the structural frames according to the processing unit of the obstacle information of a wherein preferred embodiment of the invention
Figure.As shown in figure 4, said apparatus also includes：Generation module 40, it is laid out for obtaining indoor environment by image collecting device,
Generate global context map；Planning module 50, for planning work at present path according to global context map.
Alternatively, acquisition module 20 includes：Control unit (not shown), for for each obstacle, control figure
As harvester gathers the first image from the first visual angle and gathers the second image from the second visual angle；Acquiring unit (is not shown in figure
Go out), for utilizing the first image positional information corresponding with each obstacle of parallax acquisition of the second image.
Alternatively, processing module 30 includes：Comparing unit (not shown), for by the image information of each obstacle
Classification is carried out with the sample data stored in presetting database to compare, it is determined that the classification information of each obstacle；Processing unit (figure
Not shown in), for presetting in storage region according to the classification information of each obstacle to the image information got and position
Confidence breath carries out classification storage.
Alternatively, as shown in figure 4, said apparatus also includes：Display module 60, for the image information to getting and position
Confidence breath carries out classification displaying；Second determining module 70, for being believed according to the operational order that user inputs from the image got
Obstacle to be found is determined in breath；Guiding module 80, for being used according to positional information guiding corresponding to obstacle to be found
Give obstacle to be found for change in family.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
In the above embodiment of the present invention, the description to each embodiment all emphasizes particularly on different fields, and does not have in some embodiment
The part of detailed description, it may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents, others can be passed through
Mode is realized.Wherein, device embodiment described above is only schematical, such as the division of the unit, Ke Yiwei
A kind of division of logic function, can there is an other dividing mode when actually realizing, for example, multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling or direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, unit or module
Connect, can be electrical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On unit.Some or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part to be contributed in other words to prior art or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are causing a computer
Equipment (can be personal computer, server or network equipment etc.) perform each embodiment methods described of the present invention whole or
Part steps.And foregoing storage medium includes：USB flash disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can be with store program codes
Medium.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (13)
- A kind of 1. processing method of obstacle information, it is characterised in that including：One or more obstacles present on work at present path are determined, wherein, one or more of obstacles are being swept the floor It is moved under the active force of robot；Obtain the image information of each obstacle and corresponding positional information in one or more of obstacles；Classification is carried out according to the classification information of one or more of obstacles to the image information and positional information that get to deposit Storage.
- 2. according to the method for claim 1, it is characterised in that it is determined that described one present on the work at present path Before individual or multiple obstacles, in addition to：Indoor environment is obtained by image collecting device to be laid out, and generates global context map；The work at present path is planned according to the global context map.
- 3. according to the method for claim 2, it is characterised in that obtain each obstacle in one or more of obstacles Image information and corresponding positional information include：For each obstacle, control described image harvester gathers the first image from the first visual angle and adopted from the second visual angle Collect the second image；Utilize described first image positional information corresponding with each obstacle of parallax acquisition of second image.
- 4. according to the method for claim 1, it is characterised in that according to the classification information pair of one or more of obstacles The image information and positional information got, which carries out classification storage, to be included：The sample data stored in the image information and presetting database of each obstacle is carried out into classification to compare, it is determined that each resistance The classification information of block material；According to the classification information of each obstacle to the image information and positional information got in default storage region Carry out classification storage.
- 5. according to the method for claim 1, it is characterised in that in the classification information according to one or more of obstacles After classification storage being carried out to the image information got, in addition to：Classification displaying is carried out to the image information got and positional information；Obstacle to be found is determined from the image information got according to the operational order that user inputs；The user is guided to give the obstacle to be found for change according to positional information corresponding to the obstacle to be found.
- A kind of 6. processing unit of obstacle information, it is characterised in that including：First determining module, for determining one or more obstacles present on work at present path, wherein, it is one or Multiple obstacles are moved under the active force of sweeping robot；Acquisition module, for obtaining the image information of each obstacle and corresponding position in one or more of obstacles Information；Processing module, the image information got and position are believed for the classification information according to one or more of obstacles Breath carries out classification storage.
- 7. device according to claim 6, it is characterised in that described device also includes：Generation module, it is laid out for obtaining indoor environment by image collecting device, generates global context map；Planning module, for planning the work at present path according to the global context map.
- 8. device according to claim 7, it is characterised in that the acquisition module includes：Control unit, for for each obstacle, control described image harvester from the first visual angle gather the first image with And gather the second image from the second visual angle；Acquiring unit, for utilizing described first image position corresponding with each obstacle of parallax acquisition of second image Information.
- 9. device according to claim 6, it is characterised in that the processing module includes：Comparing unit, the sample data for being stored in the image information and presetting database by each obstacle carry out classification ratio It is right, it is determined that the classification information of each obstacle；Processing unit, the image got is believed for the classification information according to each obstacle in default storage region Breath and positional information carry out classification storage.
- 10. device according to claim 6, it is characterised in that described device also includes：Display module, for carrying out classification displaying to the image information got and positional information；Second determining module, it is to be found for being determined according to the operational order that user inputs from the image information got Obstacle；Guiding module, it is described to be checked for guiding the user to give for change according to positional information corresponding to the obstacle to be found The obstacle looked for.
- A kind of 11. storage medium, it is characterised in that the storage medium includes the program of storage, wherein, run in described program When control the storage medium where obstacle information in equipment perform claim requirement 1 to 5 described in any one processing side Method.
- A kind of 12. processor, it is characterised in that the processor is used for operation program, wherein, right of execution when described program is run Profit requires the processing method of the obstacle information described in any one in 1 to 5.
- A kind of 13. sweeping robot, it is characterised in that including：One or more processors, memory, image collecting device with And one or more programs, wherein, one or more of programs are stored in the memory, and are configured as by institute One or more processors execution is stated, one or more of programs are used in perform claim requirement 1 to 5 described in any one The processing method of obstacle information.
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Application publication date: 20180126 |