CN110315538A - A kind of method, apparatus showing barrier on the electronic map and robot - Google Patents
A kind of method, apparatus showing barrier on the electronic map and robot Download PDFInfo
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- CN110315538A CN110315538A CN201910566499.5A CN201910566499A CN110315538A CN 110315538 A CN110315538 A CN 110315538A CN 201910566499 A CN201910566499 A CN 201910566499A CN 110315538 A CN110315538 A CN 110315538A
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- barrier
- electronic map
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- acquisition
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention is suitable for robotic technology field, provide a kind of method, apparatus and robot for showing barrier on the electronic map, wherein, the method for showing barrier on the electronic map includes acquiring the information of barrier, judge the type of barrier in the information of acquisition, according to the type of the barrier, the display mode of the barrier on the electronic map is determined, the barrier is shown on the electronic map according to the determining display mode.The present invention determines the display mode of barrier by the type according to barrier, only partial impairment object can be shown on the electronic map, robot evacuation barrier number is advantageously reduced, so that reducing robot a possibility that drain sweep occurs, and then improves the cleaning efficiency of robot.
Description
Technical field
The present invention relates to robot fields, more particularly to a kind of method, apparatus, machine for showing barrier on the electronic map
Device people and computer readable storage medium.
Background technique
Since robot in the prior art often carries out indoor cleaning according to existing electronic map, thus working as should
When showing the barrier of indoor whole on electronic map, the number of robot evacuation barrier may be will increase, to occur
The situation of the certain barrier regions of drain sweep, for example, drain sweep furniture fringe region or drain sweep pet fringe region.
Therefore it's necessary to propose a new technical scheme, to solve the above technical problems.
Summary of the invention
In consideration of it, the embodiment of the invention provides method, apparatus and machine that one kind shows barrier on the electronic map
People determines the display mode of barrier by the type according to barrier, can only show partial impairment object in electronic map
On, robot evacuation barrier number is advantageously reduced, so that reducing robot a possibility that drain sweep occurs, and then improves machine
The cleaning efficiency of people.
The first aspect of the embodiment of the present invention provides a kind of method for showing barrier on the electronic map, comprising:
Acquire the information of barrier；
Judge the type of barrier in the information of acquisition；
According to the type of the barrier, the display mode of the barrier on the electronic map is determined；
The barrier is shown on the electronic map according to the determining display mode.
The second aspect of the embodiment of the present invention provides a kind of device for showing barrier on the electronic map, comprising:
Acquisition module, for acquiring the information of barrier；
Judgment module, for judge acquisition the information in barrier type；
Determining module determines the display side of the barrier on the electronic map for the type according to the barrier
Formula；
Display module, for showing the barrier according to the determining display mode in the electronic map.
The third aspect of the embodiment of the present invention provides a kind of robot, including memory, processor and is stored in storage
On device and the computer program that can run on a processor, above-mentioned processor realize above-mentioned first when executing above-mentioned computer program
The method that aspect refers to.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage medium
Computer program is stored in matter, above-mentioned computer program realizes method mentioned in the first aspect when being executed by processor.
Existing beneficial effect is the embodiment of the present invention compared with prior art: in the present embodiment, acquiring obstacle first
Then the information of object judges the type of barrier in the information of acquisition, further according to the type of the barrier, determine described in
The display mode of barrier on the electronic map finally shows the barrier described according to the determining display mode
On electronic map.Compared with prior art, the present invention determines the display mode of barrier by the type according to barrier, can be with
Only partial impairment object is shown on the electronic map, robot evacuation barrier number is advantageously reduced, to reduce robot
There is a possibility that drain sweep, and then improve the cleaning efficiency of robot, there is stronger usability and practicality.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without creative efforts, can also be attached according to these
Figure obtains other attached drawings.
Fig. 1 is the flow diagram for the method for showing barrier on the electronic map that the embodiment of the present invention one provides；
Fig. 2 is the flow diagram of the side provided by Embodiment 2 of the present invention for showing barrier on the electronic map；
Fig. 3 is the structural schematic diagram for the device for showing barrier on the electronic map that the embodiment of the present invention three provides；
Fig. 4 is the structural schematic diagram for the robot that the embodiment of the present invention four provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
It should be appreciated that ought use in this specification and in the appended claims, term " includes " instruction is described special
Sign, entirety, step, operation, the presence of element and/or component, but be not precluded one or more of the other feature, entirety, step,
Operation, the presence or addition of element, component and/or its set.
It is also understood that mesh of the term used in this description of the invention merely for the sake of description specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singular, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combination and all possible combinations of one or more of associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determination " or " in response to detecting ".Similarly, phrase " if it is determined that " or
" if detecting [described condition or event] " can be interpreted to mean according to context " once it is determined that " or " in response to true
It is fixed " or " once detecting [described condition or event] " or " in response to detecting [described condition or event] ".
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in the present embodiment, each process
Execution sequence should be determined by its function and internal logic, and the implementation process of the embodiments of the invention shall not be constituted with any limitation.
It should be noted that " first ", " second " etc. in the present embodiment describe, it is for distinguishing different regions, mould
Block etc. does not represent sequencing, does not also limit " first " and " second " as different types.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Embodiment one
Fig. 1 is the flow diagram for the method for showing barrier on the electronic map that the embodiment of the present invention one provides, should
The executing subject of method can be robot, can specifically include following steps:
S101: the information of barrier is acquired.
Wherein, the electronic map includes but is not limited to grating map, topological map and map vector；The barrier is
Refer to the object for stopping robot motion, such as desk, chair or carpet；One in the artificial controlling intelligent household appliances of machine
Kind, including sweeping robot, floor-mopping robot and clean robot, they can be by certain artificial intelligence automatically in room
The interior clean up task for completing floor.
In one embodiment, the information of the barrier is that the robot passes through visual sensor or optical sensor
The information of collected barrier, the information including the barrier that the robot is encountered in front, rear, side.
S102: judge the type of barrier in the information of acquisition.
The type of the barrier includes but is not limited to static-obstacle thing, dynamic barrier and semi-static barrier,
Middle static-obstacle thing refers to that the time length ratio that the barrier remains static whithin a period of time is in the durations of other states and wants
It is long, such as wall；Dynamic barrier refers to that the time length ratio of the barrier being kept in motion whithin a period of time is in other
The duration of state will be grown, such as indoor pet；And semi-static barrier refers to a kind of barrier between static and dynamic,
The duration that the barrier remains static whithin a period of time and the duration being kept in motion are essentially identical, such as door or clothing
Cabinet.
It in one embodiment, can be first to the letter in the information of judgement acquisition before the type of barrier
Breath is pre-processed, such as smooth, filtering and noise reduction are carried out to it etc..
S103: according to the type of the barrier, the display mode of the barrier on the electronic map is determined.
The display mode including but not limited to normally shows, highlights, hides or deletes.
S104: the barrier is shown on the electronic map according to the determining display mode.
In one embodiment, the barrier can shown according to the determining display mode in the electronics
After on map, it is stored accordingly in local or cloud.
It should be noted that the method can be applied to the robot during constructing electronic map, such as along side
Process, or during being updated to existing electronic map, for example, robot during being cleaned or robot into
Row recharges in heuristic process.
Therefore the display mode of barrier is determined by the type according to barrier in embodiments of the present invention, it can
To reduce the quantity of the barrier of display on the electronic map, to reduce robot evacuation barrier number, and then machine is reduced
There is a possibility that drain sweep in device people, is conducive to the cleaning efficiency for improving robot, has stronger usability and practicality.
Embodiment two
Fig. 2 is the flow diagram of the method provided by Embodiment 2 of the present invention for showing barrier on the electronic map, is
The further refinement of step S101 and S103 in above-described embodiment one and explanation, this method may comprise steps of:
S201: acquisition includes the image information of barrier.
In one embodiment, it can be acquired by the visual sensor installed in the robot or optical sensor
Described image information, such as camera, laser radar or infrared sensor.
In one embodiment, it can control the robot by visual sensor or optical sensor to acquire in real time
Described image information.
In one embodiment, described image information can be several width depth maps.
S202: judge the type of barrier in the described image information of acquisition.
In one embodiment, judge that the type of barrier may include: in the described image information of acquisition
Judge in the described image information of acquisition whether to include the barrier of preset shape and/or the obstacle of preset state
Object.
In one embodiment, judge acquisition described image information in whether comprising preset shape barrier and/or
The barrier of preset state may include:
A1: according to preset machine learning model, judge in the described image information of acquisition whether to include preset shape
Barrier.
In one embodiment, the machine learning model can be the existing or following machine learning mould that may be used
Type.
In one embodiment, above-mentioned steps A1 can specifically include:
B1: the picture comprising different shape barrier is obtained.
B2: the picture that will acquire is inputted in preset machine learning model and is trained.
B3: will classify in the preset machine learning model of described image information input of acquisition, identify described image
The shape for the barrier that information includes.
B4: according to the shape of the barrier of identification, the type of the barrier is determined.
In one embodiment, can by the input machine learning model of the described image information of acquisition frame by frame,
The described image information of acquisition can also be inputted into the machine learning model according to the format of video flowing.
In one embodiment, in order to improve the accuracy rate of disturbance in judgement species type, described image can be also further determined that
The height and/or size of barrier in information, such as when the shape for identifying barrier by preset machine learning model is
When rectangular, if the height of the barrier is higher and size is larger, it can determine that the barrier is wall substantially, it is described at this time
The corresponding type of barrier belongs to static-obstacle thing.
A2: according to the described image information of acquisition, judge whether the position of same barrier is sent out in adjacent two field pictures
It is raw to change.
In one embodiment, can be by judging the barrier number that position changes within a preset time
The no type that the barrier is determined more than preset value, if such as generation before and after the position of a certain barrier within a preset time
The number of change is more than 5 times, then can determine that the type of the barrier is dynamic barrier substantially；If a certain within a preset time
The number to change before and after the position of barrier can then determine the type of the barrier for static barrier substantially much smaller than 5 times
Hinder object；Described in if the number to change before and after the position of a certain barrier within a preset time close to 5 times, can determine substantially
The type of barrier is semi-static barrier.
It should be understood that in described image information by directly judging acquisition, whether the barrier comprising preset state is determined
The type of the barrier, or first pass through in the described image information for judging acquisition whether the barrier comprising preset shape comes
It determines that the barrier is specifically, then determines the type of the barrier by specific barrier, be conducive to from more
A dimension determines the type of the barrier.
S203: if the type of the barrier is static-obstacle thing or semi-static barrier, by working as the barrier
Front position is shown on the electronic map, if the type of the barrier is dynamic barrier, by working as the barrier
Front position is hidden on the electronic map.
In one embodiment, in order to the static-obstacle thing shown on electronic map and semi-static barrier are distinguished
Come, static-obstacle thing and semi-static barrier can be shown in different ways in the electronic map, such as will be static
Barrier is normally displayed on the electronic map, and semi-static barrier is highlighted on the electronic map.
Since the position of semi-static barrier is only fixed and invariable whithin a period of time, if thus by semi-static barrier
It is shown on electronic map in the location information of different moments, is then difficult to reduce the number of the barrier shown on electronic map
Amount.Therefore, in one embodiment, only the current location of the same semi-static barrier can be shown on the electronic map,
Be specifically as follows: judging the position that the semi-static barrier whether has been displayed on the electronic map, if it is described electronically
The position of the semi-static barrier has been displayed on figure, then hides or deletes the semi-static barrier in the electronic map
On the position that has been displayed, and the current position of the semi-static barrier is shown on the electronic map.
S204: the barrier is shown on the electronic map according to the determining display mode.
Wherein, above-mentioned steps S204 is identical as the step S104 in embodiment one, and specific implementation process can be found in step
The description of S104, so here is no more repetition.
S205: the robot is controlled according to current electronic map and carries out path planning.
Wherein, the current electronic map refers to the electronics for only showing static-obstacle thing and/or semi-static barrier
Map；The path planning can be used for the region clean of robot or explore along side.
Therefore the embodiment of the present invention two is compared to embodiment one, it can be only by static-obstacle thing and/or semi-static barrier
Hinder object to show on the electronic map, the quantity of the barrier of display on the electronic map can be reduced, advantageously reduce robot
The number of barrier is avoided, to improve the efficiency that robot carries out global cleaning；In addition, by control the robot according to
Current electronic map carries out path planning, is conducive to robot and carries out optimal path planning, have stronger ease for use and
Practicability.
Embodiment three
Fig. 3 is the structural schematic diagram for the device for showing barrier on the electronic map that the embodiment of the present invention three provides, and is
Convenient for explanation, only parts related to embodiments of the present invention are shown.
This shows that the device of barrier can be the software unit being built in robot, hardware cell on the electronic map
Or the unit of soft or hard combination, it can also be used as independent pendant and be integrated into the robot.
The device for showing barrier on the electronic map, comprising:
Acquisition module 31, for acquiring the information of barrier；
Judgment module 32, for judge acquisition the information in barrier type；
Determining module 33 determines the display of the barrier on the electronic map for the type according to the barrier
Mode；
Display module 34, for showing the barrier according to the determining display mode in the electronic map
On.
In one embodiment, the judgment module 32 is specifically used for:
Judge in the described image information of acquisition whether to include the barrier of preset shape and/or the obstacle of preset state
Object.
In one embodiment, the judgment module 32 is specifically used for:
According to preset machine learning model, judge in the described image information of acquisition whether include preset shape obstacle
Object；And/or
According to the described image information of acquisition, judge whether the position of same barrier changes in adjacent two field pictures
Become.
In one embodiment, the determining module 33 is specifically used for:
If the type of the barrier is static-obstacle thing or semi-static barrier, by the current location of the barrier
It is shown on the electronic map；
If the type of the barrier is dynamic barrier, the current location of the barrier is hidden in the electronics
On map.
In one embodiment, described device further include:
Hiding or removing module, the position for judging that the semi-static barrier whether has been displayed on the electronic map
It sets, if the position of the semi-static barrier has been displayed on the electronic map, hides or delete the semi-static obstacle
The position that object has been displayed on the electronic map.
In one embodiment, described device further include:
Path planning module carries out path planning according to current electronic map for controlling the robot.
Example IV
Fig. 4 is the structural schematic diagram for the robot that the embodiment of the present invention four provides.As shown in figure 4, the machine of the embodiment
People 4 includes: processor 40, memory 41 and is stored in the meter that can be run in the memory 41 and on the processor 40
Calculation machine program 42.The processor 40 realizes the step in above method embodiment one, example when executing the computer program 42
Step S101 to S104 as shown in Figure 1.Alternatively, realizing the step in above method embodiment two, such as step shown in Fig. 2
S201 to S205.The processor 40 realizes each module in above-mentioned each Installation practice/mono- when executing the computer program 42
The function of member, such as the function of module 31 to 34 shown in Fig. 3.
Illustratively, the computer program 42 can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory 41, and are executed by the processor 40, to complete the present invention.Described one
A or multiple module/units can be the series of computation machine program instruction section that can complete specific function, which is used for
Implementation procedure of the computer program 42 in the robot 4 is described.For example, the computer program 42 can be divided
At acquisition module, judgment module, determining module and display module, each module concrete function is as follows:
Acquisition module, for acquiring the information of barrier；
Judgment module, for judge acquisition the information in barrier type；
Determining module determines the display side of the barrier on the electronic map for the type according to the barrier
Formula；
Display module, for showing the barrier according to the determining display mode in the electronic map.
The robot may include, but be not limited only to, processor 40, memory 41.It will be understood by those skilled in the art that
Fig. 4 is only the example of robot 4, does not constitute the restriction to robot 4, may include than illustrating more or fewer portions
Part perhaps combines certain components or different components, such as the robot can also include input-output equipment, network
Access device, bus etc..
The processor 40 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 41 can be the internal storage unit of the robot 4, such as the hard disk or memory of robot 4.
The memory 41 is also possible to the External memory equipment of the robot 4, such as the plug-in type being equipped in the robot 4 is hard
Disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card, flash card
(Flash Card) etc..Further, the memory 41 can also both include the internal storage unit of the robot 4 or wrap
Include External memory equipment.The memory 41 is for other programs needed for storing the computer program and the robot
And data.The memory 41 can be also used for temporarily storing the data that has exported or will export.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that each embodiment described in conjunction with the examples disclosed in this document
Module, unit and/or method and step can be realized with the combination of electronic hardware or computer software and electronic hardware.This
A little functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Specially
Industry technical staff can use different methods to achieve the described function each specific application, but this realization is not
It is considered as beyond the scope of this invention.
In several embodiments provided by the present invention, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-described embodiment side
All or part of the process in method can also instruct relevant hardware to complete, the computer by computer program
Program can be stored in a computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned each
The step of a embodiment of the method.Wherein, the computer program includes computer program code, and the computer program code can
Think source code form, object identification code form, executable file or certain intermediate forms etc..The computer-readable medium can be with
It include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, light that can carry the computer program code
Disk, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that the computer
The content that readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice, such as
It does not include electric carrier signal and telecommunication signal according to legislation and patent practice, computer-readable medium in certain jurisdictions.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. the method that one kind shows barrier on the electronic map characterized by comprising
Acquire the information of barrier；
Judge the type of barrier in the information of acquisition；
According to the type of the barrier, the display mode of the barrier on the electronic map is determined；
The barrier is shown on the electronic map according to the determining display mode.
2. the method according to claim 1, wherein the information is the image information comprising barrier；
Correspondingly, the type of barrier includes: in the information of the judgement acquisition
Judge in the described image information of acquisition whether to include the barrier of preset shape and/or the barrier of preset state.
3. according to the method described in claim 2, it is characterized in that, it is described judge acquisition described image information in whether include
The barrier of preset shape and/or the barrier of preset state include:
According to preset machine learning model, judge in the described image information of acquisition whether include preset shape barrier；
And/or
According to the described image information of acquisition, judge whether the position of same barrier changes in adjacent two field pictures.
4. the method according to claim 1, wherein determining the barrier according to the type of the barrier
Display mode on the electronic map includes:
If the type of the barrier is static-obstacle thing or semi-static barrier, the current location of the barrier is shown
On the electronic map；
If the type of the barrier is dynamic barrier, the current location of the barrier is hidden in the electronic map
On.
5. if according to the method described in claim 4, it is characterized in that, the type in the barrier is static-obstacle thing or half
Static-obstacle thing, then before showing the current location of the barrier on the electronic map, further includes:
Judge the position that the semi-static barrier whether has been displayed on the electronic map；
If the position of the semi-static barrier has been displayed on the electronic map, the semi-static obstacle is hidden or deleted
The position that object has been displayed on the electronic map.
6. method according to any one of claims 1 to 5, which is characterized in that by the barrier according to determining institute
It states after display mode is shown on the electronic map, further includes:
It controls the robot and path planning is carried out according to current electronic map.
7. the device that one kind shows barrier on the electronic map characterized by comprising
Acquisition module, for acquiring the information of barrier；
Judgment module, for judge acquisition the information in barrier type；
Determining module determines the display mode of the barrier on the electronic map for the type according to the barrier；
Display module, for showing the barrier according to the determining display mode in the electronic map.
8. device according to claim 6, which is characterized in that described device further include:
Path planning module carries out path planning according to current electronic map for controlling the robot.
9. a kind of robot, including memory, processor and storage can transport in the memory and on the processor
Capable computer program, which is characterized in that the processor realizes such as claim 1 to 6 times when executing the computer program
The step of one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 6 of realization the method.
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| CN201910566499.5A CN110315538B (en) | 2019-06-27 | 2019-06-27 | Method and device for displaying barrier on electronic map and robot |
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| CN201910566499.5A CN110315538B (en) | 2019-06-27 | 2019-06-27 | Method and device for displaying barrier on electronic map and robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111830970A (en) * | 2020-06-12 | 2020-10-27 | 珠海市一微半导体有限公司 | Regional cleaning planning method for robot walking along edge, chip and robot |
| CN112161624A (en) * | 2020-09-11 | 2021-01-01 | 上海高仙自动化科技发展有限公司 | Marking method, marking device, intelligent robot and readable storage medium |
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