CN113344263B - Method and device for judging track closure in edge walking process and computer equipment - Google Patents
Method and device for judging track closure in edge walking process and computer equipment Download PDFInfo
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- CN113344263B CN113344263B CN202110592934.9A CN202110592934A CN113344263B CN 113344263 B CN113344263 B CN 113344263B CN 202110592934 A CN202110592934 A CN 202110592934A CN 113344263 B CN113344263 B CN 113344263B
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Abstract
The application discloses a track closing judgment method in the process of edgewise walking, wherein a suspected closing point is found through distance calculation in the process of edgewise walking; and then the truth of the suspected closing point is judged according to the map similarity comparison result, so that whether the track is closed in the edge walking process is accurately judged, and the condition of misjudgment caused by similar environments is avoided. The scheme realizes the searching and the confirmation of the suspected closing point through two judgments, and the result is more accurate.
Description
Technical Field
The invention relates to the field of intelligent equipment operation rules, in particular to a method and a device for judging track closure in an edge walking process and computer equipment.
Background
At present, the application of intelligent equipment is more and more extensive, such as a robot for answering services, a robot for patrol security check or a sweeping and cleaning robot. The smart devices described above often require a patrol-like walking process. The "edge" referred to in the above-mentioned edge walking process is an edge of the walking track of the smart device, and is not necessarily a real boundary (e.g., a wall).
For example, in the cleaning process of a sweeping robot for a specified area, the scanning process generally comprises bow-shaped scanning in the area and wall walking in the area. In a conventional mode, firstly, a bow-shaped scanning process is carried out, and then, a wall-following walking process is carried out. During the walking along the wall, the closing of the running track along the wall is one of the important end conditions of the walking along the wall. The general standard for judging whether the track is closed in the prior art is to calculate whether the position of the current sweeping robot is overlapped with the environment near the starting point of the wall walking process (for example, the distance between point positions meeting the overlapping condition is 5-10 cm).
However, due to factors such as deviation of the floor sweeping robot in the current position coordinate determination or complexity of an application environment, the problem of erroneous determination may be caused by determining whether the trajectory in the edgewise walking process is closed only by the determination condition of the distance between the current position and the starting position.
Disclosure of Invention
The invention mainly aims to provide a method and a device for judging the closing of a track in an edge walking process and computer equipment, and aims to solve the problem of wrong judgment of whether the track is closed by intelligent equipment in the edge walking process.
In order to achieve the above object, the present invention provides a method for determining a trajectory closure during an edgewise walking process, which is applied to an intelligent device, and comprises:
recording information of the intelligent equipment at the point location of the current time every set interval in the process of walking along the edge, wherein the information at least comprises coordinate information of the intelligent equipment at the current time;
if the distance value between a historical point position before the current time and the point position at the current time is smaller than a first judgment distance, judging that the point position at the current time is a suspected closed point which has walked along the edge, and judging that the historical point position is a suspected starting point;
obtaining a second map according to the coordinates of all point positions in the process of walking along the edge;
and judging whether the track of the edgewise walking process is closed at the suspected closing point or not according to the similarity comparison result of the second map and a first map, wherein the first map is a shape map of a target area aimed at by the edgewise walking process.
Further, the step of determining whether the trajectory of the edgewise walking process is closed at the suspected closing point according to the similarity comparison result between the second map and the first map includes:
calculating the areas of the first map and the second map as a first area value and a second area value respectively;
obtaining a difference in magnitude between the first area value and the second area value;
and if the size difference falls into a first judgment range, judging that the track of the edgewise walking process is closed at the suspected closing point.
Further, the step of judging whether the track of the edgewise walking process is closed at the suspected closing point according to the similarity comparison result between the second map and the first map comprises the following steps:
dividing the first map and the second map into a first pixel map and a second pixel map which are composed of a plurality of pixel block areas in the same dividing mode;
obtaining a difference in the number of the pixel block regions included in the first pixel map and the second pixel map;
and if the quantity difference falls into a second judgment range, judging that the track of the edgewise walking process is closed at the suspected closing point.
Further, the step of determining whether the trajectory of the edgewise walking process is closed at the suspected closing point according to the similarity comparison result between the second map and the first map includes:
calculating the intersection ratio of the first map and the second map;
and if the intersection ratio falls into a third judgment range, judging that the track of the edgewise walking process is closed at the suspected closing point.
Further, the information further includes a speed direction of the smart device, and the determining that the point location at the current time is a suspected closed point that has traveled along the edge if the distance value between a historical point location before the current time and the point location at the current time is smaller than a first determination distance includes, after the determining that the historical point location is a suspected starting point:
calculating a direction included angle between the speed direction of the intelligent equipment at the suspected closing point and the speed direction of the intelligent equipment at the suspected starting point;
if the included angle of the directions is smaller than a first preset judgment angle, maintaining the judgment that the current point position is the suspected closing point;
if the direction included angle is larger than a first preset judgment angle, abandoning the judgment that the current point position is the suspected closing point, and executing the track closing judgment method again.
Further, if the distance value between a historical point location before the current time and the point location at the current time is smaller than the first determination distance, it is determined that the point location at the current time is a suspected closed point that has traveled along the edge, and the step of determining that the historical point location is a suspected starting point includes:
calculating to obtain a real-time judgment distance D T Wherein D is T = (a + bT), wherein a is a distance base number and has a unit of length, b is a distance increasing coefficient and has a unit of length/time, and T is the current running time in the edgewise walking process and has a unit of time;
taking the real-time judgment distance D T The smaller value from Dc is a first determination distance, where D C Is the limit distance.
Further, the set interval is a distance interval or a time interval.
Further, the step of determining that the point location at the current time is a suspected closed point that has traveled along the edge if the distance value between the historical point location before the current time and the point location at the current time is smaller than the first determination distance, and the step of determining that the historical point location is a suspected starting point includes:
judging whether the number of the set intervals existing between the suspected closing point and the suspected starting point in the edgewise walking process is larger than a first preset judgment number or not;
if yes, maintaining the point position of the current time as a suspected closed point which is walked along the edge;
if not, the judgment that the point position of the current time is a suspected closing point which is walked along the edge is denied, and the track closing judgment method is executed again.
The invention also provides a device for operating the track closing judgment method in the edgewise walking process, which comprises the following steps:
the first obtaining unit is used for recording information of the intelligent equipment at a point position of current time every time a set interval passes in the process of walking along the edge, wherein the information at least comprises coordinate information of the intelligent equipment at the current time;
a first comparison confirming unit, configured to confirm that, if a distance value between a historical point location before the current time and a point location at the current time is smaller than a first determination distance, the point location at the current time is determined to be a suspected closed point that has traveled along the edge, and the historical point location is determined to be a suspected starting point;
the second obtaining unit is used for obtaining a second map according to the coordinates of all point positions in the edgewise walking process;
and the first calculation and confirmation unit is used for judging whether the track of the edgewise walking process is closed at the suspected closing point according to the similarity comparison result of the second map and a first map, wherein the first map is a shape map of a target area aimed at by the edgewise walking process.
The invention also provides computer equipment which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the track closing judgment method when executing the computer program.
In summary, the present application discloses a method for determining track closure during an edge walking process, wherein a suspected closure point is found by distance calculation during the edge walking process; and then the truth of the suspected closing point is judged according to the map similarity comparison result, so that whether the track is closed or not in the edgewise walking process is accurately judged, and the condition of misjudgment due to similar environments is avoided. The scheme realizes the searching and the confirmation of the suspected closing point through two judgments, and the result is more accurate.
Drawings
Fig. 1 is a schematic flow chart of a track closing determination method in an edge walking process according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a comparison of similarity between a second map and a first map in a track closing determination method for a walking-along process according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an apparatus for operating a trajectory closure determination method for an edgewise walking process according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a computer device according to an embodiment of the invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, units, modules, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, units, modules, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Referring to fig. 1, in an embodiment of the present invention, a method for determining a track closure in an edgewise walking process is applied to an intelligent device, and includes:
s1, recording information of the intelligent equipment at a point position of current time every set interval in the process of walking along the edge, wherein the information at least comprises coordinate information of the intelligent equipment at the current time;
s2, if the distance value between a historical point position before the current time and the point position at the current time is smaller than a first judgment distance, judging that the point position at the current time is a suspected closed point which walks along the edge, and judging that the historical point position is a suspected starting point;
s3, obtaining a second map according to the coordinates of all point positions in the edge walking process;
and S4, judging whether the track of the edge walking process is closed at the suspected closing point or not according to the similarity comparison result of the second map and a first map, wherein the first map is a shape map of a target area aimed at by the edge walking process.
The intelligent equipment is a self-propelled intelligent device such as a sweeping robot or a patrol robot. In this embodiment, the smart machine is a sweeping robot, and the edgewise walking process is an edgewise sweeping process of the sweeping robot at this time. In the step S1, during the course of walking along the edge, the coordinates of the intelligent device at the point location of the current time are recorded every set interval, so as to form a complete record of the point location of the intelligent device during the whole course of walking along the edge. The point location of the intelligent device at the current time is realized through a position acquisition unit arranged on the intelligent device, such as data of visual/inertial navigation. Of course, the intelligent device may be required to record the speed direction of the current time as needed.
In the step S2, a suspected closing point is found by calculating a distance between the current point location and the historical point location before the current point location by the smart device. In step S2, the suspected closing point may be determined by excluding a point location separated from the starting point location of the edgewise walking process by a plurality of set intervals, so as to avoid that a point location close to the starting point location satisfies the determination condition in step S2 and is erroneously determined as the suspected closing point, but obviously the suspected closing point is false (of course, the real-time distance may also be calculated after the first set interval after the starting point location).
In the steps S3 to S4, the second map is obtained according to the coordinates of all the point locations during the course of walking along the side, for example, a closed track is obtained by sequentially connecting the coordinates of all the point locations. And verifying whether the suspected closing point is true or not by comparing the similarity of the second map and the first map, namely, if the second map is closer to the first map, judging that the track in the process of walking along the edge is closed to the suspected closing point. The first map is a shape map of a target area aimed at in the process of walking along the edge, the first map can be manually input by a user or automatically obtained by intelligent equipment, and in one embodiment, the scanning of the target area by the intelligent equipment comprises a global scanning process and a process of walking along the edge; after the global scanning process, extracting a target area graph obtained in the global scanning process as a first map through a radar component or an infrared sensing element or other components on the global scanning process. By the method, a suspected closing point is found firstly in the process of walking along the edge; and judging the authenticity of the suspected closing point according to the map similarity comparison result, thereby accurately judging whether the track in the edgewise walking process is closed or not.
It should be noted that, if the similarity comparison result between the second map and the first map is greatly different, the intelligent device may send out a warning message, so that the user can perform inspection and maintenance. If the first map is obtained by the intelligent device, the intelligent device may need to obtain the correct first map again after certain trimming is performed on the target area; if the first map is manually entered by the user, the user may be required to review, modify, etc. the first map. The user can also monitor the edge walking process of the intelligent device to confirm whether the edge walking process is abnormal or not, so that the first map is abnormal to obtain.
It is worth mentioning that in one embodiment, the first map is typically obtained by the robot performing a "bow-type sweep" in the sweep area, and after the "bow-type sweep" is performed, the edgewise sweep (i.e., walking edgewise) is performed and the second map is obtained. In order to make the first map itself, which is the comparison object/comparison sample, sufficiently accurate if the "second map is obtained by the smart device itself", it is preferable to perform the following verification before the edge sweeping in step S1.
S1.1, when the cleaning area is subjected to zigzag cleaning, simultaneously obtaining the cleaning area recorded under the zigzag cleaning, and finally accumulating the total cleaning area A of the cleaning area;
s1.2, after the bow-shaped cleaning of the cleaning area is finished, obtaining a first map of the whole cleaning area based on the bow-shaped track;
s1.3, obtaining a total area B in the outline of the first map by adopting an outline extraction mode for the first map;
s1.4, comparing the total area A with the total area B;
s1.5, when the ratio/difference value of the total area A and the total area B is within a fault tolerance range, the contour accuracy of the extracted first map is considered to be higher, and the first map can be used for comparing with a second map in the subsequent step;
if the ratio/difference between the total area A and the total area B is large, the contour accuracy of the extracted first map is considered to be possibly low; the foregoing process may be self-checked, and the step of comparing the contour and the area may be re-extracted, or a prompt of "the contour of the first map may be inaccurate" may be output to the user, and an operation may be performed according to an instruction of the user, for example, to see whether the user uses the first map data in a subsequent step, or whether the user requires processing the first map before using it.
Therefore, under the 'bow-shaped cleaning' mode, the area of the cleaning area is obtained in two modes, the first map obtained under the 'bow-shaped cleaning' mode is checked according to the comparison condition of the two area data, the map comparison in the steps from S3 to S4 is favorably carried out by using a more accurate first map, and whether the track closing is realized by the edgewise walking is favorably and more accurately judged. It should be noted that, in the prior art, whether the trajectory is closed is determined only by whether the distance between the current point position of the sweeping robot and the starting point of the edgewise walking process is smaller than a preset value (5-10 cm). The positioning function of the sweeping robot adopting the visual/inertial navigation is not accurate enough, so that the sweeping robot cannot judge whether the distance between the current point position and the starting point of the edgewise walking process is smaller than a preset value or not in the edgewise walking process of the sweeping robot, and the edgewise walking process cannot normally judge the closing end; or the walking route of the sweeping robot has certain deviation, so that the edgewise walking process of the sweeping robot is actually closed, but the distance between the current point position and the starting point of the edgewise walking process does not fall into the preset value range, and the closing knot cannot be normally judged in the edgewise walking process. In the embodiment, if the first determination distance is enlarged (for example, selected in the range of 30-200cm or 100-200 cm), through the steps from S3 to S4, even if the accuracy of the position acquisition unit of the smart device is not sufficient or the target area aimed by the edgewise walking process is complex, the suspected closing point is easy to find; through the steps from S3 to S4, the similarity of the second map and the first map is compared to verify whether the suspected closing point is true, so that whether the track in the edgewise walking process is closed or not is accurately judged.
In summary, the present application discloses a method for determining track closure during an edge walking process, wherein a suspected closure point is found by distance calculation during the edge walking process; and then the truth of the suspected closing point is judged according to the map similarity comparison result, so that whether the track is closed in the edge walking process is accurately judged, and the condition of misjudgment caused by similar environments is avoided. The scheme realizes searching and confirming of the suspected closing point through two judgments, and the result is more accurate.
In one implementation, the step of determining whether the trajectory of the edgewise walking process is closed at the suspected closing point according to the similarity comparison result between the second map and the first map includes:
j1, calculating the areas of the first map and the second map as a first area value and a second area value respectively;
j2, obtaining the size difference of the first area value and the second area value;
and J3, if the size difference falls into a first judgment range, judging that the track in the edge walking process is closed at the suspected closing point.
In the steps J1 to J3, the similarity between the first map and the second map is directly represented by comparing the areas of the first map and the second map, and the similarity representation method is most direct. The area of the first map may be directly input by the user or calculated by the smart device itself in other modes. In this embodiment, the method for calculating the difference between the first area value and the second area value includes: and calculating the ratio of the first area value to the second area value, wherein the first judgment range is 0.8-1.2. And if the ratio of the first area value to the second area value is between 0.8 and 1.2, judging the suspected closing point to be true.
Referring to fig. 2, in one implementation, the step of determining whether the trajectory of the edgewise walking process is closed at the suspected closing point according to the similarity comparison result between the second map and the first map includes:
k1, dividing the first map and the second map into a first pixel map and a second pixel map which are composed of a plurality of pixel block areas in the same dividing mode;
k2, obtaining the difference of the number of the pixel block areas contained in the first pixel map and the second pixel map;
and K3, if the quantity difference falls into a second judgment range, judging that the track of the edgewise walking process is closed at the suspected closing point.
In the steps K1 to K3, the first map and the second map are divided into a first pixel map and a second pixel map, each of which is composed of a plurality of pixel block regions, in the same division manner; and then the similarity of the first map and the second map is represented by the difference of the number of the pixel block areas in the first pixel map and the second pixel map, and the similarity representation method is simple and quick in operation. Referring to fig. 2, the rectangular frame line of the outer layer is represented as a first map, the curved folding line of the inner layer is represented as a second map, and the rectangular frame line and the curved folding line enclose a plurality of pixel block regions, respectively. In this embodiment, the method for calculating the difference between the numbers of the pixel block regions may be: and calculating the ratio of the number of the pixel block areas contained in the first pixel map to the number of the pixel block areas contained in the second pixel map, wherein the second judgment range is 0.8-1.2. Of course, the method for calculating the difference between the numbers of pixel block regions may be a method for calculating the difference between the numbers of pixel block regions.
In one embodiment, the step of determining whether the trajectory of the edgewise walking process is closed at the suspected closing point according to the similarity comparison result between the second map and the first map includes:
l1, calculating the intersection ratio of the first map and the second map;
and L2, if the intersection ratio falls into a third judgment range, judging that the track in the edge walking process is closed at the suspected closing point.
The similarity between the first map and the second map is judged according to the degree of coincidence between the first map and the second map, and the authenticity of the suspected closed point is further verified.
In one embodiment, the step of determining whether the trajectory of the edgewise walking process is closed at the suspected closing point according to the comparison result of the similarity between the second map and the first map includes:
m1, calculating the areas of the first map and the second map as a first area value and a second area value respectively;
m2, obtaining the size difference of the first area value and the second area value;
m3, if the size difference falls into a first judgment range, calculating the intersection ratio of the first map and the second map;
and M4, if the intersection ratio falls into a third judgment range, judging that the track of the edge walking process is closed at the suspected closing point.
In the above steps M1 to M2, the similarity of the first map and the second map is characterized by area comparison of the first map and the second map. In the steps from M3 to M4, if the size difference falls within the first determination range, the intersection ratio of the first map and the second map is calculated and obtained, and the similarity comparison result between the second map and the first map is accurately represented. In the embodiment, the similarity comparison result of the second map and the first map is preliminarily judged by executing the steps M1 and M2 with high operation speed; if the difference of the magnitudes falls into the first judgment range, the M3 step and the M4 step with lower operation speed are continuously executed to accurately represent the similarity comparison result of the second map and the first map, compared with the embodiment of directly executing the L1-L2 steps, the quick M1-M2 steps directly remove a part of pseudo closing point data, when the closing point reliability is higher, the subsequent M3-M4 accurate re-judgment is carried out, and the time saving and the accuracy can be realized.
In one embodiment, the step of determining whether the trajectory of the edgewise walking process is closed at the suspected closing point according to the comparison result of the similarity between the second map and the first map includes:
p1, dividing the first map and the second map into a first pixel map and a second pixel map which are composed of a plurality of pixel block areas in the same dividing mode;
p2, obtaining the difference of the number of the pixel block areas contained in the first pixel map and the second pixel map;
p3, if the quantity difference falls into a second judgment range, calculating the intersection ratio of the first map and the second map;
and P4, if the intersection ratio falls into a third judgment range, judging that the track in the edge walking process is closed at the suspected closing point.
In the steps P1 to P2, the first map and the second map are divided into a first pixel map and a second pixel map, each of which is composed of a plurality of pixel block regions, in the same division manner; and then the similarity of the first map and the second map is represented by the difference of the number of the pixel block areas in the first pixel map and the second pixel map, and the similarity representation method is simple and quick in operation. In the steps from P3 to P4, if the quantity difference falls within the second determination range, the intersection ratio of the first map and the second map is calculated and obtained, and the similarity comparison result between the second map and the first map is accurately represented. In the embodiment, the similarity comparison result of the second map and the first map is preliminarily judged by executing the steps P1 and P2 with high operation speed; if the quantity difference falls into the second determination range, the P3 step and the P4 step with lower operation speed are continuously executed to accurately represent the similarity comparison result of the second map and the first map, compared with the embodiment with L1 to L2, the quantity difference of the pixel block area is intersected and compared with the map area to carry out combined operation, namely, a part of false closing point data is directly removed through the P1 to P2 steps which are simpler and quicker in the earlier stage, and when the closing point reliability is higher, the subsequent accurate repeated determination of P3-P4 is carried out, so that the time saving and the accuracy can be realized.
In one embodiment, the information further includes a speed direction of the smart device, and the determining that the point location at the current time is a suspected closed point that has traveled along the edge if the distance value between a historical point location before the current time and the point location at the current time is smaller than a first determination distance includes, after the determining that the historical point location is a suspected starting point:
SP1, calculating a direction included angle between the speed direction of the intelligent equipment at the suspected closing point and the speed direction of the intelligent equipment at the suspected starting point;
SP2, if the included angle of the directions is smaller than a first preset judgment angle, maintaining the judgment that the current point location is the suspected closing point;
and SP3, if the direction included angle is larger than a first preset judgment angle, abandoning the judgment that the current point position is the suspected closing point, and executing the track closing judgment method again.
In the steps from SP1 to SP3, when the track of the edgewise walking process is closed, that is, the edgewise walking process is cyclically repeated; at this time, not only the coordinates of the point location of the smart device are repeated, but also the speed direction of the smart device should be repeated. The suspected closing point is judged in an auxiliary mode through comparison of the speed direction of the suspected closing point and the speed direction of the intelligent device at the suspected starting point; thus, a second map does not need to be formed for each suspected closing point and compared with the first map, and the amount of calculation is reduced. In this embodiment, if an included angle between the speed direction of the intelligent device at the suspected closing point and the speed direction of the intelligent device at the starting point position is less than 30 degrees, the determination that the current point location is the suspected closing point is maintained, otherwise, the determination that the current point location is the suspected closing point is discarded, and the trajectory closing determination method is executed again.
In one embodiment, if a distance value between a historical point location before the current time and a point location at the current time is smaller than a first determination distance, the step of determining that the point location at the current time is a suspected closed point that has traveled along the edge is preceded by the step of determining that the historical point location is a suspected starting point includes:
calculating to obtain a real-time judgment distance D T In which D is T = (a + bT), wherein a is a distance base number and has a unit of length, b is a distance increasing coefficient and has a unit of length/time, and T is the current running time in the edgewise walking process and has a unit of time;
taking the real-time judgment distance D T The smaller value between and Dc is the first determination distance, where Dc is the limit distance.
In the present embodiment, a =10cm, b =5cm/min, dc =200cm, that is, the initial value representing the preset determination distance is 10cm, and the preset determination distance is increased by 5cm every 1 minute until the preset determination distance is increased to 200cm and is not increased. When the edgewise walking process starts, if the preset judgment distance is longer, a plurality of suspected closing points are easy to judge, and the suspected closing points are fake in most cases; and the probability of track closure is higher in the later stage of the edgewise walking process, and the first judgment distance is larger at the moment, so that a suspected closure point can be found conveniently. In the step, the first judgment distance is a value which is gradually increased and then is a constant, and the first judgment distance value is small at the early stage, so that the meaningless calculation at the initial stage of the edgewise walking process is shielded; the first judgment distance value in the later stage is large, and the probability of correctly judging the closing of the track in the later stage in the edgewise walking process is improved.
It should be noted that the "edge" referred to in the above-mentioned edge walking process is an edge of the walking track of the intelligent device, and is not necessarily a real boundary (e.g. a wall).
In one implementation, the set interval is a distance interval or a time interval.
In implementation, when the distance interval is set as the set interval, the point group formed by the coordinates of the intelligent device on the point location recording the current time is very uniform, which is beneficial to subsequently acquiring the second map. Such as the number of turns the moving wheel of the smart device makes to calculate the distance the smart device moves, the set interval is set to 10cm, although in other embodiments the set interval may be selected between 10-20 cm.
In implementation, when the time interval is set as the interval, the coordinate extraction of the intelligent device in the complex area is favorable, and the subsequent acquisition of the second map is also favorable. Because the movement of the intelligent device in the complex area has more turning or collision, the time consumption is more, and a plurality of coordinates can be extracted in the complex area by taking the time interval as the set interval.
In one implementation, if a distance value between a historical point location before the current time and a point location at the current time is smaller than a first determination distance, determining that the point location at the current time is a suspected closed point that has walked along an edge, and determining that the historical point location is a suspected starting point includes:
judging whether the number of the set intervals existing between the suspected closing point and the suspected starting point in the edgewise walking process is larger than a first preset judgment number or not;
if yes, maintaining the point position of the current time as a suspected closed point which is walked along the edge;
if not, the judgment that the point position of the current time is a suspected closing point which is walked along the edge is denied, and the track closing judgment method is executed again.
In the above step, the suspected closing point is determined by excluding a plurality of point locations set at intervals from the starting point location of the edgewise walking process, so as to avoid that a point location close to the starting point location satisfies the determination condition in step S2 and is erroneously determined as a suspected closing point, which is obviously false.
Referring to fig. 3, in an embodiment of the present invention, an apparatus for operating a trajectory closure determination method in an edgewise walking process includes:
a first obtaining unit 10, configured to record information of the intelligent device at a point location of current time every time a set interval elapses in the process of walking along the edge, where the information at least includes coordinate information of the intelligent device at the current time;
a first comparison confirming unit 20, configured to confirm that, if a distance value between a historical point location before the current time and a point location at the current time is smaller than a first determination distance, it is determined that the point location at the current time is a suspected closed point that has traveled along the edge, and that the historical point location is a suspected starting point;
the second obtaining unit 30 is configured to obtain a second map according to the coordinates of all point locations in the process of walking along the edge;
the first calculation and confirmation unit 40 is configured to determine whether the track of the edgewise walking process is closed at the suspected closing point according to a similarity comparison result between the second map and a first map, where the first map is a shape map of a target area targeted by the edgewise walking process.
In one embodiment, the first calculation confirmation unit 40 includes:
a first calculation unit for calculating areas of a first map and the second map as a first area value and a second area value, respectively;
a third obtaining unit, configured to obtain a difference between the first area value and the second area value;
and if the size difference falls within a first judgment range, the third comparison and confirmation unit judges that the track of the edgewise walking process is closed at the suspected closing point.
In this embodiment, please refer to the corresponding method embodiment for the specific implementation of each unit, which will not be described herein again.
In one embodiment, the first calculation confirmation unit 40 includes:
a second calculation unit configured to divide both the first map and the second map into a first pixel map and a second pixel map composed of a plurality of pixel block regions in the same division manner;
a fourth acquisition unit configured to acquire a difference in the number of the pixel block regions included in the first pixel map and the second pixel map;
and if the quantity difference falls into a second determination range, the third comparison and confirmation unit determines that the track of the edgewise walking process is closed at the suspected closing point.
In this embodiment, please refer to the corresponding method embodiments for the specific implementation of each unit, which will not be described herein again.
In one embodiment, the first calculation confirmation unit 40 includes:
the third calculating unit is used for calculating the intersection ratio of the first map and the second map;
and if the intersection ratio falls within a third judgment range, the fourth comparison and confirmation unit judges that the track of the edgewise walking process is closed at the suspected closing point.
In this embodiment, please refer to the corresponding method embodiments for the specific implementation of each unit, which will not be described herein again.
In one embodiment, the first calculation confirmation unit 40 includes:
a fourth calculation unit configured to calculate areas of the first map and the second map as a first area value and a second area value, respectively;
a fifth obtaining unit, configured to obtain a difference between the first area value and the second area value;
a fifth comparison and confirmation unit, which calculates an intersection ratio of the first map and the second map if the size difference falls within a first determination range;
and if the intersection ratio falls within a third judgment range, the sixth comparison and confirmation unit judges that the track of the edgewise walking process is closed at the suspected closing point.
In this embodiment, please refer to the corresponding method embodiment for the specific implementation of each unit, which will not be described herein again.
In one embodiment, the first calculation confirmation unit 40 includes:
a fifth calculation unit configured to divide both the first map and the second map into a first pixel map and a second pixel map composed of a plurality of pixel block regions in the same division manner;
a sixth obtaining unit configured to obtain a difference in the number of the pixel block regions included in the first pixel map and the second pixel map;
a seventh comparison calculation unit, configured to calculate an intersection ratio of the first map and the second map if the quantity difference falls within a second determination range;
and if the intersection ratio falls within a third judgment range, the eighth comparison and confirmation unit judges that the track of the edgewise walking process is closed at the suspected closing point.
In this embodiment, please refer to the corresponding method embodiments for the specific implementation of each unit, which will not be described herein again.
In one embodiment, the apparatus for operating the trajectory closure determination method for the edgewise walking process further includes:
a seventh obtaining unit, configured to obtain an included angle between a speed direction of the intelligent device at the suspected closing point and a speed direction of the intelligent device at the suspected starting point;
and the ninth comparison and confirmation unit is used for judging the magnitude relation between the direction clamp and the first preset judgment angle and confirming the authenticity of the suspected closing point.
In this embodiment, please refer to the corresponding method embodiments for the specific implementation of each unit, which will not be described herein again.
In one embodiment, the apparatus for operating the trajectory closure determination method for the edgewise walking process further includes:
a fifth calculation unit for calculating and obtaining the real-time judgment distance D T Wherein D is T = (a + bT), where a is a distance base number and its unit is length, b is a distance increase coefficient and its unit is length/time, and T is the current running time in the edgewise walking process and its unit is time;
a tenth comparison confirming unit for taking the real-time judgment distance D T Smaller value between Dc and DcIs a first decision distance, wherein D C Is the limit distance.
In this embodiment, please refer to the corresponding method embodiments for the specific implementation of each unit, which will not be described herein again.
In one embodiment, the apparatus for operating the trajectory closure determination method for the edgewise walking process further includes:
an eighth obtaining unit, configured to determine whether the number of the set intervals existing between the suspected closing point and the suspected starting point in the edgewise walking process is greater than a first preset determination number;
an eleventh comparison and confirmation unit configured to maintain the determination that the point location at the current time is a suspected closed point that has traveled edgewise;
and the eleventh comparison and confirmation unit is used for negating the judgment that the point position at the current time is a suspected closing point which is walked along the edge, and re-executing the track closing judgment method.
In this embodiment, please refer to the corresponding method embodiments for the specific implementation of each unit, which will not be described herein again.
Referring to fig. 4, an embodiment of the present invention is a computer device, including a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the trajectory closure determination method when executing the computer program.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields will be covered by the scope of the present invention.
Claims (5)
1. A track closing judgment method in the process of walking along the edge is applied to intelligent equipment and is characterized by comprising the following steps:
recording information of the intelligent equipment at the point location of the current time every set interval in the process of walking along the edge, wherein the information at least comprises coordinate information of the intelligent equipment at the current time;
calculating to obtain a real-time judgment distance D T In which
A is a distance base number, the unit of which is length, b is a distance increasing coefficient, the unit of which is length/time, and T is the current running time in the edgewise walking process, the unit of which is time;
taking the real-time judgment distance D T The smaller value from Dc is the first determination distance, where Dc is the limit distance;
if the distance value between a historical point position before the current time and the point position at the current time is smaller than a first judgment distance, judging that the point position at the current time is a suspected closed point which has walked along the edge, and judging that the historical point position is a suspected starting point;
obtaining a second map according to the coordinates of all point positions in the process of walking along the edge;
judging whether the track of the edgewise walking process is closed at the suspected closing point or not according to the similarity comparison result of the second map and a first map, wherein the first map is a shape map of a target area aimed at by the edgewise walking process;
the step of judging whether the track of the edgewise walking process is closed at the suspected closing point according to the similarity comparison result of the second map and the first map comprises the following steps:
calculating the areas of the first map and the second map as a first area value and a second area value respectively;
obtaining a difference in magnitude between the first area value and the second area value;
if the size difference falls into a first judgment range, judging that the track of the edgewise walking process is closed at the suspected closing point;
dividing the first map and the second map into a first pixel map and a second pixel map which are composed of a plurality of pixel block areas in the same dividing mode;
obtaining a difference in the number of the pixel block regions included in the first pixel map and the second pixel map;
if the quantity difference falls into a second judgment range, judging that the track of the edgewise walking process is closed at the suspected closing point;
calculating the intersection ratio of the first map and the second map;
and if the intersection ratio falls into a third judgment range, judging that the track of the edgewise walking process is closed at the suspected closing point.
2. The method according to claim 1, wherein the information further includes a speed direction of the smart device, and the determining that the point location at the current time is a suspected closed point that has traveled along the edge if a distance value between a historical point location before the current time and the point location at the current time is smaller than a first determination distance includes:
calculating a direction included angle between the speed direction of the intelligent device at the suspected closing point and the speed direction of the intelligent device at the suspected starting point;
if the included angle is smaller than a first preset judgment angle, maintaining the suspected closing point as a suspected closing point;
if the direction included angle is larger than a first preset judgment angle, abandoning the judgment that the suspected closing point is the suspected closing point, and executing the track closing judgment method again.
3. The method according to claim 1, wherein if a distance value between a historical point location before the current time and a point location at the current time is smaller than a first determination distance, the method determines that the point location at the current time is a suspected closed point that has traveled along the edge, and the step of determining that the historical point location is a suspected starting point includes:
judging whether the number of the set intervals existing between the suspected closed point and the suspected starting point in the edgewise walking process is larger than a first preset judgment number or not;
if yes, maintaining the point position of the current time as a suspected closing point which walks along the edge;
if not, the judgment that the point position of the current time is a suspected closing point which is walked along the edge is denied, and the track closing judgment method is executed again.
4. A device for operating a track closing judgment method in an edgewise walking process is characterized by comprising the following steps:
the first obtaining unit is used for recording information of the intelligent equipment at the point position of the current time every set interval in the process of walking along the edge, wherein the information at least comprises coordinate information of the intelligent equipment at the current time;
a first comparison confirming unit, configured to confirm that, if a distance value between a historical point location before the current time and a point location at the current time is smaller than a first determination distance, the point location at the current time is determined to be a suspected closed point that has traveled along the edge, and the historical point location is determined to be a suspected starting point;
the second obtaining unit is used for obtaining a second map according to the coordinates of all point positions in the edgewise walking process;
and the first calculation and confirmation unit is used for judging whether the track of the edgewise walking process is closed at the suspected closing point according to the similarity comparison result of the second map and a first map, wherein the first map is a shape map of a target area aimed at by the edgewise walking process.
5. A computer device comprising a memory and a processor, the memory having a computer program stored therein, wherein the processor implements the trajectory closure determination method according to any one of claims 1 to 3 when executing the computer program.
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