CN111459152A - Control method and control device of intelligent equipment and air purifier - Google Patents
Control method and control device of intelligent equipment and air purifier Download PDFInfo
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- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
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Abstract
The application provides a control method, controlling means and air purifier of smart machine, and wherein controlling means includes: the route planning module is used for acquiring initial information and generating a route plan by adopting a preset algorithm according to the initial information, wherein the initial information comprises a regional map, an initial position and a target position of the intelligent equipment; the mobile module is used for controlling the intelligent equipment to move according to the path planning; the dynamic detection module is used for monitoring the position information of the barrier and judging whether a first barrier which can block the intelligent device from moving exists or not according to the position information of the barrier; and the path planning module is also used for correcting the path planning by adopting a preset algorithm to avoid the first obstacle when the first obstacle which can block the intelligent equipment from moving exists. Therefore, the intelligent device is prevented from colliding with other devices in the moving process, the intelligent device is protected, the service life of the intelligent device is prolonged, and the safety is improved.
Description
Technical Field
The application relates to the field of air purifiers, in particular to a control method and a control device of intelligent equipment and an air purifier.
Background
The air quality problem is closely related to the health condition of people, and the indoor environmental pollution caused by decoration or other reasons seriously affects the health of people, such as formaldehyde, PM2.5, dust particles and other toxic and harmful substances. With the economic development and the high pursuit of people on the quality of life, the emergence of the air purifier helps people to remove pollutants in the air and provide clean and safe air, and the arrangement of the intelligent monitoring system enables users to monitor the indoor air quality more intuitively and reasonably use the purifier.
Traditional air purifier is mostly fixed point and purifies, need be by people manual movement air purifier when the air of different positions department is purified to needs, causes inconvenience, but air purifier that has appeared in the market in recent years can automatic movement, and air purifier's removal route is that preset is good, but, in actual conditions, air purifier removes the in-process and probably collides with kitten, puppy or other equipment that is moving, causes the damage.
Therefore, it is an urgent problem to be solved in the art to ensure that the smart device does not collide with other obstacles during the moving process.
Disclosure of Invention
The application provides a control method and a control device of intelligent equipment and an air purifier, which are used for ensuring that the intelligent equipment does not collide with other equipment in the moving process.
In order to solve the above-mentioned problems, as one aspect of the present application, there is provided a control apparatus of an intelligent device, including:
the route planning module is used for acquiring initial information and generating a route plan by adopting a preset algorithm according to the initial information, wherein the initial information comprises an area map of an area where the intelligent equipment is located, an initial position and a target position of the intelligent equipment;
the mobile module is used for controlling the intelligent equipment to move according to the path planning;
the dynamic detection module is used for monitoring the position information of the barrier and judging whether a first barrier which can block the intelligent device from moving exists or not according to the position information of the barrier;
and the path planning module is also used for correcting the path planning by adopting a preset algorithm to avoid the obstacle when the first obstacle which can block the intelligent equipment from moving exists.
Optionally, the initial information further includes: an initial position of the obstacle, a starting movement rate of the smart device, and a starting movement direction of the smart device.
Optionally, the preset algorithm is: and (4) performing intelligent particle swarm optimization algorithm.
Optionally, the path planning module corrects the path planning by using a preset algorithm, including;
acquiring a first current position, a first movement speed, a first movement direction of the intelligent device and a second current position, a second movement speed and a second movement direction of the first obstacle;
and correcting the first movement rate and/or the first movement direction of the intelligent device by adopting a preset algorithm according to the first current position, the second current position, the first movement rate, the first movement direction, the second movement rate and the second movement direction.
Optionally, the method further includes: and the sterilization module is used for sterilizing according to a preset mode when the intelligent equipment moves and/or stops.
Optionally, the method further includes: the voice data module is used for receiving the voice signals, performing semantic recognition on the voice signals and generating control instructions according to semantic recognition results;
wherein the voice information comprises a target position;
when the sterilization module is included, the voice message includes one or more of a target position and a preset mode.
Optionally, the voice data module receives a voice signal and performs semantic recognition on the voice signal, including:
receiving voice information;
judging whether the voice information is valid information or not;
when the voice information is effective information, extracting a voice feature vector in the voice information;
and determining the semantics of the voice information according to the voice feature vector.
Optionally, the method further includes: and the communication module is used for communicating with the bound terminal.
Optionally, the method further includes: and the fire alarm module is used for acquiring air quality data, determining whether a fire disaster occurs according to the air quality data, and sending alarm information when the fire disaster occurs.
Optionally, the dynamic detection module is an L DS laser scanning system.
The application also provides a control method of the intelligent device, which comprises the following steps:
acquiring initial information and generating a path plan by adopting a preset algorithm according to the initial information, wherein the initial information comprises an area map of an intelligent equipment area, an initial position and a target position of the intelligent equipment;
controlling the intelligent equipment to move according to the path planning;
monitoring position information of an obstacle, and judging whether a first obstacle which can block the intelligent device from moving exists or not according to the position information of the obstacle;
and when a first obstacle which can block the intelligent equipment from moving exists, correcting the path plan by adopting a preset algorithm so as to avoid the obstacle.
Optionally, the initial information further includes: an initial position of the obstacle, a starting movement rate of the smart device, and a starting movement direction of the smart device.
Optionally, the preset algorithm is: and (4) performing intelligent particle swarm optimization algorithm.
Optionally, a preset algorithm is adopted to correct the path plan, including;
acquiring a first current position, a first movement speed, a first movement direction of the intelligent device and a second current position, a second movement speed and a second movement direction of the first obstacle;
and correcting the first movement rate and/or the first movement direction of the intelligent device by adopting a preset algorithm according to the first current position, the second current position, the first movement rate, the first movement direction, the second movement rate and the second movement direction.
Optionally, the method further includes: and sterilizing according to a preset mode when the intelligent equipment moves and/or stops.
Optionally, the method further includes: receiving a voice signal, performing semantic recognition on the voice signal, and generating a control instruction according to a semantic recognition result;
wherein the voice information comprises a target position;
when the preset mode is included, the voice information includes one or more of the target position and the preset mode.
Optionally, receiving the voice signal and performing semantic recognition on the voice signal includes:
receiving voice information;
judging whether the voice information is valid information or not;
when the voice information is effective information, extracting a voice feature vector in the voice information;
and determining the semantics of the voice information according to the voice feature vector.
Optionally, the method further includes: and communicating with the bound terminals.
Optionally, the method further includes: acquiring air quality data, determining whether a fire disaster occurs according to the air quality data, and sending alarm information when the fire disaster occurs.
Optionally, an L DS laser scanning system is used to monitor the position information of the obstacle, and determine whether there is a first obstacle that may obstruct the movement of the smart device according to the position information of the obstacle.
The application still provides an air purifier, including the controlling means of the smart machine of arbitrary that this application provided.
The application also provides an air purifier, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the steps of any method provided by the application.
The application provides a control method, a control device and an air purifier of intelligent equipment, and the position information of an obstacle is detected in the moving process of the intelligent equipment, so that the path plan is corrected when the obstacle can obstruct the intelligent equipment from moving, the intelligent equipment is prevented from colliding with other equipment in the moving process, the intelligent equipment is protected, the service life of the intelligent equipment is prolonged, and the safety is improved.
Drawings
Fig. 1 is a block diagram of a control apparatus of an intelligent device according to an embodiment of the present disclosure;
fig. 2 is a block diagram of another control apparatus of an intelligent device according to an embodiment of the present application;
fig. 3 is a flowchart of a control method of an intelligent device in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, 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 application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application 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 application 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, apparatus, product, or air purifier 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, product, or air purifier.
In the prior art, for example, an intelligent device such as an air purifier can move according to a preset route, and may collide with other moving devices in a moving process to cause damage to the intelligent device, and in order to avoid collision between the intelligent device and other devices in the moving process, the present application provides a control apparatus for an intelligent device, where as shown in fig. 1, the control apparatus includes: a path planning module 10, a movement module 20 and a dynamic detection module 30.
In this application, smart machine can be equipment such as robot, mobilizable air purifier of sweeping the floor.
The route planning module 10 is configured to acquire initial information and generate a route plan according to the initial information by using a preset algorithm, where the initial information includes an area map of an area where the intelligent device is located, an initial position of the intelligent device, and a target position of the intelligent device;
the initial information acquired by the path planning module 10 may be input by the user or acquired by the user, where the area map refers to a map of a location where the smart device is located, for example, if the smart device works in the home of the user, the area map is a map of a house where the user lives, and the area map includes a structure of the room and may also include location information of each obstacle. The target location is a location to which the smart device is to move, and it should be noted that the target location may be multiple locations, and the smart device may be set to go to each target location in turn, and the target location may be a specific location, or may be a room, for example, if the smart device is an air purifier, the target location may be a certain bedroom or a certain living room, and it is not necessary to specifically indicate which location point is in the bedroom or the living room. The generated path plan comprises a moving route of the intelligent equipment and a control strategy of a moving process, the control strategy comprises a moving speed of the intelligent equipment, and the path plan is used for indicating how the intelligent equipment moves from a starting position to a target position, passing through which positions in the middle, the moving speed, the uniform-speed movement, the variable-speed movement and the like.
The moving module 20 is used for controlling the intelligent equipment to move according to the path planning;
the intelligent device can be a mobile device with universal wheels, the mobile module 20 is in communication connection with the path planning module 10, the mobile module 20 receives the path planning sent by the path planning module 10, the mobile module controls the intelligent device to move after analyzing a mobile route and a control strategy in the path planning, and the mobile module 20 can drive the intelligent device to move by controlling the universal wheels arranged at the bottom of the intelligent device.
The dynamic detection module 30 is configured to monitor position information of an obstacle, and determine whether a first obstacle that may hinder the smart device from moving exists according to the position information of the obstacle;
the first obstacle is an obstacle that is determined according to the road strength planning of the smart device and may obstruct the movement of the smart device, the dynamic detection module 30 may include a photographing device, the photographing device determines a next location to which the smart device should move after a first time according to the path planning, then photographs an image from the current location to the next location, determines whether there is a first obstacle between the two locations by using an image recognition technology, the first time is preferably set to be short, for example, 2s, and at the same time, the photographing device may continuously photograph, determine whether there is a moving obstacle from a plurality of adjacent photographs, and determine whether there is a moving obstacle by using the image recognition technology, and determine whether there is a first obstacle by using the moving speed of the obstacle, the predicted moving route, the moving speed of the smart device, and the path planning.
The path planning module 10 is further configured to, when there is a first obstacle that may hinder the smart device from moving, modify the path planning by using a preset algorithm to avoid the obstacle.
When the existence of the first obstacle is detected, in order to prevent the first obstacle from colliding with the intelligent device, the path plan needs to be regenerated. For example, when the first obstacle is detected to exist and is judged to be a moving obstacle, the intelligent device is controlled to pause, the intelligent device is controlled to move according to the path plan after the first obstacle moves out of the route designed by the path plan, when the first obstacle is detected to be a static obstacle, the intelligent device is controlled to bypass the first obstacle, and the route bypassing the first obstacle is selected to bypass the first obstacle in a mode of minimum deviation from the path plan under the condition of not colliding with the first obstacle preferably according to the sizes of the intelligent device and the first obstacle.
The control device that this application provided detects the positional information of barrier in the smart machine removal process to can hinder the smart machine to remove the time and revise the route plan at the barrier, thereby prevented that smart machine from bumping with other equipment at the removal in-process, protected smart machine, prolonged smart machine's life, improved the security.
Optionally, the initial information further includes: an initial position of the obstacle, a starting movement rate of the smart device, and a starting movement direction of the smart device. When determining the path planning, the positions of the obstacles may be considered, and meanwhile, because both the movable direction and the rotatable angle of the smart device are limited by the hardware device, for example, some smart devices cannot retreat, some rotatable angles are small, and the like, when performing the path planning, the hardware parameters of the smart device in the present application need to be considered, that is, the initial information may include the hardware parameters of the smart device. The intelligent device is determined to be required to rotate in advance or not by combining the initial moving direction of the intelligent device, meanwhile, the size of the radius of the intelligent device is determined to rotate when the intelligent device needs to rotate according to the rotatable angle of the intelligent device when a path is generated and planned, the initial moving speed of the intelligent device influences the rotating angle of the intelligent device and the time of early deceleration when the intelligent device stops, and the intelligent device can overturn when turning and stopping to cause device damage if the intelligent device is too fast in moving speed. And generating a path plan after considering the initial position of the obstacle, the initial moving speed of the intelligent device and the initial moving direction of the intelligent device, thereby determining the traveling route of the intelligent device and the speed of each point on the traveling route and preventing the intelligent device from overturning.
Optionally, the preset algorithm is: particle Swarm intelligent Optimization (PSO for short).
Optionally, the path planning module 10 modifies the path planning by using a preset algorithm, including;
acquiring a first current position, a first movement speed, a first movement direction of the intelligent device and a second current position, a second movement speed and a second movement direction of the first obstacle;
and correcting the first movement rate and/or the first movement direction of the intelligent device by adopting a preset algorithm according to the first current position, the second current position, the first movement rate, the first movement direction, the second movement rate and the second movement direction.
Specifically, the first moving speed and the first moving direction are the moving speed and the moving direction of the current smart device, and the position of the smart device at each time point in a period of time after the current time point can be predicted according to the first current position, the first moving speed and the first moving direction of the smart device, and similarly, the position of the first obstacle at each time point in the period of time after the current time point can be determined according to the second current position, the second moving speed and the second moving direction of the first obstacle, and if there is an overlap between the positions of the two at any time point, it is determined that the first obstacle will block the movement of the smart device, so that the first moving speed and/or the first moving direction in the path plan need to be adjusted, for example, the first moving speed can be slowed or accelerated to avoid collision with the first obstacle, the first movement speed is preferably slowed down to prevent the first intelligent device from overturning due to too fast speed, and the first movement direction may be changed so that the intelligent device temporarily deviates from the path plan and then returns to the path plan. The correcting process is to correct the first moving speed and/or the first moving direction so that the positions of the intelligent device and the first obstacle do not overlap at any time point.
Optionally, as shown in fig. 2, the control device provided in this embodiment further includes: and the sterilization module 40 is used for sterilizing according to a preset mode when the intelligent equipment moves and/or stops.
In this implementation, smart machine can be air purifier, and the limit removes when air purifier removes and disinfects to the environmental purification at place, realizes cruising formula purification, or opens again after air purifier removes the target position and purifies the function of disinfecting. The mode of predetermineeing that selects for use when disinfecting in the position of difference can be different, and the mode of predetermineeing can be including the speed of disinfecting, the grade of disinfecting, for example can blow the air to the filter screen through the fan and disinfect, and adopts different speeds of blowing under the different speed of disinfecting, can adopt different filter screens under the different grade of disinfecting. The Filter screen may be an activated carbon screen or a HEPA (High efficiency particulate air Filter) screen.
Optionally, as shown in fig. 2, in this embodiment, the control device further includes: the voice data module 50 is used for receiving the voice signal, performing semantic recognition on the voice signal and generating a control instruction according to a semantic recognition result; wherein the voice information comprises a target position; when the sterilization module is included, the voice message includes one or more of a target position and a preset mode.
Specifically, in this embodiment, the control device enables the user to control the smart device by using a voice input mode by adding the voice data module 50, and also can input parameters that the user wants to set by using the voice input mode, for example, setting a target position and a preset mode, where the target positions may be multiple, that is, the user may set the smart device to go to multiple positions in sequence, and the same preset mode may also be multiple, and the user may set a corresponding preset mode for each target position to meet the requirement.
Optionally, the voice data module receives a voice signal and performs semantic recognition on the voice signal, including:
receiving voice information;
judging whether the voice information is valid information or not;
when the voice information is effective information, extracting a voice feature vector in the voice information;
and determining the semantics of the voice information according to the voice feature vector.
Specifically, when determining whether the voice information is valid information, the control device may preset a wakeup word, and the voice information can be regarded as valid information only when the wakeup word is included, or the control device collects preset voices of each user in advance, processes the voices of each user to determine the tone and the tone of each user, and if the tone and the tone of the received voice information are different from the tone and the tone of the user collected in advance, the received voice information is regarded as not valid information, otherwise, the received voice information is valid information. The speech information is required to be recognized by a computer and converted into a speech feature vector which can be processed by the computer, the speech information processing and feature extraction generally uses a Mel cepstrum coefficient or a relative spectrum transformation-perception linear prediction as a speech feature vector, then uses a mixed Gaussian model-hidden Markov model as an acoustic model, then uses a maximum likelihood criterion to train, adopts a sequence discrimination training algorithm, such as a minimum classification error and a minimum phoneme error and other criteria to train the model, uses the acoustic model obtained by training to process the speech feature vector, uses the semantic feature vector as an input value of the acoustic model, and uses an output value as the semantic of the speech information.
Optionally, as shown in fig. 2, the control device provided in the present application further includes: and a communication module 60 for communicating with the bound terminals. The bound terminal is a terminal used by a user, such as a mobile phone, a tablet, and the like, and can send voice information or send a preset mode and/or a target position selected by the user to the control device through the terminal. And the terminal can also receive feedback information of the control device, for example, can receive a path plan generated by the control device and a detected operation state of the intelligent terminal, and send the operation state of the terminal to the bound terminal, and a user can send a control instruction or a voice instruction to the control device through the terminal.
Optionally, the control device provided in this application further includes: and the fire alarm module 70 is used for acquiring the air quality data, determining whether a fire disaster occurs according to the air quality data, and sending alarm information when the fire disaster occurs. Specifically, the fire alarm module 70 includes a smoke detector, detects air quality, and may transmit a warning message to a terminal bound with the control device and automatically transmit an alarm message to a fire fighting organization if it is determined that a fire is occurring.
In order to better explain the beneficial effects of the control device proposed by the present application, a preferred embodiment is proposed below. In this embodiment, the control means is provided in the air cleaner as part of the air cleaner.
The air purifier comprises a voice data module, a path planning module, a sterilization module, a fire alarm module and a communication module, wherein the air purifier receives voice signals sent by a user, the voice data module processes and outputs a recognition result by utilizing deep learning, a target position set by the user and a set working mode are extracted from the recognition result, the path planning module firstly constructs an indoor area map, and determines the position of each obstacle, the initial position, the initial advancing speed and the initial advancing angle of the air purifier.
When a voice data module of the air purifier works, firstly, voice information of a user is collected, whether the voice is effective information is judged, if not, the air purifier does not execute an operation instruction issued by the voice information, if the voice is effective information, sound waves of the sampled voice information are preprocessed to extract voice characteristic vectors, the voice characteristic vectors are used as input values, a deep learning algorithm is adopted to process the input values to obtain output recognition results (namely semantics), according to the semantics of the voice information, a target position is determined, a preset mode is started, and indoor air quality optimization is achieved.
Air purifier and the terminal of binding, for example, the cell-phone through App intercommunication connection, realizes the all-round monitoring to the air purification environment, and indoor air quality and harmful substance such as PM2.5, formaldehyde monitoring purifying effect are looked over at any time to accessible cell-phone App, can monitor indoor humiture value simultaneously and remind the user whether open mode selection such as dehumidification cooling. The user can look over historical purification data and contrast purification actual effect trend at the cell-phone App, and the visual purification data explanation knows the real reliability of product for the consumer.
Meanwhile, the air purifier can improve the healthy life quality of people due to the fact that the sterilization module and the fire alarm module are arranged. The sterilization function effectively inhibits the breeding of bacteria and viruses, prevents respiratory diseases and cross infection of communication viruses, and provides a healthy purification mode. The fire alarm module of the air purifier identifies whether a fire disaster occurs in the house according to the scanned air quality data, sends a message to the bound terminal according to remote control, informs a user of realizing the alarm function, realizes real-time supervision on the air quality in the house, and indirectly ensures personal safety.
As shown in fig. 3, the present application further provides a method for controlling an intelligent device, including:
s11: acquiring initial information and generating a path plan by adopting a preset algorithm according to the initial information;
the initial information comprises an area map of an area where the intelligent equipment is located, an initial position and a target position of the intelligent equipment;
s12: controlling the intelligent equipment to move according to the path planning;
s13: monitoring position information of an obstacle, and judging whether a first obstacle which can block the intelligent device from moving exists or not according to the position information of the obstacle;
s14: and when a first obstacle which can block the intelligent equipment from moving exists, correcting the path plan by adopting a preset algorithm so as to avoid the obstacle.
In this embodiment, when the first obstacle is detected to be present, in order to prevent the first obstacle from colliding with the smart device, the path plan is regenerated. For example, when a first obstacle is detected and is judged to be a moving obstacle, the intelligent device is controlled to pause, the intelligent device is controlled to move according to the path plan after the first obstacle moves out of the route designed by the path plan, when the first obstacle is detected to be a static obstacle, the intelligent device is controlled to bypass the first obstacle, and the route bypassing the first obstacle is preferably selected to bypass the first obstacle in a mode of minimum deviation from the path plan under the condition of not colliding with the first obstacle according to the size of the intelligent device.
According to the control method, the position information of the obstacle is detected in the moving process of the intelligent device, so that the path plan is corrected when the obstacle can obstruct the intelligent device from moving, the intelligent device is prevented from colliding with other devices in the moving process, the intelligent device is protected, the service life of the intelligent device is prolonged, and the safety is improved.
Optionally, the initial information further includes: an initial position of the obstacle, a starting movement rate of the smart device, and a starting movement direction of the smart device.
When determining the path planning, the positions of the obstacles may be considered, and meanwhile, because both the movable direction and the rotatable angle of the smart device are limited by the hardware device, for example, some smart devices cannot retreat, some rotatable angles are small, and the like, when performing the path planning, the hardware parameters of the smart device in the present application need to be considered, that is, the initial information may include the hardware parameters of the smart device. The intelligent device is determined to be required to rotate in advance or not by combining the initial moving direction of the intelligent device, meanwhile, the size of the radius of the intelligent device is determined to rotate when the intelligent device needs to rotate according to the rotatable angle of the intelligent device when a path is generated and planned, the initial moving speed of the intelligent device influences the rotating angle of the intelligent device and the time of early deceleration when the intelligent device stops, and the intelligent device can overturn when turning and stopping to cause device damage if the intelligent device is too fast in moving speed. And generating a path plan after considering the initial position of the obstacle, the initial moving speed of the intelligent device and the initial moving direction of the intelligent device, thereby determining the traveling route of the intelligent device and the speed of each point on the traveling route and preventing the intelligent device from overturning.
Optionally, the preset algorithm is: and (4) performing intelligent particle swarm optimization algorithm.
Optionally, a preset algorithm is adopted to correct the path plan, including;
acquiring a first current position, a first movement speed, a first movement direction of the intelligent device and a second current position, a second movement speed and a second movement direction of the first obstacle;
and correcting the first movement rate and/or the first movement direction of the intelligent device by adopting a preset algorithm according to the first current position, the second current position, the first movement rate, the first movement direction, the second movement rate and the second movement direction.
Specifically, the first moving speed and the first moving direction are the moving speed and the moving direction of the current smart device, and the position of the smart device at each time point in a period of time after the current time point can be predicted according to the first current position, the first moving speed and the first moving direction of the smart device, and similarly, the position of the first obstacle at each time point in the period of time after the current time point can be determined according to the second current position, the second moving speed and the second moving direction of the first obstacle, and if there is an overlap between the positions of the two at any time point, it is determined that the first obstacle will block the movement of the smart device, so that the first moving speed and/or the first moving direction in the path plan need to be adjusted, for example, the first moving speed can be slowed or accelerated to avoid collision with the first obstacle, the first movement speed is preferably slowed down to prevent the first intelligent device from overturning due to too fast speed, and the first movement direction may be changed so that the intelligent device temporarily deviates from the path plan and then returns to the path plan. The correcting process is to correct the first moving speed and/or the first moving direction so that the positions of the intelligent device and the first obstacle do not overlap at any time point.
Optionally, the method further includes: and sterilizing according to a preset mode when the intelligent equipment moves and/or stops.
Optionally, the method further includes: receiving a voice signal, performing semantic recognition on the voice signal, and generating a control instruction according to a semantic recognition result;
wherein the voice information comprises a target position;
when the preset mode is included, the voice information includes one or more of the target position and the preset mode.
Optionally, receiving the voice signal and performing semantic recognition on the voice signal includes:
receiving voice information;
judging whether the voice information is valid information or not;
when the voice information is effective information, extracting a voice feature vector in the voice information;
and determining the semantics of the voice information according to the voice feature vector.
Optionally, the method further includes: and communicating with the bound terminals.
Specifically, the bound terminal is a terminal used by a user, such as a mobile phone, a tablet, and the like, and may send voice information to the control device through the terminal or send a preset mode and/or a target position selected by the user. And the terminal can also receive feedback information of the control device, for example, can receive the path plan generated by the control device and the detected running state of the intelligent terminal, and send the running state of the terminal to the bound terminal.
Optionally, the method further includes: acquiring air quality data, determining whether a fire disaster occurs according to the air quality data, and sending alarm information when the fire disaster occurs.
Optionally, an L DS laser scanning system is used to monitor the position information of the obstacle, and determine whether there is a first obstacle that may obstruct the movement of the smart device according to the position information of the obstacle.
The application still provides an air purifier, including the controlling means of the smart machine of arbitrary that this application provided. The present application further provides another air purifier, comprising a processor, a memory, and a program stored in the memory and executable on the processor, wherein the processor executes the program to perform the steps of any of the methods presented herein.
The above description is only a preferred embodiment of the present application and is not intended to limit 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.
Claims (22)
1. A control device of an intelligent device, comprising:
the route planning module is used for acquiring initial information and generating a route plan by adopting a preset algorithm according to the initial information, wherein the initial information comprises an area map of an area where the intelligent equipment is located, an initial position and a target position of the intelligent equipment;
the moving module is used for controlling the intelligent equipment to move according to the path plan;
the dynamic detection module is used for monitoring the position information of the obstacle and judging whether a first obstacle which can block the intelligent equipment from moving exists or not according to the position information of the obstacle;
the path planning module is further configured to modify the path planning by using the preset algorithm to avoid the first obstacle when the first obstacle which can obstruct the intelligent device from moving exists.
2. The control apparatus of a smart device according to claim 1, wherein the initial information further includes: an initial position of the obstacle, a starting movement rate of the smart device, and a starting movement direction of the smart device.
3. The control apparatus of smart device according to any one of claims 1-2,
the preset algorithm is as follows: and (4) performing intelligent particle swarm optimization algorithm.
4. The control device of intelligent equipment according to any one of claims 1-3, wherein the path planning module modifies the path plan using the preset algorithm, including;
acquiring a first current position, a first movement rate and a first movement direction of the intelligent device and a second current position, a second movement rate and a second movement direction of the first obstacle;
and correcting the first movement rate and/or the first movement direction of the intelligent equipment by adopting the preset algorithm according to the first current position, the second current position, the first movement rate, the first movement direction, the second movement rate and the second movement direction.
5. The control apparatus of smart device according to any one of claims 1-4,
further comprising: and the sterilization module is used for sterilizing according to a preset mode when the intelligent equipment moves and/or stops.
6. The control apparatus of smart device according to any one of claims 1-5,
further comprising: the voice data module is used for receiving a voice signal, performing semantic recognition on the voice signal and generating a control instruction according to a semantic recognition result;
wherein the voice information comprises the target location;
when the sterilization module is included, the voice information includes one or more of the target location and the preset mode.
7. The control device of intelligent equipment according to any one of claims 1-6, wherein the voice data module receives a voice signal and performs semantic recognition on the voice signal, and comprises:
receiving the voice information;
judging whether the voice information is valid information or not;
when the voice information is effective information, extracting a voice feature vector in the voice information;
and determining the semantics of the voice information according to the voice feature vector.
8. The control apparatus of smart device according to any one of claims 1-7,
further comprising: and the communication module is used for communicating with the bound terminal.
9. The control apparatus of smart device according to any one of claims 1-8,
further comprising: and the fire alarm module is used for acquiring air quality data, determining whether a fire disaster occurs according to the air quality data, and sending alarm information when the fire disaster occurs.
10. The control device of intelligent equipment, according to any one of claims 1-9, wherein the dynamic detection module is L DS laser scanning system.
11. A control method of an intelligent device is characterized by comprising the following steps:
acquiring initial information and generating a path plan by adopting a preset algorithm according to the initial information, wherein the initial information comprises an area map of an area where the intelligent equipment is located, an initial position and a target position of the intelligent equipment;
controlling the intelligent equipment to move according to the path plan;
monitoring the position information of the obstacle, and judging whether a first obstacle which can block the intelligent equipment from moving exists or not according to the position information of the obstacle;
and when a first obstacle which can prevent the intelligent equipment from moving exists, correcting the path plan by adopting the preset algorithm so as to avoid the first obstacle.
12. The method according to claim 11, wherein the initial information further includes: an initial position of the obstacle, a starting movement rate of the smart device, and a starting movement direction of the smart device.
13. The control method of an intelligent device according to any one of claims 11-12,
the preset algorithm is as follows: and (4) performing intelligent particle swarm optimization algorithm.
14. The control method of an intelligent device according to any one of claims 11-13, wherein the path plan is modified using the preset algorithm, including;
acquiring a first current position, a first movement rate and a first movement direction of the intelligent device and a second current position, a second movement rate and a second movement direction of the first obstacle;
and correcting the first movement rate and/or the first movement direction of the intelligent equipment by adopting the preset algorithm according to the first current position, the second current position, the first movement rate, the first movement direction, the second movement rate and the second movement direction.
15. The control method of an intelligent device according to any one of claims 11-14,
further comprising: and sterilizing according to a preset mode when the intelligent equipment moves and/or stops.
16. The method for controlling an intelligent device according to any one of claims 11 to 15, further comprising: receiving a voice signal, performing semantic recognition on the voice signal, and generating a control instruction according to a semantic recognition result;
wherein the voice information comprises the target location;
when a preset mode is included, the voice information includes one or more of the target position and the preset mode.
17. The method for controlling the smart device according to any one of claims 11-16, wherein receiving a voice signal and performing semantic recognition on the voice signal comprises:
receiving voice information;
judging whether the voice information is valid information or not;
when the voice information is effective information, extracting a voice feature vector in the voice information;
and determining the semantics of the voice information according to the voice feature vector.
18. The control method of an intelligent device according to any one of claims 11-17,
further comprising: and communicating with the bound terminals.
19. The control method of an intelligent device according to any one of claims 11-18,
further comprising: acquiring air quality data, determining whether a fire disaster occurs according to the air quality data, and sending alarm information when the fire disaster occurs.
20. The method for controlling the intelligent device according to any one of claims 11 to 19, wherein an L DS laser scanning system is adopted to monitor the position information of the obstacle, and whether a first obstacle which can block the intelligent device from moving exists is judged according to the position information of the obstacle.
21. An air purifier, characterized by comprising control means of the smart device as claimed in any one of claims 1 to 10.
22. An air purifier comprising a processor, a memory, and a program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of claims 11-20 when executing the program.
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