CN110226589B - Target object driving method and device, storage medium and electronic device - Google Patents
Target object driving method and device, storage medium and electronic device Download PDFInfo
- Publication number
- CN110226589B CN110226589B CN201910373151.4A CN201910373151A CN110226589B CN 110226589 B CN110226589 B CN 110226589B CN 201910373151 A CN201910373151 A CN 201910373151A CN 110226589 B CN110226589 B CN 110226589B
- Authority
- CN
- China
- Prior art keywords
- target
- robot
- driving
- target object
- area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/06—Scaring or repelling devices, e.g. bird-scaring apparatus using visual means, e.g. scarecrows, moving elements, specific shapes, patterns or the like
- A01M29/10—Scaring or repelling devices, e.g. bird-scaring apparatus using visual means, e.g. scarecrows, moving elements, specific shapes, patterns or the like using light sources, e.g. lasers or flashing lights
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M29/00—Scaring or repelling devices, e.g. bird-scaring apparatus
- A01M29/16—Scaring or repelling devices, e.g. bird-scaring apparatus using sound waves
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Zoology (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Insects & Arthropods (AREA)
- Environmental Sciences (AREA)
- Birds (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Optics & Photonics (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a target object driving method and device, a storage medium and an electronic device. Wherein, the method comprises the following steps: receiving a first position where a first target object to be driven is located, wherein the first position is sent by monitoring equipment, the monitoring equipment is used for detecting a moving object in a first monitoring area, the moving object comprises the first target object, and the first monitoring area is larger than the monitoring area of the robot; determining a first target position to be reached by the robot according to a first target area where the first position is located, wherein the first target position is located in the first target area; controlling the robot to move to a first target position according to the determined first moving path; in the course of the robot moving to the first target position, a driving operation for driving the first target object is performed. The invention solves the technical problem of low efficiency of passive prevention and control of mice.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a target object driving method and device, a storage medium and an electronic device.
Background
In restaurants and hotels, the taste of dishes is guaranteed, and the sanitation of kitchens and dining environments is guaranteed, but in the kitchen, which is a place where food is gathered, the food is troubled by rats, and the health of consumers is seriously threatened. Because the food is stored for a long time, the rats are tempted by the food source to continuously enter the areas such as the kitchen of the restaurant and the like for taking the food.
The mouse usually moves at night and has an indefinite path, and the mouse often appears in sewers, toilets, kitchens and the like, moves back and forth between a bacteria-carrying place and a clean area, and spreads viruses through mouse feet, body hair and the like, thereby seriously affecting the food safety in the area. Food safety is closely related to brand image of catering enterprises, and mouse suffering problems are not inconsiderable in the catering industry.
Because of uniqueness of the catering industry, plague cannot be controlled by toxic drugs, and the catering industry generally uses mouse catching devices such as mouse sticking plates, mouse catching cages and the like to prevent and treat mice. But it is difficult to control rats without contacting or triggering the deployment device. And devices such as a mouse sticking plate belong to passive defense in the prevention and treatment of mice, and the device can be triggered only after the mice pass through and touch the mouse sticking plate, so that the mouse repelling efficiency is very low.
In view of the above problems, no effective solution has been proposed.
Disclosure of Invention
The embodiment of the invention provides a target object driving method and device, a storage medium and an electronic device, and at least solves the technical problem of low efficiency of passive mouse control.
According to an aspect of the embodiments of the present invention, there is provided a target object driving method applied to a robot, including: receiving a first position where a first target object to be driven is located, wherein the first position is sent by monitoring equipment, the monitoring equipment is used for detecting a moving object in a first monitoring area, the moving object comprises the first target object, and the first monitoring area is larger than the monitoring area of the robot; determining a first target position to be reached by the robot according to a first target area where the first position is located, wherein the first target position is located in the first target area; controlling the robot to move to a first target position according to the determined first moving path; in the course of the robot moving to the first target position, a driving operation for driving the first target object is performed.
According to another aspect of the embodiments of the present invention, there is also provided a target object repelling apparatus applied to a robot, including: the first receiving module is used for receiving a first position where a first target object to be driven is sent by monitoring equipment, wherein the monitoring equipment is used for detecting a moving object in a first monitoring area, the moving object comprises the first target object, and the first monitoring area is larger than the monitoring area of the robot; the first determining module is used for determining a first target position to be reached by the robot according to a first target area where the first position is located, wherein the first target position is located in the first target area; the first control module is used for controlling the robot to move to a first target position according to the determined first moving path; and the first execution module is used for executing driving operation for driving the first target object in the process that the robot moves to the first target position.
According to still another aspect of the embodiments of the present invention, there is also provided a storage medium having a computer program stored therein, wherein the computer program is configured to execute the above target object driving method when running.
According to another aspect of the embodiments of the present invention, there is also provided an electronic apparatus, including a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the target object driving method through the computer program.
In the embodiment of the invention, the robot is adopted to receive the first position of the first target object to be driven sent by the monitoring equipment, the first target position to be reached is determined according to the first position, and the driving operation for driving the first target object is executed in the process of moving to the first target position, so that the aim of actively driving the moving mice in the monitoring area is fulfilled, the technical effect of actively driving the mice in a larger monitoring area through the monitoring equipment matched with the robot is realized, and the technical problem of low efficiency of passively preventing and controlling the mice is further solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow diagram of an alternative target object driving method according to an embodiment of the invention;
FIG. 2 is a flow diagram of another alternative target object repelling method according to an embodiment of the invention;
FIG. 3 is a flow chart of yet another alternative target object repelling method according to an embodiment of the invention;
FIG. 4 is a flow chart of yet another alternative target object repelling method according to an embodiment of the invention;
fig. 5 is a schematic structural diagram of an alternative target object repelling apparatus according to an embodiment of the invention;
fig. 6 is a schematic structural diagram of an alternative electronic device according to an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, according to an aspect of an embodiment of the present invention, there is provided a target object driving method applied to a robot, including:
step S102, receiving a first position where a first target object to be driven is located, wherein the first position is sent by monitoring equipment, the monitoring equipment is used for detecting a moving object in a first monitoring area, the moving object comprises the first target object, and the first monitoring area is larger than the monitoring area of the robot;
in the embodiment of the present invention, the first target object may be a mouse, a small animal, or the like, which is desired to be repelled. The monitoring device is a device installed in a first monitoring area to be monitored, and can monitor a moving object in the first monitoring area. It will be appreciated that there may be a plurality of monitoring devices, and that the first monitoring area may be covered by the cooperation of a plurality of monitoring devices. The first monitored area may be an area to be monitored within a kitchen.
It can be understood that the robot itself can also monitor moving objects within a certain range, but the robot has a small monitoring range and often cannot cover the whole monitoring area. The first monitoring area can be covered by the monitoring equipment with lower cost, so that the first monitoring area can be comprehensively monitored. It is understood that, in the embodiment of the present invention, in the case that the robot detects the moving object, the position of the moving object may also be acquired, so as to execute the following method to drive the moving object.
For the method of detecting a moving object, the moving object may be determined by processing the captured image frame, and by comparing a comparison image in which the moving object does not exist with the captured image frame. Or the moving object can be monitored by an infrared camera. The image may also be processed to identify whether a moving object of the target type is present. It is to be understood that the present invention is not limited to a method of monitoring a moving object.
Step S104, determining a first target position to be reached by the robot according to a first target area where the first position is located, wherein the first target position is located in the first target area;
here, since the mouse or the like moves to a position such as a desk where the robot cannot reach, in the embodiment of the present invention, the position to which the robot is to reach is determined to be the second position within the first target area where the first position is located. Therefore, the problem that the robot cannot reach the position of the moving object under some conditions is solved.
The second position may be determined by determining a first target area where the robot is located according to the first position, and determining a first target position corresponding to the first target area according to a preset target area-target position mapping relationship, where the first target position is a position that the robot can reach. The second position may also be randomly determined among a plurality of positions to which the robot may move within the first target area.
Step S106, controlling the robot to move to a first target position according to the determined first moving path;
step S108, in the process that the robot moves to the first target position, a driving operation for driving the first target object is performed.
In the embodiment of the invention, the first position of the first target object to be driven, which is sent by the monitoring equipment, is received by the robot, the first target position to be reached is determined according to the first position, and the driving operation for driving the first target object is executed in the process of moving to the first target position, so that the aim of actively driving the moving mice in the monitoring area is fulfilled, the technical effect of actively driving the mice in a larger monitoring area through the monitoring equipment matched with the robot is realized, and the monitoring equipment with a larger monitoring range is matched with the robot, so that the robots with a smaller number can drive the moving objects in a larger range.
In the embodiment of the invention, the moving object is driven to prevent the moving object from damaging the articles in the monitoring area. The driving operation can be driving when the object reaches the first target position, or the driving operation can be executed at a certain distance from the first target position, and the object to be driven can be effectively driven. The present invention provides the following alternative embodiments.
In an alternative embodiment of the present invention, the performing of the driving operation for driving the first target object during the movement of the robot to the first target position includes: when the robot moves along the first movement path to a second position at a predetermined distance from the first target position, a driving operation for driving the first target object is performed on the movement path from the second position to the first target position.
Here, the set distance may be set in advance. The robot drives before reaching the first target position, thereby driving mice in advance and preventing the mice from damaging articles. It will be understood that the movement path here is a part of the first movement path.
In another alternative embodiment of the present invention, the performing of the driving operation for driving the first target object during the movement of the robot to the first target position includes: in a case where the robot moves to the first target position along the first movement path, a driving operation for driving the first target object is performed at the first target position.
Here, the robot moves to the first target position to perform the driving operation, and the driving operation is performed at the first target position in the area where the first position where the moving object such as a mouse is detected is present, and the driving effect is better since it is close to the object to be driven.
Referring to fig. 2, optionally, before controlling the robot to move to the first target position according to the determined first moving path, the method may further include:
step S202, determining a first position coordinate corresponding to the first target position in a target coordinate system and a second position coordinate of the current position of the robot in the target coordinate system;
it can be understood that the first target positions are in one-to-one correspondence with the first target areas and are determined according to a preset mapping relationship, so that the first position coordinates of the first target positions in the target coordinate system can be directly determined.
Step S204, determining a target moving path from the first position coordinate to the second position coordinate in a target area allowing the robot to move according to the first position coordinate and the second position coordinate;
in step S206, the target movement path is determined as a first movement path.
It is to be understood that, in the embodiment of the present invention, the method for determining the movement path in the above manner is not limited to determining the first movement path, and for the determination of other movement paths mentioned below, the determination may be performed within the target area where the robot is allowed to move according to the current position coordinates and the position coordinates to be reached.
Referring to fig. 3, optionally, after performing the driving operation for driving the first target object while the robot moves to the first target position, the method further includes:
step S302, controlling the robot to detect a moving object in a second monitoring area, wherein the second monitoring area is an area currently monitored by a monitoring camera of the robot;
here, the robot may stop performing the driving operation after a preset time period in which the driving operation is performed. At this time, the robot may detect whether or not a certain object exists in the second monitoring area that the robot can monitor.
Step S304, controlling the robot to move to the charging position of the robot according to the determined second moving path under the condition that the moving object is not detected in the second monitoring area;
in step S306, the robot is controlled to perform a charging operation for charging the robot at the charging position, wherein the priority for performing the driving operation is higher than the priority for performing the charging operation for charging the robot.
Here, when the moving object is not detected in the second monitoring area, the charging operation is performed by moving from the current position to the charging position. It is understood that the charging position may be predetermined.
Optionally, after the robot is controlled to detect the moving object in the second monitoring area, the method further includes: under the condition that a moving second target object is detected in the second monitoring area, determining a third position where the second target object is located; determining a second target position to be reached by the robot according to a second target area where the third position is located, wherein the second target position is located in the second target area; controlling the robot to move to a second target position according to the determined third moving path; in the course of the robot moving to the second target position, a driving operation for driving the second target object is performed.
Here, when the moving second target object is detected in the second monitoring area, the second target object is driven. Therefore, the situation that the robot needs to go back and forth again when the monitoring equipment detects the second target object after returning to the charging position can be avoided through detection of the monitoring equipment, the electric quantity can be effectively saved, and the energy consumption is reduced.
It is to be understood that, since moving objects such as rats easily escape, in the embodiment of the present invention, the driving operation for driving the first target object does not mean that only the first target object is effective, which is also effective for other moving objects.
Referring to fig. 4, optionally, after performing the driving operation for driving the first target object while the robot moves to the first target position, the method further includes:
step S402, receiving a fourth position of a third target object to be driven, which is sent by the monitoring equipment, wherein the third target object is a moving object detected by the monitoring equipment in a first monitoring area after the monitoring equipment detects the first target object;
step S404, determining a third target position to be reached by the robot according to a third target area where the fourth position is located, wherein the third target position is located in the third target area;
step S406, controlling the robot to move to a third target position according to the determined fourth moving path;
in step S408, a driving operation for driving the third target object is performed while the robot moves to the third target position.
Here, when the robot receives the fourth position of the third target object to be driven, which is transmitted from the monitoring apparatus, the driving operation for the third target object is performed. It can be understood that the first monitoring area can be effectively covered by the cooperation of the robot and the monitoring equipment, and moving objects such as mice in the area can be better driven.
It will be appreciated that, since the fourth position may be received during the robot's return to the charging position, in order to avoid confusion in the execution at this time, the priority for executing the driving operation may be set in advance to be higher than the priority for executing the charging operation for charging the robot. Therefore, when the robot receives the fourth position, the driving operation is preferentially carried out, and the phenomenon that the robot returns to the charging position to execute the driving operation again to cause time and energy waste is avoided.
It can be understood that, since the robot is powered by an internal power source, in the case where the remaining power amount is less than the set power amount, the robot is controlled to move to the charging position to perform the target charging operation. The set electric power amount here is the lowest electric power amount for the robot to work, which is set in advance, and the robot may not return to the charging position for charging if the electric power amount is less than the set electric power amount, so that the priority for performing the target charging operation is higher than the priority for performing the driving operation.
Optionally, during the moving of the robot to the first target position, performing a driving operation for driving the first target object includes at least one of: playing preset driving audio for driving the first target object so as to drive the first target object; the lighting device for driving the first target object is switched on to drive the first target object. In the embodiment of the invention, the object to be driven can be driven by playing driving audio and/or turning on the lighting device.
It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.
According to another aspect of the embodiments of the present invention, there is also provided a target object driving apparatus for implementing the above-described target object driving method. As shown in fig. 5, the apparatus includes:
a first receiving module 502, configured to receive a first position where a first target object to be driven is located, where the first target object is sent by a monitoring device, where the monitoring device is configured to detect a moving object in a first monitoring area, the moving object includes the first target object, and the first monitoring area is larger than a monitoring area of a robot;
in the embodiment of the present invention, the first target object may be a mouse, a small animal, or the like, which is desired to be repelled. The monitoring device is a device installed in a first monitoring area to be monitored, and can monitor a moving object in the first monitoring area. It will be appreciated that there may be a plurality of monitoring devices, and that the first monitoring area may be covered by the cooperation of a plurality of monitoring devices.
It can be understood that the robot itself can also monitor moving objects within a certain range, but the robot has a small monitoring range and often cannot cover the whole monitoring area. The first monitoring area can be covered by the monitoring equipment with lower cost, so that the first monitoring area can be comprehensively monitored. It is understood that, in the embodiment of the present invention, in the case that the robot detects the moving object, the position of the moving object may also be acquired, so as to execute the following method to drive the moving object.
For the method of detecting a moving object, the moving object may be determined by processing the captured image frame, and by comparing a comparison image in which the moving object does not exist with the captured image frame. Or the moving object can be monitored by an infrared camera. It is to be understood that the present invention is not limited to a method of monitoring a moving object.
A first determining module 504, configured to determine a first target location to which the robot is to arrive according to a first target area where the first location is located, where the first target location is located in the first target area;
here, since a mouse or the like moves to a position where the robot cannot reach, such as a desktop, in the embodiment of the present invention, the first target area where the robot is located is determined by the first position, and the first target position corresponding to the first target area, which is a position where the robot can reach, is determined according to the preset target area-target position mapping relationship, so that the problem that the robot cannot reach the position of the moving object in some cases is solved.
The first control module 506 is used for controlling the robot to move to a first target position according to the determined first moving path;
a first executing module 508 for executing a driving operation for driving the first target object during the movement of the robot to the first target position.
In the embodiment of the invention, the first position of the first target object to be driven, which is sent by the monitoring equipment, is received by the robot, the first target position to be reached is determined according to the first position, and the driving operation for driving the first target object is executed in the process of moving to the first target position, so that the aim of actively driving the moving mice in the monitoring area is fulfilled, the technical effect of actively driving the mice in a larger monitoring area through the monitoring equipment matched with the robot is realized, and the monitoring equipment with a larger monitoring range is matched with the robot, so that the robots with a smaller number can drive the moving objects in a larger range.
Optionally, the first execution module includes: and a first executing unit for executing a driving operation for driving the first target object on the moving path from the second position to the first target position when the robot moves to the second position having a set distance from the first target position along the first moving path.
Optionally, the first execution module includes: a second performing unit for performing a driving operation for driving the first target object at the first target position in a case where the robot moves to the first target position along the first moving path.
Optionally, the apparatus further comprises: the second determining module is used for determining a first position coordinate corresponding to the first target position in the target coordinate system and a second position coordinate of the current position of the robot in the target coordinate system; the third determining module is used for determining a target moving path from the first position coordinate to the second position coordinate in a target area allowing the robot to move according to the first position coordinate and the second position coordinate; and the fourth determination module is used for determining the target moving path as the first moving path.
Optionally, the apparatus further comprises: the second control module is used for controlling the robot to detect the moving object in a second monitoring area, wherein the second monitoring area is an area currently monitored by a monitoring camera of the robot; the third control module is used for controlling the robot to move to the charging position of the robot according to the determined second moving path under the condition that the moving object is not detected in the second monitoring area; and a second execution module for controlling the robot to perform a charging operation for charging the robot at the charging position, wherein the driving operation is performed with a higher priority than the charging operation for charging the robot.
Optionally, the apparatus further comprises: the fifth determining module is used for determining a third position of the second target object under the condition that the second moving target object is detected in the second monitoring area; the sixth determining module is used for determining a second target position to which the robot reaches according to a second target area where the third position is located, wherein the second target position is located in the second target area; the fourth control module is used for controlling the robot to move to the second target position according to the determined third moving path; and the third execution module is used for executing driving operation for driving the second target object in the process that the robot moves to the second target position.
Optionally, the apparatus further comprises: the second receiving module is used for receiving a fourth position of a third target object to be driven, which is sent by the monitoring equipment, wherein the third target object is a moving object detected in the first monitoring area after the monitoring equipment detects the first target object; the seventh determining module is used for determining a third target position to be reached by the robot according to a third target area where the fourth position is located, wherein the third target position is located in the third target area; the fifth control module is used for controlling the robot to move to the third target position according to the determined fourth moving path; and the fourth execution module is used for executing driving operation for driving the third target object in the process that the robot moves to the third target position.
Optionally, the first execution module includes at least one of: the first execution unit is used for playing preset driving audio for driving the first target object so as to drive the first target object; and the second execution unit is used for starting the lighting equipment for driving the first target object so as to drive the first target object.
It can be understood that the apparatus according to the embodiment of the present invention has the advantages corresponding to the method embodiments described above, and the two may be referred to each other, which are not described herein again.
According to yet another aspect of the embodiments of the present invention, there is also provided an electronic device for implementing the target object driving method, as shown in fig. 6, the electronic device includes a memory 602 and a processor 604, the memory 602 stores therein a computer program, and the processor 604 is configured to execute the steps in any one of the method embodiments through the computer program.
Optionally, in this embodiment, the electronic apparatus may be located in at least one network device of a plurality of network devices of a computer network.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
s1, receiving a first position where a first target object to be driven is located, wherein the first target object is sent by a monitoring device, the monitoring device is used for detecting a moving object in a first monitoring area, the moving object comprises the first target object, and the first monitoring area is larger than the monitoring area of the robot;
s2, determining a first target position to be reached by the robot according to a first target area where the first position is located, wherein the first target position is located in the first target area;
s3, controlling the robot to move to a first target position according to the determined first moving path;
s4, a driving operation for driving the first target object is performed while the robot moves to the first target position.
Alternatively, it can be understood by those skilled in the art that the structure shown in fig. 6 is merely an illustration, and the electronic device may also be a terminal device such as an intelligent robot, a meal delivery robot, or the like. Fig. 6 is a diagram illustrating a structure of the electronic device. For example, the electronic device may also include more or fewer components (e.g., network interfaces, etc.) than shown in FIG. 6, or have a different configuration than shown in FIG. 6.
The memory 602 may be used to store software programs and modules, such as program instructions/modules corresponding to the target object driving method and apparatus in the embodiments of the present invention, and the processor 604 executes various functional applications and data processing by running the software programs and modules stored in the memory 602, so as to implement the target object driving method described above. The memory 602 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 602 may further include memory located remotely from the processor 604, which may be connected to the terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. As an example, as shown in fig. 6, the memory 602 may include, but is not limited to, the first receiving module 502, the first determining module 504, the first controlling module 506 and the first executing module 508 of the target object driving apparatus. In addition, other module units in the target object driving device may also be included, but are not limited to, and are not described in detail in this example.
Optionally, the transmitting device 606 is used for receiving or sending data via a network. Examples of the network may include a wired network and a wireless network. In one example, the transmission device 606 includes a Network adapter (NIC) that can be connected to a router via a Network cable and other Network devices to communicate with the internet or a local area Network. In one example, the transmitting device 606 is a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.
In addition, the electronic device further includes: a mobile device 608 and a connection bus 610 for connecting the various modular components of the electronic device.
According to a further aspect of embodiments of the present invention, there is also provided a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above-mentioned method embodiments when executed.
Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:
s1, receiving a first position where a first target object to be driven is located, wherein the first target object is sent by a monitoring device, the monitoring device is used for detecting a moving object in a first monitoring area, the moving object comprises the first target object, and the first monitoring area is larger than the monitoring area of the robot;
s2, determining a first target position to be reached by the robot according to a first target area where the first position is located, wherein the first target position is located in the first target area;
s3, controlling the robot to move to a first target position according to the determined first moving path;
s4, a driving operation for driving the first target object is performed while the robot moves to the first target position.
Alternatively, in this embodiment, a person skilled in the art may understand that all or part of the steps in the methods of the foregoing embodiments may be implemented by a program instructing hardware associated with the terminal device, where the program may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
The integrated unit in the above embodiments, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in the above computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing one or more computer devices (which may be personal computers, servers, network devices, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (16)
1. A target object driving method is applied to a robot and comprises the following steps:
receiving a first position where a first target object to be driven is located, wherein the first position is sent by monitoring equipment, the monitoring equipment is used for detecting a moving object in a first monitoring area, the moving object comprises the first target object, and the first monitoring area is larger than the monitoring area of the robot;
determining a first target position to be reached by the robot according to a first target area where the first position is located, wherein the first target position is located in the first target area;
controlling the robot to move to the first target position according to the determined first moving path;
performing a driving operation for driving the first target object while the robot moves to the first target position;
controlling the robot to detect a moving object in a second monitoring area, wherein the second monitoring area is an area currently monitored by a monitoring camera of the robot;
under the condition that no moving object is detected in the second monitoring area, controlling the robot to move to a charging position of the robot according to the determined second moving path;
and controlling the robot to perform a charging operation for charging the robot at the charging position, wherein the driving operation is performed with a higher priority than the charging operation for charging the robot.
2. The method according to claim 1, wherein the performing a driving operation for driving the first target object during the movement of the robot to the first target position comprises:
and performing a driving operation for driving the first target object on a moving path from the second position to the first target position when the robot moves to a second position having a predetermined distance from the first target position along the first moving path.
3. The method according to claim 1, wherein the performing a driving operation for driving the first target object during the movement of the robot to the first target position comprises:
performing a driving operation for driving the first target object at the first target position while the robot moves to the first target position along the first movement path.
4. The method of claim 1, wherein before controlling the robot to move to the first target location according to the determined first movement path, the method further comprises:
determining a first position coordinate corresponding to the first target position in a target coordinate system and a second position coordinate of the current position of the robot in the target coordinate system;
determining a target moving path from the first position coordinate to the second position coordinate within a target area allowing the robot to move according to the first position coordinate and the second position coordinate;
determining the target movement path as the first movement path.
5. The method of claim 1, wherein after controlling the robot to detect the moving object within the second monitored area, the method further comprises:
determining a third position of a second target object when the second target object moving is detected in the second monitoring area;
determining a second target position to be reached by the robot according to a second target area where the third position is located, wherein the second target position is located in the second target area;
controlling the robot to move to the second target position according to the determined third moving path;
performing the driving operation for driving the second target object while the robot moves to the second target position.
6. The method according to claim 1, wherein after performing a driving operation for driving the first target object while the robot is moving to the first target position, the method further comprises:
receiving a fourth position of a third target object to be driven, which is sent by the monitoring equipment, wherein the third target object is a moving object detected in the first monitoring area by the monitoring equipment after the first target object is detected;
determining a third target position to be reached by the robot according to a third target area where the fourth position is located, wherein the third target position is located in the third target area;
controlling the robot to move to the third target position according to the determined fourth moving path;
performing the driving operation for driving the third target object while the robot moves to the third target position.
7. A method according to any of claims 1 to 6, wherein performing a driving operation for driving the first target object during the movement of the robot to the first target position comprises at least one of:
playing preset driving audio for driving the first target object so as to drive the first target object;
the lighting device for driving the first target object is turned on to drive the first target object.
8. A target object repelling apparatus applied to a robot, comprising:
the system comprises a first receiving module, a first driving module and a second receiving module, wherein the first receiving module is used for receiving a first position where a first target object to be driven is sent by monitoring equipment, the monitoring equipment is used for detecting a moving object in a first monitoring area, the moving object comprises the first target object, and the first monitoring area is larger than the monitoring area of the robot;
the first determining module is used for determining a first target position to be reached by the robot according to a first target area where the first position is located, wherein the first target position is located in the first target area;
the first control module is used for controlling the robot to move to the first target position according to the determined first moving path;
a first executing module, configured to execute a driving operation for driving the first target object in a process that the robot moves to the first target position;
the second control module is used for controlling the robot to detect a moving object in a second monitoring area, wherein the second monitoring area is an area currently monitored by a monitoring camera of the robot;
the third control module is used for controlling the robot to move to the charging position of the robot according to the determined second moving path under the condition that the moving object is not detected in the second monitoring area;
and the second execution module is used for controlling the robot to execute a charging operation for charging the robot at the charging position, wherein the priority for executing the driving operation is higher than the priority for executing the charging operation for charging the robot.
9. The apparatus of claim 8, wherein the first execution module comprises:
and a first executing unit configured to execute a driving operation for driving the first target object on a moving path from the second position to the first target position when the robot moves to a second position at a predetermined distance from the first target position along the first moving path.
10. The apparatus of claim 8, wherein the first execution module comprises:
a second execution unit configured to execute a driving operation for driving the first target object at the first target position when the robot moves to the first target position along the first movement path.
11. The apparatus of claim 8, further comprising:
the second determining module is used for determining a first position coordinate corresponding to the first target position in a target coordinate system and a second position coordinate of the current position of the robot in the target coordinate system;
a third determining module, configured to determine, according to the first position coordinate and the second position coordinate, a target moving path from the first position coordinate to the second position coordinate within a target area where the robot is allowed to move;
a fourth determining module, configured to determine the target moving path as the first moving path.
12. The apparatus of claim 8, further comprising:
a fifth determining module, configured to determine a third position where a second target object is located when the second moving target object is detected in the second monitoring area;
a sixth determining module, configured to determine, according to a second target area where the third location is located, a second target location to which the robot is to arrive, where the second target location is located in the second target area;
the fourth control module is used for controlling the robot to move to the second target position according to the determined third moving path;
a third executing module, configured to execute the driving operation for driving the second target object in a process in which the robot moves to the second target position.
13. The apparatus of claim 8, further comprising:
a second receiving module, configured to receive a fourth position of a third target object to be driven, where the fourth position is sent by the monitoring device, and the third target object is a moving object detected by the monitoring device in the first monitoring area after the first target object is detected;
a seventh determining module, configured to determine a third target position to which the robot needs to reach according to a third target area where the fourth position is located, where the third target position is located in the third target area;
the fifth control module is used for controlling the robot to move to the third target position according to the determined fourth moving path;
a fourth executing module, configured to execute the driving operation for driving the third target object in a process in which the robot moves to the third target position.
14. The apparatus of any of claims 9 to 13, wherein the first execution module comprises at least one of:
the first execution unit is used for playing preset driving audio for driving the first target object so as to drive the first target object;
and the second execution unit is used for starting the lighting equipment for driving the first target object so as to drive the first target object.
15. A storage medium, characterized in that the storage medium comprises a stored program, wherein the program when executed performs the method of any of the preceding claims 1 to 7.
16. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method of any of claims 1 to 7 by means of the computer program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910373151.4A CN110226589B (en) | 2019-05-06 | 2019-05-06 | Target object driving method and device, storage medium and electronic device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910373151.4A CN110226589B (en) | 2019-05-06 | 2019-05-06 | Target object driving method and device, storage medium and electronic device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110226589A CN110226589A (en) | 2019-09-13 |
| CN110226589B true CN110226589B (en) | 2022-01-28 |
Family
ID=67861218
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910373151.4A Active CN110226589B (en) | 2019-05-06 | 2019-05-06 | Target object driving method and device, storage medium and electronic device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110226589B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114514918A (en) * | 2020-11-19 | 2022-05-20 | 苏州宝时得电动工具有限公司 | System and method for driving animals away from specific area and autonomous mobile device |
| CN112580482A (en) * | 2020-12-14 | 2021-03-30 | 深圳优地科技有限公司 | Animal monitoring method, terminal and storage medium |
| CN112906642B (en) * | 2021-03-22 | 2022-06-21 | 苏州银翼智能科技有限公司 | Self-moving robot, control method for self-moving robot, and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103814887A (en) * | 2014-01-23 | 2014-05-28 | 北京飞旋天行科技有限公司 | Flight bird repellent and flight bird repelling system |
| CN107623725A (en) * | 2017-08-26 | 2018-01-23 | 深圳市盛路物联通讯技术有限公司 | Intelligent insect-repelling method and device based on Internet of Things |
| CN107678804A (en) * | 2017-08-22 | 2018-02-09 | 腾讯科技（深圳）有限公司 | Behavior performs method and apparatus, storage medium and electronic installation |
| CN108555909A (en) * | 2018-04-17 | 2018-09-21 | 子歌教育机器人（深圳）有限公司 | A kind of target seeking method, AI robots and computer readable storage medium |
| CN108553028A (en) * | 2018-04-12 | 2018-09-21 | 深圳市沃特沃德股份有限公司 | Drive mouse method and sweeping robot |
| KR101932919B1 (en) * | 2017-12-20 | 2018-12-27 | 충남대학교산학협력단 | smart flower pots |
| CN109566592A (en) * | 2018-12-28 | 2019-04-05 | 北京明略软件系统有限公司 | The method and system of rat destruction |
-
2019
- 2019-05-06 CN CN201910373151.4A patent/CN110226589B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103814887A (en) * | 2014-01-23 | 2014-05-28 | 北京飞旋天行科技有限公司 | Flight bird repellent and flight bird repelling system |
| CN107678804A (en) * | 2017-08-22 | 2018-02-09 | 腾讯科技（深圳）有限公司 | Behavior performs method and apparatus, storage medium and electronic installation |
| CN107623725A (en) * | 2017-08-26 | 2018-01-23 | 深圳市盛路物联通讯技术有限公司 | Intelligent insect-repelling method and device based on Internet of Things |
| KR101932919B1 (en) * | 2017-12-20 | 2018-12-27 | 충남대학교산학협력단 | smart flower pots |
| CN108553028A (en) * | 2018-04-12 | 2018-09-21 | 深圳市沃特沃德股份有限公司 | Drive mouse method and sweeping robot |
| CN108555909A (en) * | 2018-04-17 | 2018-09-21 | 子歌教育机器人（深圳）有限公司 | A kind of target seeking method, AI robots and computer readable storage medium |
| CN109566592A (en) * | 2018-12-28 | 2019-04-05 | 北京明略软件系统有限公司 | The method and system of rat destruction |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110226589A (en) | 2019-09-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110226589B (en) | Target object driving method and device, storage medium and electronic device | |
| EP2875375B1 (en) | Methods for enrolling nodes into an ad hoc network | |
| EP2875372B1 (en) | Method for enrolling nodes into an ad hoc network | |
| EP2875694A1 (en) | Systems and methods for networking consumer devices | |
| CN108602188A (en) | Remote control movable independent robot | |
| EP2875378A2 (en) | Systems and methods for networking consumer devices | |
| US20140022939A1 (en) | Systems and methods for networking consumer devices | |
| EP3311370B1 (en) | Systems and methods for monitoring a subject in a premise | |
| JP6068637B2 (en) | Method and system for networking consumer devices | |
| CN110824953A (en) | Control method and device of intelligent household equipment and storage medium | |
| CN107485725B (en) | Intelligent cleaning method and intelligent cleaning system | |
| CN108697071A (en) | The wireless notification system and method captured for electronics rodent | |
| CN105629936A (en) | Intelligent floor capable of controlling intelligent household equipment | |
| CN104539492A (en) | Intelligent household system and data processing method thereof | |
| CN105785955A (en) | Smart home control method, smart home equipment and intelligent terminal | |
| CN109814546A (en) | Sweeping robot control method and device, storage medium and sweeping robot | |
| CN111643017A (en) | Cleaning robot control method and device based on schedule information and cleaning robot | |
| CN104615062A (en) | Method, system and device for monitoring kitchen device, server and cooking device | |
| CN103901860A (en) | Intelligent home control system | |
| US9781633B2 (en) | Frequency agility for an ISM band home area network | |
| CN111242018A (en) | Safety early warning method and device in kitchen, electronic equipment and storage medium | |
| CN108683548A (en) | A kind of convenient method and system into configuration of routers interface | |
| CN113093572B (en) | Kitchen sterilization control method and device and readable storage medium | |
| CN110221602B (en) | Target object capturing method and device, storage medium and electronic device | |
| US11126244B1 (en) | Power line presence detection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230721 Address after: 200232 32 / F, West Bank artificial intelligence center, 701 Yunjin Road, Xuhui District, Shanghai Patentee after: Shanghai Mingsheng Pinzhi Artificial Intelligence Technology Co.,Ltd. Address before: Room 1302-13, No.6 Weide Road, Yangpu District, Shanghai 200433 Patentee before: SHANGHAI SECOND PICKET NETWORK TECHNOLOGY CO.,LTD. |
|
| TR01 | Transfer of patent right |