OBSTACLE LOCATION METHOD, DEVICE AND SYSTEM, COMPUTER PROGRAM AND RECORDING MEDIUM

Description

TECHNICAL FIELD

[0001] The present invention relates to the field of locating technology, and more particularly to an obstacle locating method, apparatus and system, a computer program and a recording medium.BACKGROUND

[0002] In daily life, a user may often forget the location of an object he / she puts aside carelessly.

[0003] When a user forgets the location of an object, he / she tends to look for the object in a large scope. If the object rolls to a hidden corner due to some reason, the user may ignore to look for it at the corner. Therefore, the process of manually looking for the object is inefficient and time consuming.

[0004] US 8,396,254 discloses a method for estimating a location of a robot, wherein the method comprises receiving from a robot range images of an environment and, based on the range images, determining an inventory of objects in the environment. The method further comprises, based on the inventory, identifying the environment and transmitting to the robot a mapping of the environment.

[0005] US 2014 / 0316636 discloses a moving robot configured to generate a map of an environment of a territory and allow a user to set a structure of the territory and information on the map used for a location-based service and to use a more intuitively intelligent service is provided.SUMMARY

[0006] The present invention provides an obstacle locating method, apparatus and system, a computer program and a recording medium as follows.

[0007] An obstacle locating method implemented in a locating device is provided in accordance with claim 1.

[0008] An obstacle locating method implemented in a mobile device is provided in accordance with claim 5. Corresponding devices are provided in accordance with claims 8, 9, 11 and 12.

[0009] An obstacle locating system is provided in accordance with claim 10.

[0010] A computer program and a recording medium are provided according to claims 13 and 14.

[0011] It is to be understood that both the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present invention, the scope of which is defined by the appended claims.BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments according to the present invention and serve to explain the principles of the present invention together with the description. Fig. 1 is a schematic diagram of an environment for implementing an obstacle locating method according to some exemplary embodiments; Fig. 2 is a flowchart of an obstacle locating method according to an exemplary embodiment; Fig. 3 is a flowchart of an obstacle locating method according to another exemplary embodiment; Fig. 4A is a flowchart of an obstacle locating method according to still another exemplary embodiment; Fig. 4B is a flowchart of a method for acquiring a location of a locating device according to an exemplary embodiment; Fig. 4C is a schematic diagram of acquiring location coordinates of a current location of a locating device on an indoor map according to an exemplary embodiment; Fig. 4D is a schematic diagram of acquiring a location region of a locating device on an indoor map according to another exemplary embodiment; Fig. 5 is a flowchart of a method for marking a location of an obstacle according to an exemplary embodiment; Fig. 6A is a block diagram of an obstacle locating apparatus not falling within the scope of the claims; Fig. 6B is a block diagram of an obstacle locating not falling within the scope of the claims; Fig. 7A is a block diagram of an obstacle locating apparatus not falling within the scope of the claims; Fig. 7B is a block diagram of an obstacle locating apparatus not falling within the scope of the claims; and Fig. 8 is a block diagram of an obstacle locating apparatus not falling within the scope of the claims. DETAILED DESCRIPTION

[0013] Here, exemplary embodiments will be described in detail, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different figures represent the same or similar elements unless otherwise indicated. The implementations set forth in the following description of exemplary embodiments do not represent all implementations consistent with the present invention. Instead, they are merely examples of methods consistent with aspects related to the present invention as recited in the appended claims.

[0014] Fig. 1 is a schematic diagram of an environment for implementing an obstacle locating method according to some exemplary embodiments. As shown in Fig. 1, the implementing environment includes at least one locating device 110 and a mobile device 120.

[0015] The locating device 110 is a mobile robot. The locating device may be used for locating a smart device and is used for recording an indoor map. The indoor map is used for indicating relative locations of various fixed objects in an indoor space. For example, as shown in Fig. 1, the indoor map records that a dinner table is placed at the northwest corner of a room and that the table is 1.5 meter long, 0.6 meter wide, 1 meter high, 1 meter from the west wall, and 0 meter from the north wall.

[0016] The locating device 110 and the mobile device 120 may be connected to each other in a wireless or wired networking manner and perhaps through a router. The wireless networking manner referred to herein may be a mobile data network or such a wireless networking scheme as wireless fidelity (WiFi) or Bluetooth.

[0017] The locating device 110 provides location information to the mobile device 120.

[0018] The mobile device 120 receives the location information provided by the locating device 110 and may send notifications to the locating device 110.

[0019] Fig. 2 is a flowchart of an obstacle locating method implemented in the locating device 110 shown in Fig. 1 according to an exemplary embodiment. As shown in Fig. 2, the obstacle locating method may include the following steps.

[0020] In step 201, a location of the locating device is acquired when an obstacle is found.

[0021] In step 202, the location and an identifier of an indoor map corresponding to the location are added into location information.

[0022] In step 203, the location information is sent to a mobile device, the location information triggering the mobile device to mark and display the location on an indoor map having the identifier.

[0023] In summary, by acquiring an indoor location of a locating device when the locating device finds an obstacle, adding the location and an identifier of an indoor map corresponding to the indoor location into location information and sending the location information to a mobile device, and because the location is marked and displayed on the indoor map with this identifier after the mobile device receives the location information, the obstacle locating method provided in the embodiment of the present invention solves the problem that it is inefficient and time-consuming to manually rummage for an object after a user forgets the location of the object and achieves the effect that a locating device automatically locates the indoor location thereof when finding an obstacle and sends the location information to a mobile terminal to alert the user that there is an obstacle around this indoor location.

[0024] Fig. 3 is a flowchart of an obstacle locating method implemented in the mobile device 120 shown in Fig. 1. As shown in Fig. 3, the obstacle locating method includes the following steps.

[0025] In step 301, location information sent by a locating device is received, the location information being sent after the locating device acquires an indoor location thereof when finding an obstacle indoors and including the location and an identifier of an indoor map corresponding to the indoor location.

[0026] In step 302, the location contained in the location information is marked and displayed on an indoor map having the identifier.

[0027] In summary, by receiving location information sent by a locating device and marking and displaying the location contained in the location information on an indoor map having the identifier, and because the location information of the locating device is sent to a mobile device after the locating device finds an obstacle, the obstacle locating method provided in the embodiment of the present invention solves the problem that it is inefficient and time-consuming to manually rummage for an object after a user forgets the location of the object and achieves the effect that a locating device automatically locates the indoor location thereof when finding an obstacle and sends the location information to a mobile terminal to alert the user that there is an obstacle around this indoor location.

[0028] In practical application, a user often forgets the location of an object which he / she put aside carelessly. When he / she suddenly needs to find this object, he / she tends to look for the object in a large scope. If the object rolls to a hidden corner due to some reason, the user may ignore to look for it at the corner. In this embodiment, in order to avoid the inefficient and time-consuming process of manually finding an object, a locating device automatically locates an indoor location thereof when finding an obstacle and sends the location information to a mobile terminal to alert the user that there is an obstacle around this indoor location. Hereinafter, the obstacle locating method will be described in conjunction with Figs. 4A, 4B and 5.

[0029] Fig. 4A is a flowchart of an obstacle locating method. As shown in Fig. 4A, the obstacle locating method includes the following steps.

[0030] In step 401, a locating device acquires its location when finding an obstacle.

[0031] Here, the location of the locating device may refer to an absolute indoor location of the locating device.

[0032] Optionally, the locating device is provided with a 3D (3-dimension) depth camera with a photographing function and an aurora radar detector with a detection and perception function and so on.

[0033] Fig. 4B is a flowchart of a method for acquiring a location of a locating device. As shown in Fig. 4B, the method for acquiring the location of the locating device may be implemented through the following steps 401a to 401b.

[0034] In step 401a, an indoor map stored in the locating device is read.

[0035] The indoor map referred to herein is used for reflecting relative locations of various fixed objects in an indoor space.

[0036] The locating device uses a plurality of sensors or infrared scanning perception robots to detect the surrounding environment and detect the distance from an obstacle, and determine locations of various objects in the indoor space and relative locations of the various objects to obtain an indoor map.

[0037] In addition, the locating device may detect and perceive the shape of the obstacle through infrared scanning or sensor detection. That is, the locating device may determine whether the obstacle is a sofa, a table or another object according to the shape of the obstacle. Of course, if the locating device scans an obstacle, a user may set the information and name of the obstacle and so on.

[0038] In step 401b, location coordinates of a current location of the locating device on the indoor map are acquired according to the indoor map, and the location coordinates may be determined as the location of the locating device.

[0039] The locating device learns a surrounding obstacle in real time and compares the same to obstacles on the indoor map to learn its current location.

[0040] Fig. 4C is a schematic diagram of acquiring location coordinates of a current location of a locating device on an indoor map according to an exemplary embodiment. Supposing the room where the locating device is located has an area of 4*4 square meters, when finding a doll 130 the locating device 110 may acquire its location as (1, 1).

[0041] In step 401c, a location region on the indoor map in which the locating device is located is acquired according to the indoor map, and the location region is determined as the location of the locating device.

[0042] Fig. 4D is a schematic diagram of acquiring a location region on an indoor map in which the locating device is located according to another exemplary embodiment. Supposing the room area where the locating device is located is divided into 4 regions, when finding a doll 200 the locating device 110 may acquire its location as 'region C'.

[0043] In step 402, the locating device adds the location and an identifier of an indoor map corresponding to the location into location information.

[0044] The locating device stores a plurality of indoor maps, each indoor map uniquely corresponding to an identifier of one indoor map.

[0045] Optionally, if a location recorded by the locating device is not within a preset range from a fixed object, the locating device adds the location and an identifier of an indoor map corresponding to the location into the location information.

[0046] If the location recorded by the locating device is within a preset range from a fixed object, the location acquired by the locating device may be the location where the locating device finds the fixed object, because the fixed object referred to herein is an object which cannot be moved indoors or which is moved at a frequency less than a preset threshold value (for example, the fixed object may be a sofa, a table, a refrigerator and so on). In order to prevent the locating device from frequently sending the location of the fixed object to the mobile device, if the location recorded by the locating device is not within a preset range from a fixed object, the locating device adds the location and an identifier of an indoor map corresponding to the location into location information.

[0047] Optionally, when finding an obstacle indoors, the locating device photographs the obstacle to obtain a picture of the obstacle and adds the picture of the obstacle into the location information.

[0048] When finding an obstacle indoors, the locating device photographs the obstacle with a camera and adds the picture of the obstacle, the location and the identifier of the indoor map into the location information.

[0049] In step 403, the locating device sends the location information to a mobile device.

[0050] Taking the location information being represented by coordinates as an example and referring still to Fig. 4C, when finding a doll 130 in a room A, the locating device 110 sends location information "(1, 1), room A" to a mobile device 120.

[0051] Taking the location information being represented by a region as an example and referring still to Fig. 4D, when finding a doll 200 in a room A, the locating device 110 sends location information "region C, room B" to the mobile device 120.

[0052] Accordingly, the mobile device receives the location information sent by the locating device.

[0053] In step 404, the location contained in the location information is marked and displayed by the mobile device on an indoor map having the identifier.

[0054] Optionally, a trigger signal is received at the location marked and displayed on the indoor map and the picture of the obstacle is displayed at the location.

[0055] Taking the location being represented by coordinates as an example and referring still to Fig. 4C, after receiving the location information sent by the locating device 110, the mobile device 120 marks and displays a location 150 of the doll 130 contained in the location information on an indoor map 140 having the identifier. If the locating device 110 adds the picture of the doll 130 into the location information and then sends the location information to the mobile device 120, the mobile device 120 will display the picture 180 of the obstacle corresponding to the location 150 when detecting that a user touches the location 150.

[0056] Taking the location being represented by a region as an example and referring still to Fig. 4D, after receiving the location information sent by the locating device 110, the mobile device 120 marks and displays a location 170 of the doll 200 contained in the location information on an indoor map 160 having the identifier. If the locating device 110 adds the picture of the doll 200 into the location information and then sends the location information to the mobile device 120, the mobile device 120 will display the picture 190 of the obstacle corresponding to the location 170 when detecting that a user touches the location 170.

[0057] In summary, by acquiring an indoor location of a locating device when the locating device finds an obstacle, adding the location and an identifier of an indoor map corresponding to the indoor location into location information and sending the location information to a mobile device, and because the location is marked and displayed on the indoor map with this identifier after the mobile device receives the location information, the obstacle locating method provided in the embodiment of the present invention solves the problem that it is inefficient and time-consuming to manually rummage for an object after a user forgets the location of the object and achieves the effect that a locating device automatically locates the indoor location thereof when finding an obstacle and sends the location information to a mobile terminal to alert the user that there is an obstacle around this indoor location.

[0058] In this embodiment, by acquiring the current location of the locating device on the indoor map and determining the current location as the indoor location of the locating device, the location acquired by the locating device is more accurate.

[0059] In this embodiment, by adding the picture of the obstacle into the location information, the user can clearly know the appearance of the obstacle corresponding to the location information by displaying the picture of the obstacle in the location information after the mobile device receives the location information fed back by the locating device.

[0060] In a possible implementation not falling within the scope of the claims, the user may mark a location of an obstacle which is unnecessary to detect in the mobile device, and the mobile device notifies the locating device not to record the marked location of the obstacle. Fig. 5 is a flowchart of a method for marking a location of an obstacle according to an exemplary embodiment. As shown in Fig. 5, the method for marking the location of the obstacle may be implemented through the following steps 501 to 503.

[0061] In step 501, a mobile device determines a location displayed on an indoor map as a location of a fixed object.

[0062] Taking the location being represented by coordinates as an example, after receiving the location (1, 1) marked and displayed by the user on the indoor map, the mobile terminal determines the location (1, 1) as the location of the fixed object.

[0063] Taking the location being represented by a region as an example, after receiving the location 'region C' marked and displayed by the user on the indoor map, the mobile terminal determines the location 'region C' as the location of the fixed object.

[0064] It should be noted that the manner for the user to mark the location may be a long-press operation, a double-click operation, a preset gesture and so on, which is not limited in this embodiment.

[0065] In step 502, the mobile device notifies the locating device of the determined location of the fixed object.

[0066] Taking the location being represented by coordinates as an example, after the mobile device determines the location (1, 1) as the location of the fixed object, the marked location (1, 1) may be sent to the locating device.

[0067] Accordingly, the locating device receives the marked location sent by the mobile device.

[0068] In step 503, the locating device does not record the location of an obstacle when finding the obstacle in a preset region around the marked location.

[0069] Taking the location being represented by coordinates as an example, after receiving the marked location (1, 1) sent by the mobile device, the locating device does not record the location of an obstacle when finding the obstacle in a preset region around the location (1, 1).

[0070] In this embodiment, since the marked location is a location of an obstacle set by the user as unnecessary to detect, when finding an obstacle within a preset region around the marked location, the locating device does not record the location of the obstacle, thereby preventing the location of an obstacle which is unnecessary to detect from being sent to the mobile device.

[0071] The following is apparatus embodiments of the present invention which can be used to execute the method embodiments of the present invention. As to details not disclosed in the apparatus embodiments of the present invention, reference can be made to the method embodiments of the present invention.

[0072] Fig. 6 is a block diagram of an obstacle locating apparatus according to an exemplary embodiment. As shown in Fig. 6A, the obstacle locating apparatus is implemented in the locating device 110 and includes, but is not limited to, an acquisition module 601, a first adding module 602 and a second adding module 603.

[0073] The acquisition module 601 is configured to acquire a location of the locating device when an obstacle is found indoors.

[0074] Here, the location of the locating device may refer to an absolute indoor location of the locating device.

[0075] Optionally, the locating device is provided with a 3D (3-dimension) depth camera with a photographing function and an aurora radar detector with a detection and perception function and so on.

[0076] The first adding module 602 is configured to add the location acquired by the acquisition module 601 and an identifier of an indoor map corresponding to the location into location information.

[0077] The locating device may store a plurality of indoor maps, each indoor map uniquely corresponding to an identifier of one indoor map. If a location recorded by the locating device is not within a preset range from a fixed object, the locating device may add the location and an identifier of an indoor map corresponding to the location into the location information.

[0078] The fixed object referred to herein is an object which cannot be moved indoors or which is moved at a frequency less than a preset threshold value. For example, the fixed object may be a sofa, a table, a refrigerator and so on.

[0079] Optionally, when finding an obstacle indoors, the locating device photographs the obstacle to obtain a picture of the obstacle and adds the picture of the obstacle into the location information.

[0080] When finding an obstacle indoors, the locating device photographs the obstacle with a camera and adds the picture of the obstacle, the location and the identifier of the indoor map into the location information.

[0081] The sending module 603 is configured to send the location information to a mobile device, the location information triggering the mobile device to mark and display the location in an indoor map having the identifier.

[0082] In a possible implementation, referring to Fig. 6B which is a block diagram of an obstacle locating apparatus according to another exemplary embodiment, the acquisition module 601 may include a reading sub-module 601a and a determination sub-module 601b.

[0083] The reading sub-module 601a is configured to read an indoor map stored in the locating device, the indoor map reflecting relative locations of various fixed objects in an indoor space.

[0084] The indoor map referred to herein is used for reflecting relative locations of various fixed objects in an indoor space.

[0085] The locating device may use a plurality of sensors or infrared scanning perception robots to detect the surrounding environment and detect the distance from an obstacle, and determine locations of various objects in the indoor space and relative locations of the various objects to obtain an indoor map.

[0086] In addition, the locating device may detect and perceive the shape of the obstacle through infrared scanning or sensor detection. That is, the locating device may determine whether the obstacle is a sofa, a table or another object according to the shape of the obstacle. Of course, if the locating device scans an obstacle, a user may set the information and name of the obstacle and so on.

[0087] The determination sub-module 601b is configured to: according to the indoor map read by the reading sub-module 601a, acquire location coordinates of a current location of the locating device on the indoor map and determine the location coordinates as the location of the locating device; or according to the indoor map read by the reading sub-module 601a, acquire a location region of the indoor map in which the locating device is located and determine the location region as the location of the locating device.

[0088] The locating device may learn a surrounding obstacle in real time and may compare the same to obstacles on the indoor map to learn its current location.

[0089] The location referred to herein may be represented with coordinates and may also be represented with a region identifier, which is not limited in this embodiment.

[0090] In a possible implementation, referring still to Fig. 6B, the apparatus further includes: a photographing module 604 and a second adding module 605.

[0091] The photographing module 604 is configured to photograph the obstacle to obtain a picture of the obstacle.

[0092] The second adding module 605 is configured to add the picture of the obstacle photographed by the photographing module 604 into the location information, wherein after the location information is sent to the mobile device, the picture in the location information triggers the mobile device to display the picture of the obstacle at the marked and displayed location on the displayed indoor map having the identifier carried in the location information.

[0093] In a possible implementation, referring to Fig. 6B, the first adding module 602 may be configured to: if a recorded location is not within a preset range from a fixed object, add the location and the identifier of the indoor map into the location information, the fixed object being an object which cannot be moved indoors or which is moved at a frequency less than a preset frequency.

[0094] If the location recorded by the locating device is within a preset range from a fixed object, the location acquired by the locating device may be the location where the locating device finds the fixed object, because the fixed object referred to herein is an object which cannot be moved indoors or which is moved at a frequency less than a preset threshold value (for example, the fixed object may be a sofa, a table, a refrigerator and so on). In order to prevent the locating device from frequently sending the location of the fixed object to the mobile device, if the location recorded by the locating device is not within a preset range from a fixed object, the locating device may add the location and an identifier of an indoor map corresponding to the location into location information.

[0095] In a possible implementation, referring still to Fig. 6B, the apparatus further includes: a receiving module 606.

[0096] The receiving module 606 is configured to receive a marked location sent by the mobile device, wherein the locating device does not record a location of an obstacle when finding the obstacle in a preset region around the marked location.

[0097] In summary, by acquiring an indoor location of a locating device when the locating device finds an obstacle, adding the location and an identifier of an indoor map corresponding to the indoor location into location information and sending the location information to a mobile device, and because the location is marked and displayed on the indoor map with this identifier after the mobile device receives the location information, the obstacle locating apparatus provided in the embodiment of the present invention solves the problem that it is inefficient and time-consuming to manually rummage for an object after a user forgets the location of the object and achieves the effect that a locating device automatically locates the indoor location thereof when finding an obstacle and sends the location information to a mobile terminal to alert the user that there is an obstacle around this indoor location.

[0098] In this embodiment, by acquiring the current location of the locating device on the indoor map and determining the current location as the indoor location of the locating device, the location acquired by the locating device is more accurate.

[0099] In this embodiment, by adding the picture of the obstacle into the location information, the user can clearly know the appearance of the obstacle corresponding to the location information by displaying the picture of the obstacle in the location information after the mobile device receives the location information fed back by the locating device.

[0100] In this embodiment, since the marked location is a location of an obstacle set by the user as unnecessary to detect an obstacle, when finding an obstacle within a preset region around the marked location, the locating device does not record the location of the obstacle, thereby preventing the location of an obstacle which is unnecessary to detect from being sent to the mobile device.

[0101] Fig. 7 is a block diagram of an obstacle locating apparatus not falling within the scope of the claims. As shown in Fig. 7A, the obstacle locating apparatus is implemented in the mobile device 120 and includes, but is not limited to, a receiving module 701 and a marking module 702.

[0102] The receiving module 701 is configured to receive location information sent by a locating device, the location information being sent after the locating device acquires an indoor location thereof when finding an obstacle indoors and including the location and an identifier of an indoor map corresponding to the indoor location.

[0103] The marking module 702 is configured to mark and display the location contained in the location information received by the receiving module 701 on an indoor map having the identifier.

[0104] In a possible implementation, referring to Fig. 7B which is a block diagram of an obstacle locating apparatus according to another exemplary embodiment, the location information may further carry the picture corresponding to the obstacle, and the apparatus may further include a display module 703.

[0105] The display module 703 is configured to receive a trigger signal at the location marked and displayed on the indoor map and display the picture of the obstacle at the location.

[0106] In a possible implementation, referring to Fig. 7B, the apparatus further includes: a determination module 704 and a notification module 705.

[0107] The determination module 704 is configured to determine a location displayed on the indoor map as a location of a fixed object, the fixed object being an object which cannot be moved indoors or which is moved at a frequency less than a preset frequency.

[0108] The notification module 705 is configured to notify the locating device of the determined location of the fixed object.

[0109] In summary, by receiving location information sent by a locating device and marking and displaying the location contained in the location information on an indoor map having the identifier, and because the location information of the locating device is sent to a mobile device after the locating device finds an obstacle, the obstacle location apparatus provided in the embodiment of the invention solves the problem that it is inefficient and time-consuming to manually rummage for an object after a user forgets the location of the object and achieves the effect that a locating device automatically locates the indoor location thereof when finding an obstacle and sends the location information to a mobile terminal to alert the user that there is an obstacle around this indoor location.

[0110] In this embodiment, the user can clearly know the appearance of the obstacle corresponding to the location information by displaying the picture of the obstacle in the location information.

[0111] In this embodiment, by marking a location of an obstacle which is unnecessary to detect and notifying the locating device not to record the location of an obstacle when finding the obstacle within a preset region around the marked location, thereby preventing the locating device from sending the location of an obstacle which is unnecessary to detect to the mobile device.

[0112] An obstacle locating system is provided according to an exemplary embodiment of the present invention. The system includes: at least one locating device and a mobile device.

[0113] The locating device may include an obstacle locating apparatus according to any of various possible implementations shown in Figs. 6A and 6B, for which reference can be made to the description of Figs. 6A and 6B and which will not be described here redundantly.

[0114] The mobile device may include an obstacle locating apparatus according to any of various possible implementations shown in Figs. 7A and 7B, for which reference can be made to the description of Figs. 7A and 7B and which will not be described here redundantly.

[0115] In summary, by acquiring an indoor location of a locating device when the locating device finds an obstacle, adding the location and an identifier of an indoor map corresponding to the indoor location into location information and sending the location information to a mobile device, and because the location is marked and displayed on the indoor map with this identifier after the mobile device receives the location information, the obstacle locating apparatus provided in the embodiment of the present invention solves the problem that it is inefficient and time-consuming to manually rummage for an object after a user forgets the location of the object and achieves the effect that a locating device automatically locates the indoor location thereof when finding an obstacle and sends the location information to a mobile terminal to alert the user that there is an obstacle around this indoor location.

[0116] Fig. 8 is a block diagram of an obstacle locating apparatus not falling within the scope of the claims. For example, the apparatus 800 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a gaming console, a tablet, a medical device, exercise equipment, a personal digital assistant or the like.

[0117] Referring to Fig. 8, the apparatus 80 may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input / output (I / O) interface 812, a sensor component 814 and a communication component 816.

[0118] The processing component 802 generally controls the overall operations of the apparatus 800, for example, display, phone call, data communication, camera operation and record operation. The processing component 802 may include one or more processors 818 to execute instructions to perform all or part of the steps in the above described methods. In addition, the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate the interaction between the processing component 808 and the processing component 802.

[0119] The memory 804 is configured to store various types of data to support the operation performed on the apparatus 800. Examples of such data include instructions for any applications or methods operated on the apparatus 800, contact data, phonebook data, messages, pictures, video, etc. The memory 804 may be implemented using any type of volatile or nonvolatile memory devices, or a combination thereof, such as a static random access memory (SRAM), an electrically erasable programmable read-only memory (EEPROM), an erasable programmable read-only memory (EPROM), a programmable read-only memory (PROM), a read-only memory (ROM), a magnetic memory, a flash memory, a magnetic or optical disk.

[0120] The power component 806 provides power to various components of the apparatus 800. The power component 806 may include a power supply management system, one or more power sources, and any other components associated with the generation, management, and distribution of power in the apparatus 800.

[0121] The multimedia component 808 includes a screen providing an output interface between the apparatus 800 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP).If the screen includes the touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may not only sense a boundary of a touch or swipe action, but also sense a period of time and a pressure associated with the touch or swipe action. In some embodiments, the multimedia component 808 includes a front camera and / or a rear camera. The front camera and the rear camera may receive external multimedia data while the apparatus 800 is in an operation mode, such as a photographing mode or a video mode. Each of the front camera and the rear camera may be a fixed optical lens system or have focus and optical zoom capability.

[0122] The audio component 810 is configured to output and / or input audio signals. For example, the audio component 810 includes a microphone ("MIC") configured to receive an external audio signal when the apparatus 800 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal may be further stored in the memory 804 or transmitted via the communication component 816.In some embodiments, the audio component 810 further includes a speaker to output audio signals.

[0123] The I / O interface 812 provides an interface between the processing component 802 and peripheral interface modules, such as a keyboard, a click wheel, buttons, and the like. The buttons may include, but are not limited to, a home button, a volume button, a starting button, and a locking button.

[0124] The sensor component 814 includes one or more sensors to provide status assessments of various aspects of the apparatus 800. For instance, the sensor component 814 may detect an open / closed status of the apparatus 800, relative positioning of components, e.g., the display and the keypad, of the apparatus 800, a change in position of the apparatus 800 or a component of the apparatus 800, a presence or absence of user contact with the apparatus 800, an orientation or an acceleration / deceleration of the apparatus 800, and a change in temperature of the apparatus 800.The sensor component 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor component 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 814 may also include an accelerometer sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, a microwave sensor or a temperature sensor.

[0125] The communication component 816 is configured to facilitate wired or wireless communication between the apparatus 800 and other devices. The apparatus 800 can access a wireless network based on a communication standard, such as WiFi, 2G, or 3G, or a combination thereof. In one exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 816 further includes a near field communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on a radio frequency identification (RFID) technology, an infrared data association (IrDA) technology, an ultra-wideband (UWB) technology, a Bluetooth (BT) technology, and other technologies.

[0126] In exemplary embodiments, the apparatus 800 may be implemented with one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic components, for performing the above described methods executed by a mobile device for locating an obstacle.

[0127] In exemplary embodiments, there is also provided a non-transitory computer readable storage medium including instructions, such as included in the memory 804, executable by the processor 818 of the apparatus 800, for performing the above-described methods executed by a mobile device for locating an obstacle. For example, the non-transitory computer-readable storage medium may be a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disc, an optical data storage device, and the like.

[0128] Other embodiments of the present invention will be apparent to those skilled in the art from consideration of the specification and practice of the present invention disclosed here.

[0129] It will be appreciated that the present invention is not limited to the exact construction that has been described above and illustrated in the accompanying drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present invention is defined by the appended claims.

Claims

1. An obstacle locating method, implemented in an obstacle locating system comprising a locating device (110) and a mobile device (120), wherein the locating device is a mobile robot, the method comprising: acquiring (401) by the locating device a location of the locating device when an obstacle is found, the obstacle being detected using a plurality of sensors, wherein the locating device stores a plurality of indoor maps, each of which uniquely corresponds to an identifier of one indoor map, where acquiring (401) by the locating device the location of the locating device comprises: reading (401a) by the locating device an indoor map stored in the locating device, the indoor map reflecting relative locations of fixed objects in an indoor space, learning by the locating device surrounding obstacles in real time and comparing the same to obstacles on the indoor map to learn its current location; if the location is not within a preset range from a fixed object found in the indoor map, adding (402) by the locating device the location and an identifier of an indoor map, which map contains the location, into location information, wherein the fixed object is an object which cannot be moved indoors or which is moved at a frequency less than a preset frequency; sending (403) by the locating device the location information to the mobile device (120); marking and displaying (404) by the mobile device the location contained in the location information on the indoor map having the identifier.

2. The method according to claim 1, wherein acquiring (401) by the locating device the location of the locating device comprises: according to the indoor map, acquiring by the locating device location coordinates of a current location of the locating device on the indoor map and determining by the locating device the location coordinates as the location of the locating device; or according to the indoor map, acquiring by the locating device a location region on the indoor map in which the locating device is located and determining by the locating device the location region as the location of the locating device.

3. The method according to claim 1, further comprising: photographing by the locating device the obstacle to obtain a picture of the obstacle; and adding by the locating device the picture of the obstacle into the location information, wherein after the location information is sent to the mobile device, the picture in the location information triggers the mobile device to display the picture of the obstacle at the marked and displayed location on the displayed indoor map having the identifier carried in the location information.

4. The method according to any one of claims 1 to 3, further comprising: receiving by the locating device a marked location sent by the mobile device, wherein the locating device does not record a location of an obstacle when finding the obstacle in a preset region around the marked location.

5. The method according to claim 1, wherein the location information further carries a picture corresponding to the obstacle and the method further comprises: receiving by the mobile device a trigger signal at the location marked and displayed on the indoor map and displaying by the mobile device the picture of the obstacle at the location.

6. The method according to claim 5, further comprising: determining by the mobile device a location displayed on the indoor map as a location of the fixed object; and notifying by the mobile device the locating device of the determined location of the fixed object.

7. An obstacle locating system, comprising: a locating device and a mobile device, wherein the obstacle locating system is configured to perform an obstacle locating method according to any one of claims 1-6.

8. A computer program including instructions for executing the steps of an obstacle locating method according to any one of claims 1-6, when said program is executed by a computer.

9. A recording medium readable by a computer and having recorded thereon a computer program including instructions for executing the steps of an obstacle locating method according to any one of claims 1-6.