CN110554694A - Method, system, robot and storage medium for turning off electric appliance - Google Patents
Method, system, robot and storage medium for turning off electric appliance Download PDFInfo
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- CN110554694A CN110554694A CN201910711206.8A CN201910711206A CN110554694A CN 110554694 A CN110554694 A CN 110554694A CN 201910711206 A CN201910711206 A CN 201910711206A CN 110554694 A CN110554694 A CN 110554694A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The embodiment of the application provides a method, a system, a robot and a storage medium for turning off an electric appliance. The method for turning off the electric appliance is applied to a robot and comprises the following steps: determining a routing inspection route and a routing inspection sequence according to a preset map, wherein the routing inspection route comprises at least one routing inspection point; sequentially inspecting the electric appliances on the inspection points according to the inspection route and the inspection sequence; after the inspection point is reached, acquiring the state information of the electric appliance sent by the server; judging whether the electric appliance is closed or not according to the state information of the electric appliance; and if the electric appliance is not closed, sending a control signal, wherein the control signal is used for closing the electric appliance. The robot is used for turning off the electric appliance, so that the electric appliance is turned off in time, and resource consumption and labor cost are saved.
Description
Technical Field
The application relates to the technical field of automatic control, in particular to a method, a system, a robot and a storage medium for turning off an electric appliance.
Background
At present, for places such as catering suites, entertainment places and the like, after a client walks, workers need to manually close various electrical appliances in a room one by one, and the process is complicated; and the process of turning off the electrical appliances is easy to omit, so that some electrical appliances are not powered off, thereby not only wasting electric energy, but also shortening the service life of the electrical appliances, and further greatly increasing the operation cost.
in the prior art, a service robot generally only can provide simple functions of conveying articles and the like, has single function and low utilization rate, and cannot complete complex control instructions.
Disclosure of Invention
an object of the embodiments of the present application is to provide a method, a system, a robot and a storage medium for turning off an electrical appliance, where the electrical appliance is turned off by the robot, so as to achieve the technical effects of turning off the electrical appliance in time and saving resource consumption and labor cost.
In a first aspect, an embodiment of the present application provides a method for turning off an appliance, which is applied to a robot, and the method includes: determining a routing inspection route and a routing inspection sequence according to a preset map, wherein the routing inspection route comprises at least one routing inspection point; sequentially inspecting the electric appliances on the inspection points according to the inspection route and the inspection sequence; after the inspection point is reached, acquiring the state information of the electric appliance sent by the server; judging whether the electric appliance is closed or not according to the state information of the electric appliance; and if the electric appliance is not closed, sending a control signal, wherein the control signal is used for closing the electric appliance.
In the implementation process, the robot can autonomously plan a routing inspection route according to a preset map to inspect each inspection point; the robot can acquire the state information of the electric appliance from the server and judge whether the electric appliance is closed or not according to the state information of the electric appliance; if the appliance is not turned off, the robot may send a control signal to turn off the appliance. The method for turning off the electric appliance through the robot can turn off the electric appliance in time, and therefore resource consumption and labor cost are saved.
Further, if it cannot be determined whether the electrical appliance is turned off according to the electrical appliance state information, the method further includes: after the electric appliance reaches the inspection point, scanning the electric appliance to obtain a scanning pattern; and judging whether the electric appliance is closed or not according to the scanning pattern.
In the implementation process, when the state information of the electric appliance cannot be judged to be closed according to the state information of the electric appliance, if the electric appliance does not normally send the state information to the server, the state information of the electric appliance of the server is lost, and the like, the robot can scan the electric appliance at the inspection point through the camera provided by the robot to obtain a scanning pattern, and then judges whether the electric appliance is closed according to the scanning pattern, so that the work of inspecting and closing the electric appliance by the robot is normally carried out.
Further, if the inspection point is provided with an access control device, the method further comprises the following steps: acquiring an access control instruction sent by the server; and sending an access control command to the access control device, and entering the patrol point.
In the implementation process, as the robot needs to enter the inspection point so as to scan the electrical appliance and obtain the scanning pattern, if the inspection point is provided with the access control system, the robot cannot enter the inspection point at the moment so that the scanning work cannot be carried out; therefore, through the authorization of the server, the robot can send an access control command to open an access control system, so that the inspection of the robot can be normally carried out to close the electric appliance.
further, before the scanning the appliance to obtain a scan pattern, the method further comprises: scanning the surrounding environment of the inspection point to determine the position of the electric appliance; if the position of the electric appliance cannot be determined, scanning the surrounding environment of the inspection point again; and when the scanning of the surrounding environment of the inspection point reaches a first preset number of times, stopping scanning and sending a first error report to the server.
In the implementation process, the robot can scan the periphery of the inspection point, so that the position of the electric appliance is determined; when the robot cannot determine the position of the electric appliance due to scanning failure or other reasons, the robot can scan again; the maximum scanning times are set, when the position of the electric appliance cannot be determined when the maximum scanning times are reached (if the electric appliance is moved away and the like, the electric appliance is not at a patrol inspection point), the robot uploads an error report to the server, and then the next patrol inspection point is patrolled, so that the working efficiency and the quality of the robot are considered.
Further, the determining whether the appliance is turned off according to the scan pattern includes: determining the position of a power indicator lamp of the electrical appliance according to the scanning pattern; when the power indicator lamp of the electric appliance is detected to be turned off, judging that the electric appliance is in a closed state; and when the power indicator lamp of the electric appliance is detected to be turned on, judging that the electric appliance is in an on state.
in the implementation process, whether a power indicator lamp of the electric appliance is normally on is determined by scanning the pattern, and if the power indicator lamp is normally on, the electric appliance is not turned off; if the power indicator light goes out, the electric appliance is turned off.
Further, the determining the position of the power indicator light of the appliance according to the scanning pattern comprises: comparing the scanning pattern with a preset pattern, wherein the preset pattern is an appearance pattern of the electric appliance; if the comparison is successful, determining the position of a power indicator lamp of the electric appliance according to a preset pattern; if the comparison fails, scanning the electric appliance again to obtain the scanning pattern; and when the electrical appliance is scanned for a second preset number of times, terminating the scanning and sending a second error report to the server.
In the implementation process, the robot is preset with an appearance pattern of the electric appliance, wherein the position of the power indicator lamp is displayed in the appearance pattern of the electric appliance; the position of the power indicator in the scanning pattern is rapidly determined by comparing the scanning pattern with the appearance pattern, and the method has high accuracy and is easy to realize; and meanwhile, the maximum scanning times are set, so that the situation that the robot is blocked in the step when the power supply indicating lamp cannot be determined and does not continue to patrol is avoided.
Further, according to the route of patrolling and examining with the sequence of patrolling and examining, it includes to patrol and examine the electrical apparatus on the point in proper order: acquiring position information through navigation positioning, wherein the position information is information of the current position of the robot; judging whether the position information deviates from the routing inspection route; if the position information deviates from the routing inspection route, calculating a deviation direction and a deviation distance; and planning a correction route according to the deviation direction and the deviation distance so as to ensure that the robot patrols according to the patrol route and the patrol sequence.
In the implementation process, the robot acquires the current position information through positioning the navigation information and performs routing inspection according to the routing inspection route and the position information; when deviating from the routing inspection route, the robot can plan and correct the route, thereby strictly ensuring that the robot inspects according to the routing inspection route.
Further, the method further comprises: after the inspection of the inspection point is finished, acquiring position information through navigation positioning, wherein the position information is the information of the current position of the robot; determining a regression route according to the position information and initial position information, wherein the initial position information is the position information of the robot when the robot starts working; and returning to the initial position according to the regression route.
In the implementation process, the robot plans the regression route according to the current position information and the initial position information after the inspection work is finished, so that the initial position can be automatically returned, and the unified management of the robot is facilitated.
In a second aspect, the present application provides a system for turning off an electrical appliance, which is applied to a robot, and the system includes: the system comprises a determining unit, a judging unit and a judging unit, wherein the determining unit is used for determining a routing inspection route and a routing inspection sequence according to a preset map, and the routing inspection route comprises at least one routing inspection point; the inspection unit is used for sequentially inspecting the electric appliances on the inspection points according to the inspection route and the inspection sequence; the acquisition unit is used for acquiring the electric appliance state information sent by the server after the inspection point is reached; the judging unit is used for judging whether the electric appliance is closed or not according to the state information of the electric appliance; and the control unit is used for sending a control signal if the electric appliance is not closed, and the control signal is used for closing the electric appliance.
further, the system further comprises: the scanning unit is used for scanning the electric appliance after reaching the patrol point to obtain a scanning pattern; the judging unit is also used for judging whether the electric appliance is closed or not according to the scanning pattern.
Further, the obtaining unit is further configured to obtain an access control instruction sent by the server; the control unit is also used for sending an access control instruction to the access control device and entering the patrol point.
Further, the scanning unit is further configured to scan the surrounding environment of the inspection point, determine the position of the electrical appliance, and scan the surrounding environment of the inspection point again if the position of the electrical appliance cannot be determined; the system further comprises a sending unit, which is used for terminating the scanning and sending a first error report to the server when the scanning of the surrounding environment of the inspection point reaches a first preset number of times.
Further, the scanning unit further includes: the power supply lamp determining subunit is used for determining the position of a power supply indicator lamp of the electrical appliance according to the scanning pattern; and the detection subunit is used for judging that the electric appliance is in a closed state when detecting that the power indicator lamp of the electric appliance is turned off, and judging that the electric appliance is in an open state when detecting that the power indicator lamp of the electric appliance is turned on.
further, the system further comprises: the comparison unit is used for comparing the scanning pattern with a preset pattern, the preset pattern is an appearance pattern of the electric appliance, if the comparison is successful, the position of a power indicator lamp of the electric appliance is determined according to the preset pattern, and if the comparison is failed, the scanning unit scans the electric appliance again to obtain the scanning pattern; and the sending unit is also used for terminating the scanning when the scanning of the electric appliance reaches a second preset number of times and sending a second error report to the server.
further, the inspection unit further comprises: the positioning subunit is used for acquiring position information through navigation positioning, wherein the position information is information of the current position of the robot; the position judging subunit is used for judging whether the position information deviates from the routing inspection route; the calculating subunit is used for calculating a deviation direction and a deviation distance if the position information deviates from the routing inspection route; and the planning subunit is used for planning a correction route according to the deviation direction and the deviation distance so as to ensure that the robot patrols according to the patrol route and the patrol sequence.
Further, the system further comprises: and the regression unit is used for determining a regression route according to the position information and initial position information, wherein the initial position information is the position information of the robot when the robot starts working, and the robot returns to the initial position according to the regression route.
in a third aspect, an embodiment of the present application provides a robot, including: memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method of turning off an appliance according to any one of the first aspect when executing the computer program.
In a fourth aspect, a storage medium is provided in an embodiment of the present application, where the storage medium has instructions stored thereon, and when the instructions are executed on a computer, the instructions cause the computer to perform the method for turning off an appliance according to any one of the first aspect.
In a fifth aspect, an embodiment of the present application provides a computer program product, which when running on a computer, causes the computer to execute the method for turning off an appliance according to any one of the first aspect.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part may be learned by the practice of the above-described techniques of the disclosure, or may be learned by practice of the disclosure.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic flow chart of a method for turning off an electrical appliance according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a method for turning off an appliance according to an embodiment of the present application;
FIG. 3 is a schematic block diagram of a system for shutting down an appliance according to an embodiment of the present application;
FIG. 4 is a schematic block diagram of a system for shutting down an appliance according to an embodiment of the present application;
fig. 5 is a structural block diagram of a robot for turning off an electrical appliance according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
The method, the system, the robot and the storage medium for turning off the electric appliance can be applied to places such as catering suites, entertainment places and the like, the robot patrols and checks in the places, and if the electric appliance is not turned off, a control signal is sent to turn off the electric appliance; by the method, the technical effects of timely turning off the electric appliance and saving resource consumption and labor cost are achieved.
Referring to fig. 1, fig. 1 is a method for turning off an electrical appliance, applied to a robot, according to an embodiment of the present application, including:
Step S110, determining a routing inspection route and a routing inspection sequence according to a preset map, wherein the routing inspection route comprises at least one routing inspection point.
Exemplarily, the robot stores a preset map, and the preset map is a map of a place where the robot works; alternatively, the preset map may be a two-dimensional map or a three-dimensional map. At least one inspection point is marked on the preset map, and the robot can connect the inspection points according to a given work task to determine an inspection route and an inspection sequence.
optionally, the robot can autonomously plan a routing inspection route and a routing inspection sequence; in addition, the robot can also obtain the instruction and carry out inspection according to the inspection route and the inspection sequence in the instruction.
And step S120, sequentially inspecting the electric appliances on the inspection points according to the inspection route and the inspection sequence.
Illustratively, the robot is internally provided with a positioning navigation function and a motion function: and acquiring position information through positioning navigation, and planning an advancing route by the robot according to a preset map and the position information, so that the electric appliances on the inspection points are inspected in sequence according to the inspection route and the inspection sequence.
Illustratively, the appliance may be a television, a refrigerator, an air conditioner, or the like.
Optionally, in step S120, a method for turning off an electrical appliance provided in an embodiment of the present application includes: acquiring position information through navigation positioning, wherein the position information is information of the current position of the robot; judging whether the position information deviates from the routing inspection route; if the position information deviates from the routing inspection route, calculating a deviation direction and a deviation distance; and planning a correction route according to the deviation direction and the deviation distance so as to ensure that the robot patrols according to the patrol route and the patrol sequence.
Exemplarily, the robot has a navigation positioning function, can acquire the position information at the moment in real time, and judges whether the robot deviates from a preset routing inspection route; if the robot deviates from the preset routing inspection route, stopping the robot to move forward, and starting to calculate the deviation direction and the deviation distance; and then planning a correction route according to the calculated deviation direction and the deviation distance. Alternatively, the robot may set a time interval to detect at intervals whether the predetermined patrol route has deviated at this time.
And step S130, acquiring the electric appliance state information sent by the server after the inspection point is reached.
exemplarily, the state information of the electric appliance is sent to a server by the electric appliance and is stored and recorded by the server; the robot can send request information to the server, and after the server receives the request information, the server sends the electric appliance state information to the robot, so that the robot acquires the electric appliance state information sent by the server.
And step S140, judging whether the electric appliance is closed or not according to the state information of the electric appliance.
For example, the state information of the electrical appliance records information about whether the electrical appliance is turned on or off, so that the robot can read corresponding information from the state information of the electrical appliance and judge whether the electrical appliance is turned off according to the state information of the electrical appliance.
And S150, if the electric appliance is not closed, sending a control signal, wherein the control signal is used for closing the electric appliance.
The control signal may be, for example, a radio control signal or an infrared control signal, and the like, which is not limited herein. It should be understood that after the robot is debugged with the electric appliances at each inspection point, the control signal sent by the robot can be used for controlling the turning off of the electric appliances; and the control signal that the robot sent has directive property to the condition emergence of avoiding close electrical apparatus to be controlled by accident.
optionally, after step S250, the method for turning off the electrical appliance provided by the embodiment of the present application further includes: after the inspection of the inspection point is finished, acquiring position information through navigation positioning, wherein the position information is the information of the current position of the robot; determining a regression route according to the position information and initial position information, wherein the initial position information is the position information of the robot when the robot starts working; and returning to the initial position according to the regression route.
for example, after the robot completes the inspection of the inspection route and the electrical appliances at the inspection point, the position where the robot is located at this time is not necessarily the initial position. Therefore, the robot can plan a regression route according to the current position information and the initial position information, so that the robot regresses the initial position, the work flow of the robot is finished, and the unified management of the robot is facilitated.
in a possible embodiment, there may be a case where it cannot be determined whether the electrical appliance is turned off according to the electrical appliance status information, for example, a case where an electrical appliance fails and status information cannot be sent to a server. If it cannot be determined whether the electrical appliance is turned off according to the electrical appliance state information, please refer to fig. 2, where fig. 2 is a schematic flowchart of a method for turning off an electrical appliance according to an embodiment of the present application. The method comprises the following steps:
step S210, determining a routing inspection route and a routing inspection sequence according to a preset map, wherein the routing inspection route comprises at least one routing inspection point.
And S220, sequentially inspecting the electric appliances on the inspection points according to the inspection route and the inspection sequence.
Steps S210 and S220 are the same as steps S110 and S120, and are not described again here.
And step S230, after the inspection point is reached, scanning the electric appliance to obtain a scanning pattern.
Exemplarily, the robot is provided with a camera, has a scanning function, and can scan the surrounding environment; and the robot scans the surrounding environment of the inspection point to obtain a scanning pattern. It should be understood that the robot may scan the surrounding environment of the inspection point according to a preset direction, and may also scan the surrounding environment of the inspection point in all directions.
Optionally, before step S230, if the access control device is already set at the inspection point, the method for turning off the electrical appliance provided in the embodiment of the present application further includes: acquiring an access control instruction sent by the server; and sending an access control command to the access control device, and entering the patrol point.
Illustratively, the access control device has a wireless connection function, can receive an access control command, and opens or closes a door of a patrol point according to the access control command; if the robot finds that the door of the inspection point is closed but does not go to the inspection point, the robot sends request information to the server; and after receiving the request information, the server sends an access control device to the robot, and then the robot sends an access control instruction to the access control device.
In a possible implementation scenario, the robot may also directly store the access control instruction, so that it is not necessary to send request information to the server, thereby improving the working efficiency. However, this can create certain safety concerns. Therefore, in places with high requirements on working efficiency, the robot can store control instructions to control the access control device; in a place with high requirement on safety, the server uniformly manages the access control device and the control command and feeds back the access control device and the control command according to request information sent by the robot.
optionally, before step S230, the method for turning off the electrical appliance provided in the embodiment of the present application further includes: scanning the surrounding environment of the inspection point to determine the position of the electric appliance; if the position of the electric appliance cannot be determined, scanning the surrounding environment of the inspection point again; and when the scanning of the surrounding environment of the inspection point reaches a first preset number of times, stopping scanning and sending a first error report to the server.
illustratively, the robot needs to confirm the specific location of the appliance after reaching the patrol point. The robot prestores preset pattern information of an electric appliance; after the robot reaches a patrol point, scanning the surrounding environment of the patrol point to obtain surrounding pattern information; and the robot compares the preset pattern information with the surrounding pattern information to determine the position of the electric appliance. When the position of the electric appliance cannot be determined, the robot can adjust the angle to scan the surrounding environment again, obtain new surrounding pattern information and then compare the preset pattern information with the new surrounding pattern information. If the robot reaches the first preset times and cannot determine the position of the electric appliance, the situation that the electric appliance is moved away or is shielded by an obstacle and the like possibly occurs, the robot sends a first error report to the server, and the next inspection point is inspected. Through setting up the biggest scanning number of times, avoid the robot card on a patrol and examine the point, compromise the work efficiency and the operating mass with rated load of robot.
Step S240, determining whether the electrical appliance is turned off according to the scan pattern.
optionally, in step S240, the method for turning off the electrical appliance provided in the embodiment of the present application includes: determining the position of a power indicator lamp of the electrical appliance according to the scanning pattern; when the power indicator lamp of the electric appliance is detected to be turned off, judging that the electric appliance is in a closed state; and when the power indicator lamp of the electric appliance is detected to be turned on, judging that the electric appliance is in an on state.
Illustratively, after the robot scans the electrical appliance, a scanning pattern of the electrical appliance is obtained; and after the robot analyzes the scanning pattern, determining the position of a power indicator lamp of the electric appliance, and judging whether the electric appliance is turned off or not according to the power indicator lamp.
Optionally, in step S240, the method for turning off the electrical appliance provided in the embodiment of the present application includes: comparing the scanning pattern with a preset pattern, wherein the preset pattern is an appearance pattern of the electric appliance; if the comparison is successful, determining the position of a power indicator lamp of the electric appliance according to a preset pattern; if the comparison fails, scanning the electric appliance again to obtain the scanning pattern; and when the electrical appliance is scanned for a second preset number of times, terminating the scanning and sending a second error report to the server.
Illustratively, the robot stores preset pattern information of the appliance. The preset pattern is a standard appearance pattern of the electric appliance; after the robot acquires the scanning pattern of the electric appliance, the scanning pattern is compared with a preset pattern. The position of the power indicator lamp in the preset pattern is already defined, so that the robot can successfully determine the position of the power indicator lamp in the scanning pattern after the scanning pattern is successfully compared with the preset pattern. If the comparison fails, the robot can obtain the scanning pattern of the electric appliance again after adjusting the angle; the second preset times is set to be the maximum scanning times, so that the robot is prevented from being clamped on a patrol inspection point, and the working efficiency and the working quality of the robot are considered.
And step S250, if the electric appliance is not closed, sending a control signal, wherein the control signal is used for closing the electric appliance.
step S250 is the same as step S150, and is not described herein again.
By way of example and not limitation, the following description is made of the workflow of the robot according to the method of turning off the appliance hereinbefore:
in a possible implementation scene, after the robot is started, planning a routing inspection route and an inspection sequence according to a preset map; sequentially inspecting the electric appliances on the inspection points; after the inspection point is reached, if the state information of the electric appliance sent by the server can be acquired, judging whether the electric appliance is closed or not according to the state information of the electric appliance; if the state information of the electric appliance sent by the server cannot be acquired or whether the electric appliance is closed cannot be judged according to the state information of the electric appliance, scanning the electric appliance to obtain a scanning pattern, and judging whether the electric appliance is closed according to the scanning pattern; and if the electric appliance is not closed, sending a control signal, wherein the control signal is used for closing the electric appliance. The method for turning off the electric appliance by the robot can turn off the electric appliance in time and save resource consumption and labor cost.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a system for turning off an electrical appliance according to an embodiment of the present application. It should be understood that the system in fig. 3 corresponds to the method embodiment in fig. 1, and can perform the steps involved in the method embodiment, the specific functions of the system can be referred to the description above, and the detailed description is appropriately omitted here to avoid redundancy. The system includes at least one software functional module that can be stored in memory in the form of software or firmware (firmware) or solidified in the Operating System (OS) of the system. Specifically, the system comprises:
the determining unit 310 is used for determining a routing inspection route and a routing inspection sequence according to a preset map, wherein the routing inspection route comprises at least one routing inspection point;
The inspection unit 320 is used for sequentially inspecting the electric appliances on the inspection points according to the inspection route and the inspection sequence;
An obtaining unit 330, configured to obtain the electrical appliance state information sent by the server after the inspection point is reached;
a judging unit 340, configured to judge whether the electrical appliance is turned off according to the electrical appliance state information;
a control unit 350, configured to send a control signal if the electrical appliance is not turned off, where the control signal is used to turn off the electrical appliance.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a system for turning off an electrical appliance according to an embodiment of the present application. It should be understood that the system in fig. 3 corresponds to the method embodiment in fig. 1 to 2, and can perform the steps related to the method embodiment, and the specific functions of the system can be referred to the description above, and the detailed description is appropriately omitted here to avoid redundancy. The system includes at least one software functional module that can be stored in memory in the form of software or firmware (firmware) or solidified in the Operating System (OS) of the system. Specifically, the system comprises:
the determining unit 310 is configured to determine an inspection route and an inspection sequence according to a preset map, where the inspection route includes at least one inspection point.
And the inspection unit 320 is used for sequentially inspecting the electric appliances on the inspection points according to the inspection route and the inspection sequence.
And the obtaining unit 330 is configured to obtain the electrical appliance state information sent by the server after the inspection point is reached.
the determining unit 340 is configured to determine whether the electrical appliance is turned off according to the electrical appliance state information.
A control unit 350, configured to send a control signal if the electrical appliance is not turned off, where the control signal is used to turn off the electrical appliance.
And the scanning unit 410 is used for scanning the electric appliance after the inspection point is reached to obtain a scanning pattern.
In a possible embodiment, the determining unit 340 is further configured to determine whether the electrical appliance is turned off according to the scanning pattern.
In a possible embodiment, the obtaining unit 330 is further configured to obtain an access control instruction sent by the server; the control unit is also used for sending an access control instruction to the access control device and entering the patrol point.
In a possible embodiment, the scanning unit 410 is further configured to scan the surroundings of the patrol point, determine the location of the electrical appliance, and scan the surroundings of the patrol point again if the location of the electrical appliance cannot be determined.
a sending unit 420, configured to terminate scanning when scanning the surrounding environment of the inspection point reaches a first preset number of times, and send a first error report to the server.
In a possible embodiment, the scanning unit 410 comprises a power lamp determination subunit 441 and a monitoring unit 412: a power lamp determining subunit 411, configured to determine, according to the scan pattern, a position of a power indicator lamp of the electrical appliance; the detecting subunit 412 is configured to determine that the electrical appliance is in an off state when it is detected that the power indicator of the electrical appliance is turned off, and determine that the electrical appliance is in an on state when it is detected that the power indicator of the electrical appliance is turned on.
And a comparison unit 430, configured to compare the scanning pattern with a preset pattern, where the preset pattern is an appearance pattern of the electrical appliance, and if the comparison is successful, determine a position of a power indicator of the electrical appliance according to the preset pattern, and if the comparison is unsuccessful, scan the electrical appliance again by the scanning unit to obtain the scanning pattern.
In a possible embodiment, the sending unit 420 is further configured to terminate the scanning when the scanning of the appliance reaches a second preset number of times, and send a second error report to the server.
In a possible embodiment, the inspection unit 320 further includes:
And a positioning subunit 321, configured to obtain position information through navigation positioning, where the position information is information of a current position of the robot.
a position determining subunit 322, configured to determine whether the position information deviates from the routing inspection route.
a calculating unit 323, configured to calculate a deviation direction and a deviation distance if the position information deviates from the routing inspection route.
and a planning subunit 324, configured to plan a correction route according to the deviation direction and the deviation distance, so that the robot performs inspection according to the inspection route and the inspection sequence.
the regression unit 440 is configured to determine a regression route according to the position information and initial position information, where the initial position information is position information of the robot at the beginning of work, and return to the initial position according to the regression route.
please refer to fig. 5, and fig. 5 is a block diagram of a robot for turning off an electrical appliance according to an embodiment of the present disclosure. The robot may include a processor 510, a communication interface 520, a memory 530, and at least one communication bus 540. Wherein the communication bus 540 is used for realizing direct connection communication of these components. The communication interface 520 of the device in the embodiment of the present application is used for performing signaling or data communication with other node devices. Processor 510 may be an integrated circuit chip having signal processing capabilities.
The Processor 510 may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor 510 may be any conventional processor or the like.
The Memory 530 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Read Only Memory (EPROM), an electrically Erasable Read Only Memory (EEPROM), and the like. The memory 530 stores computer readable instructions that, when executed by the processor 510, enable the robot to perform the various steps involved in the method embodiments of fig. 1-2 described above.
Optionally, the robot may further include a memory controller, an input output unit.
the memory 530, the memory controller, the processor 510, the peripheral interface, and the input/output unit are electrically connected to each other directly or indirectly, so as to implement data transmission or interaction. For example, these elements may be electrically coupled to each other via one or more communication buses 540. The processor 510 is adapted to execute executable modules stored in the memory 530, such as software functional modules or computer programs comprised by the robot.
The input and output unit is used for providing a task for a user to create and start an optional time period or preset execution time for the task creation so as to realize the interaction between the user and the server. The input/output unit may be, but is not limited to, a mouse, a keyboard, and the like.
It will be appreciated that the configuration shown in figure 5 is merely illustrative and that the robot may include more or fewer components than shown in figure 5 or may have a different configuration than shown in figure 5. The components shown in fig. 5 may be implemented in hardware, software, or a combination thereof.
the embodiment of the present application further provides a storage medium, where the storage medium stores instructions, and when the instructions are run on a computer, when the computer program is executed by a processor, the method in the method embodiment is implemented, and in order to avoid repetition, details are not repeated here.
The present application also provides a computer program product which, when run on a computer, causes the computer to perform the method of the method embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
the functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (11)
1. A method of turning off an appliance, applied to a robot, the method comprising:
Determining a routing inspection route and a routing inspection sequence according to a preset map, wherein the routing inspection route comprises at least one routing inspection point;
sequentially inspecting the electric appliances on the inspection points according to the inspection route and the inspection sequence;
After the inspection point is reached, acquiring the state information of the electric appliance sent by the server;
Judging whether the electric appliance is closed or not according to the state information of the electric appliance;
And if the electric appliance is not closed, sending a control signal, wherein the control signal is used for closing the electric appliance.
2. The method for turning off an electrical appliance according to claim 1, wherein if it cannot be determined whether the electrical appliance is turned off according to the electrical appliance state information, the method further comprises:
After the electric appliance reaches the inspection point, scanning the electric appliance to obtain a scanning pattern;
And judging whether the electric appliance is closed or not according to the scanning pattern.
3. The method of turning off an appliance according to claim 2, wherein if the inspection point has an access control device set, the method further comprises:
Acquiring an access control instruction sent by the server;
And sending an access control command to the access control device, and entering the patrol point.
4. The method of turning off an appliance of claim 2, wherein prior to said scanning the appliance for a scan pattern, the method further comprises:
Scanning the surrounding environment of the inspection point to determine the position of the electric appliance;
If the position of the electric appliance cannot be determined, scanning the surrounding environment of the inspection point again;
And when the scanning of the surrounding environment of the inspection point reaches a first preset number of times, stopping scanning and sending a first error report to the server.
5. The method of turning off an appliance according to claim 2, wherein the determining whether the appliance is turned off according to the scan pattern comprises:
Determining the position of a power indicator lamp of the electrical appliance according to the scanning pattern;
When the power indicator lamp of the electric appliance is detected to be turned off, judging that the electric appliance is in a closed state;
and when the power indicator lamp of the electric appliance is detected to be turned on, judging that the electric appliance is in an on state.
6. The method of turning off the electrical appliance according to claim 5, wherein the determining the position of the power indicator light of the electrical appliance according to the scan pattern comprises:
comparing the scanning pattern with a preset pattern, wherein the preset pattern is an appearance pattern of the electric appliance;
If the comparison is successful, determining the position of a power indicator lamp of the electric appliance according to a preset pattern;
If the comparison fails, scanning the electric appliance again to obtain the scanning pattern;
and when the electrical appliance is scanned for a second preset number of times, terminating the scanning and sending a second error report to the server.
7. The method of shutting down electrical appliances according to claim 1, wherein the sequentially inspecting the electrical appliances at the inspection points according to the inspection route and the inspection sequence includes:
Acquiring position information through navigation positioning, wherein the position information is information of the current position of the robot;
Judging whether the position information deviates from the routing inspection route;
if the position information deviates from the routing inspection route, calculating a deviation direction and a deviation distance;
And planning a correction route according to the deviation direction and the deviation distance so as to ensure that the robot patrols according to the patrol route and the patrol sequence.
8. The method of turning off an appliance according to claim 1, further comprising:
After the inspection of the inspection point is finished, acquiring position information through navigation positioning, wherein the position information is the information of the current position of the robot;
Determining a regression route according to the position information and initial position information, wherein the initial position information is the position information of the robot when the robot starts working;
And returning to the initial position according to the regression route.
9. A system for switching off an electrical appliance, applied to a robot, the system comprising:
The system comprises a determining unit, a judging unit and a judging unit, wherein the determining unit is used for determining a routing inspection route and a routing inspection sequence according to a preset map, and the routing inspection route comprises at least one routing inspection point;
the inspection unit is used for sequentially inspecting the electric appliances on the inspection points according to the inspection route and the inspection sequence;
The acquisition unit is used for acquiring the electric appliance state information sent by the server after the inspection point is reached;
The judging unit is used for judging whether the electric appliance is closed or not according to the state information of the electric appliance;
And the control unit is used for sending a control signal if the electric appliance is not closed, and the control signal is used for closing the electric appliance.
10. A robot, characterized by comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method of switching off an appliance according to any of claims 1 to 8 when executing the computer program.
11. A storage medium for storing instructions which, when run on a computer, cause the computer to perform a method of shutting down an appliance according to any one of claims 1 to 8.
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| CN201910711206.8A CN110554694A (en) | 2019-08-01 | 2019-08-01 | Method, system, robot and storage medium for turning off electric appliance |
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| CN201910711206.8A CN110554694A (en) | 2019-08-01 | 2019-08-01 | Method, system, robot and storage medium for turning off electric appliance |
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Address after: Room 201, building 4, courtyard 8, Dongbeiwang West Road, Haidian District, Beijing Applicant after: Beijing Yunji Technology Co.,Ltd. Address before: Room 201, building 4, courtyard 8, Dongbeiwang West Road, Haidian District, Beijing Applicant before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |
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Application publication date: 20191210 |