CN114254961A - Method, device and equipment for determining environmental state change influence relationship and storage medium - Google Patents
Method, device and equipment for determining environmental state change influence relationship and storage medium Download PDFInfo
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Abstract
The embodiment of the invention provides a method, a device, equipment and a storage medium for determining an environmental state change influence relationship, wherein the method comprises the following steps: determining the environmental change influence relation of the positions on the motion trail and the range of the key environmental positions according to the motion trail corresponding to each target position and the environmental parameters corresponding to the motion trail; wherein, each motion track and corresponding environmental parameters are determined by the following processes: taking the target position as a reference position, moving to the reference position, and determining a detection direction; after adjusting the self to the detection direction, carrying out environment detection to obtain the environment parameters of each detection direction; selecting an environmental parameter according to a preset selection rule; if the end condition is not met, updating the reference position based on the detection position corresponding to the selected environmental parameter, and returning to the step of moving to the reference position; and if the ending condition is met, taking the track moving at each reference position as a motion track, and taking the environment parameter obtained by environment detection as a corresponding environment parameter.
Description
Technical Field
The present invention relates to the field of automation technologies, and in particular, to a method, an apparatus, a device, and a storage medium for determining an environmental state change influence relationship.
Background
In the industrial fields of semiconductor integrated circuits, precision instruments, medical instruments, food and the like, corresponding industrial products need to be produced in environments with extremely strict requirements on dust-free, sterility, constant temperature, constant humidity and the like, so that a special clean workshop can be established in the industrial fields to produce the corresponding products. In order to ensure that the environment of the clean room meets the severe requirements, the environment in the clean room needs to be monitored for real-time adjustment. The environmental sensor that can generally set up in fixed position in current clean workshop gathers environmental parameter in order to monitor, and when the inside influence factor that causes the environmental condition to change that appears in clean workshop, the environmental parameter of gathering at fixed position is difficult to embody the incidence relation between the source environment of influence factor and other position environment, and is difficult to detect the optional position in clean workshop, is unfavorable for traceing back the source and analyzes the influence effect of influence factor to other positions.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a storage medium for determining an environmental state change influence relationship, which are used for solving the problem that in the prior art, environmental detection at a fixed position of a clean workshop is not beneficial to analyzing the association relationship among environmental parameters at each position.
The embodiment of the invention provides a method for determining an environmental state change influence relationship, which is applied to a robot and comprises the following steps:
when the condition that the starting condition is met is determined, respectively determining a motion track corresponding to at least one preset target position and an environment parameter corresponding to the motion track;
determining an environment change influence relation of positions on the motion trail corresponding to each target position and a range of key environment positions according to the motion trail corresponding to each target position and the environment parameters corresponding to the motion trail;
determining a motion track corresponding to each target position and an environment parameter corresponding to the motion track through the following processes:
moving the target position as a reference position to the reference position, and determining at least one detection orientation based on the reference position; each detection direction comprises a detection direction and a detection position;
after the direction of the mobile phone is adjusted to at least one detection direction, environment detection is carried out to obtain environment parameters of each detection direction;
selecting at least one environmental parameter from the environmental parameters of each detection direction according to a preset selection rule;
judging whether an end condition is met;
if the end condition is not met, updating the reference position based on the detection position corresponding to the selected environmental parameter, and returning to the step of moving to the reference position; if the end conditions are met, taking a track moved at each reference position as a motion track corresponding to the target position, and taking an environmental parameter obtained by carrying out environmental detection after the track is moved to the target position as an environmental parameter corresponding to the motion track;
the preset selection rule is that at least one optimal environmental parameter is selected from the environmental parameters of all the detection directions, and the key environmental position is a source position causing environmental state change;
or, the preset selection rule is to select at least one worst environment parameter from the environment parameters of each detection position, and the key environment position is a minimum influence position which is least influenced by the change of the environment state.
Optionally, determining an environmental change influence relationship of a position on the motion trajectory corresponding to each target position and a range of a key environmental position according to the motion trajectory corresponding to each target position and the environmental parameter corresponding to the motion trajectory, including:
drawing an environment state description diagram according to the motion trail corresponding to each target position and the environment parameters corresponding to the motion trail;
and determining the environmental change influence relation of the positions on the motion trail corresponding to the target positions and the range of the key environmental positions according to the environmental state description diagram.
Optionally, determining at least one detection orientation based on the reference position comprises:
determining a plurality of detection directions according to a preset rule;
determining a first position in the detection direction as a detection position for any one detection direction, wherein the first position is a position that is a preset first distance away from the reference position in the detection direction; or, determining the reference position as a detection position;
and aiming at any detection direction, combining the detection direction with the determined detection position to obtain a detection direction.
Optionally, if the preset selection rule is to select an optimal one of the environment parameters of each of the detection orientations, the ending condition includes that the selected optimal environment parameter is inferior to the last selected optimal environment parameter;
if the preset selection rule is that the worst environment parameter is selected from the environment parameters of all the detection directions, the ending condition includes that the worst environment parameter selected this time is superior to the worst environment parameter selected last time.
Optionally, if the first position in the detection direction is determined as the detection position for any one detection direction, before determining whether the end condition is satisfied, the method further includes:
carrying out environment detection on the reference position to obtain an environment parameter of the reference position;
if the preset selection rule is that an optimal environment parameter is selected from the environment parameters of all the detection directions, the ending condition comprises that the selected optimal environment parameter is inferior to the optimal environment parameter selected last time, or the selected optimal environment parameter is inferior to the environment parameter of the reference position;
if the preset selection rule is that the worst environment parameter is selected from the environment parameters of each detection direction, the ending condition includes that the worst environment parameter selected this time is better than the worst environment parameter selected last time, or the worst environment parameter selected this time is better than the environment parameter of the reference position.
Optionally, updating the reference position based on the detection position corresponding to the selected environmental parameter includes:
if the selected environmental parameter is one, updating a second position which is away from the detection direction of the detection azimuth corresponding to the selected environmental parameter by a preset second distance by taking the reference position as a starting point as the reference position;
and if the number of the selected environmental parameters is two, updating a third position which is away from an angle bisector of an included angle formed by the detection directions of the detection azimuths corresponding to the selected environmental parameters by a preset second distance by taking the reference position as a starting point as the reference position.
Optionally, the starting condition includes that an environmental parameter obtained by detecting the environment at the specified position exceeds a preset range.
Based on the same inventive concept, an embodiment of the present invention further provides a detection apparatus, including:
the detection module is used for respectively determining a motion track corresponding to at least one preset target position and an environment parameter corresponding to the motion track when the starting condition is met; determining a motion track corresponding to each target position and an environment parameter corresponding to the motion track through the following processes: moving the target position as a reference position to the reference position, and determining at least one detection orientation based on the reference position; each detection direction comprises a detection direction and a detection position; after the direction of the mobile phone is adjusted to at least one detection direction, environment detection is carried out to obtain environment parameters of each detection direction; selecting at least one environmental parameter from the environmental parameters of each detection direction according to a preset selection rule; judging whether an end condition is met; if the end condition is not met, updating the reference position based on the detection position corresponding to the selected environmental parameter, and returning to the step of moving to the reference position; if the end conditions are met, taking a track moved at each reference position as a motion track corresponding to the target position, and taking an environmental parameter obtained by carrying out environmental detection after the track is moved to the target position as an environmental parameter corresponding to the motion track; the preset selection rule is that at least one optimal environmental parameter is selected from the environmental parameters of all the detection directions, and the key environmental position is a source position causing environmental state change; or, the preset selection rule is to select at least one worst environment parameter from the environment parameters of each detection position, and the key environment position is a minimum influence position which is least influenced by the change of the environment state;
and the analysis module is used for determining the environmental change influence relationship of the positions on the motion trail corresponding to each target position and the range of the key environmental positions according to the motion trail corresponding to each target position and the environmental parameters corresponding to the motion trail.
Based on the same inventive concept, an embodiment of the present invention further provides an apparatus, including: a processor and a memory for storing processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the environmental state change impact relationship determination method.
Based on the same inventive concept, the embodiment of the present invention further provides a storage medium, where the storage medium stores a computer program, and the computer program is used to implement the method for determining the environmental state change influence relationship.
The invention has the following beneficial effects:
the method, the device, the equipment and the storage medium for determining the environmental state change influence relationship can obtain the incidence relationship of the environmental parameters between different positions in a designated area (such as a clean workshop), and are convenient for analyzing the source position of a factor damaging the stability of the environmental state or the influence effect on the environment of the designated area.
Drawings
Fig. 1 is a flowchart of a method for determining an environmental state change influence relationship according to an embodiment of the present invention;
FIG. 2 is a depiction of an environmental state in an embodiment of the present invention;
FIG. 3 is a flowchart illustrating a portion of steps of a method for determining an environmental state change impact relationship according to an embodiment of the present invention;
FIG. 4 is a second flowchart of a method for determining an environmental state change influence relationship according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of detecting an orientation and a reference position according to an embodiment of the present invention;
fig. 6 is a third flowchart of a method for determining an environmental state change influence relationship according to an embodiment of the present invention;
FIG. 7 is a second schematic diagram illustrating the detection of the azimuth and the reference position according to the embodiment of the present invention;
FIG. 8 is a fourth flowchart of a method for determining an environmental status change influence relationship according to an embodiment of the present invention;
FIG. 9 is a schematic structural diagram of a detection apparatus according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, the present invention is further described with reference to the accompanying drawings and examples. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their repetitive description will be omitted. The words expressing the position and direction described in the present invention are illustrated in the accompanying drawings, but may be changed as required and still be within the scope of the present invention. The drawings of the present invention are for illustrative purposes only and do not represent true scale.
It should be noted that in the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be implemented in a number of ways different from those described herein and similar generalizations can be made by those skilled in the art without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. The description which follows is a preferred embodiment of the present application, but is made for the purpose of illustrating the general principles of the application and not for the purpose of limiting the scope of the application. The protection scope of the present application shall be subject to the definitions of the appended claims.
The following describes a method, an apparatus, a device, and a storage medium for determining an environmental state change influence relationship according to an embodiment of the present invention with reference to the accompanying drawings.
The embodiment of the invention provides a method for determining an environmental change influence relationship, which is applied to a robot and comprises the following steps as shown in figure 1:
and S110, acquiring a target position without repetition.
If the acquisition in the step S110 is successful, executing step S120; if all the target positions have been acquired, step S200 is executed.
And S120, taking the target position as a reference position.
And S130, moving to the reference position.
S140, determining at least one detection position based on the reference position. Wherein, each detection orientation comprises a detection direction and a detection position.
S150, after the direction of the mobile terminal is adjusted to at least one detection direction, environment detection is carried out to obtain environment parameters of each detection direction.
In a specific implementation, the environmental parameter may be a scalar environmental parameter, such as temperature, humidity, air pressure, particulate matter or gas concentration, sound intensity, object vibration amplitude, object vibration frequency, radio signal intensity, and the like; vector environmental parameters such as wind speed, magnetic field strength, electric field strength, etc. may also be used. In the adjusting process of the robot in step S150, if the detected position of the detected orientation is not the reference position, the adjusting process includes that the robot moves from the current position of the robot to the detected position; if the detection direction of the detection orientation is different from the current direction faced by the robot or the sensor on the robot, the method comprises rotating the robot or the sensor on the robot to make the facing direction be the detection direction of the detection orientation.
And S160, selecting at least one environmental parameter from the environmental parameters of all the detection directions according to a preset selection rule.
And S170, judging whether the ending condition is met.
If the result of the step S170 is no, execute step S180; if the result of the step S170 is yes, step S190 is executed.
And S180, updating the reference position based on the detection position corresponding to the selected environment parameter. Returning to the step S130.
And S190, taking a track moved at each reference position as a motion track corresponding to the target position, and taking an environmental parameter obtained by carrying out environmental detection after the track is moved to the target position as an environmental parameter corresponding to the motion track. Returning to the step S110.
In a specific implementation process, for each reference position, the environmental parameters obtained by performing the environmental detection after the step S120 may be all used as the environmental parameters corresponding to the motion trajectory, or the environmental parameters corresponding to the selected detection direction may be used as the environmental parameters corresponding to the motion trajectory, which is not limited herein.
S200, determining the environmental change influence relation of the positions on the motion trail corresponding to each target position and the range of the key environmental positions according to the motion trail corresponding to each target position and the environmental parameters corresponding to the motion trail.
The preset selection rule is that at least one optimal environmental parameter is selected from the environmental parameters of all the detection directions, and the key environmental position is a source position causing environmental state change;
or, the preset selection rule is to select at least one worst environment parameter from the environment parameters of each detection position, and the key environment position is a minimum influence position which is least influenced by the change of the environment state.
In a specific implementation process, the determined environmental change influence relationship of each position on the motion trajectory corresponding to the target position and the range of the key environmental position may be sent to a terminal device of a user, so that the user can process the environment of the clean workshop by using the obtained result.
It should be noted that, in the embodiment of the present invention, the quality of the environmental parameter is based on the environmental parameter when the overall environment (e.g., a clean room) is in an expected steady state. For example, in the case where the environmental parameter is temperature, the temperature of each location is 25 ℃ when the clean room is in an expected steady state, and if the temperature of each location is increased due to the presence of abnormally heated equipment in the clean room at this time, the higher temperature is the worse temperature, and the lower temperature is the better temperature; on the contrary, if there is a gap in the clean room where a large amount of heat is abnormally leaked to the outside, resulting in a decrease in the temperature of each location, the lower temperature is the worse temperature, and the higher temperature is the better temperature.
Thus, for the clean room, if the target position is set at a position where the environmental parameters are better under normal conditions, and the preset selection rule is to select at least one worst environmental parameter from the environmental parameters of each detection direction, as shown in fig. 2, the motion trajectory of the robot from the position where the environment is better to the position where the environment is worse is obtained through the above process, and an approximate range of sources of factors which damage the stability of the environmental state and cause the change of the environmental state can be obtained. If it is known that the source position of the factor causing the change of the environmental state is damaged by the stable environmental state, the target position is arranged near the source position, and the preset selection rule is to select at least one optimal environmental parameter from the environmental parameters of each detection direction, then the motion track from the position with poor environment to the position with better environment can be obtained through the process, and the approximate range of the minimum influence position with the minimum influence of the factor causing the change of the environmental state can be obtained. Therefore, the incidence relation of the environmental parameters among different positions in the clean workshop can be obtained, and the source position of the factor damaging the stability of the environmental state or the influence effect on the clean workshop environment can be conveniently analyzed.
Optionally, the step S200 of determining, according to the motion trajectory corresponding to each target position and the environment parameter corresponding to the motion trajectory, an environment change influence relationship of a position on the motion trajectory corresponding to each target position and a range of a key environment position, includes:
drawing an environment state description graph according to the motion trail corresponding to the target position and the environment parameters corresponding to the motion trail;
and determining the environmental change influence relation of the positions on the motion trail corresponding to the target positions and the range of the key environmental positions according to the environmental state description diagram.
In a specific implementation process, the environment state description graph can be sent to a terminal device of a user, so that the user can intuitively analyze the whole environment. Meanwhile, the determined range of the key environment position can be drawn on the environment state description diagram and sent to the terminal equipment of the user, so that the user can analyze the whole environment more intuitively.
For example, as shown in fig. 2, by drawing an environment state description diagram for a clean room, the environment change influence relationship of the position on each motion trajectory is determined as follows: on the motion trail, the influence of the environment change is propagated from the end point of the motion trail to the direction of the target position. The range of the source position causing the environmental state change is a range composed in the vicinity of the end point of each motion trajectory.
If the environmental parameters corresponding to the positions are considered not to change with time when the environmental state description diagram determining method is performed, and the preset first distance and the preset second distance are smaller, the motion trajectory obtained by the process of finding the maximum value through the above steps can represent the gradient change of the environmental parameters in the whole environment (such as a clean workshop) to a certain extent, and the environmental state description diagram can be approximately considered as an environmental field diagram.
Optionally, as shown in fig. 3, the step S140 of determining at least one detection position based on the reference position includes:
and S141, determining a plurality of detection directions according to a preset rule.
In a specific implementation process, the preset rule may be that a plurality of preset directions (e.g., true east, true west, true south, true north) are determined as the detection directions; or the detection directions may be determined according to a preset motion rule (for example, clockwise rotation of 0 °, 90 °, 270 °) with reference to the direction in which the robot itself is currently facing.
S142, one detection direction is selected from the plurality of determined detection directions without repetition.
If the selection in step S142 is successful, step S143 is executed; if all the detection directions are selected, the step S150 is executed.
S143, determining a first position in the detection direction as a detection position; alternatively, the reference position is determined as the detection position.
Wherein the first position is a position that is a preset first distance away from the reference position in the detection direction.
S144, combining the detection direction with the determined detection position to obtain a detection direction. Returning to the step S142.
Further, in step S160, when at least one environmental parameter is selected from the environmental parameters of each detection position according to a preset selection rule, one environmental parameter may be selected, or two environmental parameters may be selected.
For the case of selecting one environmental parameter:
if the preset selection rule is to select an optimal one of the environment parameters of each detection direction, the ending condition includes that the selected optimal environment parameter is inferior to the last selected optimal environment parameter.
If the preset selection rule is that the worst environment parameter is selected from the environment parameters of all the detection directions, the ending condition includes that the worst environment parameter selected this time is superior to the worst environment parameter selected last time.
In general, for each motion trajectory determined by the termination condition, the range of the emphasized environment position may be between the range defined by the penultimate reference position on each motion trajectory and the range defined by the end point position on each motion trajectory.
Optionally, if the first position in the detection direction is determined as the detection position for any detection direction, before the step S170 of determining whether an end condition is satisfied, the method further includes:
and carrying out environment detection on the reference position to obtain the environment parameters of the reference position.
Further, if the preset selection rule is to select an optimal one of the environment parameters of each of the detection orientations, the ending condition includes that the selected optimal environment parameter is worse than the last selected optimal environment parameter, or the selected optimal environment parameter is worse than the environment parameter of the reference position.
If the preset selection rule is that the worst environment parameter is selected from the environment parameters of each detection direction, the ending condition includes that the worst environment parameter selected this time is better than the worst environment parameter selected last time, or the worst environment parameter selected this time is better than the environment parameter of the reference position.
In this way, for the embodiment in which the first position in the detection direction is determined as the detection position, the reference position is additionally subjected to environment detection, and the environment parameter of the detection position is compared with the environment parameter of the reference position to judge whether to control the robot to continue moving, so that the end point of the motion trajectory can be closer to the key environment position, and the range of the key environment position can be conveniently determined subsequently.
In addition, in a specific implementation process, the ending condition may further include that the number of times of executing step S160 exceeds a number threshold, the selected optimal environment parameter/worst environment parameter exceeds a preset environment parameter range, conditions such as determining that the robot needs to be charged are determined, and the conditions may be flexibly set according to actual needs.
Optionally, the step S180 of updating the reference position based on the detected position corresponding to the selected environmental parameter includes:
and updating a second position which is away from a preset second distance in the detection direction of the detection azimuth corresponding to the selected environmental parameter by taking the reference position as a starting point to be the reference position.
In a specific implementation process, the preset second distance may be equal to or different from the preset first distance. As a preferred embodiment, the preset second distance is greater than the preset first distance, so as to end the motion trajectory corresponding to the target position as soon as possible, thereby facilitating finding the range of the important environmental position more quickly.
In the case of selecting two detected orientations to update the reference position, the embodiment may correspondingly adjust the optimal one/worst one of the environmental parameters to the optimal two/worst two environmental parameters.
Correspondingly optionally, the step S180 of updating the reference position based on the detected position corresponding to the selected environmental parameter includes:
and updating a third position which is away from a preset third distance on an angle bisector of an included angle formed by the detection direction of the detection azimuth corresponding to the selected environmental parameter by taking the reference position as a starting point as the reference position.
In a specific implementation process, the preset third distance may be equal to or different from the preset first distance. In a preferred embodiment, the preset third distance is greater than the preset first distance.
The other embodiments of the case of selecting two environment parameters are similar to the above, for example, the ending condition may be the same as the case of selecting one environment parameter, so that the above description may be referred to for corresponding implementation, and further description is omitted here.
Optionally, the starting condition includes that an environmental parameter obtained by detecting the environment at the specified position exceeds a preset range.
For example, the robot moves the clean room according to a predetermined route, performs environment detection at a predetermined position on the predetermined route, and starts to implement the above-described method for determining the environmental change influence relationship when an environmental parameter obtained by performing the environment detection at a predetermined position by the robot exceeds a preset range of an expected environmental parameter in a steady state. These predetermined positions may be referred to as target positions as described above.
The method for determining the environmental change influence relationship according to the embodiment of the present invention will be described in detail below with reference to several exemplary examples.
Example 1:
taking the environmental parameter as the particulate matter concentration, each of the target positions is set at a position near the outside of the clean room, and a factor at a source position causing a change in the environmental state causes the particulate matter concentration of the clean room to increase compared to an expected steady state as an example. As shown in fig. 4, the method specifically includes:
S110A, a target position is obtained without repetition.
If the step S110A is successfully performed, go to step S120A; if all the target positions have been acquired, step S200A is executed.
And S120, 120A, taking the target position as a reference position.
And S130A, moving to the reference position.
S141A, taking the current facing direction of the robot as a reference, clockwise rotating by 0 degrees, 45 degrees, 90 degrees, 135 degrees, 225 degrees, 270 degrees and 315 degrees in sequence to determine a plurality of detection directions.
S142A, selecting one detection direction from the determined plurality of detection directions without repetition.
If the step S142A is successfully performed, go to step S143A; if all the detection directions are selected, step S150A is executed.
S143A, determining a first position in the detection direction as a detection position, wherein the first position is a position that is a preset first distance away from the reference position in the detection direction.
S144A, combining the detection direction with the determined detection position to obtain a detection direction. Returning to the step S142A.
Through the above steps, the detection orientation shown in fig. 5 will be obtained.
And S150A, adjusting the directions of the particle detectors to the detection directions respectively, and then carrying out environment detection to obtain the particle concentration of each detection direction.
S160A, selecting the maximum particulate matter concentration from the particulate matter concentrations at the respective detection orientations.
S170A, judging whether the maximum particulate matter concentration obtained at this time is less than the maximum particulate matter concentration obtained at the last time.
If the result of the step S170A is NO, go to step S180A; if the result of the step S170A is YES, go to step S190A.
And S180A, updating a second position which is a preset second distance away from the detection direction of the detection azimuth corresponding to the maximum particulate matter concentration by taking the reference position as a starting point as the reference position. Returning to the step S130A.
As shown in fig. 5, the robot determines the current reference position at the previous reference position through the above steps and moves.
And S190A, taking the moving track of each reference position as the moving track corresponding to the target position, and taking the particulate matter concentration obtained by environment detection after the reference position is moved to the target position as the environment parameter corresponding to the moving track. Returning to the step S110A.
S200A, determining the influence relation of the change of the concentration of the particulate matter at the position on the movement track corresponding to each target position and the range of factors at the source position causing the change of the environmental state according to the movement track corresponding to each target position and the concentration of the particulate matter corresponding to the movement track.
Example 2:
taking the environmental parameter as the magnetic field strength, each of the target positions is set at a position near the outside of the clean room, and a factor at a source position causing a change in the environmental state causes the magnetic field strength of the clean room to increase compared to an expected steady state. As shown in fig. 6, the method specifically includes:
S110B, a target position is obtained without repetition.
If the step S110B is successfully performed, go to step S120B; if all the target positions have been acquired, step S200B is executed.
And S120, 120B, taking the target position as a reference position.
And S130B, moving to the reference position.
S141B, taking the current facing direction of the robot as a reference, clockwise rotating by 0 degrees, 45 degrees, 90 degrees, 135 degrees, 225 degrees, 270 degrees and 315 degrees in sequence to determine a plurality of detection directions.
S142B, selecting one detection direction from the determined plurality of detection directions without repetition.
If the step S142B is successfully performed, go to step S143B; if all the detection directions are selected, step S150B is executed.
And S143B, determining the reference position as a detection position.
S144B, combining the detection direction with the determined detection position to obtain a detection direction. Returning to the step S142B.
Through the above steps, the detection orientation shown in fig. 7 will be obtained.
S150B, adjusting the direction of the magnetic field to each detection direction, and then performing environmental detection to obtain the magnetic field strength at each detection direction.
S160B, selecting the maximum magnetic field strength from the magnetic field strengths at the respective detection azimuths.
S170B, it is determined whether the maximum magnetic field strength obtained this time is smaller than the maximum magnetic field strength obtained last time.
If the result of the step S170B is NO, go to step S180B; if the result of the step S170B is YES, go to step S190B.
And S180B, updating a second position which is away from the reference position as a starting point and is a preset second distance in the detection direction corresponding to the maximum magnetic field intensity as the reference position. Returning to the step S130A.
As shown in fig. 7, the robot determines the current reference position at the previous reference position through the above steps and moves.
And S190B, taking the track moved at each reference position as the motion track corresponding to the target position, and taking the magnetic field strength obtained by environment detection after the movement to the target position as the environment parameter corresponding to the motion track. Returning to the step S110A.
S200B, determining the influence relation of the magnetic field intensity change of the position on the motion track corresponding to each target position and the range of factors at the source position causing the environmental state change according to the motion track corresponding to each target position and the magnetic field intensity corresponding to the motion track.
Example 3:
taking the environmental parameter as wind speed (here, wind speed is a vector including wind direction and speed), each of the target positions is set at a position near the outside of the clean room, and a factor at a source position causing a change in environmental conditions causes the wind speed of the clean room to increase compared to an expected steady state as an example. As shown in fig. 8, the method specifically includes:
S110C, a target position is obtained without repetition.
If the step S110C is successfully performed, go to step S120C; if all the target positions have been acquired, step S200C is executed.
And S120, 120C, taking the target position as a reference position.
And S130C, moving to the reference position.
S141C, the wind direction detectable by the wind speed sensor for measuring the wind speed is determined as the detection direction.
In a specific implementation process, when the wind speed sensor measures the wind direction, certain detection accuracy exists, and then the plane 360 degrees is divided according to the detection accuracy to obtain a plurality of wind directions which can be detected by the wind speed sensor.
S142C, selecting one detection direction from the determined plurality of detection directions without repetition.
If the step S142C is successfully performed, go to step S143C; if all the detection directions are selected, step S150C is executed.
And S143C, determining the reference position as a detection position.
S144C, combining the detection direction with the determined detection position to obtain a detection direction. Returning to the step S142C.
And S150C, detecting the environment at the reference position to obtain the wind speed of the detection azimuth corresponding to the actual wind direction.
S160C, selecting the actual wind direction.
S170C, judging whether the wind speed obtained this time is less than the wind speed obtained last time.
If the result of the step S170C is NO, go to step S180C; if the result of the step S170C is YES, go to step S190C.
And S180C, updating a second position which is away from the reference position as a starting point by a preset second distance in the actual wind direction as the reference position. Returning to the step S130C.
And S190C, taking the moving track at each reference position as the motion track corresponding to the target position, and taking the wind speed obtained by environment detection after the reference position is moved to the target position as the environment parameter corresponding to the motion track. Returning to the step S110A.
S200C, determining the influence relation of the wind speed change of the position on the motion trail corresponding to each target position and the range of factors at the source position causing the environmental state change according to the motion trail corresponding to each target position and the wind speed corresponding to the motion trail.
Based on the same inventive concept, an embodiment of the present invention further provides a detection apparatus, as shown in fig. 9, including:
the detection module M101 is used for respectively determining a motion track corresponding to at least one preset target position and an environment parameter corresponding to the motion track when the starting condition is met; determining a motion track corresponding to each target position and an environment parameter corresponding to the motion track through the following processes: moving the target position as a reference position to the reference position, and determining at least one detection orientation based on the reference position; each detection direction comprises a detection direction and a detection position; after the direction of the mobile phone is adjusted to at least one detection direction, environment detection is carried out to obtain environment parameters of each detection direction; selecting at least one environmental parameter from the environmental parameters of each detection direction according to a preset selection rule; judging whether an end condition is met; if the end condition is not met, updating the reference position based on the detection position corresponding to the selected environmental parameter, and returning to the step of moving to the reference position; if the end conditions are met, taking a track moved at each reference position as a motion track corresponding to the target position, and taking an environmental parameter obtained by carrying out environmental detection after the track is moved to the target position as an environmental parameter corresponding to the motion track; the preset selection rule is that at least one optimal environmental parameter is selected from the environmental parameters of all the detection directions, and the key environmental position is a source position causing environmental state change; or, the preset selection rule is to select at least one worst environment parameter from the environment parameters of each detection position, and the key environment position is a minimum influence position which is least influenced by the change of the environment state;
an analyzing module M102, configured to determine, according to the motion trajectory corresponding to each target position and the environment parameter corresponding to the motion trajectory, an environment change influence relationship of a position on the motion trajectory corresponding to each target position and a range of a key environment position.
Optionally, determining an environmental change influence relationship of a position on the motion trajectory corresponding to each target position and a range of a key environmental position according to the motion trajectory corresponding to each target position and the environmental parameter corresponding to the motion trajectory, including:
drawing an environment state description diagram according to the motion trail corresponding to each target position and the environment parameters corresponding to the motion trail;
and determining the environmental change influence relation of the positions on the motion trail corresponding to the target positions and the range of the key environmental positions according to the environmental state description diagram.
Optionally, determining at least one detection orientation based on the reference position comprises:
determining a plurality of detection directions according to a preset rule;
determining a first position in the detection direction as a detection position for any one detection direction, wherein the first position is a position that is a preset first distance away from the reference position in the detection direction; or, determining the reference position as a detection position;
and aiming at any detection direction, combining the detection direction with the determined detection position to obtain a detection direction.
Optionally, if the preset selection rule is to select an optimal one of the environment parameters of each of the detection orientations, the ending condition includes that the selected optimal environment parameter is inferior to the last selected optimal environment parameter;
if the preset selection rule is that the worst environment parameter is selected from the environment parameters of all the detection directions, the ending condition includes that the worst environment parameter selected this time is superior to the worst environment parameter selected last time.
Optionally, if the first position in the detection direction is determined as the detection position for any one detection direction, before determining whether the end condition is satisfied, the method further includes:
carrying out environment detection on the reference position to obtain an environment parameter of the reference position;
if the preset selection rule is that an optimal environment parameter is selected from the environment parameters of all the detection directions, the ending condition comprises that the selected optimal environment parameter is inferior to the optimal environment parameter selected last time, or the selected optimal environment parameter is inferior to the environment parameter of the reference position;
if the preset selection rule is that the worst environment parameter is selected from the environment parameters of each detection direction, the ending condition includes that the worst environment parameter selected this time is better than the worst environment parameter selected last time, or the worst environment parameter selected this time is better than the environment parameter of the reference position.
Optionally, updating the reference position based on the detection position corresponding to the selected environmental parameter includes:
if the selected environmental parameter is one, updating a second position which is away from the detection direction of the detection azimuth corresponding to the selected environmental parameter by a preset second distance by taking the reference position as a starting point as the reference position;
and if the number of the selected environmental parameters is two, updating a third position which is away from an angle bisector of an included angle formed by the detection directions of the detection azimuths corresponding to the selected environmental parameters by a preset second distance by taking the reference position as a starting point as the reference position.
Optionally, the starting condition includes that an environmental parameter obtained by detecting the environment at the specified position exceeds a preset range.
It should be understood that the above-described apparatus embodiments are merely illustrative, and that, for example, the division of the modules is merely a logical division, and that in actual implementation, there may be other divisions, for example, multiple modules may be combined or integrated into another system, or some features may be omitted, or not implemented. Each module in the embodiments of the present invention may be integrated into one module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may be stored in a storage medium.
In a specific implementation process, the detection device may be a robot for performing environment detection. Since the working principle of the detection device is the same as the method for determining the environmental state change influence relationship, the method can be implemented correspondingly with reference to the above contents, and is not described herein again.
Based on the same inventive concept, an embodiment of the present invention further provides an apparatus, as shown in fig. 10, including: a processor 110 and a memory 120 for storing instructions executable by the processor 110; wherein the processor 110 is configured to execute the instructions to implement the environmental state change impact relationship determination method.
In a specific implementation, the device may be a robot for environmental detection. The apparatus, which may vary widely in configuration or performance, may include one or more processors 110, memory 120, storage medium 130, with one or more applications 131 or data 132 included in the memory 120 and/or storage medium 130. The memory 120 and/or storage medium 130 may also include one or more operating systems 133, such as Windows, Mac OS, Linux, IOS, Android, Unix, FreeBSD, and the like. Memory 120 and storage medium 130 may be, among other things, transient or persistent storage. The application 131 may include one or more of the modules (not shown in fig. 10), each of which may include a series of instruction operations. Further, the processor 110 may be configured to communicate with the storage medium 130 to execute a series of instruction operations in the storage medium 130 on the device. The apparatus may also include one or more power supplies (not shown in FIG. 10); one or more network interfaces 140, the network interfaces 140 comprising a wired network interface 141 and/or a wireless network interface 142; one or more input-output interfaces 143.
Based on the same inventive concept, the embodiment of the present invention further provides a storage medium, where the storage medium stores a computer program, and the computer program is used to implement the method for determining the environmental state change influence relationship.
The method, the device, the equipment and the storage medium for determining the environmental state change influence relationship can obtain the incidence relationship of the environmental parameters between different positions in a designated area (such as a clean workshop), and are convenient for analyzing the source position of a factor damaging the stability of the environmental state or the influence effect on the environment of the designated area.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (10)
1. A method for determining an environmental state change influence relationship is applied to a robot and comprises the following steps:
when the condition that the starting condition is met is determined, respectively determining a motion track corresponding to at least one preset target position and an environment parameter corresponding to the motion track;
determining an environment change influence relation of positions on the motion trail corresponding to each target position and a range of key environment positions according to the motion trail corresponding to each target position and the environment parameters corresponding to the motion trail;
determining a motion track corresponding to each target position and an environment parameter corresponding to the motion track through the following processes:
moving the target position as a reference position to the reference position, and determining at least one detection orientation based on the reference position; each detection direction comprises a detection direction and a detection position;
after the direction of the mobile phone is adjusted to at least one detection direction, environment detection is carried out to obtain environment parameters of each detection direction;
selecting at least one environmental parameter from the environmental parameters of each detection direction according to a preset selection rule;
judging whether an end condition is met;
if the end condition is not met, updating the reference position based on the detection position corresponding to the selected environmental parameter, and returning to the step of moving to the reference position; if the end conditions are met, taking a track moved at each reference position as a motion track corresponding to the target position, and taking an environmental parameter obtained by carrying out environmental detection after the track is moved to the target position as an environmental parameter corresponding to the motion track;
the preset selection rule is that at least one optimal environmental parameter is selected from the environmental parameters of all the detection directions, and the key environmental position is a source position causing environmental state change;
or, the preset selection rule is to select at least one worst environment parameter from the environment parameters of each detection position, and the key environment position is a minimum influence position which is least influenced by the change of the environment state.
2. The method of claim 1, wherein determining an environmental change influence relationship and a range of an important environmental position of a position on the motion trajectory corresponding to each of the target positions according to the motion trajectory corresponding to each of the target positions and the environmental parameters corresponding to the motion trajectory comprises:
drawing an environment state description diagram according to the motion trail corresponding to each target position and the environment parameters corresponding to the motion trail;
and determining the environmental change influence relation of the positions on the motion trail corresponding to the target positions and the range of the key environmental positions according to the environmental state description diagram.
3. The method of claim 1, wherein determining at least one detection orientation based on the reference location comprises:
determining a plurality of detection directions according to a preset rule;
determining a first position in the detection direction as a detection position for any one detection direction, wherein the first position is a position that is a preset first distance away from the reference position in the detection direction; or, determining the reference position as a detection position;
and aiming at any detection direction, combining the detection direction with the determined detection position to obtain a detection direction.
4. The method according to claim 1, wherein if the preset selection rule is to select an optimal one of the environment parameters of each of the detection orientations, the ending condition includes that the selected optimal environment parameter is worse than the selected optimal environment parameter at the last time;
if the preset selection rule is that the worst environment parameter is selected from the environment parameters of all the detection directions, the ending condition includes that the worst environment parameter selected this time is superior to the worst environment parameter selected last time.
5. The method according to claim 3, wherein if the first position in the detection direction is determined as the detection position for any one detection direction, before determining whether an end condition is satisfied, the method further comprises:
carrying out environment detection on the reference position to obtain an environment parameter of the reference position;
if the preset selection rule is that an optimal environment parameter is selected from the environment parameters of all the detection directions, the ending condition comprises that the selected optimal environment parameter is inferior to the optimal environment parameter selected last time, or the selected optimal environment parameter is inferior to the environment parameter of the reference position;
if the preset selection rule is that the worst environment parameter is selected from the environment parameters of each detection direction, the ending condition includes that the worst environment parameter selected this time is better than the worst environment parameter selected last time, or the worst environment parameter selected this time is better than the environment parameter of the reference position.
6. The method of claim 1, wherein updating the reference location based on the detected orientation corresponding to the selected environmental parameter comprises:
if the selected environmental parameter is one, updating a second position which is away from the detection direction of the detection azimuth corresponding to the selected environmental parameter by a preset second distance by taking the reference position as a starting point as the reference position;
and if the number of the selected environmental parameters is two, updating a third position which is away from an angle bisector of an included angle formed by the detection directions of the detection azimuths corresponding to the selected environmental parameters by a preset second distance by taking the reference position as a starting point as the reference position.
7. The method of claim 1, wherein the start condition comprises an environmental parameter detected by an environment at a specified location being outside a preset range.
8. A detection device, comprising:
the detection module is used for respectively determining a motion track corresponding to at least one preset target position and an environment parameter corresponding to the motion track when the starting condition is met; determining a motion track corresponding to each target position and an environment parameter corresponding to the motion track through the following processes: moving the target position as a reference position to the reference position, and determining at least one detection orientation based on the reference position; each detection direction comprises a detection direction and a detection position; after the direction of the mobile phone is adjusted to at least one detection direction, environment detection is carried out to obtain environment parameters of each detection direction; selecting at least one environmental parameter from the environmental parameters of each detection direction according to a preset selection rule; judging whether an end condition is met; if the end condition is not met, updating the reference position based on the detection position corresponding to the selected environmental parameter, and returning to the step of moving to the reference position; if the end conditions are met, taking a track moved at each reference position as a motion track corresponding to the target position, and taking an environmental parameter obtained by carrying out environmental detection after the track is moved to the target position as an environmental parameter corresponding to the motion track; the preset selection rule is that at least one optimal environmental parameter is selected from the environmental parameters of all the detection directions, and the key environmental position is a source position causing environmental state change; or, the preset selection rule is to select at least one worst environment parameter from the environment parameters of each detection position, and the key environment position is a minimum influence position which is least influenced by the change of the environment state;
and the analysis module is used for determining the environmental change influence relationship of the positions on the motion trail corresponding to each target position and the range of the key environmental positions according to the motion trail corresponding to each target position and the environmental parameters corresponding to the motion trail.
9. An apparatus, comprising: a processor and a memory for storing processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the method of determining an environmental state change impact relationship of any one of claims 1-7.
10. A storage medium characterized in that the storage medium stores a computer program for implementing the environmental-state-change influence relationship determination method according to any one of claims 1 to 7.
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