CN112539531B - Obstacle avoidance control method and device and air conditioner - Google Patents
Obstacle avoidance control method and device and air conditioner Download PDFInfo
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- CN112539531B CN112539531B CN202011423281.3A CN202011423281A CN112539531B CN 112539531 B CN112539531 B CN 112539531B CN 202011423281 A CN202011423281 A CN 202011423281A CN 112539531 B CN112539531 B CN 112539531B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/62—Control or safety arrangements characterised by the type of control or by internal processing, e.g. using fuzzy logic, adaptive control or estimation of values
- F24F11/63—Electronic processing
- F24F11/64—Electronic processing using pre-stored data
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/89—Arrangement or mounting of control or safety devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F2120/00—Control inputs relating to users or occupants
- F24F2120/10—Occupancy
- F24F2120/14—Activity of occupants
Abstract
The application relates to the technical field of intelligent air conditioners, and discloses an obstacle avoidance control method, which is applied to an air conditioner and comprises the following steps: acquiring image information in an image acquisition area associated with the air conditioner; if the image information comprises a target protection object and an obstacle is included in a preset range of the position of the target protection object, acquiring danger level information of the obstacle; and if the danger level information of the obstacle indicates that obstacle avoidance processing is required, generating an obstacle avoidance signal and sending the obstacle avoidance signal to the movable intelligent equipment, and controlling the movable intelligent equipment to carry out obstacle avoidance processing on the target protection object. The method can help pets to be far away from danger. The application also discloses keep away barrier controlling means and air conditioner.
Description
Technical Field
The application relates to the technical field of intelligent air conditioners, in particular to an obstacle avoidance control method and device and an air conditioner.
Background
Currently, many households raise pets at home. Furniture and home devices are typically deployed in a user's home. When a user is not at home or in a room with a pet, the pet is likely to collide with furniture or household appliances, resulting in injury to the pet. At present, although there are monitors that can real time monitoring condition in the house such as camera, on the one hand the user does not necessarily can look over the control picture in real time, even on the other hand confirm through the control that the pet is in under the dangerous state, the user also can not reach the room that the pet is located in order to help the pet to keep away from danger in the very first time usually, avoids the injured condition of pet to take place.
In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art:
the existing monitoring equipment cannot help the pet to keep away from danger.
Disclosure of Invention
The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview nor is intended to identify key/critical elements or to delineate the scope of such embodiments but rather as a prelude to the more detailed description that is presented later.
The embodiment of the disclosure provides an obstacle avoidance control method and device and an air conditioner, so that the air conditioner can help a pet to be far away from danger.
In some embodiments, the method, applied to an air conditioner, comprises: acquiring image information in an image acquisition area associated with the air conditioner; if the image information comprises a target protection object and an obstacle is included in a preset range of the position of the target protection object, acquiring danger level information of the obstacle; and if the danger level information of the obstacle indicates that obstacle avoidance processing is required, generating an obstacle avoidance signal and sending the obstacle avoidance signal to the movable intelligent equipment, and controlling the movable intelligent equipment to carry out obstacle avoidance processing on the target protection object.
In some embodiments, the target protected object is determined as follows: if the image information comprises a newly added object, extracting the contour information of the newly added object; and if the profile information of the newly added object is matched with the preset profile information, determining the newly added object as the target protection object.
In some embodiments, the method further comprises: and determining a target user associated with the air conditioner, generating alarm information and pushing the alarm information to the target user.
In some embodiments, the method further comprises: and generating voice information and pushing the voice information to the target protection object.
In some embodiments, the air conditioner is configured with an image capture device; the image information is obtained in the following manner: acquiring image data of an image acquisition area associated with the air conditioner through the image acquisition equipment; and performing three-dimensional reconstruction on the image data to obtain the image information.
In some embodiments, the hazard level information of the obstacle is determined from one or more of height information, volume information, and contour information of the obstacle.
In some embodiments, the method, applied to a mobile smart device, includes: the movable intelligent equipment obtains an obstacle avoidance signal sent by an air conditioner, and the obstacle avoidance signal is generated when the air conditioner determines that an obstacle avoidance process needs to be carried out on a target protection object; and carrying out obstacle avoidance processing on the target protection object according to the obstacle avoidance signal.
In some embodiments, the obstacle avoidance signal includes location information of the target protection object, and the performing obstacle avoidance processing on the target protection object according to the obstacle avoidance signal includes: performing path planning according to the position of the movable intelligent equipment and the position of the target protection object; and moving to the position of the target protection object according to the planned path information.
In some embodiments, the control apparatus includes a processor and a memory storing program instructions, and the processor is configured to execute the obstacle avoidance control method as described above when executing the program instructions.
In some embodiments, the air conditioner comprises the obstacle avoidance control device.
The obstacle avoidance control method, the obstacle avoidance control device and the air conditioner provided by the embodiment of the disclosure can achieve the following technical effects:
the air conditioner acquires image information within an image acquisition area associated therewith to determine whether a target protected object and an obstacle are included within the image acquisition area. And if the image information comprises the target protection object and the preset range of the position of the target protection object comprises the obstacle, acquiring the danger level information of the obstacle. And if the danger level information of the obstacle indicates that obstacle avoidance processing is required, generating obstacle avoidance information and sending the obstacle avoidance information to the movable intelligent equipment, so that the movable intelligent equipment can carry out obstacle avoidance processing on the target protection object. The method can help the pet to be far away from danger, and is more intelligent.
The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the accompanying drawings and not in limitation thereof, in which elements having the same reference numeral designations are shown as like elements and not in limitation thereof, and wherein:
fig. 1 is a schematic diagram of an obstacle avoidance control method according to an embodiment of the present disclosure;
fig. 2 is a schematic diagram of another obstacle avoidance control method provided in the embodiment of the present disclosure;
fig. 3 is a schematic diagram of another obstacle avoidance control method provided by the embodiment of the present disclosure;
fig. 4 is a schematic diagram of another obstacle avoidance control method provided in the embodiment of the present disclosure;
fig. 5 is a schematic diagram of another obstacle avoidance control method provided in the embodiment of the present disclosure;
fig. 6 is a schematic diagram of another obstacle avoidance control method provided in the embodiment of the present disclosure;
fig. 7 is a schematic diagram of another obstacle avoidance control method provided in the embodiment of the present disclosure;
fig. 8 is a schematic view of an obstacle avoidance control device according to an embodiment of the present disclosure.
Detailed Description
So that the manner in which the features and advantages of the embodiments of the present disclosure can be understood in detail, a more particular description of the embodiments of the disclosure, briefly summarized above, may be had by reference to the appended drawings, which are included to illustrate, but are not intended to limit the embodiments of the disclosure. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown in simplified form in order to simplify the drawing.
The terms "first," "second," and the like in the description and claims of the embodiments of the disclosure and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the present disclosure described herein may be made. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.
The term "plurality" means two or more unless otherwise specified.
In the embodiment of the present disclosure, the character "/" indicates that the preceding and following objects are in an or relationship. For example, A/B represents: a or B.
The term "and/or" is an associative relationship that describes objects, meaning that three relationships may exist. E.g., a and/or B, represents: a or B, or A and B.
Referring to fig. 1, an embodiment of the present disclosure provides an obstacle avoidance control method applied to an air conditioner, including:
and S11, acquiring image information in an image acquisition area associated with the air conditioner.
S12, judging whether the image information comprises a target protection object and whether an obstacle is included in a preset range of the position of the target protection object; if yes, executing S13; otherwise, return to execute S11.
And S13, obtaining danger level information of the obstacle.
S14, judging whether the air conditioner needs to carry out obstacle avoidance processing or not according to the danger level information of the obstacles; if yes, executing S15; otherwise, return to execute S11.
And S15, generating an obstacle avoidance signal, sending the obstacle avoidance signal to the movable intelligent equipment, and controlling the movable intelligent equipment to carry out obstacle avoidance processing on the target protection object.
By adopting the obstacle avoidance control method provided by the embodiment of the disclosure, the air conditioner acquires the image information in the image acquisition area associated with the air conditioner so as to determine whether the image acquisition area comprises the target protection object and the obstacle. And if the image information comprises the target protection object and the preset range of the position of the target protection object comprises the obstacle, acquiring the danger level information of the obstacle. And if the danger level information of the obstacle indicates that obstacle avoidance processing is required, generating obstacle avoidance information and sending the obstacle avoidance information to the movable intelligent equipment, so that the movable intelligent equipment carries out obstacle avoidance processing on the target protection object. The method can help the pet to be far away from danger, and is more intelligent.
Alternatively, if the air conditioner is equipped with an image acquisition device, for example, a camera, an infrared device. The image capture area associated with the air conditioner may include an area in which the indoor environment is captured by the image capture device. The air conditioner may or may not be located in the indoor environment. As an example, a camera is mounted on an air conditioner. The camera can be used for collecting images of the area where the indoor environment where the air conditioner is located. As another example, a camera and an air conditioner are installed in different areas, and the camera can transmit image information with the air conditioner. The image information of the area where the indoor environment is located and shot by the camera can be transmitted to the air conditioner through the camera.
Alternatively, the obstacle may include one or more of furniture, home appliances, and everyday living goods. In this way, since the furniture, the home electric appliances, and the daily necessities are placed in an indoor environment for a long time, and parts of the furniture, the home electric appliances, and the daily necessities have sharp corners or are liable to fall over, and other dangerous factors, the furniture, the home electric appliances, and the daily necessities can be used as obstacles.
Optionally, as shown in fig. 2, the target protected object is determined in the following manner:
s21, judging whether the image information comprises a newly added object; if yes, executing S22; otherwise, the process returns to S21.
And S22, extracting the contour information of the newly added object.
S23, judging whether the contour information of the newly added object is matched with the preset contour information; if so, executing S24; otherwise, the process returns to S21.
And S24, determining the newly added object as a target protection object.
In this way, since furniture, home appliances, and the like are usually in a stationary state and pets and/or children are usually in a moving state in an image capturing area associated with the air conditioner, it is possible to know whether a pet or a child enters the image capturing area by determining whether a newly added object is included in the image information. And determining the newly added object as a target protection object by extracting the profile information of the newly added object and judging whether the profile information is matched with the preset profile information.
As one example, determining the newly added object as the target protected object includes determining a type of the target protected object. Wherein the type of target protected object comprises a pet and/or a child. Since the outlines of the pet and the child have a great difference, the type of the target object can be determined by comparing the outline information of the newly added object with the preset outline information. And pre-storing the preset profile information corresponding to the pet and the preset profile information corresponding to the child.
Optionally, whether an obstacle is included in the preset range of the position of the target protection object includes:
and S31, determining the position information of the target protected object.
S32, judging whether the distance between the position information of the obstacle and the position information of the target protection object is smaller than a preset distance; if yes, executing S33; otherwise, return to execute S31.
And S33, determining that the preset range of the position of the target protection object comprises the obstacle. The preset range refers to a circumferential area with the position information of the target protection object as the center and the radius smaller than or equal to a preset distance.
Therefore, whether the obstacle is included in the preset range of the position of the target protection object can be determined according to the distance between the target protection object and the obstacle, and the position information of the target protection object can be re-determined when the distance is greater than the preset distance, so that the position of the target protection object can be dynamically monitored, and the target protection object is effectively helped to be far away from danger.
As shown in fig. 4, an embodiment of the present disclosure further provides an obstacle avoidance control method, including:
and S41, acquiring image information in the image acquisition area associated with the air conditioner.
S42, judging whether the image information comprises a target protection object and whether an obstacle is included in a preset range of the position of the target protection object; if yes, executing S43; otherwise, return to execution S41.
And S43, obtaining danger level information of the obstacle.
S44, judging whether the air conditioner needs to carry out obstacle avoidance processing according to the danger level information of the obstacle; if yes, executing S45; otherwise, return to execution S41.
And S45, generating an obstacle avoidance signal, sending the obstacle avoidance signal to the movable intelligent equipment, and controlling the movable intelligent equipment to carry out obstacle avoidance processing on the target protection object.
And S46, determining a target user associated with the air conditioner, generating alarm information and pushing the alarm information to the target user.
By adopting the obstacle avoidance control method provided by the embodiment of the disclosure, since a plurality of users may be simultaneously provided outside the image acquisition area or within the image acquisition area, and one or more users associated with the target protection object may be provided, the air conditioner needs to be associated with the target user, and alarm information is generated and pushed to the target user to prompt the target user to quickly reach the image acquisition area to help the target protection object to be away from the obstacle.
Optionally, the alarm information includes one or more of audio information or text information.
As an example, in a case that the target protection object is a child, determining that a target user associated with the air conditioner is a guardian outside the image acquisition area, and generating first audio information to push to the guardian to implement audio prompting.
As another example, in the case that the target protection object is a pet, it is determined that the target user associated with the air conditioner is a pet owner outside the image capturing area, and second audio information may be generated and pushed to the pet owner to implement audio prompt. The second audio information may be the same as or different from the first audio information.
The step of pushing the alarm information to the target user can be executed after the movable intelligent device is controlled to perform obstacle avoidance processing on the target protection object; or, the obstacle avoidance processing may be performed while controlling the movable intelligent device to perform the obstacle avoidance processing, which may not be specifically limited by the embodiment of the present disclosure.
As shown in fig. 5, an embodiment of the present disclosure further provides an obstacle avoidance control method, including:
and S51, acquiring image information in an image acquisition area associated with the air conditioner.
S52, judging whether the image information comprises a target protection object and whether an obstacle is included in a preset range of the position of the target protection object; if yes, go to S53; otherwise, return to execute S51.
And S53, acquiring danger level information of the obstacle.
S54, judging whether the air conditioner needs to carry out obstacle avoidance processing according to the danger level information of the obstacle; if yes, executing S55; otherwise, return to execute S51.
And S55, generating an obstacle avoidance signal, sending the obstacle avoidance signal to the movable intelligent equipment, and controlling the movable intelligent equipment to carry out obstacle avoidance processing on the target protection object.
And S56, generating voice information and pushing the voice information to a target protection object.
By adopting the obstacle avoidance control method provided by the embodiment of the disclosure, the voice information can be a pre-stored user command under the condition that the target protection object is a pet. Such as: the user command may be "sit down," "raise the head," or "lie down," among other relevant commands that prompt the animal to remain in place. Under the condition that the target protection object is an animal, a user command is generated and pushed to the target protection object, so that the animal can execute related actions according to the user command, and the animal is further helped to be far away from danger on the basis of controlling the movable intelligent device to carry out obstacle avoidance processing on the animal. In the case that the target protection object is a child, the voice information may be pre-stored reminder information. Such as: the reminding information can be voice or music of a user capable of transferring the attention of children.
In the actual application process, voice information is pushed to the target protection object, which can be embodied as that generated voice information is sent to the movable intelligent equipment, and the movable intelligent equipment broadcasts the voice information; or, the voice information may be generated and sent to the air conditioner, and the air conditioner performs voice information broadcast.
Alternatively, if the air conditioner is equipped with an image acquisition device, such as a camera, an infrared device, the image information may be obtained in the following manner:
and S61, acquiring image data of an image acquisition area associated with the air conditioner through image acquisition equipment.
And S62, performing three-dimensional reconstruction on the image data to obtain image information.
Therefore, the image data with high accuracy can be obtained by performing three-dimensional reconstruction on the image data, so that the image information of the image acquisition area is highly restored, and the accuracy of obstacle avoidance is improved.
Alternatively, the danger level information of the obstacle may be determined from one or more of height information, volume information, and contour information of the obstacle. In this way, since the height information, the volume information, and the contour information of the obstacle may reflect the height, the spatial size, and the sharpness of the contour of the obstacle, the danger level of the obstacle can be determined by one or more of the above three types of information.
Optionally, the obstacle avoidance processing is determined to be required according to the following method: height information, volume information and contour information of the obstacle are acquired. Comparing the height information of the obstacle with a preset height value, comparing the volume information of the obstacle with the preset volume value and comparing the contour information of the obstacle with a preset contour, if the height information does not match with the preset height value; and/or the volume information does not match the preset volume value; and/or determining that the obstacle avoidance processing is required if the contour information is not matched with the preset contour information.
Therefore, the danger level of the obstacle can be reflected according to the height information, the volume information and the contour information of the obstacle, and the danger level of the obstacle can be effectively determined by respectively matching the three types of information with the preset height value, the preset volume value and the preset contour information.
As shown in fig. 6, an embodiment of the present disclosure further provides an obstacle avoidance method applied to a mobile intelligent device, including:
and S71, the movable intelligent equipment obtains an obstacle avoidance signal sent by the air conditioner, and the obstacle avoidance signal is generated when the air conditioner determines that the obstacle avoidance processing needs to be carried out on the target protection object.
And S72, carrying out obstacle avoidance processing on the target protection object according to the obstacle avoidance signal.
The movable intelligent equipment comprises intelligent electronic equipment which can horizontally move on a plane where the intelligent sweeping robot and the intelligent sound box are located in an image acquisition area.
By adopting the obstacle avoidance control method provided by the embodiment of the disclosure, after the movable intelligent device obtains the obstacle avoidance signal sent by the air conditioner, the movable intelligent device carries out obstacle avoidance processing on the target protection object according to the obstacle avoidance signal, and the movable intelligent device can carry out obstacle avoidance processing on the target protection object in time so as to enable the target protection object to be far away from danger.
Optionally, the obstacle avoidance signal may include information of a position where the target protection object is located. With reference to fig. 7, the method for performing obstacle avoidance processing on a target protected object according to an obstacle avoidance signal includes:
and S81, planning a path according to the position of the movable intelligent equipment and the position of the target protection object.
And S82, moving to the position of the target protection object according to the planned path information.
Therefore, the movable intelligent equipment carries out path planning according to the position of the movable intelligent equipment and the position of the target protection object and moves to the position of the target protection object according to the path information corresponding to the planning, and therefore the target protection object is driven away to enable the target protection object to be far away from danger.
Optionally, moving to the position of the target protection object according to the path information obtained by planning includes:
moving to the position of the target protection object; or the target protection object is moved to any position on a connecting line between the position of the target protection object and the position of the obstacle.
Therefore, when the movable intelligent equipment moves to the position of the target protection object, the movement of the target protection object can be interfered, so that the target protection object does not move according to the original path under the interference of the movable intelligent equipment, namely, the target protection object is not close to the obstacle any more, and the obstacle avoidance is realized. In addition, if the movable intelligent device moves to any position on a connecting line between the position of the target protection object and the position of the obstacle, the target protection object moving towards the obstacle is blocked, namely, the target protection object and the obstacle are physically separated, so that the target protection object does not move according to the original path under the blockage of the movable intelligent device, and obstacle avoidance is achieved.
In practical applications, the air conditioner is installed on a wall of a room in a room, and the air conditioner is provided with a camera. The camera can acquire image information of an indoor area. The room is internally provided with household appliances such as a vertical air conditioner, a television and the like and is provided with furniture such as a sofa, a tea table, a fitting mirror and the like. The height information, the volume information and the contour information of the household appliance and the furniture are respectively matched with the preset height value, the preset volume value and the preset contour information, so that the danger level information of the vertical air conditioner and the fitting mirror is determined to be high, and the danger level information of a television, a sofa and a tea table is determined to be low. Wherein, the area that this camera can shoot is as image acquisition area.
At the present time, no pets and children enter the room. Fifteen minutes later, a pet dog and a 9 month old infant were simultaneously played in the room. The distance between the pet dog and the vertical air conditioner is 2 m, and the distance between the pet dog and the television, the sofa, the tea table and the fitting mirror is more than 3 m. The distance between the position of the baby and the fitting mirror is 5 meters, and the distance between the baby and the television, the sofa, the tea table and the vertical air conditioner is more than 5 meters.
The preset range is 3 meters.
The obstacle avoidance control method comprises the following steps:
and S91, acquiring image information in an image acquisition area associated with the air conditioner.
And S92, at the current moment, no new object exists in the image information. And after fifteen minutes, determining that the image information comprises two newly added objects.
And S93, determining that the types of the two newly added objects are respectively the pet and the baby and taking the two newly added objects as target protection objects if the two newly added objects are respectively matched with the preset profile information corresponding to the pet and the preset profile information corresponding to the child.
S94, determining that the image information comprises the obstacle; wherein, the barrier comprises a television, a sofa, a tea table, a vertical air conditioner and a fitting mirror. The distance between the pet dog and the vertical air conditioner is 2 m, and the distance between the pet dog and the television, the sofa, the tea table and the fitting mirror is more than 3 m. The preset range of the position of the pet dog comprises a barrier vertical air conditioner. The distance between the position of the baby and the fitting mirror is 5 meters, and the distance between the baby and the television, the sofa, the tea table and the vertical air conditioner is more than 5 meters. Since the preset range is 3 meters, it is determined that the vertical air conditioner is an obstacle in the preset range of the position where the pet dog is located and the obstacle is not included in the preset range of the position where the infant is located.
And S95, determining that the danger level information of the vertical air conditioner in the preset range of the position of the pet dog is high.
And S96, comparing the height information of the vertical air conditioner with a preset height value, and determining that the obstacle avoidance processing is required if the height information is matched with the preset height value.
S97, the air conditioner generates a barrier avoiding signal and sends the barrier avoiding signal to the intelligent sweeping robot, the intelligent sweeping robot is controlled to move to any position on a connecting line between the position where the pet dog is located and the position where the vertical air conditioner is located so as to block the pet dog moving towards the vertical air conditioner, the pet dog can not move according to an original path under the blocking of the intelligent sweeping robot, and the danger of a pet dog principle is achieved.
S98, determining that the target user associated with the air conditioner is the owner of the pet dog outside the image acquisition area, generating audio information and pushing the audio information to the target user so as to remind the user to enter the room as soon as possible and help the pet dog to get away from danger.
As shown in fig. 8, an obstacle avoidance control apparatus according to an embodiment of the present disclosure includes a processor (processor) 100 and a memory (memory) 101. Optionally, the apparatus may also include a Communication Interface (Communication Interface) 102 and a bus 103. The processor 100, the communication interface 102, and the memory 101 may communicate with each other via a bus 103. The communication interface 102 may be used for information transfer. The processor 100 may call logic instructions in the memory 101 to execute the obstacle avoidance control method of the above embodiment.
In addition, the logic instructions in the memory 101 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products.
The memory 101, which is a computer-readable storage medium, may be used for storing software programs, computer-executable programs, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor 100 executes the program instructions/modules stored in the memory 101 to execute functional applications and data processing, that is, to implement the obstacle avoidance control method in the above embodiment.
The memory 101 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal device, and the like. In addition, the memory 101 may include a high-speed random access memory, and may also include a nonvolatile memory. The terminal device may be, for example, a mobile device, a computer, or a vehicle-mounted device built in a floating car, or any combination thereof. In some embodiments, the mobile device may include, for example, a cell phone, a smart home device, a wearable device, a smart mobile device, a virtual reality device, and the like, or any combination thereof.
The embodiment of the disclosure provides an air conditioner, which comprises the obstacle avoidance control device.
The embodiment of the present disclosure provides a computer-readable storage medium, which stores computer-executable instructions configured to execute the above-mentioned obstacle avoidance control method.
An embodiment of the present disclosure provides a computer program product, including a computer program stored on a computer-readable storage medium, the computer program including program instructions, which, when executed by a computer, cause the computer to execute the above-mentioned obstacle avoidance control method.
The computer-readable storage medium described above may be a transitory computer-readable storage medium or a non-transitory computer-readable storage medium.
The technical solution of the embodiments of the present disclosure may be embodied in the form of a software product, where the computer software product is stored in a storage medium and includes one or more instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present disclosure. And the aforementioned storage medium may be a non-transitory storage medium comprising: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes, and may also be a transient storage medium.
The above description and drawings sufficiently illustrate embodiments of the disclosure to enable those skilled in the art to practice them. Other embodiments may incorporate structural, logical, electrical, process, and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. Furthermore, the words used in the specification are words of description only and are not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and/or" as used in this application is meant to encompass any and all possible combinations of one or more of the associated listed. Furthermore, the terms "comprises" and/or "comprising," when used in this application, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Without further limitation, an element defined by the phrase "comprising one of 8230," does not exclude the presence of additional like elements in a process, method or device comprising the element. In this document, each embodiment may be described with emphasis on differences from other embodiments, and the same and similar parts between the respective embodiments may be referred to each other. For methods, products, etc. of the embodiment disclosures, reference may be made to the description of the method section for relevance if it corresponds to the method section of the embodiment disclosure.
Those of skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software may depend upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the disclosed embodiments. It can be clearly understood by the skilled person that, for convenience and brevity of description, the specific working processes of the system, the apparatus and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, apparatuses, etc.) may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units may be only one type of logical functional division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to implement the present embodiment. In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. In the description corresponding to the flowcharts and block diagrams in the figures, operations or steps corresponding to different blocks may also occur in different orders than disclosed in the description, and sometimes there is no specific order between the different operations or steps. For example, two sequential operations or steps may in fact be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. Each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Claims (9)
1. An obstacle avoidance control method is applied to an air conditioner and is characterized by comprising the following steps:
acquiring image information in an image acquisition area associated with the air conditioner;
if the image information comprises a target protection object and an obstacle is included in a preset range of the position of the target protection object, acquiring danger level information of the obstacle;
if the danger level information of the obstacle indicates that obstacle avoidance processing is required, generating an obstacle avoidance signal and sending the obstacle avoidance signal to movable intelligent equipment, controlling the movable intelligent equipment to carry out obstacle avoidance processing on the target protection object, wherein the obstacle avoidance signal comprises the position information of the target protection object;
the control of the movable intelligent device to carry out obstacle avoidance processing on the target protection object comprises the following steps:
the movable intelligent equipment carries out path planning according to the position of the movable intelligent equipment and the position of the target protection object;
the movable intelligent equipment moves to the position of the target protection object according to the planned path information;
wherein the type of target protected object comprises a pet and/or a child;
the moving to the position of the target protection object according to the path information obtained by planning comprises the following steps:
moving to the position of the target protection object; or the target protection object moves to any position on a connecting line between the position of the target protection object and the position of the obstacle, so as to block the target protection object moving towards the obstacle.
2. The method of claim 1, wherein the target protected object is determined as follows:
if the image information comprises a newly added object, extracting the outline information of the newly added object;
and if the profile information of the newly added object is matched with the preset profile information, determining the newly added object as the target protection object.
3. The method of claim 1, further comprising:
and determining a target user associated with the air conditioner, generating alarm information and pushing the alarm information to the target user.
4. The method of claim 1, further comprising:
and generating voice information and pushing the voice information to the target protection object.
5. The method according to any one of claims 1 to 4, wherein the air conditioner is provided with an image acquisition device; the image information is obtained in the following manner:
acquiring image data of an image acquisition area associated with the air conditioner through the image acquisition equipment;
and performing three-dimensional reconstruction on the image data to obtain the image information.
6. The method of any one of claims 1 to 4, wherein the hazard level information of the obstacle is determined from one or more of height information, volume information, and contour information of the obstacle.
7. An obstacle avoidance control method is applied to a movable intelligent device and is characterized by comprising the following steps:
the movable intelligent equipment obtains an obstacle avoidance signal sent by an air conditioner, and the obstacle avoidance signal is generated when the air conditioner determines that an obstacle avoidance process needs to be carried out on a target protection object;
carrying out obstacle avoidance processing on the target protection object according to the obstacle avoidance signal, wherein the obstacle avoidance signal comprises the position information of the target protection object;
the obstacle avoidance processing is performed on the target protection object according to the obstacle avoidance signal, and the method includes:
performing path planning according to the position of the movable intelligent equipment and the position of the target protection object;
moving to the position of the target protection object according to the path information obtained by planning;
wherein the type of target protected object comprises a pet and/or a child;
the moving to the position of the target protection object according to the path information obtained by planning comprises the following steps:
moving to the position of the target protection object; or the target protection object moves to any position on a connecting line of the position of the target protection object and the position of the obstacle, so as to block the target protection object moving towards the obstacle.
8. An obstacle avoidance control device comprising a processor and a memory storing program instructions, wherein the processor is configured to execute the obstacle avoidance control method according to any one of claims 1 to 6 when executing the program instructions.
9. An air conditioner characterized by comprising the obstacle avoidance control device according to claim 8.
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| CN202011423281.3A CN112539531B (en) | 2020-12-08 | 2020-12-08 | Obstacle avoidance control method and device and air conditioner |
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| CN113531807B (en) * | 2021-06-29 | 2023-07-18 | 青岛海尔空调器有限总公司 | Method and device for controlling air conditioner, air conditioner and storage medium |
| CN114077203B (en) * | 2021-10-28 | 2023-11-21 | 青岛海尔空调器有限总公司 | Method and device for safety protection, electrical equipment and storage medium |
| CN115629612A (en) * | 2022-12-19 | 2023-01-20 | 科大讯飞股份有限公司 | Obstacle avoidance method, device, equipment and storage medium |
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