CN106325266A - Spatial distribution map building method and electronic device - Google Patents
Spatial distribution map building method and electronic device Download PDFInfo
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- CN106325266A CN106325266A CN201510330817.XA CN201510330817A CN106325266A CN 106325266 A CN106325266 A CN 106325266A CN 201510330817 A CN201510330817 A CN 201510330817A CN 106325266 A CN106325266 A CN 106325266A
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Abstract
The invention discloses a spatial distribution map building method, so as to solve the technical problem that a mobile robot is low in intelligence. The method comprises steps: separation information for separating the preset space into at least one piece of sub space is acquired; according to the separation information, the mutual position relation between the at least one piece of sub space is determined; a sub space distribution map for each of the at least one piece of sub space is built, wherein the sub space distribution map is used for characterizing a position relation for objects in the corresponding sub space; and according to the position relation, the spatial distribution maps of the at least one piece of sub space are combined, and the spatial distribution map of the preset space is obtained. The invention also discloses a corresponding electronic device.
Description
Technical field
The present invention relates to field of computer technology, particularly to construction method and the electronics of a kind of spatial distribution map
Equipment.
Background technology
Along with the development of science and technology, modern machines people's technology have also been obtained development at full speed, portable
Robot becomes reality, and it can substitute for people and is engaged in the duplication of labour, severe (as radiated, poisonous)
Work under environment, dangerous work etc., be therefore widely used in logistics, detect, the field such as service.
In prior art, also have robot application in the family, such as: utilize robot to realize health
Cleaning.But, conventionally, as the geographical location information in its space, place is not known by robot,
So, move to realize robot, firstly, it is necessary to robot is controlled operating by user, such as,
Use remote controller；Then, robot, could be to assigned direction, specific bit after the control operation of response user
Put movement.
Visible, there is the technology of the geographical location information not knowing its space, place in robot of the prior art
Problem；
Owing to robot of the prior art exists the technology of the geographical location information not knowing its space, place
Problem, so, further, cause robot of the prior art to exist and can not realize independent navigation and shifting
Dynamic technical problem；
Further, there is, due to robot of the prior art, the technology that independent navigation can not be realized with movement
Problem, so, further, the technology causing robot of the prior art to there is intelligence degree low is asked
Topic.
Summary of the invention
The embodiment of the present invention provides the construction method of a kind of spatial distribution map, is used for solving machine of the prior art
There is the technical problem of the geographical location information not knowing its space, place in device people.
On the one hand, it is provided that the construction method of a kind of spatial distribution map, including:
Obtain the isolation information for pre-set space being divided at least one subspace；
According to described isolation information, determine at least one subspace described position relationship each other；
Build the Subspace Distribution figure of every sub spaces at least one subspace described；Wherein, described son is empty
Between the position relationship of object that includes in characterize corresponding subspace of scattergram；
According to described position relationship, the Subspace Distribution figure of at least one subspace described is combined,
Spatial distribution map to described pre-set space.
Optionally, obtain the isolation information for separating pre-set space, including:
Send at least one detectable signal being used for detecting the positional information of the object in pre-set space；
According at least one detectable signal described, it is thus achieved that for indicating at least the one of the positional information of described object
Individual feedback signal；
Pre-conditioned feedback signal is met, it is thus achieved that preset described according at least one feedback signal described
Space is divided into the described isolation information of at least one subspace described.
Optionally, the described separation letter that described pre-set space is divided at least one subspace described is being obtained
Before breath, also include:
The object meeting pre-conditioned feedback signal corresponding at least one feedback signal described is defined as
Spacer.
Optionally, according to described position relationship, the Subspace Distribution figure of at least one subspace described is entered
Row combination, after obtaining the spatial distribution map of described pre-set space, also includes:
In described pre-set space, at least one first image is gathered by electronic equipment；
Each first image at least one first image described is handled as follows: by described first figure
As being divided at least one first subimage；Based on iamge description algorithm, at least one first subgraph described
Each in Xiang carries out iamge description；
Result according to the iamge description obtained and described spatial distribution map, determine that described electronic equipment is described
The position at place in pre-set space.
Optionally,
Described method also includes: obtain the first displacement information of described electronic equipment；
Result according to the iamge description obtained and described spatial distribution map, determine that described electronic equipment is described
The position at place in pre-set space, including:
Result according to the iamge description obtained, described spatial distribution map and described first displacement information, determine
Described electronic equipment is the position at place in described pre-set space.
Second aspect, it is provided that a kind of electronic equipment, including:
Memorizer, is used for storing instruction；
Processor, reads in described memorizer and performs described instruction, to perform step: obtains and is used for
Pre-set space is divided into the isolation information of at least one subspace；According to described isolation information, determine described
At least one subspace position relationship each other；Build every sub spaces at least one subspace described
Subspace Distribution figure；Wherein, what described Subspace Distribution figure included in characterizing corresponding subspace is right
The position relationship of elephant；According to described position relationship, the Subspace Distribution figure of at least one subspace described is entered
Row combination, obtains the spatial distribution map of described pre-set space.
Optionally, described electronic equipment also includes sonac；Described processor is used for:
The positional information for detecting the object in pre-set space is sent at least by described sonac
One detectable signal；
By described sonac according at least one detectable signal described, it is thus achieved that be used for indicating described object
At least one feedback signal of positional information；
Pre-conditioned feedback signal is met, it is thus achieved that preset described according at least one feedback signal described
Space is divided into the described isolation information of at least one subspace described.
Optionally, the described separation letter that described pre-set space is divided at least one subspace described is being obtained
Before breath, described processor is additionally operable to: will meet pre-conditioned feedback at least one feedback signal described
The object that signal is corresponding is defined as spacer.
Optionally, described electronic equipment also includes image acquisition units；
Described image acquisition units, is used for: at described processor according to described position relationship, by described at least
The Subspace Distribution figure of one sub spaces is combined, after obtaining the spatial distribution map of described pre-set space,
At least one first image is gathered in described pre-set space；
Described processor is additionally operable to:
Each first image at least one first image described is handled as follows: by described first figure
As being divided at least one first subimage；Based on iamge description algorithm, at least one first subgraph described
Each in Xiang carries out iamge description；
Result according to the iamge description obtained and described spatial distribution map, determine that described electronic equipment is described
The position at place in pre-set space.
Optionally, described electronic equipment also includes distance measuring sensor；
Described distance measuring sensor is used for: obtain the first displacement information of described electronic equipment；
Described processor is used for: according to the result of the iamge description obtained, described spatial distribution map and described
One displacement information, determines described electronic equipment position at place in described pre-set space.
The third aspect, it is provided that a kind of electronic equipment, including:
Acquisition module, for obtaining the isolation information for pre-set space is divided at least one subspace；
Determine module, for according to described isolation information, determine that at least one subspace described is each other
Position relationship；
Build module, for building the Subspace Distribution figure of every sub spaces at least one subspace described；
Wherein, the position relationship of the object that described Subspace Distribution figure includes in characterizing corresponding subspace；
Composite module, for according to described position relationship, by the Subspace Distribution of at least one subspace described
Figure is combined, and obtains the spatial distribution map of described pre-set space.
The application thinks, based on providing one or more embodiment in the embodiment of the present application, the application at least has
There is a following technique effect:
In the embodiment of the present invention, robot can obtain the isolation information in the interior space, such as, separates letter
Breath can be the positional information of the door opening in the interior space, and determines Interior Space according to the positional information of door opening
All subspaces position relationship each other between, such robot just can build each height the most respectively
The spatial distribution map in space, then based on position relationship, the spatial distribution map of whole subspaces is combined,
Thus obtain the spatial distribution map of the whole interior space.Visible, it is possible to effectively to solve machine of the prior art
There is the technical problem of the geographical location information not knowing its space, place in people, it is achieved can automatically obtain room
The technique effect of the spatial distribution map in interior space.
Further, after robot obtains spatial distribution map, it becomes possible on the premise of knowing destination,
Oneself navigate and move to destination, it is seen then that can effectively solve robot of the prior art existence can not be real
Existing independent navigation and the technical problem of movement, it is achieved independent navigation and the technique effect of movement.
Further, owing to robot is capable of independent navigation and movement, so, compare in prior art
Only with user multiple control operation, just can move to the robot of destination, thus it is possible to solve
Certainly there is the technical problem that intelligence degree is low in robot of the prior art, it is achieved moves to high-intelligentization
Dynamic technique effect.
Accompanying drawing explanation
Fig. 1 is the flow chart of the construction method of spatial distribution map in the embodiment of the present invention；
Fig. 2 is the schematic diagram of the interior space in the embodiment of the present invention；
Fig. 3 is feedback signal waveform figure in the embodiment of the present invention；
Fig. 4 is the flow chart building interior space scattergram in the embodiment of the present invention；
Fig. 5 is the structured flowchart of electronic equipment in the embodiment of the present invention；
Fig. 6 is the schematic block diagram of electronic equipment in the embodiment of the present invention.
Detailed description of the invention
The embodiment of the present invention provides the construction method of a kind of spatial distribution map, and its general thought realized is: obtain
Take in the isolation information that pre-set space is divided at least one subspace；According to described isolation information, really
Fixed at least one subspace described position relationship each other；Build at least one subspace described each
The Subspace Distribution figure of subspace；Wherein, described Subspace Distribution figure is used for characterizing corresponding subspace Nei Bao
The position relationship of the object included；According to described position relationship, the subspace of at least one subspace described is divided
Butut is combined, and obtains the spatial distribution map of described pre-set space.
Visible, by the method provided in the embodiment of the present application, it is possible to effectively to solve machine of the prior art
There is the technical problem of the geographical location information not knowing its space, place in people, it is achieved can automatically obtain room
The technique effect of the spatial distribution map in interior space.
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the present invention
Accompanying drawing in embodiment, is clearly and completely described the technical scheme in the embodiment of the present invention, it is clear that
Described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based in the present invention
Embodiment, those of ordinary skill in the art obtained under not making creative work premise all its
His embodiment, broadly falls into the scope of protection of the invention.
Electronic equipment in the embodiment of the present invention can be PC (PC), PAD, mobile phone etc. difference
Electronic equipment, the invention is not limited in this regard.
It addition, the terms "and/or", a kind of incidence relation describing affiliated partner, represent
Three kinds of relations, such as, A and/or B can be there are, can represent: individualism A, there is A simultaneously
And B, individualism B these three situation.It addition, character "/" herein, if no special instructions, typically
Represent the forward-backward correlation relation to liking a kind of "or".
Below in conjunction with the accompanying drawings the preferred embodiment of the present invention is described in detail.
Referring to Fig. 1, the embodiment of the present invention provides the construction method of a kind of spatial distribution map, and described method can
To be applied to electronic equipment, the main flow of described method is described as follows.
Step 101: obtain the isolation information for pre-set space being divided at least one subspace.
In the embodiment of the present application, pre-set space, can be the indoor confined space of arbitrary size, shape,
Can be single space, or can also be the entirety being combined into by many sub spaces.Such as, sky is preset
Between can be the interior space as shown in Figure 2, include parlor, bedroom and kitchen three sub spaces.Certainly,
Pre-set space can also be to include parlor one, parlor two, master bedroom, and old man bedroom and five, kitchen are empty
Between, one schematically illustrate here, just differ.In the following description, the embodiment of the present application will be with indoor in Fig. 2
Space is come that the method for the embodiment of the present application is realized process as an example and is described
In the embodiment of the present application, isolation information, be with for pre-set space being divided into one or more son
The information that the spacer in space is relevant.Such as, when spacer is wall, then isolation information just can include
The letters such as wall positional information in pre-set space, the thickness information of wall, the positional information of door opening that is connected with wall
At least one information in breath.In embodiments of the present invention, example will be used as to this Shen with spacer for wall
The process that realizes of method in embodiment please be described in detail, but not merely spacer be defined to wall,
As long as the information that can be used to be divided into pre-set space one or more subspace can be to separate letter
Breath.
Optionally, in the embodiment of the present invention, performing step 101: obtain for separating dividing of pre-set space
Before information, need to first carry out following steps:
It is defined as isolation by least one feedback signal meets object corresponding to pre-conditioned feedback signal
Thing.
In the embodiment of the present application, pre-conditioned, refer to may be used at least one feedback signal from obtaining
In filter out the condition of one or more available feedback signal, and the thing that the available feedback signal that filters out is corresponding
Body is exactly the spacer that the interior space is divided into one or more subspace.
Specifically, in embodiments of the present invention, pre-conditioned can be a preset time value, such as: 0.09 second,
Now, step: the object meeting pre-conditioned feedback signal corresponding at least one feedback signal is determined
The process that realizes for spacer is:
Obtain at least one time value from transmission detectable signal to the feedback signal receiving correspondence, in Fig. 2
Shown in, when position during robot is positioned at bedroom, it is thus achieved that the time value of 4 feedback signals, it is respectively as follows:
0.1 second, 0.08 second, 0.06 second, 0.12 second；
Above four time values can characterize four objects of correspondence and the position of robot current location respectively
Relation, time value is the biggest, represents that the distance between robot and object is the most remote, otherwise, time value is the least, table
Show that the distance between robot and object is the nearest.Due to 0.08 second and 0.06 second be smaller than 0.09 second, institute
With, the two time value meets preset time value exactly: 0.09 second；
Then, just can determine that feedback time value be 0.08 second corresponding object and 0.06 second corresponding object for every
From thing, specific in the embodiment of the present application, continue to use the example in Fig. 2, be i.e. wall 1 and wall 2.
Certainly, in embodiments of the present invention, pre-conditioned can also is that in preset signals waveform, such as Fig. 3
The waveform shape in shown door opening region, now, step: pre-conditioned by meeting at least one feedback signal
Object corresponding to feedback signal be defined as the process that realizes of spacer and be:
Obtain at least one waveform corresponding to the feedback information of the detectable signal of transmission, such as the machine in Fig. 2
People, obtains in robot moving process and corresponds respectively to wall 1, wall 2, bed and the feedback signal of desk
Waveform；
Wherein, when robot is by the door opening region between wall 1 and wall 2, ultrasonic listening signal touches
The waveform of the feedback signal after wall 1 and wall 2 is as it is shown on figure 3, include identical with preset signals waveform
Waveform shape；
Then, it is possible to by wall 1 and wall 2, the spacer being defined as in the embodiment of the present application.
After determining spacer by above step, just perform step 101, during implementing,
Comprise the steps:
Send at least one detectable signal being used for detecting the positional information of the object in pre-set space；
According at least one detectable signal, it is thus achieved that for indicating at least one feedback letter of the positional information of object
Number；
According at least one feedback signal meets pre-conditioned feedback signal, it is thus achieved that pre-set space is separated
Isolation information at least one subspace.
Implement process, below in conjunction with Fig. 2, obtain the separation letter of this sub spaces of bedroom with robot
Breath is described in detail for example:
During robot moves freely in bedroom, sending 4 detectable signals to around, these are 4 years old
The type of individual detectable signal can be laser acquisition signal, ultrasonic listening signal or infrared signal etc., tool
Body uses any type, and those skilled in the art can be in implementing process of the present invention, as desired to select,
The application is not construed as limiting；
Specifically, in the embodiment of the present application, superincumbent 4 detectable signals are ultrasonic listening signal,
And 4 the ultrasonic listening signals sent are when can encounter respectively on wall 1, wall 2, bed and four objects of desk,
4 corresponding feedback signals will be produced；
Identical with the mode of above-mentioned determination spacer, anti-from 4 by meeting pre-conditioned feedback signal
Feedback signal screens, specifically, in this example of bedroom, will wall 1 and the 2 of wall 2 correspondence
Individual feedback signal screens, and then, just based on two feedback signals screened, determines wall 1 and wall
The information of 2 correspondences is isolation information.
Specifically, in embodiments of the present invention, isolation information can and wall 1 and wall 2 between formed
The width of the thickness information of the positional information of door opening 1 or wall 1 and wall 2 or wall 1 and wall 2
Information etc..Pass through above description, it is known that, obtain the mode of isolation information in the embodiment of the present application,
Being that robot is automatically obtained, it is not necessary to artificial participation, electronic equipment can be by moving freely randomly
Obtain the isolation information in bedroom.
And for parlor and kitchen, its process obtaining isolation information is the same with bedroom, the applicant
Think that those skilled in the art can be based on above description, on the premise of need not paying creative work,
Can be achieved with, so, here, just the most respectively the process in parlor and the isolation information in kitchen is retouched one by one
State.
Optionally, in the embodiment of the present invention, during performing step 101, it is also possible to: obtain electronics
Second displacement information of equipment；
Now, the separation letter of separation pre-set space will be obtained based on the second displacement information and feedback signal
Breath.
In the embodiment of the present application, the second displacement information of electronic equipment, it is electronic equipment at moving process
In, move to the change in location information of another position from a position, can include straight-line displacement information and
Angle displacement information.In the embodiment of the present invention, it can also be multiple that displacement information can be one, can wrap
Include one or more straight-line displacement information, it is also possible to include one or more angle displacement information, it is also possible to bag
Include at least one straight-line displacement information and at least one angular displacement information.
In embodiments of the present invention, it is thus achieved that the method for the second displacement information of electronic equipment has multiple.Such as:
Can be used to the displacement transducer of measurement axis angle position, measure the angle displacement information of electronic equipment, than
As measured the angle displacement information of acquisition it is: 30 degree or 1 radian (rad).Or for example, it is possible to pass through position
Displacement sensor obtains the straight-line displacement information of electronic equipment, and the straight-line displacement information such as measuring acquisition is:
5 meters (m) or 100 centimetres (cm).Or such as, utilize inertial measuring unit (IMU) to measure also
Obtain angular velocity or the acceleration of electronic equipment, obtain angular displacement information or straight-line displacement information by process,
Such as: measuring the acceleration obtained is 5 meter per seconds, calculating acquisition displacement information is: 10 meters.
For step: " obtain the separation letter separating pre-set space based on the second displacement information and feedback signal
Breath " in the embodiment of the present application implement process, be described in detail below in conjunction with Fig. 2:
Robot is currently in the position near door opening 1, and robot is when by door opening 1, it is thus achieved that comprise
Wall 1 and the feedback signal of wall 2 correspondence, afterwards, robot continues to move to, until during by door opening 2, machine
Device people obtains again wall 3 and the feedback signal of wall 4 correspondence；
During, robot passes through displacement transducer and code-disc, it is thus achieved that robot moves to door from door opening 1
The displacement information in hole 2, such as, moves 5 meters, and direction is positive south by west 30 degree；
Then, robot can according to obtain feedback information and 5 meters, direction is positive south by west 30 degree
This displacement information, thus comprehensively determine isolation information.Concrete mode can be such as: robot is according to position
Shifting information may determine that door opening 2 is positioned at the position of the positive south by west of door opening 1 30 degree, and due to displacement information
Exist, it may be determined that two door openings passed through are different two door openings, are simultaneously based on the feedback information of acquisition
Being appreciated that wall 1, wall 2, wall 3 and the respective positional information of wall 4 and size information, summary is believed
Breath, just can more be accurately obtained wall 1, wall 2, wall 3 and the respective positional information of wall 4 and size
Information, the most more precisely obtains isolation information.
After obtain the isolation information of at least one subspace by performing step 101, the embodiment of the present application
In method start to perform step 102: according to isolation information, determine that at least one subspace is each other
Position relationship.
Specifically, still continue to use above example, and combine the interior space shown in Fig. 2 and be described:
After obtaining door opening 1 and door opening 2 and their positional informationes of wall of being connected, just may determine that
This interior space is made up of three sub spaces, according to wall 1 and the position of wall 2 and size information, and can be true
Determine the position relationship between bedroom and parlor, according to wall 3 and the position of wall 4 and size information, can be true
Determine the position relationship between kitchen and parlor, according to their each two position relationship each other, the most permissible
Obtain bedroom, kitchen and parlor position relationship each other.
After determining at least one subspace position relationship each other by execution step 102, the application
Method in embodiment just performs step 103: build the subspace of every sub spaces at least one subspace
Scattergram.
In the embodiment of the present application, Subspace Distribution figure is intended to indicate that in subspace the three of object distribution position
Dimension axonometric chart.Such as, in a room, there are a desk, a cupboard and bed, then construct
The scattergram in this room can characterize desk, cupboard and bed position each other in this room truly
Relation.
Optionally, in the embodiment of the present invention, the first subspace is the arbitrary subspace at least one subspace；
Build the first Subspace Distribution figure of the first subspace at least one subspace, specifically include:
Gather at least one first image in the first subspace；
Each first image at least one first image is handled as follows: the first image is divided into
At least one first subimage；Based on iamge description algorithm, at least one first subimage each enter
Row iamge description；
According to the result of iamge description, by whole first subimages by least one the first image segmentation gained
Cluster, to determine the relative position of each object in the first subspace；
Result according to cluster obtains the first Subspace Distribution figure.
In the embodiment of the present invention, when building the spatial distribution map of any one subspace, such as the A in Fig. 4 or
The structure flow chart of the spatial distribution map of the subspace shown in B or C, utilizes the image acquisition list of electronic equipment
Unit gathers at least one image in this subspace, and these images are called the first image.Each to collect
Image is handled as follows: carry out image segmentation, it is thus achieved that multiple subimages, then segmentation is obtained each
Individual subimage carries out iamge description, clusters the subimage with same or similar iamge description, just may be used
To determine in this subspace the relative position between each object.When the image gathered be enough to spread all over whole son sky
Between, then the spatial distribution map of this subspace just can be obtained based on the result clustered.
Implement process, below in conjunction with in Fig. 4, the structure flow process of space of bedroom scattergram corresponding for A
It is described in detail:
First, by each station acquisition at least the figure in bedroom of the image acquisition units in robot
Picture, such as, 100；
Then, the process identical for each Zhang Jinhang in 100 images: utilize image segmentation algorithm,
Divide the image into into multiple subimage, such as, be divided into 50 subimages, based on iamge description algorithm,
Each subimage in these 50 subimages is carried out iamge description, respectively obtains an iamge description
Result；Here iamge description can be to be arbitrary mode, such as, can be to utilize color histogram to carry out
Describe, or can be to utilize textural characteristics to be described, or can also be to utilize zone boundary information to enter
Line description etc.；
Then these 100 images are split in the whole subimages obtained respectively and there is same or similar description
Subimage clusters, and the most such as, is described subimage by the way of color value, it is thus achieved that complete
The color having three subimages in portion's subimage is respectively as follows: 255,255,253, can be same by color value
Be 255 two subimages merge, i.e. think that region corresponding to these two subimages is same district
Territory.If the external interference factor such as noise, illumination is taken into account, it is also possible to think that color value is 253
The region that subimage is corresponding with the subimage that color value is 255 is same region.Merge and there is identical description
Subimage after, just can obtain the relative position relation between all objects in this bedroom, such as, figure
As the subimage that 1 segmentation obtains includes subimage and the subimage of a desk, the image of a stool
Split in 2 the subimage obtained has and include the subimage of a stool identical in image 1 and a cabinet
The subimage of son, by same section, namely the subimage of stool merges, the part splicing differed, just
Stool, desk and cupboard position relationship each other can be obtained.
Based on mutual alignment relation between object and object in bedroom, the space that just can construct bedroom is divided
Butut.So, it is thus achieved that be the space map of position relationship between object in an identifier space, without
Specifically to determine what likes.By the way of such structure spatial distribution map, it is not necessary to accurately obtain
The information of each point in space, electronic equipment need not the measurement apparatus that assembling is accurate, reduces electronic equipment
Cost of manufacture, and due to need information to be processed less, improve electronic equipment response speed.
After determine the Subspace Distribution figure of every sub spaces by performing step 103, the embodiment of the present application
In method just perform step 104: according to position relationship, by the Subspace Distribution figure of at least one sub spaces
It is combined, obtains the spatial distribution map of pre-set space.
Continuing with the example continuing to use in Fig. 2, and combine Fig. 4 pair, the process that realizes of step 104 is made in detail
Describe:
After constructing the spatial distribution map in bedroom, parlor and kitchen respectively, determine according to step 102
Position relationship, these spatial distribution maps are combined, thus have obtained the spatial distribution map of whole indoor.
So, the interior space scattergram combined based on position relationship can embody the spatial distribution of reality truly
Situation, promotes the degree of accuracy of electronic equipment.
Optionally, in embodiments of the present invention, step 104 is being performed, it is thus achieved that the spatial distribution of pre-set space
After figure, in order to realize autonomous location and the navigation of mobile robot, the method in the embodiment of the present application is also
Execution following steps:
In pre-set space, at least one first image is gathered by electronic equipment；
Each first image at least one first image is handled as follows: the first image is divided into
At least one first subimage；Based on iamge description algorithm, at least one first subimage each enter
Row iamge description；
Result according to the iamge description obtained and spatial distribution map, determine electronic equipment institute in pre-set space
Position.
That is, in the embodiment of the present invention, by the spatial distribution of the pre-set space that step 101-step 104 obtains
Figure may be used for electronic equipment and independently positions.Concrete mode is: electronic equipment arbitrarily gathers in pre-set space
One image, carries out image segmentation to this image, obtains at least one subimage, to splitting the every of gained
One subimage carries out iamge description, the result of iamge description is compared in the spatial distribution map determined,
So that it is determined that the position that electronic equipment is in pre-set space.
Continue with the example continuing to use in Fig. 2 to be described in detail:
In the interior space shown in Fig. 2, robot have taken one to desk on the shown position in bedroom
Opening photo, by this photo being carried out image segmentation, then each subimage separating gained being carried out
Iamge description, contrasts the result of description in spatial distribution map, such as, shooting photo split
To subimage in have a subimage to include object desk, and the iamge description result of this subimage
With spatial distribution map, the iamge description result of table position is identical, thus robot is just appreciated that currently
It is in bedroom in the face of with on the position of desk, meanwhile, the photo of shooting can be the photograph with depth information
Sheet, based on this depth information, is just appreciated that the distance between robot and desk.So, electronics sets
For the spatial distribution map determined can be utilized independently to position, improve the intelligent journey of electronic equipment
Degree.
Optionally, in the embodiment of the present invention, performing step 104, it is thus achieved that pre-set space spatial distribution map
Afterwards, in order to autonomous location and navigation, the side in the embodiment of the present application of mobile robot are better achieved
Method also executes the following steps:
Obtain the first displacement information of electronic equipment；
Result according to the iamge description obtained and described spatial distribution map, determine that electronic equipment is in pre-set space
The position at middle place, including:
Result, spatial distribution map and the first displacement information according to the iamge description obtained, determines electronic equipment
The position at place in pre-set space.
That is, in the embodiment of the present invention, electronic equipment during utilizing spatial distribution map independently to position,
Displacement information, namely first displacement information can also be obtained, electronic equipment can be helped to obtain more
Current location information accurately.
Continue with the example continuing to use in Fig. 2 to be described in detail:
Mobile robot is in the bedroom of the interior space as shown in Figure 2, is obtained by displacement transducer
Data learn that robot has been moved to the left 5 meters from the position of door opening 1, and now robot have taken an image,
By image segmentation, iamge description, description result is contrasted in spatial distribution map, such as, according to
Depth information in comparing result and photo, can substantially determine that the position between robot and desk is closed
System, at this moment, can using from the position of door opening 1 to moving 5 meters of these displacement informations as a reference,
The range information between robot and desk can be more accurately determined.So, electronic equipment is autonomous fixed
Position is more accurate, improves the accuracy of electronic equipment location.
Referring to Fig. 5, based on same inventive concept, the embodiment of the present invention provides a kind of electronic equipment, described
Electronic equipment may include that
Memorizer 201, is used for storing instruction；
Processor 202, reads in memorizer 201 and performs described instruction, to perform step: obtain
For pre-set space being divided into the isolation information of at least one subspace；According to isolation information, determine at least
One sub spaces position relationship each other；Build the subspace of every sub spaces at least one subspace
Scattergram；Wherein, the position relationship of the object that Subspace Distribution figure includes in characterizing corresponding subspace；
According to position relationship, the Subspace Distribution figure of at least one sub spaces is combined, obtains pre-set space
Spatial distribution map.
Optionally, in the embodiment of the present invention, electronic equipment also includes sonac；Processor 202 is used for:
At least one of positional information for detecting object in pre-set space is sent by sonac
Detectable signal；
By sonac according at least one detectable signal, it is thus achieved that for indicating the position of described object to believe
At least one feedback signal of breath；
According at least one feedback signal meets pre-conditioned feedback signal, it is thus achieved that pre-set space is separated
Isolation information at least one subspace.
Optionally, in the embodiment of the present invention, obtaining, pre-set space is divided into dividing of at least one subspace
Before information, processor 202 is additionally operable to: will meet pre-conditioned feedback at least one feedback signal
The object that signal is corresponding is defined as spacer.
Optionally, in the embodiment of the present invention, electronic equipment also includes image acquisition units；
Image acquisition units, is used for: at processor 202 according to position relationship, by least one sub spaces
Subspace Distribution figure is combined, and after obtaining the spatial distribution map of pre-set space, gathers in pre-set space
At least one first image；
Described processor 202 is additionally operable to:
Each first image at least one first image is handled as follows: the first image is divided into
At least one first subimage；Based on iamge description algorithm, at least one first subimage each enter
Row iamge description；
Result according to the iamge description obtained and spatial distribution map, determine electronic equipment institute in pre-set space
Position.
Optionally, in the embodiment of the present invention, electronic equipment also includes distance measuring sensor；
Distance measuring sensor is used for: obtain the first displacement information of described electronic equipment；
Processor 202 is used for: according to result, spatial distribution map and the first displacement letter of the iamge description obtained
Breath, determines electronic equipment position at place in pre-set space.
Referring to Fig. 6, based on same inventive concept, the embodiment of the present invention provides another kind of electronic equipment, institute
State electronic equipment may include that
Acquisition module 301, for obtaining the separation letter for pre-set space is divided at least one subspace
Breath；
Determine module 302, for according to described isolation information, determine at least one subspace described mutually it
Between position relationship；
Build module 303, for building the Subspace Distribution of every sub spaces at least one subspace described
Figure；Wherein, the position relationship of the object that described Subspace Distribution figure includes in characterizing corresponding subspace；
Composite module 304, for according to described position relationship, by the subspace of at least one subspace described
Scattergram is combined, and obtains the spatial distribution map of described pre-set space.
Optionally, in the embodiment of the present invention, acquisition module 301 specifically for:
Send at least one detectable signal being used for detecting the positional information of the object in pre-set space；
According at least one detectable signal, it is thus achieved that at least one of positional information for indicating described object is anti-
Feedback signal；
According at least one feedback signal meets pre-conditioned feedback signal, it is thus achieved that pre-set space is separated
Described isolation information at least one subspace.
Optionally, in the embodiment of the present invention, acquisition module 301 is additionally operable to:
It is defined as isolation by least one feedback signal meets object corresponding to pre-conditioned feedback signal
Thing.
Optionally, in the embodiment of the present invention, electronic equipment also includes:
Image acquisition units, for gathering at least one first image in pre-set space；
Processing module, for being handled as follows each first image at least one first image: will
First image is divided at least one first subimage；Based on iamge description algorithm, at least one the first son
Each in image carries out iamge description；
Locating module, for the result according to the iamge description obtained and described spatial distribution map, determines electronics
Equipment is the position at place in pre-set space.
Optionally, in the embodiment of the present invention, electronic equipment also includes:
Obtain submodule, for obtaining the first displacement information of described electronic equipment；
Described locating module specifically for:
Result, spatial distribution map and the first displacement information according to the iamge description obtained, determines electronic equipment
The position at place in pre-set space.
The embodiment of the present invention provides the construction method of a kind of spatial distribution map, and its general thought realized is: obtain
Take in the isolation information that pre-set space is divided at least one subspace；According to described isolation information, really
Fixed at least one subspace described position relationship each other；Build at least one subspace described each
The Subspace Distribution figure of subspace；Wherein, described Subspace Distribution figure is used for characterizing corresponding subspace Nei Bao
The position relationship of the object included；According to described position relationship, the subspace of at least one subspace described is divided
Butut is combined, and obtains the spatial distribution map of described pre-set space.
In the embodiment of the present invention, robot can obtain the isolation information in the interior space, such as, separates letter
Breath can be the positional information of the door opening in the interior space, and determines Interior Space according to the positional information of door opening
All subspaces position relationship each other between, such robot just can build each height the most respectively
The spatial distribution map in space, then based on position relationship, the spatial distribution map of whole subspaces is combined,
Thus obtain the spatial distribution map of the whole interior space.Visible, it is possible to effectively to solve machine of the prior art
There is the technical problem of the geographical location information not knowing its space, place in people, it is achieved can automatically obtain room
The technique effect of the spatial distribution map in interior space.
Further, after robot obtains spatial distribution map, it becomes possible on the premise of knowing destination,
Oneself navigate and move to destination, it is seen then that can effectively solve robot of the prior art existence can not be real
Existing independent navigation and the technical problem of movement, it is achieved independent navigation and the technique effect of movement.
Further, owing to robot is capable of independent navigation and movement, so, compare in prior art
Only with user multiple control operation, just can move to the robot of destination, thus it is possible to solve
Certainly there is the technical problem that intelligence degree is low in robot of the prior art, it is achieved moves to high-intelligentization
Dynamic technique effect.
Those skilled in the art is it can be understood that arrive, for convenience and simplicity of description, only with above-mentioned
The division of each functional module is illustrated, and in actual application, can above-mentioned functions be divided as desired
Join and completed by different functional modules, the internal structure of device will be divided into different functional modules, with complete
Become all or part of function described above.The specific works mistake of the system of foregoing description, device and unit
Journey, is referred to the corresponding process in preceding method embodiment, does not repeats them here.
Specifically, the computer program instructions that a kind of information processing method in the embodiment of the present invention is corresponding can
To be stored in CD, hard disk, on the storage medium such as USB flash disk, when showing with a kind of image in storage medium
When computer program instructions corresponding to method is read by an electronic equipment or be performed, comprise the steps:
Obtain the isolation information for pre-set space being divided at least one subspace；
According to described isolation information, determine at least one subspace described position relationship each other；
Build the Subspace Distribution figure of every sub spaces at least one subspace described；Wherein, described son is empty
Between the position relationship of object that includes in characterize corresponding subspace of scattergram；
According to described position relationship, the Subspace Distribution figure of at least one subspace described is combined,
Spatial distribution map to described pre-set space.
Optionally, in described storage medium storage and step: obtain for separate pre-set space separation letter
Breath, corresponding computer instruction, during being performed, specifically includes following steps:
Send at least one detectable signal being used for detecting the positional information of the object in described pre-set space；
According at least one detectable signal described, it is thus achieved that for indicating at least the one of the positional information of described object
Individual feedback signal；
Pre-conditioned feedback signal is met, it is thus achieved that preset described according at least one feedback signal described
Space is divided into the described isolation information of at least one subspace described.
Optionally, in described storage medium storage and step: obtain described pre-set space is divided into institute
Stating the described isolation information of at least one subspace, corresponding computer instruction is before being performed process, also
Perform the computer program instructions corresponding with following steps:
The object meeting pre-conditioned feedback signal corresponding at least one feedback signal described is defined as
Spacer.
Optionally, in described storage medium storage and step: according to described position relationship, by described extremely
The Subspace Distribution figure of a few sub spaces is combined, obtain described pre-set space spatial distribution map it,
Corresponding computer instruction, before being performed process, also performs the computer instruction corresponding with following steps:
In described pre-set space, at least one first image is gathered by electronic equipment；
Each first image at least one first image described is handled as follows: by described first figure
As being divided at least one first subimage；Based on iamge description algorithm, at least one first subgraph described
Each in Xiang carries out iamge description；
Result according to the iamge description obtained and described spatial distribution map, determine that described electronic equipment is described
The position at place in pre-set space.
The above, above example only in order to the technical scheme of the application is described in detail, but with
The explanation of upper embodiment is only intended to help to understand method and the core concept thereof of the present invention, and it is right to should not be construed as
The restriction of the present invention.Those skilled in the art, in the technical scope that the invention discloses, can think easily
The change arrived or replacement, all should contain within protection scope of the present invention.
Claims (11)
1. a construction method for spatial distribution map, including:
Obtain the isolation information for pre-set space being divided at least one subspace；
According to described isolation information, determine at least one subspace described position relationship each other；
Build the Subspace Distribution figure of every sub spaces at least one subspace described；Wherein, described son is empty
Between the position relationship of object that includes in characterize corresponding subspace of scattergram；
According to described position relationship, the Subspace Distribution figure of at least one subspace described is combined,
Spatial distribution map to described pre-set space.
2. the method for claim 1, it is characterised in that obtain for separating dividing of pre-set space
Every information, including:
Send at least one detectable signal being used for detecting the positional information of the object in described pre-set space；
According at least one detectable signal described, it is thus achieved that for indicating at least the one of the positional information of described object
Individual feedback signal；
Pre-conditioned feedback signal is met, it is thus achieved that preset described according at least one feedback signal described
Space is divided into the described isolation information of at least one subspace described.
3. method as claimed in claim 2, it is characterised in that described pre-set space is separated obtaining
Before the described isolation information of at least one subspace described, also include:
The object meeting pre-conditioned feedback signal corresponding at least one feedback signal described is defined as
Spacer.
4. the method as described in claim 1-3 is arbitrary, it is characterised in that according to described position relationship,
Being combined by the Subspace Distribution figure of at least one subspace described, the space obtaining described pre-set space is divided
After Butut, also include:
In described pre-set space, at least one first image is gathered by electronic equipment；
Each first image at least one first image described is handled as follows: by described first figure
As being divided at least one first subimage；Based on iamge description algorithm, at least one first subgraph described
Each in Xiang carries out iamge description；
Result according to the iamge description obtained and described spatial distribution map, determine that described electronic equipment is described
The position at place in pre-set space.
5. method as claimed in claim 4, it is characterised in that
Described method also includes: obtain the first displacement information of described electronic equipment；
Result according to the iamge description obtained and described spatial distribution map, determine that described electronic equipment is described
The position at place in pre-set space, including:
Result according to the iamge description obtained, described spatial distribution map and described first displacement information, determine
Described electronic equipment is the position at place in described pre-set space.
6. an electronic equipment, including:
Memorizer, is used for storing instruction；
Processor, reads in described memorizer and performs described instruction, to perform step: obtains and is used for
Pre-set space is divided into the isolation information of at least one subspace；According to described isolation information, determine described
At least one subspace position relationship each other；Build every sub spaces at least one subspace described
Subspace Distribution figure；Wherein, what described Subspace Distribution figure included in characterizing corresponding subspace is right
The position relationship of elephant；According to described position relationship, the Subspace Distribution figure of at least one subspace described is entered
Row combination, obtains the spatial distribution map of described pre-set space.
7. electronic equipment as claimed in claim 6, it is characterised in that described electronic equipment also includes surpassing
Sonic transducer；Described processor is used for:
The positional information for detecting the object in pre-set space is sent at least by described sonac
One detectable signal；
By described sonac according at least one detectable signal described, it is thus achieved that be used for indicating described object
At least one feedback signal of positional information；
Pre-conditioned feedback signal is met, it is thus achieved that preset described according at least one feedback signal described
Space is divided into the described isolation information of at least one subspace described.
8. electronic equipment as claimed in claim 7, it is characterised in that obtaining described pre-set space
Before being divided into the described isolation information of at least one subspace described, described processor is additionally operable to: by described
The object meeting pre-conditioned feedback signal corresponding at least one feedback signal is defined as spacer.
9. the electronic equipment as described in claim 6-8 is arbitrary, it is characterised in that described electronic equipment is also
Including image acquisition units；
Described image acquisition units, is used for: at described processor according to described position relationship, by described at least
The Subspace Distribution figure of one sub spaces is combined, after obtaining the spatial distribution map of described pre-set space,
At least one first image is gathered in described pre-set space；
Described processor is additionally operable to:
Each first image at least one first image described is handled as follows: by described first figure
As being divided at least one first subimage；Based on iamge description algorithm, at least one first subgraph described
Each in Xiang carries out iamge description；
Result according to the iamge description obtained and described spatial distribution map, determine that described electronic equipment is described
The position at place in pre-set space.
10. electronic equipment as claimed in claim 9, it is characterised in that described electronic equipment also includes surveying
Away from sensor；
Described distance measuring sensor is used for: obtain the first displacement information of described electronic equipment；
Described processor is used for: according to the result of the iamge description obtained, described spatial distribution map and described
One displacement information, determines described electronic equipment position at place in described pre-set space.
11. 1 kinds of electronic equipments, including:
Acquisition module, for obtaining the isolation information for pre-set space is divided at least one subspace；
Determine module, for according to described isolation information, determine that at least one subspace described is each other
Position relationship；
Build module, for building the Subspace Distribution figure of every sub spaces at least one subspace described；
Wherein, the position relationship of the object that described Subspace Distribution figure includes in characterizing corresponding subspace；
Composite module, for according to described position relationship, by the Subspace Distribution of at least one subspace described
Figure is combined, and obtains the spatial distribution map of described pre-set space.
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