CN113552879A - Control method and device of self-moving equipment, electronic equipment and storage medium - Google Patents
Control method and device of self-moving equipment, electronic equipment and storage medium Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
Abstract
The disclosure provides a control method and device of a self-moving device, an electronic device and a storage medium, relates to the field of artificial intelligence, in particular to the technical fields of natural language processing, computer vision and the like, and the specific implementation scheme is as follows: identifying a target area of the self-moving equipment in a semantic map through the acquired positioning information acquired from the self-moving equipment; and sending a control instruction to the self-moving equipment for control according to the target control logic corresponding to the target area. Therefore, according to the target area of the self-moving equipment in the semantic map, the semantic information can be judged on the current position of the self-moving equipment, and further, the self-moving equipment can be distinguished and processed under different semantic information environments according to the control logic corresponding to the target area, so that the flexibility is enhanced.
Description
Technical Field
The present disclosure relates to the field of artificial intelligence technologies, and in particular, to the field of natural language processing and computer vision technologies, and in particular, to a method and an apparatus for controlling a mobile device, an electronic device, and a storage medium.
Background
With the continuous development of artificial intelligence technology, self-moving equipment plays an important role in human life. For example, a mobile robot, relies on its own onboard sensors to effect movement from a starting position to a target position in a particular environment. Among them, route navigation from a mobile device is a key to realizing autonomous movement.
Disclosure of Invention
The disclosure provides a control method and device for a self-moving device, an electronic device and a storage medium.
According to an aspect of the present disclosure, there is provided a control method from a mobile device, including: obtaining positioning information collected from a mobile device; identifying a target area of the self-mobile device in a semantic map according to the positioning information; inquiring target control logic corresponding to the target area; and sending the control instruction to the self-moving equipment for control according to the target control logic.
According to another aspect of the present disclosure, there is provided a control apparatus of a self-moving device, including: the first acquisition module is used for acquiring positioning information acquired by the mobile equipment; the identification module is used for identifying a target area of the self-moving equipment in a semantic map according to the positioning information; the query module is used for querying the target control logic corresponding to the target area; and the control module is used for sending the control instruction to the self-moving equipment for control according to the target control logic.
According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect of the present disclosure.
According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the method of the first aspect of the present disclosure.
According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements the method of an embodiment of the first aspect of the present disclosure.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
FIG. 1 is a schematic diagram according to a first embodiment of the present disclosure;
FIG. 2 is a schematic diagram according to a second embodiment of the present disclosure;
FIG. 3 is a schematic diagram according to a third embodiment of the present disclosure;
FIG. 4 is a schematic diagram according to a fourth embodiment of the present disclosure;
FIG. 5 is a schematic diagram according to a fifth embodiment of the present disclosure;
FIG. 6 is a schematic diagram according to a sixth embodiment of the present disclosure;
fig. 7 is a block diagram of an electronic device to implement a control method of a self-moving device of an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
With the continuous development of artificial intelligence technology, self-moving equipment plays an important role in human life. For example, a mobile robot, relies on its own onboard sensors to effect movement from a starting position to a target position in a particular environment. Among them, route navigation from a mobile device is a key to realizing autonomous movement.
In the related art, navigation is performed through simple point location information to realize autonomous movement of the self-moving device, but in the autonomous movement process of the self-moving device, different environments cannot be distinguished and processed, and the flexibility is poor.
In order to solve the above problems, the present disclosure provides a control method and apparatus for a mobile device, an electronic device, and a storage medium.
Fig. 1 is a schematic diagram according to a first embodiment of the present disclosure. It should be noted that the control method of the self-moving device in the embodiment of the present disclosure may be applied to a control apparatus of the self-moving device in the embodiment of the present disclosure, and the apparatus may be configured in an electronic device. The electronic device may be a mobile terminal, for example, a mobile phone, a tablet computer, a personal digital assistant, and other hardware devices with various operating systems.
As shown in fig. 1, the control method of the self-moving apparatus may include the steps of:
In the embodiment of the disclosure, the self-moving device can position the current position of the self-moving device according to the sensor carried by the self-moving device to acquire the positioning information, and then, the positioning information is sent to the control device of the self-moving device, so that the self-moving control device can acquire the positioning information acquired by the self-moving device.
And 102, identifying a target area where the mobile device is located in the semantic map according to the positioning information.
In order to realize the distinguishing processing of the self-moving equipment under different semantic information environments, the semantic information can be judged and processed on the current position of the self-moving equipment. Optionally, the current location of the mobile device is obtained from an area in the semantic map where it is located.
As a possible implementation manner, after the positioning information acquired from the mobile device is acquired, the control device of the mobile device may identify, according to the positioning information, a target area where the mobile device is located in the semantic map.
And 103, inquiring target control logic corresponding to the target area.
It can be understood that the semantic information is different for different regions in the semantic map, and the control logic for the mobile device is also different under different semantic information. Thus, different control logic may be provided for different areas in the semantic map to control the mobile device.
In the embodiment of the disclosure, the control device of the self-mobile device may preset a plurality of control logics corresponding to a plurality of areas in the semantic map, and after identifying a target area where the self-mobile device is located in the semantic map according to the positioning information, may query the corresponding target control logic according to the target area.
And 104, sending a control instruction to the self-moving equipment for control according to the target control logic.
Further, after the target control logic is acquired, a control instruction may be sent to the self-moving device according to the target control logic to control the self-moving device.
In conclusion, the target area of the mobile equipment in the semantic map is identified by acquiring the positioning information collected from the mobile equipment; and sending a control instruction to the self-moving equipment for control according to the target control logic corresponding to the target area. Therefore, according to the target area of the self-moving equipment in the semantic map, the semantic information can be judged on the current position of the self-moving equipment, and further, the self-moving equipment can be distinguished and processed under different semantic information environments according to the control logic corresponding to the target area, so that the flexibility is enhanced.
In order to accurately determine the target area of the self-mobile device in the semantic map, as shown in fig. 2, fig. 2 is a schematic diagram according to a second embodiment of the present disclosure, in the embodiment of the present disclosure, the semantic map may be divided into a plurality of areas, and the target area of the self-mobile device in the semantic map is determined by a ray method according to the current position of the self-mobile device, the steps of the embodiment shown in fig. 2 are as follows:
In the embodiment of the disclosure, the semantic map corresponding to the current position of the mobile device may be obtained in advance. In order to determine the current position of the mobile device in the semantic map, optionally, the positioning information collected from the mobile device may be associated with the position in the semantic map, the position in the semantic map corresponding to the current position of the mobile device is obtained, and the position is used as the target position.
As a possible implementation manner of the embodiment of the present disclosure, the positioning information may include a first point cloud image scanned from the mobile device, the first point cloud image scanned from the mobile device is matched with a second point cloud image recorded in the semantic map, and a position associated with the matched second point cloud image in the semantic map is used as the target position.
That is to say, a plurality of point location information scanned from the mobile device are combined into a point cloud picture, the point cloud picture is used as a first point cloud picture, the first point cloud picture is used as positioning information, a point cloud picture formed by corresponding point location information in the semantic map is used as a second point cloud picture, the first point cloud picture and the second point cloud picture are compared, a position in the second point cloud picture, which is matched with the first point cloud picture, is determined, and the position is used as a target position. Therefore, the target position of the mobile device in the semantic map can be accurately determined according to the positioning information.
As an example, semantic information in a semantic map may be acquired, the semantic map may be divided into a plurality of regions according to the difference of the semantic information, and then, the number of intersections between each region boundary and a ray with the target position as a starting point is acquired.
And step 204, determining a target area where the mobile equipment is located from the multiple areas according to the number of the intersection points.
Alternatively, a region having the largest number of intersections between the ray starting from the target position and the region boundary is set as the target region.
And step 206, sending a control instruction to the self-moving device for control according to the target control logic.
In the embodiment of the present disclosure, the steps 201 and 205-206 may be implemented by any method in each embodiment of the present disclosure, and the embodiment of the present disclosure does not limit this and is not described again.
In summary, by acquiring positioning information collected from the mobile device; determining the target position of the self-mobile equipment in the semantic map according to the positioning information; respectively determining the number of intersection points between a ray taking a target position as a starting point and each region boundary for a plurality of regions divided from a semantic map; determining a target area where the mobile equipment is located from the multiple areas according to the number of the intersection points; inquiring target control logic corresponding to the target area; and sending a control instruction to the self-mobile equipment for control according to the target control logic. Therefore, according to the target area of the self-moving equipment in the semantic map, the semantic information can be judged on the current position of the self-moving equipment, and further, the self-moving equipment can be distinguished and processed under different semantic information environments according to the control logic corresponding to the target area, so that the flexibility is enhanced.
In order to accurately determine the control logic corresponding to each area, as shown in fig. 3, fig. 3 is a schematic diagram according to a third embodiment of the present disclosure, in the embodiment of the present disclosure, attribute information of a plurality of areas configured in advance may be acquired from a web page side, each area in a semantic map is determined according to vertex coordinates recorded in the attribute information, and the control logic corresponding to each area is determined according to a key value recorded in the attribute information. The embodiment illustrated in fig. 3 comprises the following steps:
And step 304, determining a target area where the mobile device is located from the plurality of areas according to the number of the intersection points.
Optionally, attribute information of a plurality of areas in the semantic map may be configured at the webpage end, where the attribute information may include, but is not limited to, vertex coordinates of each area, key values corresponding to each area, and the like. The webpage end can send the configured attribute information of the plurality of areas to the control device of the mobile equipment. It should be noted that different regions in the semantic map correspond to different semantic information, and different key values may be set according to different semantic information.
Furthermore, the control device of the mobile device may connect the vertex coordinates recorded in the attribute information of each area based on the vertex coordinates recorded in the attribute information of each area in the semantic map, and may specify the area boundary of each area in the semantic map.
In the embodiment of the present disclosure, different areas correspond to different control logics, and the key values recorded in the attribute information of each area represent different areas, so that the control logic corresponding to each area can be determined according to the key values recorded in the attribute information of each area. For example, according to a key value recorded in attribute information of a certain area in the semantic map, the area is determined to be a deceleration area, and the corresponding control logic may perform deceleration control on the self-moving device.
And step 308, inquiring target control logic corresponding to the target area.
In the embodiment of the present disclosure, the steps 301-.
In summary, by acquiring positioning information collected from the mobile device; determining the target position of the self-mobile equipment in the semantic map according to the positioning information; respectively determining the number of intersection points between a ray taking a target position as a starting point and each region boundary for a plurality of regions divided from a semantic map; determining a target area where the mobile equipment is located from the multiple areas according to the number of the intersection points; acquiring configured attribute information of a plurality of areas from a webpage end; determining the region boundary of each region in the semantic map according to the vertex coordinates recorded in the attribute information of each region; determining a control logic corresponding to each region according to the key value recorded in the attribute information of each region; inquiring target control logic corresponding to the target area; and sending a control instruction to the self-mobile equipment for control according to the target control logic. Therefore, the semantic information can be judged for the current position of the self-moving equipment, the control logic corresponding to each area can be accurately determined, the distinguishing processing of the self-moving equipment under different semantic information environments is realized, and the flexibility is enhanced.
In order to implement the distinguishing processing of the self-moving device under different semantic information environments and improve the flexibility, as shown in fig. 4, fig. 4 is a schematic diagram according to a fourth embodiment of the present disclosure, and the self-moving device may be controlled according to a target control logic, as an example, when the moving speed of the self-moving device is greater than a speed threshold indicated by the target control logic, the self-moving device is subjected to deceleration control. The embodiment shown in fig. 4 comprises the following steps:
And step 403, inquiring a target control logic corresponding to the target area.
In order to accurately control the self-moving device according to the target control logic, in the embodiment of the present disclosure, when the target control logic corresponding to the acquired target area is that the moving speed of the self-moving device is greater than the speed threshold indicated by the target control logic, the self-moving device is controlled to decelerate. Alternatively, the moving speed of the mobile device may be obtained after the target control logic is obtained.
And step 405, when the moving speed of the self-moving equipment is greater than the speed threshold value indicated by the target control logic, sending a control instruction for decelerating to the self-moving equipment.
Furthermore, when the moving speed of the self-moving equipment is larger than the speed threshold value indicated by the target control logic, a control instruction can be sent to the self-moving equipment, and the self-moving equipment decelerates according to the instruction.
In the embodiment of the present disclosure, the steps 401-403 may be implemented by any one of the embodiments of the present disclosure, which is not limited by the embodiment of the present disclosure and is not described herein again.
In summary, by acquiring positioning information collected from the mobile device; identifying a target area where the mobile equipment is located in a semantic map according to the positioning information; inquiring target control logic corresponding to the target area; obtaining a moving speed from a mobile device; and when the moving speed of the self-moving equipment is greater than the speed threshold value indicated by the target control logic, sending a control instruction for decelerating to the self-moving equipment. Therefore, according to the target control logic, the speed reduction control can be performed on the self-moving equipment, and the flexibility is improved.
In order to implement the distinguishing processing of the self-moving device under different semantic information environments and improve the flexibility, as shown in fig. 5, fig. 5 is a schematic diagram according to a fifth embodiment of the present disclosure, and the self-moving device may be controlled according to a target control logic, as an example, when the elevator is not in a set switch state, the control of adjusting the posture of the self-moving device according to the posture indicated by the target control logic is performed, and the embodiment shown in fig. 5 includes the following steps:
In order to accurately control the self-moving device according to the target control logic, in the embodiment of the disclosure, when the target control logic corresponding to the acquired target area is not in the set switch state, the self-moving device is controlled to perform posture adjustment according to the posture indicated by the target control logic. Optionally, after the target control logic is acquired, an image acquired from the mobile device may be acquired, and the on-off state of the elevator may be acquired according to the image information.
And 505, identifying the on-off state of the elevator according to the image.
Furthermore, the images collected by the mobile equipment are identified, and the on-off state of the elevator can be obtained according to the identification result.
And step 506, when the mobile device is not in the set switch state, sending a control instruction for posture adjustment to the mobile device according to the posture indicated by the target control logic.
Furthermore, when the elevator is not in the set switch state, the control command can be sent to the self-moving equipment according to the posture indicated by the target, and the self-moving equipment adjusts the posture according to the control command. For example, taking a self-moving device as an example of a robot, when the robot leaves an elevator area, if an elevator door is not closed, an instruction for closing the elevator door can be sent to the robot.
In the embodiment of the present disclosure, the steps 501-503 may be implemented by any method in various embodiments of the present disclosure, which is not limited by the embodiment of the present disclosure and will not be described again.
In summary, by acquiring positioning information collected from the mobile device; identifying a target area where the mobile equipment is located in a semantic map according to the positioning information; inquiring target control logic corresponding to the target area; obtaining an image acquired from a mobile device; identifying the on-off state of the elevator according to the image; and when the mobile equipment is not in the set switch state, sending a control instruction for posture adjustment to the mobile equipment according to the posture indicated by the target control logic. Therefore, the posture of the self-moving equipment can be adjusted according to the target control logic, and the flexibility is improved.
According to the control method of the self-mobile equipment, the target area of the self-mobile equipment in the semantic map is identified by acquiring the positioning information collected by the self-mobile equipment; and sending a control instruction to the self-moving equipment for control according to the target control logic corresponding to the target area. Therefore, according to the target area of the self-moving equipment in the semantic map, the semantic information can be judged on the current position of the self-moving equipment, and the self-moving equipment can be distinguished and processed under different semantic information environments according to the control logic corresponding to the target area, so that the flexibility is enhanced.
In order to implement the foregoing embodiments, the embodiments of the present disclosure provide a control apparatus for a self-moving device.
Fig. 6 is a schematic diagram according to a sixth embodiment of the present disclosure, and as shown in fig. 6, the control device 600 of the self-moving apparatus includes: a first acquisition module 610, an identification module 620, a query module 630 and a control module 640.
The first obtaining module 610 is configured to obtain positioning information collected from a mobile device; the identification module 620 is used for identifying a target area where the mobile device is located in the semantic map according to the positioning information; a query module 630, configured to query a target control logic corresponding to the target area; and the control module 640 is configured to send a control instruction to the self-moving device for control according to the target control logic.
As a possible implementation manner of the embodiment of the present disclosure, the identifying module 620 is configured to: determining the target position of the self-mobile equipment in the semantic map according to the positioning information; respectively determining the number of intersection points between a ray taking a target position as a starting point and each region boundary for a plurality of regions divided from a semantic map; and determining a target area where the mobile equipment is located from the plurality of areas according to the number of the intersection points.
As a possible implementation manner of the embodiment of the present disclosure, the control apparatus 600 of the self-moving device further includes: the device comprises a second acquisition module, a first determination module and a second determination module.
The second acquisition module is used for acquiring the attribute information of the configured multiple areas from the webpage end; the first determining module is used for determining the region boundary of each region in the semantic map according to the vertex coordinates recorded in the attribute information of each region; and the second determining module is used for determining the control logic corresponding to each area according to the key value recorded in the attribute information of each area.
As a possible implementation manner of the embodiment of the present disclosure, the positioning information includes a first cloud image scanned from the mobile device, and the identifying module 620 is further configured to: and matching the first point cloud picture obtained by scanning the mobile equipment with a second point cloud picture recorded in the semantic map, and taking the position associated with the second point cloud picture matched in the semantic map as a target position.
As a possible implementation manner of the embodiment of the present disclosure, the control module 640 is configured to: obtaining a moving speed from a mobile device; and when the moving speed of the self-moving equipment is greater than the speed threshold value indicated by the target control logic, sending a control instruction for decelerating to the self-moving equipment.
As a possible implementation manner of the embodiment of the present disclosure, the control module 640 is further configured to: obtaining an image acquired from a mobile device; identifying the on-off state of the elevator according to the image; and when the mobile equipment is not in the set switch state, sending a control instruction for posture adjustment to the mobile equipment according to the posture indicated by the target control logic.
The control device of the self-moving equipment of the embodiment of the disclosure identifies the target area of the self-moving equipment in the semantic map by acquiring the positioning information collected by the self-moving equipment; and sending a control instruction to the self-moving equipment for control according to the target control logic corresponding to the target area. Therefore, according to the target area of the self-moving equipment in the semantic map, the semantic information can be judged on the current position of the self-moving equipment, and further, the self-moving equipment can be distinguished and processed under different semantic information environments according to the control logic corresponding to the target area, so that the flexibility is enhanced.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
FIG. 7 illustrates a schematic block diagram of an example electronic device 700 that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 7, the device 700 comprises a computing unit 701, which may perform various suitable actions and processes according to a computer program stored in a Read Only Memory (ROM)702 or a computer program loaded from a storage unit 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data required for the operation of the device 700 can also be stored. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other by a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
Various components in the device 700 are connected to the I/O interface 705, including: an input unit 706 such as a keyboard, a mouse, or the like; an output unit 707 such as various types of displays, speakers, and the like; a storage unit 708 such as a magnetic disk, optical disk, or the like; and a communication unit 709 such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows the device 700 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), the internet, and blockchain networks.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may also be a server of a distributed system, or a server incorporating a blockchain.
It should be noted that artificial intelligence is a subject for studying a computer to simulate some human thinking processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.), and includes both hardware and software technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing, and the like; the artificial intelligence software technology mainly comprises a computer vision technology, a voice recognition technology, a natural language processing technology, machine learning/deep learning, a big data processing technology, a knowledge map technology and the like.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in this disclosure may be performed in parallel, sequentially, or in a different order, and are not limited herein as long as the desired results of the technical solutions proposed in this disclosure can be achieved.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (15)
1. A method of controlling a self-moving device, comprising:
obtaining positioning information collected from a mobile device;
identifying a target area of the self-mobile device in a semantic map according to the positioning information;
inquiring target control logic corresponding to the target area;
and sending the control instruction to the self-moving equipment for control according to the target control logic.
2. The control method according to claim 1, wherein the identifying a target area in which the self-moving device is located in a semantic map according to the positioning information comprises:
determining a target position of the self-moving equipment in the semantic map according to the positioning information;
respectively determining the number of intersection points between a ray taking the target position as a starting point and each region boundary for a plurality of regions divided from the semantic map;
and determining a target area where the self-moving equipment is located from the plurality of areas according to the number of the intersection points.
3. The control method of claim 2, wherein the method further comprises:
acquiring configured attribute information of a plurality of areas from a webpage end;
determining the region boundary of each region in the semantic map according to the vertex coordinates recorded in the attribute information of each region;
and determining the control logic corresponding to each area according to the key value recorded in the attribute information of each area.
4. The control method according to claim 2, wherein the positioning information includes a first cloud image scanned by the self-moving device, and the determining the target position of the self-moving device in the semantic map according to the positioning information includes:
and matching the first point cloud picture obtained by scanning the mobile equipment with a second point cloud picture recorded in the semantic map, and taking the position associated with the second point cloud picture matched in the semantic map as the target position.
5. The method of any of claims 1-4, wherein the sending the control instruction to the self-moving device for control according to the target control logic comprises:
acquiring the moving speed of the self-moving equipment;
and when the moving speed of the self-moving equipment is greater than the speed threshold value indicated by the target control logic, sending a control instruction for decelerating to the self-moving equipment.
6. The method of any of claims 1-4, wherein the sending the control instruction to the self-moving device for control according to the target control logic comprises:
acquiring the image acquired by the mobile equipment;
identifying the on-off state of the elevator according to the image;
and when the mobile equipment is not in the set switch state, sending a control instruction for posture adjustment to the mobile equipment according to the posture indicated by the target control logic.
7. A control apparatus from a mobile device, comprising:
the first acquisition module is used for acquiring positioning information acquired by the mobile equipment;
the identification module is used for identifying a target area of the self-moving equipment in a semantic map according to the positioning information;
the query module is used for querying the target control logic corresponding to the target area;
and the control module is used for sending the control instruction to the self-moving equipment for control according to the target control logic.
8. The apparatus of claim 7, wherein the identification module is to:
determining a target position of the self-moving equipment in the semantic map according to the positioning information;
respectively determining the number of intersection points between a ray taking the target position as a starting point and each region boundary for a plurality of regions divided from the semantic map;
and determining a target area where the self-moving equipment is located from the plurality of areas according to the number of the intersection points.
9. The apparatus of claim 8, further comprising:
the second acquisition module is used for acquiring the configured attribute information of the plurality of areas from the webpage end;
the first determining module is used for determining the region boundary of each region in the semantic map according to the vertex coordinates recorded in the attribute information of each region;
and the second determining module is used for determining the control logic corresponding to each area according to the key value recorded in the attribute information of each area.
10. The apparatus of claim 8, wherein the positioning information comprises a first cloud scanned from the mobile device, and the identifying module is further configured to: and matching the first point cloud picture obtained by scanning the mobile equipment with a second point cloud picture recorded in the semantic map, and taking the position associated with the second point cloud picture matched in the semantic map as the target position.
11. The apparatus of any of claims 7-10, wherein the control module is to:
acquiring the moving speed of the self-moving equipment;
and when the moving speed of the self-moving equipment is greater than the speed threshold value indicated by the target control logic, sending a control instruction for decelerating to the self-moving equipment.
12. The apparatus of any of claims 7-10, wherein the control module is further configured to:
acquiring the image acquired by the mobile equipment;
identifying the on-off state of the elevator according to the image;
and when the mobile equipment is not in the set switch state, sending a control instruction for posture adjustment to the mobile equipment according to the posture indicated by the target control logic.
13. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.
14. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-6.
15. A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1-6.
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