Cliff detection method, apparatus, and terminal device

A cliff detection apparatus, comprising a processor and a memory storing instructions executable for the processor, wherein the instructions function as:

• a detection distance matrix obtaining module configured to obtain a detection distance matrix of distances between a camera of a target robot and a ground within a preset detection angle range collected by the camera;
• difference matrix calculating module configured to obtain a difference matrix obtained by subtracting a theoretical distance matrix from the detection distance matrix, wherein the theoretical distance matrix is a pre-calculated distance matrix of distances between the camera and a horizontal ground within the detection angle range;
• an element amount counting module configured to count an amount of elements in the difference matrix being greater than a preset first threshold;
• and
• a cliff determining module configured to determine a cliff is detected if the counted amount of the elements is greater than a preset second threshold, wherein both the first threshold and the second threshold are positive numbers.

A terminal device for cliff detection, comprising:

• one or more processors;
• a memory;
• and
• one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprise:
• instructions for obtaining a detection distance matrix of distances between a camera of a target robot and a ground within a preset detection angle range collected by the camera;
• instructions for obtaining a difference matrix obtained by subtracting a theoretical distance matrix from the detection distance matrix, wherein the theoretical distance matrix is a pre-calculated distance matrix of distances between the camera and a horizontal ground within the detection angle range;
• instructions for counting an amount of elements in the difference matrix being greater than a preset first threshold;
• and
• instructions for determining a cliff is detected if the counted amount of the elements is greater than a preset second threshold, wherein both the first threshold and the second threshold are positive numbers.