CN111459162A - Standby position planning method and device, storage medium and computer equipment - Google Patents
Standby position planning method and device, storage medium and computer equipment Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000007621 cluster analysis Methods 0.000 claims abstract description 19
- 230000002776 aggregation Effects 0.000 claims description 16
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- 238000012545 processing Methods 0.000 claims description 16
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- 230000004888 barrier function Effects 0.000 description 2
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- 230000002618 waking effect Effects 0.000 description 2
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The application relates to a method, a device, a storage medium and a computer device for planning standby positions, wherein the method comprises the following steps: acquiring movement information of each movement of the movable electronic equipment within a preset time length; dividing a preset time period into a plurality of time periods; determining a time period of each movement and a corresponding end point position according to the movement information; and carrying out cluster analysis on the end positions of the same time periods to obtain the standby position which the movable electronic equipment should reach in each time period. By reasonably planning the standby position of the mobile electronic equipment in each time period, the time for waiting for the mobile electronic equipment to move to the target position after the user awakens the mobile electronic equipment is reduced on the whole, and the user experience is improved.
Description
Technical Field
The application relates to the technical field of smart homes, in particular to a method and a device for planning standby positions, a storage medium and computer equipment.
Background
Along with the rapid development of smart homes, more and more smart home devices can be controlled through voice, and the movable garbage can be awakened and moved to the position where a user is located or other standby positions under the voice control instruction. However, if the indoor area is too large, the moving distance of the movable trash can is relatively far, and in this case, the moving distance is greatly increased, so that the time for a user to wait for the trash can to move is long, and the user experience is poor.
Disclosure of Invention
In order to solve the technical problems of long time consumption and poor user experience caused by the fact that the moving distance of the intelligent household equipment is long, the embodiment of the application provides a method and a device for setting a standby position, a storage medium and computer equipment.
In a first aspect, an embodiment of the present application provides a standby position planning method applied to a mobile electronic device, where the method includes:
acquiring movement information of each movement of the movable electronic equipment within a preset time length;
dividing a preset time period into a plurality of time periods;
determining a time period of each movement and a corresponding end point position according to the movement information;
and carrying out cluster analysis on the end positions of the same time periods to obtain the standby position which the movable electronic equipment should reach in each time period.
Optionally, performing cluster analysis on the end positions of the same time period to obtain the standby position that the mobile electronic device should reach in each time period includes:
carrying out clustering analysis on the end point positions of the same time period to obtain an aggregated cluster;
if the same time slot only corresponds to one cluster, taking the center position of the corresponding cluster as a standby position which the movable electronic equipment should reach in the corresponding time slot;
if the same time period corresponds to at least two cluster clusters, then,
the number of end positions included in each cluster is obtained,
the center position of each cluster is acquired,
and selecting a target point from the at least two cluster clusters, enabling the ratio of the distances from the target point to each central position to be the inverse ratio of the number of contained end positions, and taking the target point as a standby position which the movable electronic equipment should reach in the corresponding time period.
Optionally, performing cluster analysis on the end positions of the same time period to obtain an aggregated cluster, including:
establishing at least one sliding window for the end positions of the same time period, so that the at least one sliding window comprises all the end positions of the same time period;
sliding at least one sliding window to enable the number of the end point positions contained in each sliding window to reach the respective maximum value to obtain a plurality of target sliding windows;
and carrying out deduplication processing on the plurality of target sliding windows, and taking the target sliding windows reserved after the deduplication processing as the aggregation clusters of the corresponding time periods.
Optionally, performing deduplication processing on a plurality of target sliding windows, and taking the target sliding windows reserved after the deduplication processing as aggregation clusters of corresponding time periods, includes:
and comparing the number of the end positions contained in the target sliding windows with intersections in the plurality of target sliding windows, and reserving the target sliding window with the largest number of the end positions contained in each intersection as an aggregation cluster of the corresponding time period.
Optionally, after performing cluster analysis on the end positions of the same time period to obtain the standby position that the mobile electronic device should reach in each time period, the method further includes:
acquiring the current moment in real time;
acquiring the current position of the movable electronic equipment in real time;
determining the time period of the current time, and taking the time period of the current time as a target time period;
and controlling the movable electronic equipment to move from the current position to a standby position corresponding to the target time period.
Optionally, before controlling the movable electronic device to move from the current position to the standby position corresponding to the target time period, the method further includes:
acquiring the current position of an obstacle in an actual field at the current moment;
controlling the movable electronic equipment to move from the current position to a standby position corresponding to the target time slot, comprising:
and controlling the movable electronic equipment to move from the current position to a standby position corresponding to the target time period to avoid the current position of the obstacle.
In a second aspect, an embodiment of the present application provides a device for planning standby positions, which is applied to a mobile electronic device, and includes:
the mobile information acquisition module is used for acquiring mobile information of each time that the mobile electronic equipment moves within a preset time length;
the dividing module is used for dividing a preset time period to obtain a plurality of time periods;
the first matching module is used for determining the time period of each movement and the corresponding end point position according to the movement information;
and the analysis module is used for carrying out cluster analysis on the end positions of the same time periods to obtain the standby position which the movable electronic equipment should reach in each time period.
Optionally, the apparatus further comprises:
the clock module is used for acquiring the current moment in real time;
the positioning module is used for acquiring the current position of the movable electronic equipment in real time;
the second matching module is used for determining the time period of the current moment and taking the time period of the current moment as a target time period;
and the mobile control module is used for controlling the mobile electronic equipment to move from the current position to the standby position corresponding to the target time slot.
In a third aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, causes the processor to perform the steps of the method according to any one of the preceding claims.
In a fourth aspect, embodiments of the present application provide a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to perform the steps of the method according to any of the preceding claims.
Compared with the prior art, the technical scheme provided by the embodiment of the application has the following advantages:
through the technical scheme, the standby position of the mobile electronic equipment in each time slot is reasonably planned, so that the time for waiting for the mobile electronic equipment to move to the target position after the user awakens the mobile electronic equipment is reduced on the whole, and the user experience is improved. For example, for the movable trash can, the optimal standby position of the movable trash can is calculated according to data of waking up the movable trash can by the user in each time period, and therefore the moving time of the trash can to reach the target position is shortened.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a method for planning a standby position according to an embodiment;
fig. 2 is a block diagram illustrating an embodiment of a device for planning standby positions;
fig. 3 is an internal structural diagram of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all 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.
Fig. 1 is a flowchart illustrating a method for planning a standby position according to an embodiment. Referring to fig. 1, the method includes the steps of:
s100: and acquiring the movement information of the movable electronic equipment each time within the preset time length.
In particular, the removable electronic device may be, but is not limited to, a removable trash can in an indoor environment, such as a home or office. The preset duration may be one week, one month, one quarter, and the like, but is not limited thereto. The mobile electronic device may be awakened multiple times within a preset time period and moved to different target positions according to a user instruction, and the historical data is movement information of the mobile electronic device within the preset time period. The movement information includes the time of each awakening or the starting time of the movement and also includes the end position of each movement.
S200: and dividing the preset time into a plurality of time periods.
Specifically, 24 hours a day may be divided into a plurality of time periods, and if the preset time period is one week, there are a plurality of time periods in one week. For example: dividing 24 hours a day into 6 hours as a time period, wherein the first time period is 0: 00-6: 00. second period 6: 00-12: 00. third period 12: 00-18: 00. fourth period 18: 00-24: 00, if the preset time length is one week, there are 7 first time periods, 7 second time periods, 7 third time periods and 7 fourth time periods in the week.
Of course, without limitation, if the preset time period is one month, there are 28 or 29 or 30 or 31 first time periods, 28 or 29 or 30 or 31 second time periods, 28 or 29 or 30 or 31 third time periods, 28 or 29 or 30 or 31 fourth time periods within one month.
Of course, 24 hours a day may be divided into 4 hours as a time period to obtain 6 time periods, and the specific division rule may be determined according to the actual situation.
S300: and determining the time period of each movement and the corresponding end point position according to the movement information.
Specifically, the movement information includes a time of waking up each time or a start time of the movement, and also includes an end position of each movement. According to the awakening time or the starting time of the movement, the time period of the movement can be determined, so that the number of movements in each time period and the corresponding end position of each movement are determined.
The terminal position is obtained by selecting an origin point at the site where the mobile electronic device is located to establish a plane coordinate system and converting positioning data into plane coordinates in the plane coordinate system.
S400: and carrying out cluster analysis on the end positions of the same time periods to obtain the standby position which the movable electronic equipment should reach in each time period.
Specifically, the same time period refers to a time period of different days but the same time interval within a preset time period, for example: 0: 00-6: 00 this time interval has 7, they belong to the same time slot; 6: 00-12: 00 this time interval has 7, which belong to another class of the same time period.
There are several different time periods in the preset time, and each time period has several same time periods which do not belong to the same day. The mobile electronic device is automatically moved to the corresponding standby position in the time period by carrying out cluster analysis on the end positions, so that the standby position which is estimated according to the historical end positions is close to the end position which is expected to be reached by the mobile electronic device in the future of the user in the time period.
Certainly, the standby position that the movable electronic equipment should reach in each time period of the next month can be estimated through the movement information in the previous month; the standby position that the movable electronic device should reach in each time slot of the next week can also be estimated through the movement information in the previous week. Of course, it is also possible to further subdivide, without being limited thereto, the standby position that the mobile electronic device should reach today per time period is estimated from yesterday's movement information, etc.
In one embodiment, step S400 specifically includes:
carrying out clustering analysis on the end point positions of the same time period to obtain an aggregated cluster;
if the same time slot only corresponds to one cluster, taking the center position of the corresponding cluster as a standby position which the movable electronic equipment should reach in the corresponding time slot;
if the same time period corresponds to at least two cluster clusters, then,
the number of end positions included in each cluster is obtained,
the center position of each cluster is acquired,
and selecting a target point from the at least two cluster clusters, enabling the ratio of the distances from the target point to each central position to be the inverse ratio of the number of contained end positions, and taking the target point as a standby position which the movable electronic equipment should reach in the corresponding time period.
Specifically, the cluster is a sliding window corresponding to each time period and including a partial end position of the time period. The sliding window may be circular. The central position of the cluster is the position of the center of a circle. If there is only one cluster in a time slot, the center position of the cluster, i.e., the center of the circle, is the standby position that the movable electronic device should reach in the time slot.
If there are 2 or more aggregated clusters in a time period, the ratio of the distances from the standby position to the center positions of the 2 or more aggregated clusters is inversely proportional to the number of end positions included in the 2 or more aggregated clusters. That is, the center position of the cluster having the more standby positions from the included end position is shorter, and the center position of the cluster having the less standby positions from the included end position is longer. This ensures that the standby position is closer to the position expected by the user in the future.
For example: there are 3 clusters corresponding to a time period, which contain a ratio of the number of end positions of 4: 2: 1, the ratio of the distances from the selected standby position to the center positions of the 3 cluster clusters is 1: 2: 4.
the standby position is, of course, a position where an obstacle avoiding the field where the movable electronic device is located.
In one embodiment, performing cluster analysis on the end positions of the same time period to obtain an aggregated cluster includes:
establishing at least one sliding window for the end positions of the same time period, so that the at least one sliding window comprises all the end positions of the same time period; sliding at least one sliding window to enable the number of the end point positions contained in each sliding window to reach the respective maximum value to obtain a plurality of target sliding windows; and carrying out deduplication processing on the plurality of target sliding windows, and taking the target sliding windows reserved after the deduplication processing as the aggregation clusters of the corresponding time periods.
Specifically, a mean shift clustering method is adopted to obtain the cluster. Each sliding window may be circular and of the same radius, each sliding window iteratively moves to a higher density (containing more end positions) region until convergence.
It can be understood that in each iteration, the distance from the center point of each sliding window to each end point position contained in the sliding window is obtained; respectively averaging the distances corresponding to each sliding window to obtain a distance average value corresponding to each sliding window; taking the center point of each sliding window as a round point, taking the corresponding distance mean value as a radius to obtain a circular sliding rail, enabling the center point of each sliding window to slide on the corresponding circular sliding rail, acquiring the position with the most end point positions contained in the sliding window when the sliding window slides on the circular sliding rail within the 360-degree range, and taking the position with the most end point positions contained as the new center point coordinate of the corresponding sliding window; and obtaining the distance from the new center point coordinate of each sliding window to each terminal position contained in the sliding window, and repeating the steps to obtain the distance average value to obtain a new circular sliding rail, so that the new center point coordinate of each sliding window is obtained again until the number of the terminal positions contained in each sliding window reaches the respective maximum value, and convergence is achieved. And the sliding window in which the number of each contained end position reaches the respective maximum value is the target sliding window.
By sliding, possible partial target sliding windows in the plurality of target sliding windows corresponding to each time period have intersection, that is, contain partially identical end positions. It is also possible that some of the object sliding windows coincide exactly, containing exactly the same end position. Therefore, the target sliding windows with intersection or coincidence need to be subjected to deduplication processing. And the target sliding window reserved after the deduplication processing is the aggregation cluster of the corresponding time period.
The positions of the present application may all be coordinate vectors.
In one embodiment, performing deduplication processing on a plurality of target sliding windows, and taking the target sliding windows reserved after the deduplication processing as aggregation clusters of corresponding time periods includes:
and comparing the number of the end positions contained in the target sliding windows with intersections in the plurality of target sliding windows, and reserving the target sliding window with the largest number of the end positions contained in each intersection as an aggregation cluster of the corresponding time period.
Specifically, the target sliding window with the largest number of end positions included in the intersected target sliding windows is reserved as the cluster, and the target sliding windows which are not intersected with any other target sliding windows are also reserved as the cluster.
Of course, the intersection part may be taken as the cluster, and a point may be selected from the intersection part as the center position of the cluster.
In one embodiment, the method further comprises:
acquiring the current moment in real time; acquiring the current position of the movable electronic equipment in real time; determining the time period of the current time, and taking the time period of the current time as a target time period; and controlling the movable electronic equipment to move from the current position to a standby position corresponding to the target time period.
Specifically, the present embodiment is a movement control process, and after the previous embodiments acquire the standby position that the movable electronic device should reach in each time slot, the movable electronic device is controlled to automatically move to the corresponding standby position in each time slot according to the acquired standby position. For example: the current time is obtained as 12: 00, and in the third time period 12: 00-18: 00, acquiring the standby position in the third time slot, and controlling the movable electronic device to move from 12: the current position at 00 is moved to the standby position of the third time zone. After the movable electronic device reaches the standby position for the third time period, at 12: 00-18: 00, the standby position is not changed, so the movable electronic device is always located at the standby position of the third time period during the period. At 18: 00, during a fourth time period 18: 00-24: 00, then the mobile electronic device is controlled to be controlled by 18: the current position at 00 is moved to the standby position for the fourth period.
Controlling the movement of the movable electronic device may be by voice control or other control methods may be employed.
In one embodiment, before controlling the movable electronic device to move from the current position to the standby position corresponding to the target time period, the method further includes:
acquiring the current position of an obstacle in an actual field at the current moment;
controlling the movable electronic equipment to move from the current position to a standby position corresponding to the target time slot, comprising:
and controlling the movable electronic equipment to move from the current position to a standby position corresponding to the target time period to avoid the current position of the obstacle.
Specifically, before controlling the mobile electronic device to move from the current position to the standby position, it is necessary to determine which positions in the field are obstacles, so as to control the mobile electronic device to avoid the obstacles and smoothly reach the standby position.
Of course, the method may also include: and planning an optimal and nearest moving route for the movable electronic equipment according to the current position, the standby position and the current position of the obstacle of the movable electronic equipment, so that the movable electronic equipment moves from the current position to the standby position corresponding to the target time slot according to the planned moving route.
In one embodiment, there is also provided a movement control method, including:
acquiring a standby position which the movable electronic equipment should reach in each time period; acquiring the current moment in real time; acquiring the current position of the movable electronic equipment in real time; determining the time period of the current time, and taking the time period of the current time as a target time period; and controlling the movable electronic equipment to move from the current position to a standby position corresponding to the target time period.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
Fig. 2 is a block diagram of a device for planning standby positions according to an embodiment. Referring to fig. 2, the apparatus includes:
a mobile information obtaining module 100, configured to obtain mobile information of each time that the mobile electronic device moves within a preset time length;
the dividing module 200 is configured to divide a preset time period into a plurality of time periods;
the first matching module 300 is configured to determine a time period of each movement and a corresponding end point position according to the movement information;
the analysis module 400 is configured to perform cluster analysis on the end positions of the same time period to obtain the standby position that the mobile electronic device should reach in each time period.
In one embodiment, the analysis module 400 specifically includes:
the cluster analysis module is used for carrying out cluster analysis on the end point positions of the same time period to obtain a cluster;
the central position acquisition module is used for taking the central position of the corresponding cluster as a standby position which the movable electronic equipment should reach in the corresponding time slot if the same time slot only corresponds to one cluster;
a counting module, configured to, if the same time period corresponds to at least two aggregation clusters, obtain the number of end positions included in each aggregation cluster,
a central position obtaining module, further used for obtaining the central position of each cluster,
and the distance calculation module is used for selecting a target point from the at least two aggregation clusters, enabling the ratio of the distances from the target point to each center position to be the inverse ratio of the number of the contained end positions, and taking the target point as a standby position to which the movable electronic equipment should reach in the corresponding time period.
In one embodiment, the cluster analysis module specifically includes:
the window establishing module is used for establishing at least one sliding window for the end point positions of the same time period, so that the at least one sliding window comprises all the end point positions of the same time period;
the sliding module is used for sliding at least one sliding window to enable the number of the end point positions contained in each sliding window to reach the respective maximum value to obtain a plurality of target sliding windows;
and the duplication removing module is used for carrying out duplication removing processing on the plurality of target sliding windows and taking the target sliding windows reserved after the duplication removing processing as the aggregation clusters of the corresponding time periods.
In one embodiment, the deduplication module is specifically configured to: and comparing the number of the end positions contained in the target sliding windows with intersections in the plurality of target sliding windows, and reserving the target sliding window with the largest number of the end positions contained in each intersection as an aggregation cluster of the corresponding time period.
In one embodiment, the apparatus further comprises:
the clock module is used for acquiring the current moment in real time;
the positioning module is used for acquiring the current position of the movable electronic equipment in real time;
the second matching module is used for determining the time period of the current moment and taking the time period of the current moment as a target time period;
and the mobile control module is used for controlling the mobile electronic equipment to move from the current position to the standby position corresponding to the target time slot.
In one embodiment, the apparatus further comprises:
and the barrier positioning module is used for acquiring the current position of the barrier in the actual field at the current moment.
In one embodiment, the mobile control module is specifically configured to: and controlling the movable electronic equipment to move from the current position of the movable electronic equipment to the standby position corresponding to the target time period by avoiding the current position of the obstacle.
Fig. 3 is an internal structural diagram of a computer device according to an embodiment. Referring to fig. 3, the computer apparatus may be installed in a removable electronic device, which is connected through a system bus to a processor, a memory, a network interface, an input device, a voice device, and a display screen. Wherein the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program which, when executed by the processor, causes the processor to implement the method of planning a standby position. The internal memory may also have a computer program stored therein, which when executed by the processor, causes the processor to perform a method of planning a location on standby. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen, the input device of the computer device may be a touch layer covered on the display screen, or may be a key, a trackball or a touch pad arranged on a casing of the computer device, or may be an external keyboard, a touch pad or a mouse, and the voice device of the computer device is used for receiving a user instruction and controlling the movable electronic device to move or execute other operations according to the user instruction.
Those skilled in the art will appreciate that the configuration shown in fig. 3 is a block diagram of only a portion of the configuration associated with the present application and is not intended to limit the computing device to which the present application may be applied, and that a particular computing device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, the apparatus for planning a standby position provided in the present application can be implemented in the form of a computer program, and the computer program can be run on a computer device as shown in fig. 3. The memory of the computer device may store various program modules constituting the standby position planning apparatus, such as the mobile information acquiring module 100, the dividing module 200, the first matching module 300, and the analyzing module 400 shown in fig. 2. The computer program constituted by the respective program modules causes the processor to execute the steps in the standby position planning method of the respective embodiments of the present application described in the present specification.
For example, the computer device shown in fig. 3 may perform the step of acquiring the movement information of each movement of the mobile electronic device within the preset time period by the movement information acquiring module 100 in the standby position planning apparatus shown in fig. 2. The computer device may perform time period division on the preset time period through the division module 200 to obtain a plurality of time periods. The computer device may determine the time period and the corresponding end position of each movement according to the movement information through the first matching module 300. The computer device can perform cluster analysis on the end positions of the same time slot by the analysis module 400 to obtain the standby position that the mobile electronic device should reach in each time slot.
In one embodiment, the computer device may perform the real-time acquisition of the current time by the clock module. The computer device can acquire the current position of the movable electronic device in real time through the positioning module. The computer device may perform the determining of the time period of the current time through the second matching module, and take the time period of the current time as the target time period. The computer device can control the movable electronic device to move from the current position to the standby position corresponding to the target time period through the movement control module.
In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program: acquiring movement information of each movement of the movable electronic equipment within a preset time length; dividing a preset time period into a plurality of time periods; determining a time period of each movement and a corresponding end point position according to the movement information; and carrying out cluster analysis on the end positions of the same time periods to obtain the standby position which the movable electronic equipment should reach in each time period.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring the current moment in real time; acquiring the current position of the movable electronic equipment in real time; determining the time period of the current time, and taking the time period of the current time as a target time period; and controlling the movable electronic equipment to move from the current position to a standby position corresponding to the target time period.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring movement information of each movement of the movable electronic equipment within a preset time length; dividing a preset time period into a plurality of time periods; determining a time period of each movement and a corresponding end point position according to the movement information; and carrying out cluster analysis on the end positions of the same time periods to obtain the standby position which the movable electronic equipment should reach in each time period.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring the current moment in real time; acquiring the current position of the movable electronic equipment in real time; determining the time period of the current time, and taking the time period of the current time as a target time period; and controlling the movable electronic equipment to move from the current position to a standby position corresponding to the target time period.
Those skilled in the art will appreciate that all or a portion of the processes in the methods of the embodiments described above may be implemented by computer programs that may be stored in a non-volatile computer-readable storage medium, which when executed, may include the processes of the embodiments of the methods described above, wherein any reference to memory, storage, database or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, non-volatile memory may include read-only memory (ROM), programmable ROM (prom), electrically programmable ROM (eprom), electrically erasable programmable ROM (eeprom), or flash memory, volatile memory may include Random Access Memory (RAM) or external cache memory, RAM is available in a variety of forms, such as static RAM (sram), Dynamic RAM (DRAM), synchronous sdram (sdram), double data rate sdram (ddr sdram), enhanced sdram (sdram), synchronous link (sdram), dynamic RAM (rdram) (rdram L), direct dynamic RAM (rdram), and the like, and/or external cache memory.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The foregoing are merely exemplary embodiments of the present invention, which enable those skilled in the art to understand or practice the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A standby position planning method applied to a movable electronic device is characterized by comprising the following steps:
acquiring movement information of each movement of the movable electronic equipment within a preset time length;
dividing the preset time length into a plurality of time segments;
determining the time period of each movement and the corresponding end point position according to the movement information;
and carrying out cluster analysis on the end positions of the same time periods to obtain the standby position which the movable electronic equipment should reach in each time period.
2. The method of claim 1, wherein performing cluster analysis on the end positions of the same time slots to obtain the standby position that the mobile electronic device should reach for each time slot comprises:
carrying out clustering analysis on the end point positions of the same time period to obtain an aggregated cluster;
if the same time slot only corresponds to one cluster, taking the center position of the corresponding cluster as a standby position which the movable electronic equipment should reach in the corresponding time slot;
if the same time period corresponds to at least two cluster clusters, then,
the number of end positions included in each cluster is obtained,
the center position of each cluster is acquired,
and selecting a target point from the at least two aggregation clusters, enabling the ratio of the distances from the target point to each center position to be the inverse ratio of the number of contained end positions, and taking the target point as a standby position to which the movable electronic equipment should reach in the corresponding time period.
3. The method of claim 2, wherein the clustering the end positions of the same time period to obtain an aggregated cluster comprises:
establishing at least one sliding window for the end positions of the same time period, so that the at least one sliding window comprises all the end positions of the same time period;
sliding the at least one sliding window to enable the number of the end point positions contained in each sliding window to reach the respective maximum value to obtain a plurality of target sliding windows;
and carrying out deduplication processing on the plurality of target sliding windows, and taking the target sliding windows reserved after the deduplication processing as the aggregation clusters of the corresponding time periods.
4. The method according to claim 3, wherein the performing the deduplication processing on the plurality of target sliding windows, and taking the target sliding windows reserved after the deduplication processing as the aggregation clusters of the corresponding time periods comprises:
and comparing the number of end positions contained in target sliding windows with intersections in the plurality of target sliding windows, and reserving the target sliding window with the largest number of end positions contained in each intersection as an aggregation cluster of the corresponding time period.
5. The method according to any of claims 1-4, wherein after the clustering analysis of the end positions of the same time slots to obtain the standby position that the mobile electronic device should reach for each time slot, the method further comprises:
acquiring the current moment in real time;
acquiring the current position of the movable electronic equipment in real time;
determining the time period of the current time, and taking the time period of the current time as a target time period;
and controlling the movable electronic equipment to move from the current position to a standby position corresponding to the target time slot.
6. The method of claim 5, wherein before the controlling the movable electronic device to move from the current position to the standby position corresponding to the target time period, the method further comprises:
acquiring the current position of an obstacle in an actual field at the current moment;
the controlling the movable electronic device to move from the current position to a standby position corresponding to the target time slot includes:
and controlling the movable electronic equipment to move from the current position of the movable electronic equipment to a standby position corresponding to the target time period by avoiding the current position of the obstacle.
7. A device for planning standby positions, applied to a mobile electronic device, is characterized in that the device comprises:
the mobile information acquisition module is used for acquiring mobile information of each time that the mobile electronic equipment moves within a preset time length;
the dividing module is used for dividing the preset time into a plurality of time periods;
the first matching module is used for determining the time period of each movement and the corresponding end point position according to the movement information;
and the analysis module is used for carrying out cluster analysis on the end positions of the same time periods to obtain the standby position which the movable electronic equipment should reach in each time period.
8. The apparatus of claim 7, further comprising:
the clock module is used for acquiring the current moment in real time;
the positioning module is used for acquiring the current position of the movable electronic equipment in real time;
the second matching module is used for determining the time period of the current moment and taking the time period of the current moment as a target time period;
and the movement control module is used for controlling the movable electronic equipment to move from the current position to a standby position corresponding to the target time slot.
9. A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, causes the processor to carry out the steps of the method according to any one of claims 1 to 6.
10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor executes the program to perform the steps of the method according to any of claims 1-6.
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| CN202010266042.5A CN111459162B (en) | 2020-04-07 | 2020-04-07 | Standby position planning method and device, storage medium and computer equipment |
| PCT/CN2020/139857 WO2021203745A1 (en) | 2020-04-07 | 2020-12-28 | Standby position planning method and apparatus, and storage medium and computer device |
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| CN111459162B (en) | 2021-11-16 |
| WO2021203745A1 (en) | 2021-10-14 |
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