CN113110462A - Obstacle information processing method and device and operating equipment - Google Patents
Obstacle information processing method and device and operating equipment Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G05D1/02—Control of position or course in two dimensions
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Abstract
The application discloses a method and a device for processing obstacle information and operating equipment. Wherein, the method comprises the following steps: determining a first obstacle detected by an operating device in the process of operating in a preset operating area; acquiring a second barrier identified in the operation map, and comparing the attribute information of the first barrier and the second barrier; and determining whether to update the obstacle information in the operation map according to the comparison result. The method and the device solve the technical problems that the implementation difficulty is high and the implementation efficiency is low in the mode that the barrier information of the operation area needs to be regularly identified and updated at present.
Description
Technical Field
The present invention relates to the field of obstacle detection for unmanned aerial vehicles, and in particular, to a method and an apparatus for processing obstacle information, and an operating device.
Background
The land obstacle refers to an object which influences the operation of the unmanned operation equipment in a certain land area. Taking an unmanned aerial vehicle as an example, the existing method for detecting obstacles needs to identify and mark all obstacle information in an operation area before flight operation, so that the unmanned aerial vehicle can be helped to better avoid obstacle flight. However, since the shape, size, and position of the obstacle in the work area are variable with time, the obstacle in the work area needs to be periodically recognized and updated in the conventional art.
Aiming at the problems that the implementation difficulty is high and the implementation efficiency is low in the mode of periodically identifying and updating the obstacle information of the operation area at present, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the application provides a method and a device for processing obstacle information and operating equipment, and aims to at least solve the technical problems that the implementation difficulty is high and the implementation efficiency is low in the conventional mode that the obstacle information of an operating area needs to be regularly identified and updated.
According to an aspect of an embodiment of the present application, there is provided a method for processing obstacle information, including: determining a first obstacle detected by an operating device in the process of operating in a preset operating area; acquiring a second barrier identified in the operation map, and comparing the attribute information of the first barrier and the second barrier; and determining whether to update the obstacle information in the operation map according to the comparison result.
Optionally, the obtaining of the identified second obstacle in the job map includes: determining a position of a first obstacle in a work map; determining a preset range by taking the position of the first obstacle as a center in the operation map; and acquiring a second obstacle from the preset range.
Optionally, the attribute information includes position information and size information, and comparing the attribute information of the first obstacle with the attribute information of the second obstacle includes: determining the outline range of the first obstacle according to the position information and the size information of the first obstacle; determining the outline range of the second obstacle according to the position information and the size information of the second obstacle; the contour range of the first obstacle is compared with the contour range of the second obstacle.
Optionally, determining whether to update the obstacle information in the job map according to the comparison result includes: refusing to update the obstacle information in the work map if the contour range of the first obstacle is included in the contour range of the second obstacle; and if the outline range of the first obstacle is not included in the outline range of the second obstacle, updating the obstacle information in the work map.
Optionally, if the contour range of the first obstacle is not included in the contour range of the second obstacle, updating the obstacle information in the work map, including: if the outline range of the first obstacle is not overlapped with the outline range of the second obstacle, and the distance between the outline range of the first obstacle and the outline range of the second obstacle is greater than the preset distance, the first obstacle is stored as a new obstacle in the operation map; and if the outline range of the first obstacle is not overlapped with the outline range of the second obstacle, and the distance between the outline range of the first obstacle and the outline range of the second obstacle is smaller than the preset distance, combining the first obstacle and the second obstacle into one obstacle in the operation map.
Optionally, if the contour range of the first obstacle is not included in the contour range of the second obstacle, updating the obstacle information in the work map, further comprising: if the outline range of the first obstacle overlaps with the outline range of the second obstacle, determining a union of the outline range of the first obstacle and the outline range of the second obstacle; and replacing the outline range of the second obstacle with the union set in the operation map.
Optionally, if the contour range of the first obstacle is not included in the contour range of the second obstacle, updating the obstacle information in the work map, further comprising: replacing the second obstacle with the first obstacle in the work map if the contour range of the first obstacle includes the contour range of the second obstacle; and if the second obstacle is not detected in the preset range, storing the first obstacle into the operation map, and deleting the second obstacle in the operation map.
Optionally, after updating the obstacle information in the job map, the method further includes: and planning the operation route of the operation equipment according to the updated operation map.
Optionally, the method further includes: displaying an operation map on the terminal equipment, wherein the operation map comprises position information and sizes of a first obstacle and a second obstacle; acquiring a control instruction, wherein the control instruction is issued through terminal equipment; updating the obstacle in the job map if the control instruction is used for indicating that the obstacle in the job map is updated; and if the control instruction is used for indicating that the obstacle in the work map is refused to be updated, refusing to update the obstacle in the work map.
According to another aspect of the embodiments of the present application, there is also provided an obstacle information processing apparatus, including: the determining module is used for determining a first obstacle detected in real time in the process that the operation equipment operates in a preset operation area; the comparison module is used for acquiring the identified second obstacle in the operation map and comparing the attribute information of the first obstacle with the attribute information of the second obstacle; and the updating module is used for determining whether to update the obstacle information in the operation map according to the comparison result.
According to still another aspect of the embodiments of the present application, there is also provided a work apparatus including: the device comprises a surveying and mapping device and a processor, wherein the surveying and mapping device is used for detecting obstacles in a preset operation area during the operation of the operation equipment in the preset operation area; a processor in communication with the mapping device for determining a first obstacle detected by the mapping device; acquiring a second barrier identified in the operation map, and comparing the attribute information of the first barrier and the second barrier; and determining whether to update the obstacle information in the operation map according to the comparison result.
According to still another aspect of the embodiments of the present application, there is also provided a nonvolatile storage medium including a stored program, wherein the apparatus in which the nonvolatile storage medium is located is controlled to execute the above obstacle information processing method when the program runs.
According to still another aspect of the embodiments of the present application, there is also provided a processor for executing a program stored in a memory, wherein the program executes the above processing method of the obstacle information.
In the embodiment of the application, a first obstacle detected by a determined operation device in the process of operating in a preset operation area is adopted; acquiring a second barrier identified in the operation map, and comparing the attribute information of the first barrier and the second barrier; according to the method for determining whether to update the obstacle information in the operation map or not according to the comparison result, after the unmanned operation equipment operates, the obstacles detected in real time in the operation process are selectively stored as the plot information, and the obstacle information can be obtained without surveying and mapping and without detection in the next operation, so that the difficulty of periodically identifying and updating the obstacle information in the operation area is reduced, the efficiency of updating the obstacle information is improved, the technical effect of improving the operation safety is improved, and the technical problems that the implementation difficulty is high and the implementation efficiency is low in the conventional method for periodically identifying and updating the obstacle information in the operation area are solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a flowchart of a method for processing obstacle information according to an embodiment of the present application;
FIG. 2a is a schematic diagram of a real-time detected obstacle in relation to a mapped obstacle according to an embodiment of the present application;
FIG. 2b is a diagram illustrating a result of a job map update according to an embodiment of the present application;
FIG. 3a is a schematic diagram of a real-time detected obstacle in relation to a mapped obstacle according to an embodiment of the present application;
FIG. 3b is a diagram illustrating a result of a job map update according to an embodiment of the present application;
FIG. 4a is a schematic diagram of a real-time detected obstacle in relation to a mapped obstacle according to an embodiment of the present application;
FIG. 4b is a diagram illustrating a result of a job map update according to an embodiment of the present application;
FIG. 5a is a schematic diagram of a real-time detected obstacle in relation to a mapped obstacle according to an embodiment of the present application;
FIG. 5b is a diagram illustrating a result of a job map update according to an embodiment of the present application;
FIG. 6a is a schematic diagram of a real-time detected obstacle in relation to a mapped obstacle according to an embodiment of the present application;
FIG. 6b is a diagram illustrating a result of a job map update according to an embodiment of the present application;
FIG. 7a is a schematic diagram of an interface displaying a job map according to an embodiment of the present application;
FIG. 7b is a schematic diagram of another interface for displaying a job map according to an embodiment of the present application;
FIG. 7c is a schematic diagram of another interface for displaying a job map according to an embodiment of the present application;
FIG. 7d is a schematic diagram of another interface for displaying a job map according to an embodiment of the present application;
fig. 8 is a block diagram of a processing apparatus of obstacle information according to an embodiment of the present application;
fig. 9 is a block diagram of a configuration of a work apparatus according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
According to an embodiment of the present application, there is provided an embodiment of a method for processing obstacle information, where it is noted that the steps shown in the flowchart of the drawings may be executed in a computer system such as a set of computer-executable instructions, and that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that here.
Fig. 1 is a flowchart of a method for processing obstacle information according to an embodiment of the present application, and as shown in fig. 1, the method includes the following steps:
step S102, determining a first obstacle detected by the operation equipment in the process of operating in a preset operation area;
according to an alternative embodiment of the present application, the working device includes, but is not limited to, an unmanned working device such as an unmanned aerial vehicle, an unmanned vehicle, and the like.
Use unmanned aerial vehicle as an example, above-mentioned first barrier means that the detection modules such as the millimeter wave radar that uses unmanned aerial vehicle, vision camera, laser radar carry out real-time detection to unmanned aerial vehicle surrounding environment, the object of the influence unmanned aerial vehicle flight that detects.
Step S104, acquiring the identified second obstacle in the operation map, and comparing the attribute information of the first obstacle and the second obstacle;
the second obstacle is an obstacle which is marked in an operation map or parcel information corresponding to the preset operation area, and the marking mode can be that a user manually defines the area of the obstacle on a display interface, or the user dots the obstacle through a surveying instrument to acquire position information of the obstacle, or the user can automatically recognize the obstacle through a surveying and mapping mode, for example, a high-definition image of the preset operation area is acquired through a surveying and mapping unmanned aerial vehicle to carry out aerial surveying and mapping on the preset operation area, and boundary information and obstacle information of the preset operation area are automatically recognized based on the high-definition image to generate the operation map, so that the obstacle in the operation map is marked.
And step S106, determining whether to update the obstacle information in the work map according to the comparison result.
Through the steps, after the unmanned operation equipment works, the obstacles detected in real time in the operation process are selectively stored as the land parcel information, and the obstacle information does not need to be obtained through surveying and mapping and detection in the next operation, so that the difficulty of periodically identifying and updating the obstacle information in the operation area is reduced, the obstacle information updating efficiency is improved, and the operation safety is improved.
According to an alternative embodiment of the present application, the step S104 is executed to obtain the identified second obstacle in the job map by: determining a position of a first obstacle in a work map; determining a preset range by taking the position of the first obstacle as a center in the operation map; and acquiring a second obstacle from the preset range.
It should be noted that the second obstacle and the first obstacle are located in the same preset range because the obstacle detected in real time needs to be compared with the attribute information of the mapped obstacle close to the second obstacle. Only such second obstacle information is meaningful for updating the obstacle information in the work map in real time.
According to an alternative embodiment of the present application, the attribute information includes position information and size information, and the attribute information of the first obstacle and the second obstacle is compared by the following method when step S104 is executed: determining the outline range of the first obstacle according to the position information and the size information of the first obstacle; determining the outline range of the second obstacle according to the position information and the size information of the second obstacle; the contour range of the first obstacle is compared with the contour range of the second obstacle.
According to another alternative embodiment of the present application, in executing step S106, if the contour range of the first obstacle is included in the contour range of the second obstacle, the update of the obstacle information in the job map is rejected; and if the outline range of the first obstacle is not included in the outline range of the second obstacle, updating the obstacle information in the work map.
Fig. 2a is a schematic diagram of a relationship between a real-time detected obstacle and a mapped obstacle according to an embodiment of the present application, where a solid line represents the mapped obstacle, and a dotted line represents the real-time detected obstacle, and as can be seen from fig. 2a, a contour range of the detected obstacle is included in a contour range of the mapped obstacle, and at this time, the operation map is not updated, and the processing result is shown in fig. 2 b.
In some optional embodiments of the present application, if the contour range of the first obstacle is not included in the contour range of the second obstacle, updating the obstacle information in the work map includes: if the outline range of the first obstacle is not overlapped with the outline range of the second obstacle, and the distance between the outline range of the first obstacle and the outline range of the second obstacle is greater than the preset distance, the first obstacle is stored as a new obstacle in the operation map; and if the outline range of the first obstacle is not overlapped with the outline range of the second obstacle, and the distance between the outline range of the first obstacle and the outline range of the second obstacle is smaller than the preset distance, combining the first obstacle and the second obstacle into one obstacle in the operation map.
Fig. 3a is a schematic diagram illustrating a relationship between a detected obstacle and a mapped obstacle according to an embodiment of the present application, where the detected obstacle and the mapped obstacle are far away from each other as shown in fig. 3a, and the obstacle in the work map needs to be updated, and the update result is shown in fig. 3b, and the detected obstacle is stored in the work map.
Fig. 4a is a schematic diagram illustrating a relationship between a detected obstacle and a mapped obstacle according to an embodiment of the present application, where the detected obstacle and the mapped obstacle are close to each other (for example, within 2 meters), and the obstacle in the work map needs to be updated, and the update result is shown in fig. 4b, and the detected obstacle and the mapped obstacle are combined into one obstacle and stored in the work map.
According to an optional embodiment of the present application, if the contour range of the first obstacle is not included in the contour range of the second obstacle, updating the obstacle information in the work map further includes: if the outline range of the first obstacle overlaps with the outline range of the second obstacle, determining a union of the outline range of the first obstacle and the outline range of the second obstacle; and replacing the outline range of the second obstacle with the union set in the operation map.
Fig. 5a is a schematic diagram of a relationship between a detected obstacle and a mapped obstacle according to an embodiment of the present application, where, as shown in fig. 5a, the detected obstacle and the mapped obstacle intersect (have an overlapping region), and at this time, the obstacle in the work map needs to be updated, and as a result, as shown in fig. 5b, a union of contour ranges of the detected obstacle and the mapped obstacle is determined, and the union of the contour ranges is marked as a new obstacle in the work map.
According to another alternative embodiment of the present application, if the contour range of the first obstacle is not included in the contour range of the second obstacle, updating the obstacle information in the work map further includes: replacing the second obstacle with the first obstacle in the work map if the contour range of the first obstacle includes the contour range of the second obstacle; and if the second obstacle is not detected in the preset range area, storing the first obstacle into the operation map, and deleting the second obstacle in the operation map.
Fig. 6a is a schematic diagram illustrating a relationship between an obstacle detected in real time and a mapped obstacle according to an embodiment of the present application, where, as shown in fig. 6a, a contour range of the detected obstacle includes a contour range of the mapped obstacle, and at this time, the obstacle in the work map needs to be updated, and as a result, as shown in fig. 6b, the mapped obstacle is replaced by the detected obstacle in the work map.
If the mapped obstacle is not detected by the radar, it is possible that the obstacle has disappeared, and it is optional to delete the obstacle in the job map.
In some optional embodiments of the present application, after the obstacle information in the job map is updated, the job route of the job device is planned according to the updated job map.
The operation route of the operation equipment is planned by using the updated operation map, so that the operation efficiency can be improved, and the operation safety can be improved.
In another optional embodiment of the present application, a job map is displayed on the terminal device, where the job map includes position information and sizes of the first obstacle and the second obstacle; acquiring a control instruction, wherein the control instruction is issued through terminal equipment; updating the obstacle in the job map if the control instruction is used for indicating that the obstacle in the job map is updated; and if the control instruction is used for indicating that the obstacle in the work map is refused to be updated, refusing to update the obstacle in the work map.
As shown in fig. 7a, during the operation of the working device, the obstacle detected in real time is displayed on the map. Note that the job map may be displayed on a monitor terminal of the job device.
As shown in fig. 7b, the progress of analysis of the obstacle information detected this time is displayed on the monitor terminal of the work equipment.
As shown in fig. 7c, after the analysis is completed, if the job map needs to be updated, the user is allowed to confirm whether the update is necessary.
In this step, it is further provided to let the user select whether to update, mainly considering the following application scenarios: in the work area, a temporary obstacle (which may be understood as an object to be removed in a short time without affecting the next work) is artificially placed, and at this time, although the obstacle is detected, the obstacle does not need to be updated to the work map. By providing a function that the user considers whether to update the obstacle, the flexibility of updating the job map can be improved, and the user experience can be improved.
Fig. 7d is the job map after the update is completed. When the unmanned aerial vehicle is used next time, the obstacle detected last time is in the plot, and the unmanned aerial vehicle can plan routes better.
The method provided by the embodiment of the application has the advantages that the advantages of radar detection are exerted, and the obstacle information in the flight operation process is stored as the land parcel information, so that the integrity of the land parcel information is improved, the workload of surveying and mapping before operation is reduced, and the safety of the next flight operation is improved.
Fig. 8 is a block diagram of a structure of an obstacle information processing apparatus according to an embodiment of the present application, and as shown in fig. 8, the apparatus includes:
the determining module 80 is configured to determine a first obstacle detected in real time during a process that the operating device operates in a preset operating area;
the comparison module 82 is configured to obtain the identified second obstacle in the operation map, and compare attribute information of the first obstacle and the second obstacle;
and an updating module 84, configured to determine whether to update the obstacle information in the work map according to the comparison result.
It should be noted that, reference may be made to the description related to the embodiment shown in fig. 1 for a preferred implementation of the embodiment shown in fig. 8, and details are not repeated here.
Fig. 9 is a block diagram of a configuration of a work apparatus according to an embodiment of the present application, and as shown in fig. 9, the work apparatus includes: a mapping device 90, and a processor 92, wherein,
the surveying and mapping device 90 is used for detecting obstacles in a preset operation area during the operation of the operation equipment in the preset operation area;
according to an alternative embodiment of the present application, the mapping device 90 includes detection modules such as millimeter wave radar, vision camera, laser radar, etc. on the work equipment.
A processor 92 in communication with the mapping device 90 for determining a first obstacle detected by the mapping device; acquiring a second barrier identified in the operation map, and comparing the attribute information of the first barrier and the second barrier; and determining whether to update the obstacle information in the operation map according to the comparison result.
It should be noted that, reference may be made to the description related to the embodiment shown in fig. 1 for a preferred implementation of the embodiment shown in fig. 9, and details are not repeated here.
The embodiment of the application also provides a nonvolatile storage medium, which comprises a stored program, wherein when the program runs, the device where the nonvolatile storage medium is located is controlled to execute the processing method of the obstacle information.
The nonvolatile storage medium stores a program for executing the following functions: determining a first obstacle detected by an operating device in the process of operating in a preset operating area; acquiring a second barrier identified in the operation map, and comparing the attribute information of the first barrier and the second barrier; and determining whether to update the obstacle information in the operation map according to the comparison result.
The embodiment of the application also provides a processor, and the processor is used for running the program stored in the memory, wherein the program is run to execute the processing method of the obstacle information.
The processor is used for running a program for executing the following functions: determining a first obstacle detected by an operating device in the process of operating in a preset operating area; acquiring a second barrier identified in the operation map, and comparing the attribute information of the first barrier and the second barrier; and determining whether to update the obstacle information in the operation map according to the comparison result.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present application, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present application and it should be noted that those skilled in the art can make several improvements and modifications without departing from the principle of the present application, and these improvements and modifications should also be considered as the protection scope of the present application.
Claims (12)
1. A method for processing obstacle information, comprising:
determining a first obstacle detected in the process of operating the operating equipment in a preset operating area;
acquiring a second barrier identified in an operation map, and comparing attribute information of the first barrier and the second barrier;
and determining whether to update the obstacle information in the operation map according to the comparison result.
2. The method of claim 1, wherein obtaining the identified second obstacle in the job map comprises:
determining a position of the first obstacle in the work map;
determining a preset range by taking the position of the first obstacle as a center in the operation map;
and acquiring the second obstacle from the preset range.
3. The method of claim 2, wherein the attribute information includes location information and size information, and wherein comparing the attribute information of the first obstacle to the second obstacle comprises:
determining the outline range of the first obstacle according to the position information and the size information of the first obstacle;
determining the outline range of the second obstacle according to the position information and the size information of the second obstacle;
comparing the range of the profile of the first obstacle with the range of the profile of the second obstacle.
4. The method of claim 3, wherein determining whether to update obstacle information in the work map based on the comparison comprises:
refusing to update the obstacle information in the work map if the contour range of the first obstacle is included in the contour range of the second obstacle;
and if the outline range of the first obstacle is not included in the outline range of the second obstacle, updating the obstacle information in the operation map.
5. The method according to claim 4, wherein if the contour range of the first obstacle is not included in the contour range of the second obstacle, updating obstacle information in the work map comprises:
if the outline range of the first obstacle is not overlapped with the outline range of the second obstacle, and the distance between the outline range of the first obstacle and the outline range of the second obstacle is larger than a preset distance, the first obstacle is saved as a new obstacle in the operation map;
and if the outline range of the first obstacle is not overlapped with the outline range of the second obstacle, and the distance between the outline range of the first obstacle and the outline range of the second obstacle is smaller than a preset distance, combining the first obstacle and the second obstacle into one obstacle in the operation map.
6. The method of claim 4, wherein updating the obstacle information in the work map if the contour range of the first obstacle is not included in the contour range of the second obstacle, further comprising:
determining a union of the range of the first obstacle and the range of the second obstacle if the range of the first obstacle overlaps the range of the second obstacle;
replacing the contour range of the second obstacle with the union in the job map.
7. The method of claim 4, wherein updating the obstacle information in the work map if the contour range of the first obstacle is not included in the contour range of the second obstacle, further comprising:
replacing the second obstacle with the first obstacle in the work map if the contour range of the first obstacle includes the contour range of the second obstacle;
and if the second obstacle is not detected in the preset range, storing the first obstacle into the operation map, and deleting the second obstacle in the operation map.
8. The method according to any one of claims 4 to 7, wherein after updating the obstacle information in the job map, the method further comprises:
and planning the operation route of the operation equipment according to the updated operation map.
9. The method of any of claims 1 to 7, further comprising:
displaying the operation map on a terminal device, wherein the operation map comprises the position information and the size of the first obstacle and the second obstacle;
acquiring a control instruction, wherein the control instruction is issued through the terminal equipment;
updating the obstacle in the work map if the control instruction is used for indicating that the obstacle in the work map is updated;
and refusing to update the obstacle in the job map if the control instruction is used for indicating that the obstacle in the job map is refused to be updated.
10. An obstacle information processing apparatus, comprising:
the determining module is used for determining a first obstacle detected in real time in the process that the operation equipment operates in a preset operation area;
the comparison module is used for acquiring the identified second obstacle in the operation map and comparing the attribute information of the first obstacle and the second obstacle;
and the updating module is used for determining whether to update the obstacle information in the operation map according to the comparison result.
11. A work apparatus, comprising: a mapping device, and a processor, wherein,
the surveying and mapping device is used for detecting obstacles in a preset operation area in the process that operation equipment operates in the preset operation area;
the processor, in communication with the mapping device, configured to determine a first obstacle detected by the mapping device; acquiring a second barrier identified in an operation map, and comparing attribute information of the first barrier and the second barrier; and determining whether to update the obstacle information in the operation map according to the comparison result.
12. A nonvolatile storage medium, characterized in that the nonvolatile storage medium includes a stored program, wherein a device in which the nonvolatile storage medium is located is controlled to execute the obstacle information processing method according to any one of claims 1 to 9 when the program runs.
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