CN113885524A - Intelligent equipment operation control method and device, electronic equipment and storage medium - Google Patents
Intelligent equipment operation control method and device, 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
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- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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Abstract
The application relates to an intelligent equipment operation control method and device, electronic equipment and a storage medium. The method comprises the following steps: the method comprises the steps of obtaining an intelligent equipment operation mode and obtaining information of an area to be operated, wherein the information of the area to be operated comprises an area type of an area contained in the area to be operated; in the intelligent operation process, if a complex area exists in the area to be operated according to the information of the area to be operated, intelligent operation is carried out on the complex area by adopting a complex area strategy operation mode, and if a conventional area exists in the area to be operated according to the information of the area to be operated, intelligent operation is carried out on the conventional area by adopting a conventional area operation mode until the intelligent operation on the area to be operated is completed. By adopting the method, the operation efficiency of the area to be operated can be improved.
Description
Technical Field
The present disclosure relates to the field of artificial intelligence technologies, and in particular, to a method and an apparatus for controlling operations of an intelligent device, an electronic device, and a storage medium.
Background
With the development of artificial intelligence technology, more and more people hope to be relieved from heavy household labor, and the emergence of more and more intelligent devices (such as intelligent cleaning robots) just meets the requirement.
Some intelligent cleaning robots on the market have deep cleaning, one is to directly perform two times of arched cleaning in the same direction, and the other is to perform Chinese-character-shaped path planning to realize two times of transverse and longitudinal cleaning, and the two cleaning modes have low efficiency and cannot really realize deep cleaning.
Disclosure of Invention
In view of the above, it is necessary to provide a method and an apparatus for controlling work of an intelligent device, an electronic device, and a storage medium, which can improve work efficiency.
A smart device job control method, the method comprising:
the method comprises the steps of obtaining an intelligent equipment operation mode and obtaining information of an area to be operated, wherein the information of the area to be operated comprises an area type of an area contained in the area to be operated;
in the intelligent operation process, if a complex area exists in the area to be operated according to the information of the area to be operated, intelligent operation is carried out on the complex area by adopting a complex area strategy operation mode, and if a conventional area exists in the area to be operated according to the information of the area to be operated, intelligent operation is carried out on the conventional area by adopting a conventional area operation mode until the intelligent operation on the area to be operated is completed.
In one embodiment, the determining method of the information of the area to be worked includes:
acquiring a track surrounding area of the area to be operated during the initial operation process of the intelligent equipment;
identifying the track surrounding area based on the environment information of the area to be operated and a preset line segment threshold value, and determining the track information of the track surrounding area;
and determining the information of the area to be operated based on the track information.
In one embodiment, the identifying the track-surrounded area based on the environment information of the area to be operated and a preset line segment threshold and determining the track information of the track-surrounded area include:
identifying the internal state of the track surrounding area based on the environmental information of the area to be operated, and obtaining a first identification result;
and based on the preset line segment threshold, carrying out track line segment type identification on the first identification result, and determining track information of the track surrounding area.
In one embodiment, the identifying the track-surrounded area based on the environment information of the area to be operated and a preset line segment threshold and determining the track information of the track-surrounded area include:
identifying the type of the track line segment of the track surrounding area based on the preset line segment threshold value to obtain a second identification result;
and performing internal state recognition on the second recognition result based on the environment information of the area to be operated, and determining the track information of the track surrounding area.
In one embodiment, the environment information includes map information and image information;
the internal state recognition is carried out on the track surrounding area based on the environmental information of the area to be operated, and a first recognition result is obtained, and the method comprises the following steps:
directly identifying whether the internal state of the track surrounding area is empty or not based on the map information to obtain a first identification result, wherein the first identification result comprises that the internal state of the track surrounding area is empty or the internal state of the track surrounding area is a real object;
in one embodiment, the environment information includes map information and image information;
the internal state recognition is carried out on the track surrounding area based on the environmental information of the area to be operated, and a first recognition result is obtained, and the method comprises the following steps: and comparing the image information with the track surrounding area, identifying whether the internal state of the track surrounding area is empty or not, and obtaining a first identification result, wherein the first identification result comprises that the internal state of the track surrounding area is empty or the internal state of the track surrounding area is a real object.
In one embodiment, the performing, based on the preset line segment threshold, type identification on the first identification result to determine the track information of the track-surrounded area includes:
determining the track line segment width of the track surrounding area, of which the internal state is empty, in the first recognition result;
and comparing the width of the track line segment with a preset line segment threshold value to determine the track information of the track surrounding area.
In one embodiment, identifying the type of the track line segment of the track surrounding area based on the preset line segment threshold value, and obtaining a second identification result includes:
determining the width of a track segment of the track surrounding area, and comparing the width of the track segment with a preset segment threshold value to obtain a second identification result, wherein the second identification result comprises that the track of the track surrounding area is a straight line or the track of the track surrounding area is a curve.
In one embodiment, the performing internal state recognition on the second recognition result based on the environment information of the area to be worked, and determining the track information of the track surrounding area includes:
and identifying whether the internal state of a track surrounding area with a straight track in the second identification result is empty or not based on the environment information of the area to be operated, and determining the track information of the track surrounding area.
In one embodiment, the determining the information of the area to be worked based on the track information includes:
determining a track surrounding area with an internal state of a real object and a track surrounding area with a track of a curve as a complex area;
a track-surrounding area whose inner state is empty and a track-surrounding area whose track is a straight line are determined as regular areas.
In one embodiment, after determining the information of the area to be worked, the method includes:
and updating the state information of the complex area and the conventional area into the map information of the area to be operated.
In one embodiment, if it is determined that a complex region exists in the region to be operated according to the information of the region to be operated, performing intelligent operation on the complex region by using a complex region policy operation mode includes:
comparing the area of the complex region with the area of a preset region to obtain an area comparison result;
when the area comparison result shows that the area of the complex area is larger than the area of the preset area, performing edge cleaning on the complex area;
and when the area comparison result shows that the area of the complex area is smaller than or equal to the area of the preset area, executing an obstacle avoidance strategy on the complex area.
In one embodiment, if it is determined that a conventional area exists in the area to be operated according to the information of the area to be operated, performing intelligent operation on the conventional area by using a conventional area operation manner includes:
and if the conventional area exists in the area to be operated is determined according to the information of the area to be operated, intelligently operating the conventional area in a straight line bow-shaped operation mode.
In one embodiment, if it is determined that a conventional area exists in the area to be operated according to the information of the area to be operated, performing intelligent operation on the conventional area in a conventional area operation manner, further includes:
and in the process of carrying out intelligent operation on the conventional area, if the intelligent equipment detects a new object or triggers an obstacle avoidance action, newly adding the corresponding area identification as a complex area.
An intelligent device operation control apparatus, the apparatus comprising:
the operation information acquisition module is used for acquiring an operation mode of the intelligent equipment and acquiring information of an area to be operated, wherein the information of the area to be operated comprises an area type of an area contained in the area to be operated;
and the intelligent operation module of the area to be operated is used for intelligently operating the complex area by adopting a complex area strategy operation mode if the complex area exists in the area to be operated is determined according to the information of the area to be operated in the intelligent operation process, and intelligently operating the conventional area by adopting a conventional area operation mode if the conventional area exists in the area to be operated is determined according to the information of the area to be operated until the intelligent operation of the area to be operated is completed.
An electronic device comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the intelligent device operation control method when executing the computer program.
A computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of the above-described intelligent device job control method.
According to the intelligent equipment operation control method, the intelligent equipment operation control device, the electronic equipment and the storage medium, the intelligent equipment operation mode and the information of the area to be operated are obtained, and the area type of the area contained in the area to be operated is determined according to the information of the area to be operated in the intelligent operation process, so that corresponding operation modes can be executed on the areas of different types until the intelligent operation of the area to be operated is completed. Therefore, the working efficiency of the area to be worked can be improved by the method.
Drawings
FIG. 1 is a diagram of an application environment of a method for controlling operations of an intelligent device in one embodiment;
FIG. 2 is a schematic flow chart diagram illustrating a method for controlling operations of an intelligent device in one embodiment;
FIG. 3 is a flowchart illustrating a method for controlling operations of an intelligent device according to an embodiment;
FIG. 4 is a flowchart illustrating a method for controlling operations of an intelligent device according to another embodiment;
FIG. 5 is a block diagram showing the construction of an intelligent device job control apparatus according to an embodiment;
FIG. 6 is a diagram illustrating an internal structure of an electronic device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The intelligent device operation control method provided by the application can be applied to the application environment shown in fig. 1. The application environment may involve an electronic device 102 and a smart work device 104, where the electronic device 102 is connected with the smart work device 104. In some embodiments, the electronic device 102 may be a terminal device that may be separate from the smart work device 104 or integrated with the smart work device 104. The electronic device 102 may be, but is not limited to, various control chips, personal computers, laptops, smartphones, tablets, and portable wearable devices. The intelligent working device 104 may be a sweeping robot, a plant protection robot, an intelligent mower, or other devices that can execute corresponding functions in a working area according to a planned working path, and the following embodiments are described by taking the sweeping robot as an example.
In one embodiment, the electronic device 102 may be integrated with the smart working device 104, and the electronic device 102 acquires a smart device working mode and acquires information on a to-be-worked area, where the information on the to-be-worked area includes an area type of an area included in the to-be-worked area; in the intelligent operation process, if a complex area exists in the area to be operated according to the information of the area to be operated, intelligent operation is carried out on the complex area by adopting a complex area strategy operation mode, and if a conventional area exists in the area to be operated according to the information of the area to be operated, intelligent operation is carried out on the conventional area by adopting a conventional area operation mode until the intelligent operation on the area to be operated is completed.
In one embodiment, as shown in fig. 2, a method for controlling a job of an intelligent device is provided, which is described by taking the method as an example applied to the electronic device in fig. 1, and includes the following steps:
step S202, an intelligent device operation mode is obtained, and area information to be operated is obtained, wherein the area information to be operated comprises area types of areas contained in the area to be operated.
In one embodiment, the operation mode of the smart device may be an operation mode of the sweeping robot, such as a normal cleaning mode, a deep cleaning mode, and the like, the information of the area to be operated may be an area type of an area included in the area to be cleaned, and the area type of the area included in the area to be cleaned may be a complex area, a conventional area, and the like.
Step S206, in the intelligent operation process, if the complex area exists in the area to be operated according to the information of the area to be operated, the complex area is intelligently operated in a complex area strategy operation mode, and if the conventional area exists in the area to be operated according to the information of the area to be operated, the conventional area is intelligently operated in a conventional area operation mode until the intelligent operation of the area to be operated is completed.
In one embodiment, according to the acquired operation mode of the intelligent device, a corresponding intelligent operation process can be entered, the complex area policy operation mode refers to an operation mode set for a complex area, and the conventional area operation mode refers to an operation mode set for a conventional area. In the intelligent operation process, if the complex area exists in the area to be operated according to the information of the area to be operated, the complex area is intelligently operated in a complex area strategy operation mode, and if the conventional area exists in the area to be operated according to the information of the area to be operated, the conventional area operation mode is intelligently operated in the conventional area until the intelligent operation of the area to be operated is completed.
According to the intelligent equipment operation control method, the intelligent equipment operation mode and the information of the area to be operated are obtained, and the area type of the area contained in the area to be operated is determined according to the information of the area to be operated in the intelligent operation process, so that the corresponding operation mode can be executed on the areas of different types until the intelligent operation of the area to be operated is completed. Therefore, the working efficiency of the area to be worked can be improved by the method.
In one embodiment, the determining method of the information of the area to be worked includes: acquiring a track surrounding area of the area to be operated during the initial operation process of the intelligent equipment; identifying the track surrounding area based on the environment information of the area to be operated and a preset line segment threshold value, and determining the track information of the track surrounding area; and determining the information of the area to be operated based on the track information.
In one embodiment, the initial operation process refers to a process in which the sweeping robot operates a certain area for the first time, the track surrounding area of the area to be operated refers to an area built in the area to be operated by the sweeping robot in the first operation process, the environment information of the area to be operated refers to related information of the area to be operated, such as map information, environment image information and the like, and the preset line segment threshold value refers to a preset line segment value. The track surrounding area can be identified through the environment information of the area to be operated and the preset line segment threshold value, so that the track information of the track surrounding area can be determined, and the area to be operated is determined based on the track information. So that the to-be-worked area information can be determined by the above method.
In one embodiment, the identifying the track-surrounded area based on the environment information of the area to be operated and a preset line segment threshold and determining the track information of the track-surrounded area include: identifying the internal state of the track surrounding area based on the environmental information of the area to be operated, and obtaining a first identification result; and based on the preset line segment threshold, carrying out track line segment type identification on the first identification result, and determining track information of the track surrounding area.
In one embodiment, the internal state of the track surrounding area refers to whether an empty or existing real object (such as a table, a garbage bin, and the like) exists inside the track surrounding area, the track line segment type refers to a type of a track forming the track surrounding area, the type of the track may be a straight line, a curve, and the like, the internal state of the track surrounding area may be identified through environment information of the area to be operated, a first identification result is obtained, on the basis of obtaining the first identification result, the track line segment type identification is performed on the first identification result according to a preset line segment threshold, and the track information of the track surrounding area is determined. So that the trajectory information can be determined by the above method.
In one embodiment, the identifying the track-surrounded area based on the environment information of the area to be operated and a preset line segment threshold and determining the track information of the track-surrounded area include: identifying the type of the track line segment of the track surrounding area based on the preset line segment threshold value to obtain a second identification result; and performing internal state recognition on the second recognition result based on the environment information of the area to be operated, and determining the track information of the track surrounding area.
In one embodiment, the type of the track line segment of the track surrounding area may be identified according to a preset line segment threshold, a second identification result is obtained, on the basis of obtaining the second identification result, the internal state of the track surrounding area is identified according to the environment information of the area to be operated, and the track information of the track surrounding area is determined. So that the trajectory information can be determined by the above method.
In one embodiment, the environment information includes map information and image information; the internal state recognition is carried out on the track surrounding area based on the environmental information of the area to be operated, and a first recognition result is obtained, and the method comprises the following steps: and directly identifying whether the internal state of the track surrounding area is empty or not based on the map information to obtain a first identification result, wherein the first identification result comprises that the internal state of the track surrounding area is empty or the internal state of the track surrounding area is a real object.
In one embodiment, the environment information of the area to be operated comprises map information and image information, wherein the map information of the area to be operated can be obtained by scanning the sweeping robot in real time by using a radar in the process of first intelligent operation, and the image information of the area to be operated can be obtained by shooting the sweeping robot by using image acquisition equipment in the process of first intelligent operation. Through the map information, whether the internal state of the track surrounding area is empty or not can be directly identified, and a first identification result is obtained, wherein the first identification result comprises that the internal state of the track surrounding area is empty or the internal state of the track surrounding area is a real object. So that the internal state of the track-surrounding area can be determined by the above method.
In one embodiment, the environment information includes map information and image information; the internal state recognition is carried out on the track surrounding area based on the environmental information of the area to be operated, and a first recognition result is obtained, and the method comprises the following steps: and comparing the image information with the track surrounding area, identifying whether the internal state of the track surrounding area is empty or not, and obtaining a first identification result, wherein the first identification result comprises that the internal state of the track surrounding area is empty or the internal state of the track surrounding area is a real object.
In one embodiment, the image information may be compared with the track-surrounding area to determine whether the internal state of the track-surrounding area is empty, and the first recognition result is obtained. So that the internal state of the track-surrounding area can be determined by the above method.
In one embodiment, the performing, based on the preset line segment threshold, type identification on the first identification result to determine the track information of the track-surrounded area includes:
determining the track line segment width of the track surrounding area with an empty internal state in the first recognition result; and comparing the width of the track line segment with a preset line segment threshold value to determine the track information of the track surrounding area.
In one embodiment, the first recognition result includes that the internal state of the track surrounding area is empty or the internal state of the track surrounding area is a real object, and for the track surrounding area of which the internal state is empty, the track segment width of the track can be determined, and the track segment width is compared with a preset segment threshold value to determine the track information of the track surrounding area, where the preset segment threshold value may be a segment threshold value set based on a straight line fitting algorithm. So that the track information of the track-surrounding area can be determined by the above method.
In one embodiment, identifying the type of the track line segment of the track surrounding area based on the preset line segment threshold value, and obtaining a second identification result includes:
determining the width of a track segment of the track surrounding area, and comparing the width of the track segment with a preset segment threshold value to obtain a second identification result, wherein the second identification result comprises that the track of the track surrounding area is a straight line or the track of the track surrounding area is a curve.
In one embodiment, the track segment width of the track surrounding area may be determined, and the track segment width is compared with a preset segment threshold to obtain a second recognition result, where the second recognition result includes that the track of the track surrounding area is a straight line or the track of the track surrounding area is a curve, where when the track segment width is equal to the preset segment threshold, the track of the track surrounding area may be determined to be a straight line, and otherwise, the track of the track surrounding area is considered to be a curve. Therefore, the track segment type of the track surrounding area can be identified through the method.
In one embodiment, the performing internal state recognition on the second recognition result based on the environment information of the area to be worked, and determining the track information of the track surrounding area includes:
and identifying whether the internal state of a track surrounding area with a straight track in the second identification result is empty or not based on the environment information of the area to be operated, and determining the track information of the track surrounding area.
In one embodiment, the second recognition result includes that the track of the track surrounding area is a straight line or the track of the track surrounding area is a curve, and for the track surrounding area with the track being a straight line in the second recognition result, whether the internal state of the track surrounding area with the track being a straight line is empty can be judged through the environment information of the area to be operated, so that the track information of the track surrounding area can be determined through the method.
In one embodiment, the determining the information of the area to be worked based on the track information includes: determining a track surrounding area with an internal state of a real object and a track surrounding area with a track of a curve as a complex area; a track-surrounding area whose inner state is empty and a track-surrounding area whose track is a straight line are determined as regular areas.
In one embodiment, the track information refers to information related to a track-surrounding area, and may refer to whether a track of the track-surrounding area is a curved line or a straight line, and whether an internal state of the track-surrounding area is empty or a real object exists. So that the to-be-worked area information can be determined by the above method.
In one embodiment, after determining the information of the area to be worked, the method includes: and updating the state information of the complex area and the conventional area into the map information of the area to be operated.
In one embodiment, the state information of the complex area and the normal area refers to information for identifying states of the complex area and the normal information, and the state information may be color identification, and different colors are used for identification for different areas. Therefore, the state information of the complex area and the conventional area can be updated to the map information of the area to be worked by the method.
In one embodiment, if it is determined that a complex region exists in the region to be operated according to the information of the region to be operated, performing intelligent operation on the complex region by using a complex region policy operation mode includes: comparing the area of the complex region with the area of a preset region to obtain an area comparison result; when the area comparison result shows that the area of the complex area is larger than the area of the preset area, performing edge cleaning on the complex area; and when the area comparison result shows that the area of the complex area is smaller than or equal to the area of the preset area, executing an obstacle avoidance strategy on the complex area.
In one embodiment, the preset area refers to an area preset according to an actual situation, in the process of performing intelligent operation on the complex area by using a complex area strategy operation mode, the area of the complex area can be compared with the preset area, when the area of the complex area is larger than the preset area, the complex area can be considered as a large object (such as a sofa, a tea table and the like), edge cleaning can be performed on the complex area, and when the area of the complex area is smaller than or equal to the preset area, the complex area can be considered as a small object (such as a shoe, a small stool and the like), an obstacle avoidance strategy can be performed on the complex area. Therefore, the intelligent operation can be carried out on the complex area by the method.
In one embodiment, in the process of performing intelligent operation on the complex area, if the complex area is updated to be the conventional area, the operation mode is switched to the straight line bow-shaped operation mode.
In one embodiment, if it is determined that a conventional area exists in the area to be operated according to the information of the area to be operated, performing intelligent operation on the conventional area by using a conventional area operation manner includes: and if the conventional area exists in the area to be operated is determined according to the information of the area to be operated, intelligently operating the conventional area in a straight line bow-shaped operation mode.
In one embodiment, when it is determined that a normal area exists in the area to be worked according to the working area information, intelligent working can be performed on the normal area in a straight line bow-shaped working mode. Therefore, the intelligent operation can be carried out on the conventional area by the method.
In one embodiment, if it is determined that a conventional area exists in the area to be operated according to the information of the area to be operated, performing intelligent operation on the conventional area in a conventional area operation manner, further includes: and in the process of carrying out intelligent operation on the conventional area, if the intelligent equipment detects a new object or triggers an obstacle avoidance action, newly adding the corresponding area identification as a complex area.
In one embodiment, in the process of performing intelligent operation on a conventional area, whether a new object exists or not can be detected by adopting the cooperation of infrared, laser radar, ultrasonic equidistant sensors and a spring baffle, and if the new object is detected by the intelligent equipment or an obstacle avoidance action is triggered, the corresponding area identifier is newly added to be a complex area. Thus, the area type of the area in the area to be worked can be updated in real time by the method.
In one embodiment, as shown in fig. 3, a flowchart of an intelligent device operation control method in an embodiment is shown:
in this embodiment, the intelligent operation device is taken as a sweeping robot for example, the electronic device and the sweeping robot are integrated into a whole, and first, it can be determined whether the sweeping robot sweeps the area to be cleaned for the first time, and if not, whether the area to be cleaned is to be cleaned for the first time, the normal cleaning mode or the deep cleaning mode is to be executed in the area to be cleaned can be directly selected.
Specifically, the sweeping robot can construct a track surrounding area in the first operation process, and determine whether the track surrounding area is a complex area by judging the internal state of the track surrounding area, wherein the internal state of the track surrounding area refers to whether the inside of the track surrounding area is empty or whether an object exists (such as a table, a garbage bin and the like).
According to the environment information of the area to be operated, the internal state of the track surrounding area can be identified, whether the inside of the track surrounding area is empty or a real object exists, specifically, the environment information comprises map information and image information, according to the map information, whether the internal state of the track surrounding area is empty can be directly identified, the image information is compared with the track surrounding area, and whether the internal state of the track surrounding area is empty can also be identified.
After the internal state of the track surrounding area is determined according to the environment information of the area to be operated, the track surrounding area of which the internal state is a real object can be determined as a complex area, the color of the complex area is marked on the map information of the area to be cleaned, the track surrounding area of which the internal state is empty is determined as a normal area, and the color of the normal area is marked on the map information of the area to be cleaned.
After the internal state of the track surrounding area is determined, for the track surrounding area with an empty internal state, the track segment width of the track may be determined, and the track segment width is compared with a preset segment threshold, so that the track segment type of the track may be determined, where the track segment type may be a straight line, a curve, or the like, and the preset segment threshold may be a segment threshold set based on a straight line fitting algorithm. When the width of the track line segment is equal to the preset line segment threshold, the track of the track surrounding area can be determined to be a straight line, otherwise, the track of the track surrounding area is considered to be a curve. After determining the track line segment type of the track surrounding area, the track surrounding area of which the track line segment type is a curve may be determined as a complex area, the map information of the area to be cleaned is marked with the color of the complex area, the track surrounding area of which the track line segment type is a straight line is determined as a normal area, and the map information of the area to be cleaned is marked with the color of the normal area, until the area types of the areas included in the area to be cleaned are determined.
In one embodiment, as shown in fig. 4, a flowchart of an intelligent device operation control method in an embodiment is shown:
in this embodiment, taking the intelligent operation device as a sweeping robot as an example for explanation, the electronic device and the sweeping robot are integrated into a whole, and first, the user may select the deep cleaning mode to sweep the area to be cleaned, and may also select the deep cleaning mode to clean.
When a user selects a common cleaning mode to clean an area to be cleaned, the area type of the area contained in the area to be cleaned, which is determined in the first cleaning process by the sweeping robot, can be obtained, if the complex area exists in the area to be cleaned according to the information of the area to be cleaned, intelligent operation is performed on the complex area in a strategy sweeping mode, and if the conventional area exists in the area to be operated according to the information of the area to be cleaned, intelligent operation is performed on the conventional area in a straight line bow-shaped operation mode until the intelligent operation on the area to be cleaned is completed. In the working process of the sweeping robot, whether a new object exists or whether an obstacle avoidance sensor is triggered can be detected by adopting the cooperation of infrared, laser radar, ultrasonic equidistant sensors and a spring baffle, and then a newly increased complex area can be judged, and the map information of the area to be cleaned is updated until the intelligent operation of the area to be operated is completed.
When a user selects a deep cleaning mode to clean an area to be cleaned, the area type of an area contained in the area to be cleaned, which is determined in the first cleaning process by the sweeping robot, can be obtained, if the conventional area exists in the area to be operated according to the information of the area to be cleaned, the conventional area is intelligently operated in a straight line arch-shaped operation mode, if the complicated area exists in the area to be cleaned according to the information of the area to be cleaned, the area of the complicated area can be compared with the area of the preset area, the area of the preset area refers to the area preset according to the actual situation, when the area of the complicated area is larger than the area of the preset area, the complicated area can be regarded as a large object (such as a sofa, a tea table and the like), the edgewise cleaning can be performed on the complicated area, and when the area of the complicated area is smaller than or equal to the area of the preset area, the complicated area can be regarded as a small object (such as a shoe), A small stool, etc.), an obstacle avoidance strategy can be executed on the complex area, in the working process of the sweeping robot, infrared, laser radar, ultrasonic equidistant sensors and a spring baffle can be adopted to cooperate to detect whether a new object exists or whether the obstacle avoidance sensor is triggered, the complex area can be determined to be newly added, and the map information of the area to be cleaned is updated until the intelligent operation of the area to be cleaned is completed.
It should be understood that although the various steps in the flow charts of fig. 2-4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-4 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 5, there is provided a smart device job control apparatus including: operation information acquisition module and treat operation regional intelligent operation module, wherein:
the operation information obtaining module 502 is configured to obtain an operation mode of the intelligent device, and obtain information of an area to be operated, where the information of the area to be operated includes an area type of an area included in the area to be operated.
And the to-be-operated area intelligent operation module 504 is configured to, in the intelligent operation process, perform intelligent operation on the complex area by using a complex area policy operation mode if the complex area exists in the to-be-operated area is determined according to the to-be-operated area information, and perform intelligent operation on the conventional area by using a conventional area operation mode until the intelligent operation on the to-be-operated area is completed if the conventional area exists in the to-be-operated area is determined according to the to-be-operated area information.
In one embodiment, the job information acquisition module includes:
the system comprises a to-be-operated area information determining module, a track surrounding area and a track surrounding area, wherein the to-be-operated area information determining module is used for acquiring the track surrounding area of the to-be-operated area in the initial operation process of the intelligent equipment; identifying the track surrounding area based on the environment information of the area to be operated and a preset line segment threshold value, and determining the track information of the track surrounding area; and determining the information of the area to be operated based on the track information.
In one embodiment, the to-be-operated area information determining module is configured to identify an internal state of the track surrounding area based on environment information of the to-be-operated area, and obtain a first identification result; and based on the preset line segment threshold, carrying out track line segment type identification on the first identification result, and determining track information of the track surrounding area.
In one embodiment, the to-be-operated area information determining module is configured to identify a track segment type of the track surrounding area based on the preset segment threshold, and obtain a second identification result; and performing internal state recognition on the second recognition result based on the environment information of the area to be operated, and determining the track information of the track surrounding area.
In one embodiment, the to-be-operated area information determining module is configured to directly identify whether an internal state of the track-surrounded area is empty based on the map information, and obtain a first identification result, where the first identification result includes that the internal state of the track-surrounded area is empty or that the internal state of the track-surrounded area is a real object.
In one embodiment, the to-be-operated area information determining module is configured to compare the image information with the track surrounding area, identify whether an internal state of the track surrounding area is empty, and obtain a first identification result, where the first identification result includes that the internal state of the track surrounding area is empty or that the internal state of the track surrounding area is a real object.
In one embodiment, the to-be-operated area information determining module is configured to determine a track line segment width of a track surrounding area of which an internal state is empty in the first recognition result; and comparing the width of the track line segment with a preset line segment threshold value to determine the track information of the track surrounding area.
In one embodiment, the to-be-operated area information determining module is configured to determine a track line segment width of a track of the track surrounding area, compare the track line segment width with a preset line segment threshold, and obtain a second recognition result, where the second recognition result includes that the track of the track surrounding area is a straight line or the track of the track surrounding area is a curve.
In one embodiment, the to-be-operated area information determining module is configured to identify whether an internal state of a trajectory surrounding area of which a trajectory is a straight line in the second identification result is empty based on environment information of the to-be-operated area, and determine trajectory information of the trajectory surrounding area.
In one embodiment, the information determination module of the area to be operated is used for determining a track surrounding area with an internal state of a real object and a track surrounding area with a track of a curve as a complex area; a track-surrounding area whose inner state is empty and a track-surrounding area whose track is a straight line are determined as regular areas.
In one embodiment, the information determination module of the area to be worked is used for updating the state information of the complex area and the conventional area into the map information of the area to be worked.
In one embodiment, the intelligent operation module for the area to be operated comprises: a complex area intelligent operation module;
the complex region intelligent operation module is used for comparing the area of the complex region with the area of a preset region to obtain an area comparison result; when the area comparison result shows that the area of the complex area is larger than the area of the preset area, performing edge cleaning on the complex area; and when the area comparison result shows that the area of the complex area is smaller than or equal to the area of the preset area, executing an obstacle avoidance strategy on the complex area.
In one embodiment, the intelligent operation module for the area to be operated comprises: a conventional area intelligent operation module;
and the conventional area intelligent operation module is used for performing intelligent operation on the conventional area by adopting a straight line bow-shaped operation mode if the conventional area exists in the area to be operated according to the information of the area to be operated.
And the conventional area intelligent operation module is used for newly adding a corresponding area identifier into a complex area if the intelligent equipment detects a new object or triggers an obstacle avoidance action in the process of intelligently operating the conventional area.
For specific limitations of the intelligent device job control apparatus, the above limitations on the intelligent device job control method can be referred to, and details are not repeated here. All or part of each module in the intelligent equipment operation control device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the electronic device, or can be stored in a memory in the electronic device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, an electronic device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 6. The electronic device comprises a processor, a memory, a communication interface, a display screen and an input device which are connected through a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the electronic device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement an intelligent device job control method. The display screen of the electronic equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the electronic equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the configuration shown in fig. 6 is a block diagram of only a portion of the configuration associated with the present application, and does not constitute a limitation on the electronic device to which the present application is applied, and a particular electronic device may include more or less components than those shown in the drawings, or may combine certain components, or have a different arrangement of components.
In one embodiment, an electronic device is provided, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the intelligent device job control method when executing the computer program.
In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, implements the steps of the above-described smart device job control method.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (16)
1. An intelligent device operation control method is characterized by comprising the following steps:
the method comprises the steps of obtaining an intelligent equipment operation mode and obtaining information of an area to be operated, wherein the information of the area to be operated comprises an area type of an area contained in the area to be operated;
in the intelligent operation process, if a complex area exists in the area to be operated according to the information of the area to be operated, intelligent operation is carried out on the complex area by adopting a complex area strategy operation mode, and if a conventional area exists in the area to be operated according to the information of the area to be operated, intelligent operation is carried out on the conventional area by adopting a conventional area operation mode until the intelligent operation on the area to be operated is completed.
2. The method according to claim 1, wherein the determination of the information of the area to be worked comprises:
acquiring a track surrounding area of the area to be operated during the initial operation process of the intelligent equipment;
identifying the track surrounding area based on the environment information of the area to be operated and a preset line segment threshold value, and determining the track information of the track surrounding area;
and determining the information of the area to be operated based on the track information.
3. The method according to claim 2, wherein the identifying the track-surrounded area based on the environment information of the area to be worked and a preset line segment threshold value, and the determining the track information of the track-surrounded area comprises:
identifying the internal state of the track surrounding area based on the environmental information of the area to be operated, and obtaining a first identification result;
and based on the preset line segment threshold, carrying out track line segment type identification on the first identification result, and determining track information of the track surrounding area.
4. The method according to claim 2, wherein the identifying the track-surrounded area based on the environment information of the area to be worked and a preset line segment threshold value, and the determining the track information of the track-surrounded area comprises:
identifying the type of the track line segment of the track surrounding area based on the preset line segment threshold value to obtain a second identification result;
and performing internal state recognition on the second recognition result based on the environment information of the area to be operated, and determining the track information of the track surrounding area.
5. The method of claim 3, wherein the environmental information includes map information and image information;
the internal state recognition is carried out on the track surrounding area based on the environmental information of the area to be operated, and a first recognition result is obtained, and the method comprises the following steps:
directly identifying whether the internal state of the track surrounding area is empty or not based on the map information to obtain a first identification result, wherein the first identification result comprises that the internal state of the track surrounding area is empty or the internal state of the track surrounding area is a real object;
or the like, or, alternatively,
and comparing the image information with the track surrounding area, identifying whether the internal state of the track surrounding area is empty or not, and obtaining a first identification result, wherein the first identification result comprises that the internal state of the track surrounding area is empty or the internal state of the track surrounding area is a real object.
6. The method according to claim 4, wherein the performing track segment type recognition on the first recognition result based on the preset segment threshold to determine the track information of the track-surrounding area comprises:
determining the track line segment width of the track surrounding area with an empty internal state in the first recognition result;
and comparing the width of the track line segment with a preset line segment threshold value to determine the track information of the track surrounding area.
7. The method according to claim 4, wherein the identifying the type of the track segment of the track surrounding area based on the preset segment threshold value and obtaining a second identification result comprises:
determining the width of a track segment of the track surrounding area, and comparing the width of the track segment with a preset segment threshold value to obtain a second identification result, wherein the second identification result comprises that the track of the track surrounding area is a straight line or the track of the track surrounding area is a curve.
8. The method according to claim 4, wherein the performing internal state recognition on the second recognition result based on the environment information of the area to be worked, and determining the track information of the track surrounding area comprises:
and identifying whether the internal state of a track surrounding area with a straight track in the second identification result is empty or not based on the environment information of the area to be operated, and determining the track information of the track surrounding area.
9. The method according to claim 2, wherein the determining the to-be-worked area information based on the trajectory information includes:
determining a track surrounding area with an internal state of a real object and a track surrounding area with a track of a curve as a complex area;
a track-surrounding area whose inner state is empty and a track-surrounding area whose track is a straight line are determined as regular areas.
10. The method according to claim 9, wherein the determining the to-be-worked area information comprises:
and updating the state information of the complex area and the conventional area into the map information of the area to be operated.
11. The method according to claim 1, wherein if it is determined that a complex area exists in the area to be operated according to the information of the area to be operated, performing intelligent operation on the complex area by using a complex area policy operation mode, comprises:
comparing the area of the complex region with the area of a preset region to obtain an area comparison result;
when the area comparison result shows that the area of the complex area is larger than the area of the preset area, performing edge cleaning on the complex area;
and when the area comparison result shows that the area of the complex area is smaller than or equal to the area of the preset area, executing an obstacle avoidance strategy on the complex area.
12. The method according to claim 1, wherein if it is determined that a normal area exists in the area to be operated according to the information of the area to be operated, performing intelligent operation on the normal area in a normal area operation manner includes:
and if the conventional area exists in the area to be operated is determined according to the information of the area to be operated, intelligently operating the conventional area in a straight line bow-shaped operation mode.
13. The method according to claim 1, wherein if it is determined that a normal area exists in the area to be operated according to the information of the area to be operated, performing intelligent operation on the normal area in a normal area operation manner, further comprising:
and in the process of carrying out intelligent operation on the conventional area, if the intelligent equipment detects a new object or triggers an obstacle avoidance action, newly adding the corresponding area identification as a complex area.
14. An intelligent device operation control apparatus, the apparatus comprising:
the operation information acquisition module is used for acquiring an operation mode of the intelligent equipment and acquiring information of an area to be operated, wherein the information of the area to be operated comprises an area type of an area contained in the area to be operated;
and the intelligent operation module of the area to be operated is used for intelligently operating the complex area by adopting a complex area strategy operation mode if the complex area exists in the area to be operated is determined according to the information of the area to be operated in the intelligent operation process, and intelligently operating the conventional area by adopting a conventional area operation mode if the conventional area exists in the area to be operated is determined according to the information of the area to be operated until the intelligent operation of the area to be operated is completed.
15. An electronic device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any of claims 1 to 13 when executing the computer program.
16. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 13.
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