CN112438661A - Intelligent equipment motion control method, device, equipment and computer storage medium - Google Patents
Intelligent equipment motion control method, device, equipment and computer storage medium Download PDFInfo
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- CN112438661A CN112438661A CN202011333980.9A CN202011333980A CN112438661A CN 112438661 A CN112438661 A CN 112438661A CN 202011333980 A CN202011333980 A CN 202011333980A CN 112438661 A CN112438661 A CN 112438661A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
Abstract
According to the intelligent device motion control method, the intelligent device motion control device, the intelligent device motion control equipment and the computer storage medium, after the intelligent device completes construction of the electronic map for navigation, the intelligent device determines the motion range limited on the electronic map according to the motion range setting information input to the user terminal, the user terminal is used for generating motion control configuration information, the intelligent device controls the motion range of the intelligent device according to the indicated motion control configuration information, the motion range control can be achieved without using hardware equipment to be installed in a working area, the use method is simplified, and the cost is reduced.
Description
Technical Field
The present invention relates to the field of motion control technology for intelligent devices, and in particular, to a method, an apparatus, a device, and a computer storage medium for controlling motion of an intelligent device.
Background
With the development of modern society, smart home products increasingly enter the family life of people, and the floor sweeping robot is the mainstream category in the field of family service robots and is already used by vast families. However, since the layout of the home rooms is various and irregular, if the robot can move at any position in the home, the robot may cause trouble to the home life, and it is desirable to have a simple way to specify the robot movement area.
In the current technical implementation, some robots control the movement range of the robot by setting a hardware electronic fence, and related hardware includes magnetic strips, infrared wall or stickers made of special materials. The physical electronic fences are limited in use by factors such as length, shape and cost, and are complex to install and disassemble.
Disclosure of Invention
The embodiment of the invention provides a method, a device and equipment for controlling the motion of intelligent equipment and a computer storage medium, which are used for solving the problems of higher cost and inconvenient use of controlling the intelligent equipment by using a hardware electronic fence in the prior art.
The embodiment of the invention provides an intelligent equipment motion control method, which is applied to a user terminal and comprises the following steps:
acquiring an electronic map for navigation constructed by intelligent equipment;
determining a movement range defined on the electronic map according to the input movement range setting information in response to a movement range defining instruction, and generating movement control configuration information for determining the movement range defined on the electronic map;
and indicating the motion control configuration information to the intelligent equipment so that the intelligent equipment moves in the motion range.
Optionally, the motion control configuration information includes: location information of a range of motion defined on the electronic map;
the motion control configuration information further includes at least one of:
condition defining information that the defined range of motion is valid;
operational state information of the smart device in the defined range of motion.
Optionally, the condition defining information that the defined motion range is valid includes:
satisfying condition restriction information effective at a preset fixed time period;
or, the condition limiting information which is effective in/out of the preset working duration of the intelligent equipment is met;
or, the condition limit information effective below/above the number of times the intelligent device performs navigation is satisfied.
Optionally, the movement range setting information includes layer information added to the electronic map; the layer information comprises the position and the attribute of at least one geometric shape;
the properties of the geometry are used to define an allowed range of motion or a prohibited range of motion.
Optionally, the geometric shape is a closed geometric shape, or the geometric shape is a line segment.
Optionally, the input motion range setting information includes at least one of the following setting information:
at least one geometric shape drawn on the electronic map, wherein the geometric shape is a geometric shape drawn by using a drawing tool or a geometric shape selected from preset geometric shape options;
and adjusting information for at least one geometric shape adjustment drawn on the electronic map, wherein the adjusting information comprises geometric shape position adjustment, shape adjustment and deletion operation.
Optionally, the indicating the motion control configuration information to the smart device further includes:
and after the motion control configuration information is fused to the electronic map, indicating the electronic map to the intelligent equipment.
Correspondingly, the embodiment of the invention also provides an intelligent device motion control method, which is applied to the intelligent device and comprises the following steps:
constructing and storing an electronic map for navigation of the intelligent equipment;
sending the electronic map to a user terminal;
receiving motion control configuration information which is indicated by the user terminal and used for determining a motion range defined on the electronic map, and determining the motion range defined on the electronic map;
and move within the range of motion.
Optionally, the motion control configuration information includes: location information of a range of motion defined on the electronic map;
the motion control configuration information further includes at least one of:
condition defining information that the defined range of motion is valid;
operational state information of the smart device in the defined range of motion.
Optionally, the condition defining information that the defined motion range is valid includes:
satisfying condition restriction information effective at a preset fixed time period;
or, the condition limiting information which is effective in/out of the preset working duration of the intelligent equipment is met;
or, the condition limit information effective below/above the number of times the intelligent device performs navigation is satisfied.
Based on the same inventive concept, an embodiment of the present invention further provides a device for controlling motion of an intelligent device, including:
the electronic map acquisition unit is used for acquiring an electronic map which is constructed by the intelligent equipment and used for navigation;
a movement range setting unit for determining a movement range defined on the electronic map according to input movement range setting information in response to a movement range defining instruction, and generating movement control configuration information for determining the movement range defined on the electronic map;
and the setting information sending unit is used for indicating the motion control configuration information to the intelligent equipment so as to enable the intelligent equipment to move within the limited motion range.
Based on the same inventive concept, the embodiment of the present invention further provides a motion control apparatus for an intelligent device, which is applied to the intelligent device, and includes:
the electronic map building unit is used for building and storing an electronic map used for navigation of the intelligent equipment;
the electronic map sending unit is used for sending the electronic map to a user terminal;
a setting information receiving unit for receiving motion control configuration information for determining a motion range defined on the electronic map, which is indicated by the user terminal, and determining the motion range defined on the electronic map;
and the motion control unit is used for controlling the intelligent equipment to move in the motion range.
Based on the same inventive concept, an embodiment of the present invention further provides an intelligent device motion control device, including: a processor and a memory for storing processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the motion control method applied to the smart device or to execute the smart device control method applied to the user terminal.
Based on the same inventive concept, embodiments of the present invention also provide a computer storage medium having a computer program stored thereon, where the computer program is executed by a processor to implement the motion control method applied to the smart device or to execute the smart device control method applied to the user terminal.
The invention has the following beneficial effects:
according to the intelligent device motion control method, the intelligent device motion control device, the intelligent device motion control equipment and the computer storage medium, the virtual motion control configuration information is used for controlling the motion range of the intelligent device, compared with the prior art that the intelligent device uses hardware electronic fences such as magnetic strips, red outer walls or stickers made of special materials to control the motion range of the robot, the motion range control can be achieved without installing hardware equipment in a working area, the use method is simplified, and the cost is reduced.
Drawings
Fig. 1 is a schematic flowchart of a method for controlling motion of an intelligent device applied to a user terminal according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an electronic map incorporating the motion control configuration information according to an embodiment of the present invention;
fig. 3 is a schematic flowchart of a method for controlling motion of an intelligent device applied to an intelligent device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an intelligent device motion control apparatus applied to a user terminal according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an intelligent device motion control apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an intelligent device motion control device according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, the present invention is further described with reference to the accompanying drawings and examples. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repetitive description will be omitted. The words expressing the position and direction described in the present invention are illustrated in the accompanying drawings, but may be changed as required and still be within the scope of the present invention. The drawings of the present invention are for illustrative purposes only and do not represent true scale.
It should be noted that in the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be implemented in a number of ways different from those described herein and similar generalizations can be made by those skilled in the art without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
The following describes a method, an apparatus, a device, and a computer storage medium for controlling motion of an intelligent device according to an embodiment of the present invention with reference to the accompanying drawings.
The embodiment of the invention provides a motion control method for intelligent equipment, and in a specific implementation process, the intelligent equipment can be intelligent equipment such as a sweeping robot and an automatic driving automobile, and is not limited herein. The following description will mainly be given by taking a sweeping robot as an example.
The method for controlling the motion of the intelligent device is applied to a user terminal, and as shown in fig. 1, the method comprises the following steps:
s101, acquiring an electronic map for navigation constructed by intelligent equipment;
s102, responding to a motion range limiting instruction, determining a motion range limited on the electronic map according to input motion range setting information, and generating motion control configuration information used for determining the motion range limited on the electronic map;
s103, indicating the motion control configuration information to the intelligent equipment so that the intelligent equipment can move in the motion range.
In a specific implementation process, the user terminal may be a desktop computer, a smart phone, a tablet computer, a remote controller, and the like, which is not limited herein. And the intelligent equipment is connected with the user terminal through a network. In the step S101, after the intelligent device obtains the electronic map, the electronic map is displayed on the user terminal, so that a user can conveniently view and subsequently limit the movement range of the intelligent device. In step S102, the user terminal responds to a motion range limiting instruction initiated by a user, and the user inputs motion range setting information into the user terminal. The movement range setting information is used for determining a movement range limited on the electronic map, and for example, a sweeping robot, the movement range setting information is used for limiting a sweeping area of the sweeping robot. In step S103, the motion control configuration information is sent to the smart device through a network. The movement range setting information may not include the electronic map, and mainly includes setting information of a specific movement range set in a specific area of the electronic map, for example, when the movement range is represented by a drawn geometric shape, information such as coordinates of the electronic map occupied by a contour line of the geometric shape may be included. In step S103, the method for indicating the motion control configuration information to the smart device may be that the motion control configuration information is directly sent to the smart device, and after receiving the motion control configuration information, the smart device fuses the motion control configuration information and the stored electronic map, and uses the electronic map containing the motion control configuration information to perform navigation; the method for indicating the motion control configuration information to the intelligent device may be further that the user terminal fuses the motion control configuration information with the stored electronic map, sends the electronic map containing the motion control configuration information to the intelligent device, and the intelligent device performs navigation according to the received electronic map after receiving the electronic map containing the motion control configuration information; and is not limited herein.
Therefore, the virtual motion control configuration information is used for controlling the motion range of the intelligent device, and compared with the prior art that the motion range of the robot is controlled by the intelligent device through hardware electronic fences such as magnetic strips, infrared walls or stickers made of special materials, the motion range control can be realized without installing hardware devices in a working area, the use method is simplified, and the cost is reduced.
Optionally, the motion control configuration information includes: location information of a range of motion defined on the electronic map;
the motion control configuration information further includes at least one of:
condition defining information that the defined range of motion is valid;
operational state information of the smart device in the defined range of motion.
In a specific implementation process, the position information of the movement range may be absolute position information, for example, a fixed position in the working area is used as a coordinate origin, a coordinate system is established on the electronic map, and a parameter of the position information of the movement range is in a coordinate value form of the coordinate system. The position information of the movement range may also be relative position information, for example, the parameter of the movement range position information is in the form of a distance, a direction, and the like from a certain object in the electronic map, and is not limited herein. The motion control configuration information may further include condition limiting information that the limited motion range is valid, for example, for a sweeping robot, the condition limiting information may be that when a specific condition is satisfied, the motion range is valid, and at this time, the sweeping robot should perform a motion operation within the motion range. The motion control configuration information may further include working state information of the smart device in the limited motion range, for example, for a sweeping robot, for the limited motion range, the sweeping robot adopts working states of fast sweeping, slow sweeping, low-power dust collection sweeping, high-power dust collection sweeping, and the like. And is not limited herein.
In this way, the position and the action condition of the motion range and the working state of the intelligent device in the motion range are limited by the motion control configuration information, so that the intelligent device can complete more complex work.
Optionally, the condition defining information that the defined motion range is valid includes:
satisfying condition restriction information effective at a preset fixed time period;
or, the condition limiting information which is effective in/out of the preset working duration of the intelligent equipment is met;
or, the condition limit information effective below/above the number of times the intelligent device performs navigation is satisfied.
In a specific implementation process, for the sweeping robot, the condition limiting information valid at a preset fixed time period (for example, 9 am to 11 am) is used for controlling the sweeping robot to sweep the motion range at the preset fixed time period or forbidding to enter the motion range; the condition limiting information valid within/outside the preset working time of the intelligent device may be that the sweeping robot is controlled to sweep/prohibit entering the movement range within the preset working time (for example, working for one hour), or sweep/prohibit entering the movement range outside the preset working time (for example, working for two hours); the condition limiting information valid below/above the number of times the intelligent device performs navigation may be that the robot cleans the movement range/prohibits entering the movement range when the robot cleans a room for several times (e.g., 2 times) or more.
Thus, by using a plurality of modes as the condition defining information, the intelligent device can complete more complex work.
Optionally, the movement range setting information includes layer information added to the electronic map; the layer information comprises the position and the attribute of at least one geometric shape;
the properties of the geometry are used to define an allowed range of motion or a prohibited range of motion.
In this way, the range of motion is defined by geometry, which is more intuitive for the user.
Optionally, the geometric shape is a closed geometric shape, or the geometric shape is a line segment.
In a specific implementation, as shown in fig. 2, the geometric shape may be a closed geometric shape C1, C2, and the geometric shape C1 may control an allowable range of motion of the smart device, that is, the smart device cannot move beyond the allowable range of motion; geometry C2 may control the range of motion that the smart device prohibits from entering, i.e., the smart device prohibits from entering, the range of motion. The geometry may be line C3, i.e., the smart device prohibits traversing the line C3, the smart device is only able to move on one side of the line C3, and the line C3 is a virtual wall for the smart device.
In this way, the range of motion of the smart device can be controlled more flexibly by closed geometric figures or line segments.
Optionally, the input motion range setting information includes at least one of the following setting information:
at least one geometric shape drawn on the electronic map, wherein the geometric shape is a geometric shape drawn by using a drawing tool or a geometric shape selected from preset geometric shape options;
and adjusting information for at least one geometric shape adjustment drawn on the electronic map, wherein the adjusting information comprises geometric shape position adjustment, shape adjustment and deletion operation.
In a specific implementation process, the geometric shape may be a geometric shape drawn by using a drawing tool, for example, for a user terminal using a smart phone or a tablet computer, a user may manually draw the geometric shape in software, and perform a straight line correction, a circle correction, and the like through the drawing tool in the software to obtain a final geometric shape for defining a motion region of the smart device. The geometric shape may also be a geometric shape preset by software in the user terminal, such as a rectangle, a circle, an ellipse, a triangle, a straight line segment, an arc, and the like, and a user may drag and add the preset geometric shape to the electronic map displayed on the user terminal directly. The user can also adjust the existing geometric shape in the electronic map, the adjusting method includes but is not limited to changing the position of the geometric shape, enlarging, reducing, stretching, compressing, symmetrically transforming the geometric shape, copying and deleting the existing geometric shape, and the user terminal generates the adjusting information according to the specific adjusting method of the user and adjusts the corresponding geometric shape.
Therefore, the movement range setting information obtained by the method reduces the operation difficulty of the user and is more intuitive for the user.
Optionally, the indicating the motion control configuration information to the smart device further includes:
and after the motion control configuration information is fused to the electronic map, indicating the electronic map to the intelligent equipment.
Therefore, the navigation path can be planned more accurately according to the movement range by sending the fused electronic map to the intelligent equipment.
Correspondingly, an embodiment of the present invention further provides a method for controlling motion of an intelligent device, which is applied to the intelligent device, and as shown in fig. 3, the method includes:
s201, constructing and storing an electronic map for navigation of the intelligent equipment;
s202, sending the electronic map to a user terminal;
s203, receiving motion control configuration information indicated by the user terminal, and determining a motion range limited on the electronic map;
and S204, moving in the motion range.
In a specific implementation process, in step S201, when the intelligent device works for the first time, the intelligent device performs an omnidirectional motion in a working area, the intelligent device detects the motion through a sensor on the intelligent device, and the electronic map is constructed after information detected by the sensor is analyzed; the step S201 may also be to transmit the existing electronic map to the intelligent device through the user terminal, a mobile storage medium, and the like; and is not limited herein. The step S202 is that the intelligent device sends the electronic map to the user terminal through a network. The motion control configuration information received in step S203 may be the motion control configuration information directly sent by the user terminal, and then, after receiving the motion control configuration information, the smart device fuses the motion control configuration information with the stored electronic map to determine a motion range defined on the electronic map; the motion control configuration information received in step S203 may also be the electronic map obtained by fusing the motion control configuration information with an electronic map by the user terminal, and after receiving the electronic map containing the motion control configuration information, the smart device determines a motion range defined on the electronic map according to the received electronic map; and is not limited herein.
Therefore, the motion range of the intelligent device is controlled by using the motion control configuration information, and compared with the prior art that the motion range of the robot is controlled by using the intelligent device provided with the magnetic strips, the infrared wall or the stickers made of special materials and other hardware electronic fences, the motion range control can be realized without installing hardware equipment in a working area, the use method is simplified, and the cost is reduced.
Optionally, the motion control configuration information includes location information of a range of motion defined on the electronic map;
the motion control configuration information further includes at least one of:
condition defining information that the defined range of motion is valid;
operational state information of the smart device in the defined range of motion.
In a specific implementation process, the position information of the movement range may be absolute position information, for example, a fixed position in the working area is used as a coordinate origin, a coordinate system is established on the electronic map, and a parameter of the position information of the movement range is in a coordinate value form of the coordinate system. The position information of the movement range may also be relative position information, for example, the parameter of the movement range position information is in the form of a distance, a direction, and the like from a certain object in the electronic map, and is not limited herein. The motion control configuration information may further include condition limiting information that the limited motion range is valid, for example, for a sweeping robot, the condition limiting information may be that when a specific condition is satisfied, the motion range is valid, and at this time, the sweeping robot should perform a motion operation within the motion range. The motion control configuration information may further include working state information of the smart device in the limited motion range, for example, for a sweeping robot, for the limited motion range, the sweeping robot adopts working states of fast sweeping, slow sweeping, low-power dust collection sweeping, high-power dust collection sweeping, and the like. And is not limited herein.
In this way, the position and the action condition of the motion range and the working state of the intelligent device in the motion range are limited by the motion control configuration information, so that the intelligent device can complete more complex work.
Optionally, the condition defining information that the defined motion range is valid includes:
satisfying condition restriction information effective at a preset fixed time period;
or, the condition limiting information which is effective in/out of the preset working duration of the intelligent equipment is met;
or, the condition limit information effective below/above the number of times the intelligent device performs navigation is satisfied.
In a specific implementation process, for the sweeping robot, the condition limiting information valid at a preset fixed time period (for example, 9 am to 11 am) is used for controlling the sweeping robot to sweep the motion range at the preset fixed time period or forbidding to enter the motion range; the condition limiting information valid within/outside the preset working time of the intelligent device may be that the sweeping robot is controlled to sweep/prohibit entering the movement range within the preset working time (for example, working for one hour), or sweep/prohibit entering the movement range outside the preset working time (for example, working for two hours); the condition limiting information valid below/above the number of times the intelligent device performs navigation may be that the robot cleans the movement range/prohibits entering the movement range when the robot cleans a room for several times (e.g., 2 times) or more.
Thus, by using a plurality of modes as the condition defining information, the intelligent device can complete more complex work.
Optionally, receiving and processing the movement range setting information indicated by the user terminal, including:
and after receiving the electronic map fused with the movement range setting information, determining the movement range limited on the electronic map.
Therefore, the navigation path can be planned more accurately according to the movement range by sending the fused electronic map to the intelligent equipment.
Based on the same inventive concept, an embodiment of the present invention further provides an intelligent device motion control apparatus, which is applied to a user terminal, and as shown in fig. 4, includes:
the electronic map acquisition unit M101 is used for acquiring an electronic map which is constructed by the intelligent equipment and is used for navigation;
a movement range setting unit M102 configured to determine a movement range defined on the electronic map according to input movement range setting information in response to a movement range limiting instruction, and generate movement control configuration information;
a setting information sending unit M103, configured to indicate the motion control configuration information to the smart device, so that the smart device moves within the limited motion range.
In a specific implementation process, the motion control configuration information generated by the motion range setting unit M102 includes: location information of a range of motion defined on the electronic map;
the motion control configuration information further includes at least one of:
condition defining information that the defined range of motion is valid;
operational state information of the smart device in the defined range of motion.
In the implementation process, further, the condition defining information that the defined motion range is valid includes:
satisfying condition restriction information effective at a preset fixed time period;
or, the condition limiting information which is effective in/out of the preset working duration of the intelligent equipment is met;
or, the condition limit information effective below/above the number of times the intelligent device performs navigation is satisfied.
In a specific implementation process, the movement range setting information input to the movement range setting unit M102 further includes layer information added to the electronic map; the layer information comprises the position and the attribute of at least one geometric shape; the properties of the geometry are used to define an allowed range of motion or a prohibited range of motion.
In a specific implementation process, the geometric shape is a closed geometric shape, or the geometric shape is a line segment.
In a specific implementation process, further, the movement range setting information input to the movement range setting unit M102 includes at least one of the following setting information:
at least one geometric shape drawn on the electronic map, wherein the geometric shape is a geometric shape drawn by using a drawing tool or a geometric shape selected from preset geometric shape options;
and adjusting information for at least one geometric shape adjustment drawn on the electronic map, wherein the adjusting information comprises geometric shape position adjustment, shape adjustment and deletion operation.
In a specific implementation process, the setting information sending unit M103 indicates the motion control configuration information to the smart device, and further includes:
and after the motion control configuration information is fused to the electronic map, indicating the electronic map to the intelligent equipment.
In the specific implementation process, the specific remaining working principles of the motion control device of the intelligent device are basically consistent with the control method described above, and therefore, the detailed description is omitted.
Therefore, the motion range of the intelligent equipment is controlled by the intelligent equipment motion control device, and compared with the control of the motion range of the robot by using hardware electronic fences such as magnetic strips, infrared walls or stickers made of special materials and the like for the intelligent equipment in the prior art, the motion range control can be realized without installing hardware equipment in a working area, so that the use method is simplified, and the cost is reduced.
Based on the same inventive concept, an embodiment of the present invention further provides an intelligent device motion control apparatus, applied to an intelligent device, as shown in fig. 5, including:
the electronic map building unit M201 is used for building and storing an electronic map used for navigation of the intelligent equipment;
the electronic map sending unit M202 is used for sending the electronic map to a user terminal;
a setting information receiving unit M203, configured to receive motion control configuration information indicated by the user terminal, and determine a motion range defined on the electronic map;
and the motion control unit M204 is used for controlling the intelligent equipment to move in the motion range.
In a specific implementation process, the electronic map building unit M201 may control the intelligent device to perform omnidirectional motion in a working area when the intelligent device works for the first time, perform detection through a sensor on the intelligent device, and build the electronic map after analyzing information detected by the sensor; the electronic map building unit M201 may also be configured to transmit the existing electronic map to the intelligent device through the user terminal, a mobile storage medium, and the like; the electronic map building unit M201 may reconstruct or modify the electronic map when the smart device detects a change in the position of an object placed in a work area in the work area; the electronic map building unit M201 may also reconstruct the electronic map each time a workflow is executed; and is not limited herein. The electronic map sending unit M202 controls the intelligent device to send the electronic map to the user terminal through a network. The motion control configuration information received by the setting information receiving unit M203 may be the motion control configuration information directly sent by the user terminal, and then, after receiving the motion control configuration information, the smart device fuses the motion control configuration information with the stored electronic map to determine a motion range defined on the electronic map; the motion control configuration information received by the setting information receiving unit M203 may also be the electronic map obtained by fusing the motion control configuration information with an electronic map by the user terminal, and after the intelligent device receives the electronic map containing the motion control configuration information, the intelligent device determines a motion range defined on the electronic map according to the received electronic map; and is not limited herein.
In a specific implementation process, the motion control configuration information received by the setting information receiving unit M203 further includes: location information of a range of motion defined on the electronic map;
the motion control configuration information further includes at least one of:
condition defining information that the defined range of motion is valid;
operational state information of the smart device in the defined range of motion.
In the implementation process, further, the condition defining information that the defined motion range is valid includes:
satisfying condition restriction information effective at a preset fixed time period;
or, the condition limiting information which is effective in/out of the preset working duration of the intelligent equipment is met;
or, the condition limit information effective below/above the number of times the intelligent device performs navigation is satisfied.
In the specific implementation process, the specific remaining working principles of the motion control device of the intelligent device are basically consistent with the control method described above, and therefore, the detailed description is omitted.
Therefore, the motion range of the intelligent equipment is controlled by using the intelligent equipment motion control device, and compared with the control of the motion range of the robot by using hardware electronic fences such as magnetic strips, infrared walls or stickers made of special materials and the like for the intelligent equipment in the prior art, the motion range control can be realized without using hardware equipment to be installed in a working area, the use method is simplified, and the cost is reduced.
Based on the same inventive concept, an embodiment of the present invention further provides an intelligent device motion control device, as shown in fig. 6, including: a processor 110 and a memory 120 for storing instructions executable by the processor 110; wherein the processor 110 is configured to execute the instructions to implement the smart device motion control method.
In particular implementations, the apparatus may vary widely depending on configuration or performance, and may include one or more processors 110 and memory 120, one or more storage media 130 storing applications 131 or data 132. Memory 120 and storage medium 130 may be, among other things, transient or persistent storage. The application 131 stored in the storage medium 130 may include one or more units (not shown in fig. 6) described above, and each module may include a series of instruction operations in the information processing apparatus. Further, the processor 110 may be configured to communicate with the storage medium 130 to execute a series of instruction operations in the storage medium 130 on the device. The apparatus may also include one or more power supplies (not shown in FIG. 6); one or more transceivers 140, the transceivers 140 comprising a wired or wireless network interface 141, one or more input-output interfaces 142; and/or one or more operating systems 133, such as Windows, Mac OS, Linux, IOS, Android, Unix, FreeBSD, etc.
Based on the same inventive concept, embodiments of the present invention also provide a computer storage medium storing a computer program for implementing the motion control method applied to the smart device or executing the smart device control method applied to the user terminal.
The specific working principle of the instructions stored in the computer storage medium is similar to that of the motion control method applied to the intelligent device or the user terminal, and therefore, the detailed description is omitted.
According to the intelligent device motion control method, the intelligent device motion control device, the intelligent device motion control equipment and the computer storage medium, the virtual motion control configuration information is used for controlling the motion range of the intelligent device, compared with the prior art that the intelligent device uses hardware electronic fences such as magnetic strips, red outer walls or stickers made of special materials to control the motion range of the robot, the motion range control can be achieved without installing hardware equipment in a working area, the use method is simplified, and the cost is reduced.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application 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 application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. 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.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (14)
1. A motion control method of intelligent equipment is applied to a user terminal and is characterized by comprising the following steps:
acquiring an electronic map for navigation constructed by intelligent equipment;
determining a movement range defined on the electronic map according to the input movement range setting information in response to a movement range defining instruction, and generating movement control configuration information for determining the movement range defined on the electronic map;
and indicating the motion control configuration information to the intelligent equipment so that the intelligent equipment moves in the motion range.
2. The smart device motion control method of claim 1, wherein the motion control configuration information comprises: location information of a range of motion defined on the electronic map;
the motion control configuration information further includes at least one of:
condition defining information that the defined range of motion is valid;
operational state information of the smart device in the defined range of motion.
3. The intelligent device motion control method according to claim 2, wherein the condition defining information that the defined motion range is valid includes:
satisfying condition restriction information effective at a preset fixed time period;
or, the condition limiting information which is effective in/out of the preset working duration of the intelligent equipment is met;
or, the condition limit information effective below/above the number of times the intelligent device performs navigation is satisfied.
4. The smart device motion control method according to any one of claims 1 to 3, wherein the motion range setting information includes layer information added on the electronic map; the layer information comprises the position and the attribute of at least one geometric shape;
the properties of the geometry are used to define an allowed range of motion or a prohibited range of motion.
5. The smart device motion control method of claim 4, wherein the geometric shape is a closed geometric shape or the geometric shape is a line segment.
6. The smart device motion control method according to claim 4, wherein the input motion range setting information includes at least one of the following setting information:
at least one geometric shape drawn on the electronic map, wherein the geometric shape is a geometric shape drawn by using a drawing tool or a geometric shape selected from preset geometric shape options;
and adjusting information for at least one geometric shape adjustment drawn on the electronic map, wherein the adjusting information comprises geometric shape position adjustment, shape adjustment and deletion operation.
7. The smart device motion control method of claim 1, wherein indicating the motion control configuration information to the smart device further comprises:
and after the motion control configuration information is fused to the electronic map, indicating the electronic map to the intelligent equipment.
8. A motion control method of intelligent equipment is applied to the intelligent equipment and is characterized by comprising the following steps:
constructing and storing an electronic map for navigation of the intelligent equipment;
sending the electronic map to a user terminal;
receiving motion control configuration information which is indicated by the user terminal and used for determining a motion range defined on the electronic map, and determining the motion range defined on the electronic map;
and move within the range of motion.
9. The smart device motion control method of claim 8, wherein the motion control configuration information comprises: location information of a range of motion defined on the electronic map;
the motion control configuration information further includes at least one of:
condition defining information that the defined range of motion is valid;
operational state information of the smart device in the defined range of motion.
10. The intelligent device motion control method according to claim 9, wherein the condition defining information that the defined motion range is valid includes:
satisfying condition restriction information effective at a preset fixed time period;
or, the condition limiting information which is effective in/out of the preset working duration of the intelligent equipment is met;
or, the condition limit information effective below/above the number of times the intelligent device performs navigation is satisfied.
11. An intelligent device motion control apparatus, comprising:
the electronic map acquisition unit is used for acquiring an electronic map which is constructed by the intelligent equipment and used for navigation;
a movement range setting unit for determining a movement range defined on the electronic map according to input movement range setting information in response to a movement range defining instruction, and generating movement control configuration information for determining the movement range defined on the electronic map;
and the setting information sending unit is used for indicating the motion control configuration information to the intelligent equipment so as to enable the intelligent equipment to move within the limited motion range.
12. The utility model provides a smart machine motion control device, is applied to smart machine which characterized in that includes:
the electronic map building unit is used for building and storing an electronic map used for navigation of the intelligent equipment;
the electronic map sending unit is used for sending the electronic map to a user terminal;
a setting information receiving unit for receiving motion control configuration information for determining a motion range defined on the electronic map, which is indicated by the user terminal, and determining the motion range defined on the electronic map;
and the motion control unit is used for controlling the intelligent equipment to move in the motion range.
13. An intelligent device motion control device, comprising: a processor and a memory for storing processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the smart device motion control method of any of claims 1-7 or any of claims 8-10.
14. A computer storage medium having stored thereon a computer program for execution by a processor to implement the smart device motion control method of any one of claims 1-7 or any one of claims 8-10.
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| CN202011333980.9A CN112438661A (en) | 2020-11-25 | 2020-11-25 | Intelligent equipment motion control method, device, equipment and computer storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011333980.9A CN112438661A (en) | 2020-11-25 | 2020-11-25 | Intelligent equipment motion control method, device, equipment and computer storage medium |
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Application publication date: 20210305 |