CN111949270A - Method and device for sensing running environment change of process robot - Google Patents
Method and device for sensing running environment change of process robot Download PDFInfo
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Abstract
The invention provides a method and a device for sensing the change of an operating environment of a process robot, wherein the method comprises the following steps: acquiring a first screenshot of an operating environment when the process robot is started last time and a second screenshot of the operating environment when the process robot is started this time; respectively extracting a plurality of corner points of the first screenshot and a plurality of corner points of the second screenshot; generating a plurality of groups of corner pairs according to the plurality of corner points of the first screenshot and the plurality of corner points of the second screenshot, wherein each corner pair comprises one corner point of the first screenshot and one corner point of the second screenshot; and judging the change of the running environment of the process robot according to the plurality of groups of angle pairs. The invention can obtain the operation environment change of the process robot at any time and improve the operation efficiency of the process robot.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a method and a device for sensing running environment change of a process robot.
Background
The process robot is a software robot, i.e. a software tool that can be automatically executed according to some preset rules.
In modern enterprises, operations such as reimbursement staff information processing and report generation exist for the needs of operation management, safety consideration and the like. From the perspective of enterprises, the work has high repeatability, manual operation is reduced by using the process robot to replace manual operation, manpower is liberated, and cost is reduced.
Although the process robot replaces manual repetitive work, the work efficiency is greatly improved, the process robot is a code generated based on rules, and does not automatically identify whether an interface changes like a human, but only obtains elements from the corresponding interface according to the established rules or flows, and performs a series of operations like login, click, download, query or fill. One of the necessary conditions for completing these operations is that the flow robot needs to find these elements accurately and quickly in the whole interface according to their attributes or coordinate positions.
With the gradual improvement of the electronization degree, the updating speed of software or websites and the like is gradually increased, however, for the purpose of art designing, the interface is often greatly changed after the software or website is updated, the attributes of some key elements may also be changed, which may result in that some elements in the process cannot be obtained, so that the process fails, which is not a technical problem or a business problem and belongs to an environmental problem, but in any case, once the process fails, the success rate of the process is greatly affected, and when a technical worker performs error analysis, the technical worker does not think that the elements cannot be found in the first time, and needs to perform one-step investigation to judge that the environment is changed to cause the process failure.
In order to solve the above problems, currently, service personnel regularly log in software or websites to see whether the software or websites are updated or not, if the software or websites are updated, the software or websites are reported to technical personnel, the technical personnel judge whether elements are changed or not, if the elements are changed, codes are modified, and otherwise, the process is normally operated. However, the method not only can greatly reduce the operation efficiency of the process robot, but also can greatly influence the use experience of business personnel.
Disclosure of Invention
The embodiment of the invention provides a method for sensing the change of an operating environment of a process robot, which is used for acquiring the change of the operating environment of the process robot at any time and improving the operating efficiency of the process robot, and comprises the following steps:
acquiring a first screenshot of an operating environment when the process robot is started last time and a second screenshot of the operating environment when the process robot is started this time;
respectively extracting a plurality of corner points of the first screenshot and a plurality of corner points of the second screenshot;
generating a plurality of groups of corner pairs according to the plurality of corner points of the first screenshot and the plurality of corner points of the second screenshot, wherein each corner pair comprises one corner point of the first screenshot and one corner point of the second screenshot;
and judging the change of the running environment of the process robot according to the plurality of groups of angle pairs.
The embodiment of the invention provides a device for sensing the running environment change of a process robot, which is used for acquiring the running environment change of the process robot at any time and improving the running efficiency of the process robot, and comprises the following components:
the screenshot obtaining module is used for obtaining a first screenshot of the operating environment when the process robot is started last time and a second screenshot of the operating environment when the process robot is started this time;
the angular point extraction module is used for respectively extracting a plurality of angular points of the first screenshot and a plurality of angular points of the second screenshot;
the corner pair generating module is used for generating a plurality of groups of corner pairs according to a plurality of corner points of the first screenshot and a plurality of corner points of the second screenshot, and each corner pair comprises one corner point of the first screenshot and one corner point of the second screenshot;
and the judging module is used for judging the operation environment change of the process robot according to the plurality of groups of angle pairs.
The embodiment of the invention also provides computer equipment which comprises a memory, a processor and a computer program which is stored on the memory and can be run on the processor, wherein the processor realizes the method for sensing the running environment change of the flow robot when executing the computer program.
The embodiment of the invention also provides a computer readable storage medium, which stores a computer program for executing the method for sensing the change of the running environment of the flow robot.
In the embodiment of the invention, a first screenshot of the operating environment when the process robot is started last time and a second screenshot of the operating environment when the process robot is started this time are obtained; respectively extracting a plurality of corner points of the first screenshot and a plurality of corner points of the second screenshot; generating a plurality of groups of corner pairs according to the plurality of corner points of the first screenshot and the plurality of corner points of the second screenshot, wherein each corner pair comprises one corner point of the first screenshot and one corner point of the second screenshot; and judging the change of the running environment of the process robot according to the plurality of groups of angle pairs. In the process, the change of the running environment of the process robot is automatically judged according to the first screenshot of the running environment when the process robot is started last time and the second screenshot of the running environment when the process robot is started this time, so that the change of the running environment of the process robot is obtained at any time without the judgment of technicians, and the running efficiency of the process robot is greatly improved.
Drawings
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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts. In the drawings:
FIG. 1 is a flow chart of a bit data reading method of an electronic detonator in an embodiment of the invention;
FIG. 2 is a detailed flowchart of a method for sensing a change in an operating environment of a flow robot according to an embodiment of the present invention;
FIG. 3 is a schematic view of an apparatus for sensing changes in operating environment of a flow robot according to an embodiment of the present invention;
FIG. 4 is a diagram of a computer device in an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
In the description of the present specification, the terms "comprising," "including," "having," "containing," and the like are used in an open-ended fashion, i.e., to mean including, but not limited to. Reference to the description of the terms "one embodiment," "a particular embodiment," "some embodiments," "for example," etc., means that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. The sequence of steps involved in the embodiments is for illustrative purposes to illustrate the implementation of the present application, and the sequence of steps is not limited and can be adjusted as needed.
Fig. 1 is a flowchart of a bit data reading method of an electronic detonator in an embodiment of the present invention, and as shown in fig. 1, the method includes:
102, respectively extracting a plurality of corner points of a first screenshot and a plurality of corner points of a second screenshot;
103, generating a plurality of groups of corner pairs according to the plurality of corner points of the first screenshot and the plurality of corner points of the second screenshot, wherein each corner pair comprises one corner point of the first screenshot and one corner point of the second screenshot;
and 104, judging the change of the running environment of the process robot according to the plurality of groups of corner pairs.
In the embodiment of the invention, the change of the running environment of the process robot is automatically judged according to the first screenshot of the running environment when the process robot is started last time and the second screenshot of the running environment when the process robot is started this time without the judgment of technicians, so that the change of the running environment of the process robot is obtained at any time, and the running efficiency of the process robot is greatly improved.
In specific implementation, when the process robot starts the process each time, the screenshot of the running environment when the process robot is started this time, namely the second screenshot, is obtained, and the screenshot of the running environment when the process robot is started last time is the first screenshot.
Then, step 102 is entered to extract a plurality of corner points of the first screenshot and a plurality of corner points of the second screenshot, in an embodiment, the extracting the plurality of corner points of the first screenshot and the plurality of corner points of the second screenshot respectively includes:
respectively calculating Harris corner response function values of each pixel point in the first screenshot and the second screenshot;
and for each pixel point, if the Harris corner point response function value of the pixel point is greater than a first threshold value, determining the pixel point as a corner point.
Wherein Harris' corner response function is proposed by Harris in 1988, and if considering the difference of contribution weights of different points in the window, the corner response function can be written as:
wherein,
is a two-dimensional gaussian window function. If the diversity of the offset direction is considered, the following formula for calculating the Harris corner point response function value of each pixel point can be obtained by utilizing first-order Taylor approximation.
CRF(u,v)＝(A·B-C2)-k(A+B)2
Wherein, CRF (u, v) is Harris angular point response function value of pixel point (u, v);
Ixand IyFirst derivatives of the pixel points (u, v) in the horizontal and vertical directions, respectively,
k is a constant.
In the above embodiment, k is generally 0.04-0.06.
It is noted that the number of corners obtained for the first screenshot may be different from the number of corners obtained for the second screenshot.
In an embodiment, generating a plurality of groups of corner pairs according to the plurality of corner points of the first screenshot and the plurality of corner points of the second screenshot includes:
and respectively calculating a normalized correlation coefficient of each corner of the first screenshot and each corner of the second screenshot for each corner of the first screenshot, and determining the corner pair of the second screenshot corresponding to the largest normalized correlation coefficient and the corner group of the first screenshot from the plurality of normalized correlation coefficients.
In the above embodiment, the method of determining the corner matching procedure by calculating the Normalized Correlation coefficient of the corner of the first screenshot and each corner of the second screenshot to form a corner pair is called a Normalized Cross Correlation (NCC) matching algorithm, and in an embodiment, the Normalized Correlation coefficient of the corner of the first screenshot and each corner of the second screenshot are calculated respectively by using the following formula for each corner of the first screenshot:
wherein, (a, b) are the offset of horizontal direction and vertical direction separately;
r (a, b) is normalized correlation coefficient;
xi+a,j+bis the pixel value, y, of the corner at (i + a, j + b) of the first screenshotijPixel value for the corner at (i, j) of the second screenshot;
N1and N2Is a constant.
In the above embodiment, the larger the R (a, b) value is, the higher the similarity between two corner points is proved, so that, among the plurality of normalized correlation coefficients calculated for a certain corner point of the first screenshot, the corner point of the second screenshot corresponding to the largest normalized correlation coefficient is paired with the corner point group of the first screenshot.
In addition, in order to improve the accuracy of the present invention in sensing the change of the operating environment, the method needs to delete the corner pairs that are mismatched by mistake, and in an embodiment, after generating a plurality of groups of corner pairs, the method further includes:
and for each group of corner point pairs, if the normalized correlation coefficient of two corner points of the group of corner point pairs is smaller than a second threshold value, rejecting the group of corner point pairs.
In the above embodiment, it is determined that the corner point pair whose normalized correlation coefficient is smaller than the second threshold value is a mismatching corner point pair.
In one embodiment, determining the change of the operating environment of the process robot according to the plurality of groups of corner pairs comprises:
calculating the pixel difference value of each group of corner point pairs;
and if the pixel difference value of any group of corner point pairs is smaller than a third threshold value, determining that the running environment of the process robot changes.
In the above embodiment, the pixel difference value of each group of corner point pairs can be calculated by using the following formula:
change＝abs(imt1-imt2)
where change is the pixel difference of each group of corner pairs, imt1 is the pixel value of the corner in the first screenshot in each group of corner pairs, and imt2 is the pixel value of the corner in the second screenshot in each group of corner pairs.
If 5 corner point pairs exist, five pixel difference values can be obtained, and if the pixel difference value of any one group of corner point pairs is smaller than a third threshold value, the running environment of the process robot is determined to be changed. The difference image formed by the pair of corner points smaller than the third threshold may then be sent to a technician for instructing the technician to modify the code of the flow robot. If the running environment of the process robot is not changed, the process robot continues to execute the process, and if the process reports an error, the error does not belong to an environmental error. The method reduces unnecessary workload brought to service personnel or technical personnel by environment change, reduces error checking range, relieves pressure that the service personnel need to check whether software or websites are updated regularly, can greatly reduce times of flow failure caused by environmental problems, can further reduce checking range of the technical personnel on error flows, and releases manpower.
Based on the above embodiment, the present invention provides the following embodiment to describe a detailed process of the method for sensing the change of the operating environment of the process robot, and fig. 2 is a detailed flowchart of the method for sensing the change of the operating environment of the process robot according to the embodiment of the present invention, as shown in fig. 2, including:
Of course, it is understood that other variations of the above detailed flow can be made, and all such variations are intended to fall within the scope of the present invention.
In summary, in the method provided in the embodiment of the present invention, a first screenshot of an operating environment when the process robot was started last time and a second screenshot of the operating environment when the process robot was started this time are obtained; respectively extracting a plurality of corner points of the first screenshot and a plurality of corner points of the second screenshot; generating a plurality of groups of corner pairs according to the plurality of corner points of the first screenshot and the plurality of corner points of the second screenshot, wherein each corner pair comprises one corner point of the first screenshot and one corner point of the second screenshot; and judging the change of the running environment of the process robot according to the plurality of groups of angle pairs. In the process, the change of the running environment of the process robot is automatically judged according to the first screenshot of the running environment when the process robot is started last time and the second screenshot of the running environment when the process robot is started this time, so that the change of the running environment of the process robot is obtained at any time without the judgment of technicians, and the running efficiency of the process robot is greatly improved.
The embodiment of the invention also provides a device for sensing the change of the running environment of the process robot, the principle of which is similar to that of a method for sensing the change of the running environment of the process robot, and the description is omitted here.
Fig. 3 is a schematic diagram of an apparatus for sensing a change in an operating environment of a process robot according to an embodiment of the present invention, including:
a screenshot obtaining module 301, configured to obtain a first screenshot of an operating environment when the process robot is started last time and a second screenshot of the operating environment when the process robot is started this time;
an angular point extracting module 302, configured to extract a plurality of angular points of the first screenshot and a plurality of angular points of the second screenshot respectively;
a corner pair generating module 303, configured to generate a plurality of sets of corner pairs according to the plurality of corner points of the first screenshot and the plurality of corner points of the second screenshot, where each corner pair includes one corner point of the first screenshot and one corner point of the second screenshot;
and the judging module 304 is configured to judge the operating environment change of the process robot according to the plurality of groups of corner pairs.
In an embodiment, the corner point extracting module 302 is specifically configured to:
respectively calculating Harris corner response function values of each pixel point in the first screenshot and the second screenshot;
and for each pixel point, if the Harris corner point response function value of the pixel point is greater than a first threshold value, determining the pixel point as a corner point.
In an embodiment, the corner point extracting module 302 is specifically configured to:
and respectively calculating a Harris angular point response function value of each pixel point in the first screenshot and the second screenshot by adopting the following formula:
CRF(u,v)＝(A·B-C2)-k(A+B)2
wherein, CRF (u, v) is Harris angular point response function value of pixel point (u, v);
Ixand IyFirst derivatives of the pixel points (u, v) in the horizontal and vertical directions, respectively,
k is a constant.
In an embodiment, the pair of corner generating modules 303 are specifically configured to:
and respectively calculating a normalized correlation coefficient of each corner of the first screenshot and each corner of the second screenshot for each corner of the first screenshot, and determining the corner pair of the second screenshot corresponding to the largest normalized correlation coefficient and the corner group of the first screenshot from the plurality of normalized correlation coefficients.
In an embodiment, the pair of corner generating modules 303 are specifically configured to:
calculating the normalized correlation coefficient of each corner point of the first screenshot and each corner point of the second screenshot respectively for each corner point of the first screenshot by adopting the following formula:
wherein, (a, b) are the offset of horizontal direction and vertical direction separately;
r (a, b) is normalized correlation coefficient;
xi+a,j+bis the pixel value, y, of the corner at (i + a, j + b) of the first screenshotijPixel value for the corner at (i, j) of the second screenshot;
N1and N2Is a constant.
In an embodiment, the pair of corner generating modules 303 is further configured to:
and for each group of corner point pairs, if the normalized correlation coefficient of two corner points of the group of corner point pairs is smaller than a second threshold value, rejecting the group of corner point pairs.
In an embodiment, the determining module 304 is specifically configured to:
calculating the pixel difference value of each group of corner point pairs;
and if the pixel difference value of any group of corner point pairs is smaller than a third threshold value, determining that the running environment of the process robot changes.
In summary, in the apparatus provided in the embodiment of the present invention, a first screenshot of an operating environment when the process robot was started last time and a second screenshot of the operating environment when the process robot was started this time are obtained; respectively extracting a plurality of corner points of the first screenshot and a plurality of corner points of the second screenshot; generating a plurality of groups of corner pairs according to the plurality of corner points of the first screenshot and the plurality of corner points of the second screenshot, wherein each corner pair comprises one corner point of the first screenshot and one corner point of the second screenshot; and judging the change of the running environment of the process robot according to the plurality of groups of angle pairs. In the process, the change of the running environment of the process robot is automatically judged according to the first screenshot of the running environment when the process robot is started last time and the second screenshot of the running environment when the process robot is started this time, so that the change of the running environment of the process robot is obtained at any time without the judgment of technicians, and the running efficiency of the process robot is greatly improved.
An embodiment of the present application further provides a computer device, and fig. 4 is a schematic diagram of the computer device in the embodiment of the present invention, where the computer device is capable of implementing all steps in the method for sensing a change in an operating environment of a flow robot in the foregoing embodiment, and the electronic device specifically includes the following contents:
a processor (processor)401, a memory (memory)402, a communication Interface (Communications Interface)403, and a bus 404;
the processor 401, the memory 402 and the communication interface 403 complete mutual communication through the bus 404; the communication interface 403 is used for implementing information transmission between related devices such as server-side devices, detection devices, and user-side devices;
the processor 401 is configured to call the computer program in the memory 402, and when the processor executes the computer program, the processor implements all the steps in the method for sensing the change of the operating environment of the flow robot in the above embodiments.
An embodiment of the present application further provides a computer-readable storage medium, which is capable of implementing all steps in the method for sensing the change of the operating environment of the flow robot in the foregoing embodiment, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the computer program implements all steps of the method for sensing the change of the operating environment of the flow robot in the foregoing embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method for sensing the change of a running environment of a process robot is characterized by comprising the following steps:
acquiring a first screenshot of an operating environment when the process robot is started last time and a second screenshot of the operating environment when the process robot is started this time;
respectively extracting a plurality of corner points of the first screenshot and a plurality of corner points of the second screenshot;
generating a plurality of groups of corner pairs according to the plurality of corner points of the first screenshot and the plurality of corner points of the second screenshot, wherein each corner pair comprises one corner point of the first screenshot and one corner point of the second screenshot;
and judging the change of the running environment of the process robot according to the plurality of groups of angle pairs.
2. The method for sensing changes in the operating environment of a flow robot as recited in claim 1, wherein extracting the plurality of corners of the first screenshot and the plurality of corners of the second screenshot, respectively, comprises:
respectively calculating Harris corner response function values of each pixel point in the first screenshot and the second screenshot;
and for each pixel point, if the Harris corner point response function value of the pixel point is greater than a first threshold value, determining the pixel point as a corner point.
3. The method for sensing changes in the operating environment of a flow robot as claimed in claim 2, wherein the Harris corner-point response function value for each pixel point in the first screenshot and the second screenshot is calculated using the following formula:
CRF(u,v)＝(A·B-C2)-k(A+B)2
wherein, CRF (u, v) is Harris angular point response function value of pixel point (u, v);
Ixand IyFirst derivatives of the pixel points (u, v) in the horizontal and vertical directions, respectively,
k is a constant.
4. The method for sensing changes in the operating environment of a flow robot as recited in claim 1, wherein generating a plurality of sets of corner pairs from the plurality of corner points of the first screenshot and the plurality of corner points of the second screenshot comprises:
and respectively calculating a normalized correlation coefficient of each corner of the first screenshot and each corner of the second screenshot for each corner of the first screenshot, and determining the corner pair of the second screenshot corresponding to the largest normalized correlation coefficient and the corner group of the first screenshot from the plurality of normalized correlation coefficients.
5. The method of claim 4, wherein the normalized correlation coefficient between each corner of the first screenshot and each corner of the second screenshot is calculated for each corner of the first screenshot using the following formula:
wherein, (a, b) are the offset of horizontal direction and vertical direction separately;
r (a, b) is normalized correlation coefficient;
xi+a,j+bis the pixel value, y, of the corner at (i + a, j + b) of the first screenshotijPixel value for the corner at (i, j) of the second screenshot;
N1and N2Is a constant.
6. The method for sensing changes in the operating environment of a flow robot as recited in claim 4, further comprising, after generating the plurality of corner point pairs:
and for each group of corner point pairs, if the normalized correlation coefficient of two corner points of the group of corner point pairs is smaller than a second threshold value, rejecting the group of corner point pairs.
7. The method for sensing changes in the operating environment of a flow robot according to claim 1, wherein determining changes in the operating environment of the flow robot based on the plurality of sets of pairs of corner points comprises:
calculating the pixel difference value of each group of corner point pairs;
and if the pixel difference value of any group of corner point pairs is smaller than a third threshold value, determining that the running environment of the process robot changes.
8. A device for sensing the change of a running environment of a process robot is characterized by comprising:
the screenshot obtaining module is used for obtaining a first screenshot of the operating environment when the process robot is started last time and a second screenshot of the operating environment when the process robot is started this time;
the angular point extraction module is used for respectively extracting a plurality of angular points of the first screenshot and a plurality of angular points of the second screenshot;
the corner pair generating module is used for generating a plurality of groups of corner pairs according to a plurality of corner points of the first screenshot and a plurality of corner points of the second screenshot, and each corner pair comprises one corner point of the first screenshot and one corner point of the second screenshot;
and the judging module is used for judging the operation environment change of the process robot according to the plurality of groups of angle pairs.
9. 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 implements the method of any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for executing the method of any one of claims 1 to 7.
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| CN117437187A (en) * | 2023-10-13 | 2024-01-23 | 深圳市锐巽自动化设备有限公司 | Detonator detection method, detonator detection system and storage medium |
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