Method and device for cleaning obstacles of a sidewalk, electronic device and computer readable medium

Abstract

The present disclosure relates to the field of obstacle cleaning, and provides a blind path obstacle cleaning method and device, an electronic device and a computer readable medium. The method comprises: determining whether there is an obstacle on the target blind path based on the data detected by the obstacle cleaning robot; in response to determining that there is an obstacle on the blind path, collecting obstacle video information; determining the obstacle type of the obstacle based on the above obstacle video information; and controlling the above obstacle cleaning robot to clean the above obstacle based on the above obstacle type. The embodiment improves the cleaning efficiency and ensures the safety of the blind people by controlling the obstacle cleaning robot to clean the obstacle in a targeted manner for different obstacle types. The method provided by the present disclosure greatly reduces the labor cost and enhances the accuracy and cleaning efficiency of blind path obstacle cleaning.

Description

Technical Field

[0001] This disclosure relates to the field of obstacle removal, and in particular to methods, apparatus, electronic devices and computer-readable media for removing obstacles from tactile paving. Background Technology

[0002] Tactile paving is an essential accessibility facility in cities, and its installation on main streets and sidewalks has become commonplace. However, the obstruction of tactile paving is becoming increasingly prominent, making it difficult for blind people to travel. Currently, the management of tactile paving typically relies on manual identification and removal of obstacles, which consumes a significant amount of manpower.

[0003] Therefore, how to reduce labor costs and improve the accuracy and efficiency of clearing obstacles on tactile paving is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the present disclosure provides a method, apparatus, electronic device and computer-readable medium for clearing obstacles on tactile paving, in order to solve the problem of the prior art relying on manual identification and removal of obstacles, which consumes a lot of manpower.

[0005] A first aspect of this disclosure provides a method for clearing obstacles from a tactile paving path, comprising: determining whether an obstacle exists on a target tactile paving path based on data detected by a clearing robot; acquiring obstacle video information in response to determining that an obstacle exists on the tactile paving path; determining the obstacle type based on the obstacle video information; and controlling the clearing robot to clear the obstacle based on the obstacle type.

[0006] A second aspect of this disclosure provides a device for clearing obstacles on a tactile paving, comprising: a detection unit configured to determine whether an obstacle exists on the tactile paving based on detection data from a clearing robot; an acquisition unit configured to acquire obstacle video information in response to determining that an obstacle exists on the tactile paving; a determination unit configured to determine the type of obstacle based on the video information; and a clearing unit configured to control a clearing robot to clear the obstacle based on the type of obstacle.

[0007] A third aspect of this disclosure provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described above.

[0008] A fourth aspect of this disclosure provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0009] The beneficial effects of this disclosure compared to existing technologies are as follows: First, based on data detected by the obstacle-clearing robot, it is determined whether there are obstacles on the target tactile paving; second, in response to determining the presence of obstacles, video information of the obstacles is collected; then, based on the aforementioned obstacle video information, the type of obstacle is determined; finally, based on the aforementioned obstacle type, the obstacle-clearing robot is controlled to clear the obstacles. The method provided by this disclosure improves clearing efficiency and ensures the safety of blind people by controlling the obstacle-clearing robot to specifically clear obstacles for different types. The method provided by this disclosure significantly reduces labor costs and enhances the accuracy and efficiency of obstacle clearing on tactile paving. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a schematic diagram illustrating an application scenario of a method for clearing obstacles from tactile paving according to some embodiments of the present disclosure;

[0012] Figure 2 This is a flowchart of some embodiments of the method for clearing obstacles from tactile paving according to the present disclosure;

[0013] Figure 3 This is a schematic diagram of the structure of some embodiments of the tactile paving obstacle clearing device according to the present disclosure;

[0014] Figure 4 This is a schematic diagram of the structure of an electronic device suitable for implementing some embodiments of the present disclosure. Detailed Implementation

[0015] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0016] It should also be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings. Unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other.

[0017] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are used only to distinguish different devices, modules or units, and are not used to limit the order of functions performed by these devices, modules or units or their interdependencies.

[0018] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0019] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0020] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0021] Figure 1 This is a schematic diagram of an application scenario of a method for clearing obstacles on tactile paving according to some embodiments of the present disclosure.

[0022] exist Figure 1 In the application scenario, firstly, the computing device 101 can determine whether there is an obstacle on the target tactile paving based on the data 102 detected by the obstacle-clearing robot, as shown by reference numeral 103 in the attached drawing. Secondly, in response to determining that there is an obstacle on the tactile paving, the computing device 101 can collect obstacle video information 104. Then, based on the obstacle video information 104, the computing device 101 can determine the obstacle type 105. Finally, based on the obstacle type 105, the computing device 101 can control the obstacle-clearing robot to clear the obstacle, as shown by reference numeral 106 in the attached drawing.

[0023] It should be noted that the aforementioned computing device 101 can be either hardware or software. When the computing device 101 is hardware, it can be implemented as a distributed cluster consisting of multiple servers or terminal devices, or as a single server or a single terminal device. When the computing device 101 is software, it can be installed in the hardware devices listed above. It can be implemented as, for example, multiple software programs or software modules used to provide distributed services, or as a single software program or software module. No specific limitations are made here.

[0024] It should be understood that Figure 1 The number of computing devices shown is merely illustrative. Any number of computing devices can be used depending on implementation needs.

[0025] Figure 2 This is a flowchart of some embodiments of the method for clearing obstacles from tactile paving according to the present disclosure. Figure 2 Methods for clearing obstacles from tactile paving can be provided by Figure 1 The computing device 101 performs the operation. For example... Figure 2 As shown, the method for clearing obstacles from tactile paving includes:

[0026] Step S201: Based on the data detected by the obstacle clearing robot, determine whether there are obstacles on the target blind path.

[0027] In some embodiments, the entity performing the tactile paving obstacle removal method (such as...) Figure 1 The computing device 101 shown can determine whether there is an obstacle on the target tactile paving by the following steps: First, the execution entity can acquire a tactile paving route map of the target area; second, the execution entity can control the obstacle removal robot to start moving according to the tactile paving route map of the target area; third, during the movement of the obstacle removal robot, the execution entity can control the obstacle removal robot to send radar signals to the tactile paving area; fourth, based on the feedback of the radar signals, the execution entity can calculate the distance between the obstacle removal robot and the obstacle; fifth, in response to the distance being less than a preset distance threshold, it is determined that there is an obstacle on the tactile paving. Here, the preset distance can be equal to half the width of the tactile paving.

[0028] Step S202: In response to determining that there is an obstacle on the tactile paving, video information of the obstacle is collected.

[0029] In some embodiments, the execution entity may, in response to determining the presence of an obstacle on the tactile paving, control the obstacle removal robot to circle around the obstacle. During the circling process, the execution entity may control the obstacle removal robot to collect boundary pixels of the obstacle, thereby obtaining obstacle video information. As an example, the execution entity may use a long-range LiDAR installed on the obstacle removal robot to scan the obstacle, obtain a set of boundary pixels, and export them to generate obstacle video information.

[0030] Step S203: Based on the above obstacle video information, determine the obstacle type.

[0031] In some embodiments, in response to the proportion of dynamic pixels among the boundary pixels being greater than a preset proportion, the execution entity may determine that the obstacle type is a dynamic obstacle. In response to the proportion of dynamic pixels among the boundary pixels being less than a preset proportion, the execution entity may determine that the obstacle type is a static obstacle. As an example, dynamic obstacles include pedestrians, pets, etc., and static obstacles include garbage, bicycles, etc. Here, the preset proportion ranges from (0%) to 100%.

[0032] Step S204: Based on the above obstacle types, control the above obstacle-clearing robot to clear the above obstacles.

[0033] In some embodiments, in response to the obstacle being a dynamic obstacle, the aforementioned execution entity can generate a warning message. This warning message is then displayed on the screen of the obstacle-clearing robot, and the execution entity can control the robot to verbally play the warning message. For example, the warning message could be "Please leave the tactile paving as soon as possible."

[0034] In some optional implementations of certain embodiments, the method further includes: the execution entity can detect the current distance between the obstacle-clearing robot and the obstacle within a preset time period; in response to determining that the current distance is greater than the preset distance threshold, the execution entity can determine that the obstacle has been cleared; in response to determining that the current distance is less than or equal to the preset distance threshold, the execution entity can generate obstacle-to-be-cleared information based on the obstacle video information and the location information of the obstacle-clearing robot; the execution entity can transmit the obstacle-to-be-cleared information to the target management device.

[0035] In some optional implementations of certain embodiments, the method further includes: in response to the obstacle being a static obstacle, the executing entity can control the obstacle removal robot to remove the static obstacle. Here, when the obstacle removal robot cannot remove the static obstacle, the executing entity can transmit obstacle removal information to the target management device.

[0036] The beneficial effects of this disclosure compared to existing technologies are as follows: First, based on data detected by the obstacle-clearing robot, it is determined whether there are obstacles on the target tactile paving; second, in response to determining the presence of obstacles, video information of the obstacles is collected; then, based on the aforementioned obstacle video information, the type of obstacle is determined; finally, based on the aforementioned obstacle type, the obstacle-clearing robot is controlled to clear the obstacles. The method provided by this disclosure improves clearing efficiency and ensures the safety of blind people by controlling the obstacle-clearing robot to specifically clear obstacles for different types. The method provided by this disclosure significantly reduces labor costs and enhances the accuracy and efficiency of obstacle clearing on tactile paving.

[0037] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0038] The following are embodiments of the apparatus disclosed herein, which can be used to execute embodiments of the method disclosed herein. For details not disclosed in the apparatus embodiments of this disclosure, please refer to the embodiments of the method disclosed herein.

[0039] Figure 3 These are schematic diagrams illustrating the structure of some embodiments of the tactile paving obstacle clearing device according to this disclosure. For example... Figure 3As shown, the tactile paving obstacle removal device includes: a detection unit 301, an acquisition unit 302, a determination unit 303, and a removal unit 304. The detection unit 301 is configured to determine whether an obstacle exists on the target tactile paving based on data detected by the removal robot; the acquisition unit 302 is configured to acquire obstacle video information in response to determining the presence of an obstacle on the tactile paving; the determination unit 303 is configured to determine the obstacle type based on the obstacle video information; and the removal unit 304 is configured to control the removal robot to remove the obstacle based on the obstacle type.

[0040] In some optional implementations of certain embodiments, the detection unit 301 of the tactile paving obstacle removal device is further configured to: acquire a tactile paving route map of the target area; control the obstacle removal robot to begin moving according to the tactile paving route map of the target area; during the movement of the obstacle removal robot, control the obstacle removal robot to send radar signals to the tactile paving area; calculate the distance between the obstacle removal robot and the obstacle based on the feedback of the radar signals; and determine the presence of an obstacle on the tactile paving in response to the distance being less than a preset distance threshold. In some embodiments, the preset distance is equal to half the width of the tactile paving.

[0041] In some optional implementations of some embodiments, the acquisition unit 302 of the tactile paving obstacle clearing device is further configured to: in response to determining that there is an obstacle on the tactile paving, control the clearing robot to circle around the obstacle; during the circling process, control the clearing robot to collect the boundary pixels of the obstacle to obtain obstacle video information.

[0042] In some optional implementations of certain embodiments, the determining unit 303 of the tactile paving obstacle clearing device is further configured to: determine the obstacle type as a dynamic obstacle in response to the proportion of dynamic pixels in the boundary pixels being greater than a preset proportion; and determine the obstacle type as a static obstacle in response to the proportion of dynamic pixels in the boundary pixels being less than a preset proportion. Here, dynamic obstacles include pedestrians, pets, etc., and static obstacles include garbage, bicycles, etc. In some embodiments, the preset proportion ranges from 0% to 100%.

[0043] In some alternative implementations of certain embodiments, the cleaning unit 304 of the tactile paving obstacle clearing device is further configured to: generate warning information in response to the obstacle being a dynamic type obstacle; display the warning information on the display screen of the obstacle clearing robot; and control the obstacle clearing robot to verbally play the warning information.

[0044] In some optional implementations of certain embodiments, the tactile paving obstacle clearing device is further configured to: detect the current distance between the clearing robot and the obstacle within a preset time period; determine that the obstacle clearing is complete in response to determining that the current distance is greater than the preset distance threshold; generate obstacle-to-be-cleared information based on the obstacle video information and the location information of the clearing robot in response to determining that the current distance is less than or equal to the preset distance threshold; and transmit the obstacle-to-be-cleared information to the target management device.

[0045] In some optional implementations of certain embodiments, the tactile paving obstacle removal device is further configured to: in response to the obstacle being a static obstacle, control the obstacle removal robot to remove the static obstacle. Here, when the robot cannot remove the static obstacle, obstacle removal information is transmitted to a target management device.

[0046] The following is for reference. Figure 4 It illustrates electronic devices suitable for implementing some embodiments of this disclosure (e.g., Figure 1 A schematic diagram of the structure of the computing device 101)400. Figure 4 The server shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of this disclosure.

[0047] like Figure 4 As shown, electronic device 400 may include a processing device (e.g., a central processing unit, a graphics processor, etc.) 401, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 402 or a program loaded from storage device 408 into random access memory (RAM) 403. RAM 403 also stores various programs and data required for the operation of electronic device 400. Processing device 401, ROM 402, and RAM 403 are interconnected via bus 404. Input / output (I / O) interface 405 is also connected to bus 404.

[0048] Typically, the following devices can be connected to I / O interface 405: input devices 406 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 407 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 408 including, for example, magnetic tapes, hard disks, etc.; and communication devices 409. Communication device 409 allows electronic device 400 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 4 An electronic device 400 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively. Figure 4Each box shown can represent a device or multiple devices as needed.

[0049] In particular, according to some embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, some embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication device 409, or installed from storage device 408, or installed from ROM 402. When the computer program is executed by processing device 401, it performs the functions defined above in the methods of some embodiments of this disclosure.

[0050] It should be noted that, in some embodiments of this disclosure, the computer-readable medium described above may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In some embodiments of this disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In some embodiments of this disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0051] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0052] The aforementioned computer-readable medium may be included in the aforementioned device; or it may exist independently and not assembled into the electronic device. The aforementioned computer-readable medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: determine whether an obstacle exists on the target tactile paving based on data detected by the obstacle-clearing robot; in response to determining the existence of an obstacle on the tactile paving, acquire obstacle video information; determine the obstacle type based on the obstacle video information; and control the obstacle-clearing robot to clear the obstacle based on the obstacle type.

[0053] Computer program code for performing operations of some embodiments of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0054] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0055] The units described in some embodiments of this disclosure can be implemented in software or hardware. The described units can also be housed in a processor; for example, a processor may be described as including a detection unit, an acquisition unit, a determination unit, and a cleaning unit. The names of these units do not necessarily limit the specific unit; for example, a detection unit may also be described as "a unit that determines whether an obstacle exists on a target tactile paving based on data detected by the obstacle-clearing robot."

[0056] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (ASICs), Application Standard Products (ASSPs), System-on-Chip (SoCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0057] The above description is merely a selection of preferred embodiments of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in the embodiments of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in the embodiments of this disclosure.

Claims

1. A method for clearing obstacles from tactile paving, characterized in that, include: Based on the data detected by the obstacle-clearing robot, determine whether there are obstacles on the target tactile paving; In response to the determination that an obstacle exists on the tactile paving, video information about the obstacle is collected; Based on the obstacle video information, the obstacle type is determined; Based on the type of obstacle, control the obstacle-clearing robot to clear the obstacle; The determination of whether there are obstacles on the target tactile paving based on data detected by the obstacle-clearing robot includes: Obtain a blind road alignment map of the target area; The obstacle-clearing robot is controlled to begin moving according to the blind path route map of the target area; During the movement of the obstacle clearing robot, the robot is controlled to send radar signals to the blind path area; Based on the feedback from the radar signal, the distance between the obstacle-clearing robot and the obstacle is calculated; In response to the distance being less than a preset distance threshold, it is determined that there is an obstacle on the tactile paving; The step of controlling the obstacle-clearing robot to clear the obstacle based on the obstacle type includes: In response to the obstacle being a dynamic type obstacle, a warning message is generated; The warning message is displayed on the screen of the obstacle removal robot; The robot is controlled to play the warning message via voice. The method further includes: Within a preset time period, the current distance between the obstacle-clearing robot and the obstacle is detected; In response to determining that the current distance is greater than the preset distance threshold, the obstacle clearance is determined to be complete; In response to determining that the current distance is less than or equal to the preset distance threshold, obstacle clearance information is generated based on the obstacle video information and the location information of the obstacle clearance robot; Transmit the obstacle clearance information to the target management device; The method further includes: In response to the fact that the obstacle is a static obstacle, the obstacle-clearing robot is controlled to remove the static obstacle; The response to determining the presence of an obstacle on the tactile paving and collecting video information about the obstacle includes: In response to determining that there is an obstacle on the tactile paving, the obstacle-clearing robot is controlled to circle around the obstacle; During the orbiting process, the obstacle-clearing robot is controlled to collect the boundary pixels of the obstacles to obtain obstacle video information; The step of determining the obstacle type based on the obstacle video information includes: In response to the fact that the proportion of dynamic pixels in the boundary pixels is greater than a preset proportion, the obstacle type of the obstacle is determined to be a dynamic type obstacle. In response to the fact that the proportion of dynamic pixels in the boundary pixels is less than a preset proportion, the obstacle type of the obstacle is determined to be a static type obstacle.

2. A device for clearing obstacles from tactile paving, characterized in that, include: The detection unit is configured to determine whether there are obstacles on the tactile paving based on the detection data from the obstacle removal robot. The acquisition unit is configured to acquire video information of the obstacle in response to determining that an obstacle exists on the tactile paving. The determining unit is configured to determine the type of obstacle based on the video information; The cleaning unit is configured to control the obstacle-clearing robot to clear obstacles based on the type of obstacle. The determination of whether there are obstacles on the target tactile paving based on data detected by the obstacle-clearing robot includes: Obtain a blind road alignment map of the target area; The obstacle-clearing robot is controlled to begin moving according to the blind path route map of the target area; During the movement of the obstacle clearing robot, the robot is controlled to send radar signals to the blind path area; Based on the feedback from the radar signal, the distance between the obstacle-clearing robot and the obstacle is calculated; In response to the distance being less than a preset distance threshold, it is determined that there is an obstacle on the tactile paving; The step of controlling the obstacle-clearing robot to clear the obstacle based on the obstacle type includes: In response to the obstacle being a dynamic type obstacle, a warning message is generated; The warning message is displayed on the screen of the obstacle removal robot; The robot is controlled to play the warning message via voice. Also includes: Within a preset time period, the current distance between the obstacle-clearing robot and the obstacle is detected; In response to determining that the current distance is greater than the preset distance threshold, the obstacle clearance is determined to be complete; In response to determining that the current distance is less than or equal to the preset distance threshold, obstacle clearance information is generated based on the obstacle video information and the location information of the obstacle clearance robot; Transmit the obstacle clearance information to the target management device; Also includes: In response to the fact that the obstacle is a static obstacle, the obstacle-clearing robot is controlled to remove the static obstacle; The response to determining the presence of an obstacle on the tactile paving and collecting video information about the obstacle includes: In response to determining that there is an obstacle on the tactile paving, the obstacle-clearing robot is controlled to circle around the obstacle; During the orbiting process, the obstacle-clearing robot is controlled to collect the boundary pixels of the obstacles to obtain obstacle video information; The step of determining the obstacle type based on the obstacle video information includes: In response to the fact that the proportion of dynamic pixels in the boundary pixels is greater than a preset proportion, the obstacle type of the obstacle is determined to be a dynamic type obstacle. In response to the fact that the proportion of dynamic pixels in the boundary pixels is less than a preset proportion, the obstacle type of the obstacle is determined to be a static type obstacle.

3. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in claim 1.

4. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in claim 1.

Images