CN116412824A

CN116412824A - Relocation method and equipment for self-mobile equipment and storage medium

Info

Publication number: CN116412824A
Application number: CN202111651902.8A
Authority: CN
Inventors: 罗绍涵; 孙佳佳; 曹蒙
Original assignee: Dreame Innovation Technology Suzhou Co Ltd
Current assignee: Dreame Innovation Technology Suzhou Co Ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2023-07-11

Abstract

The application belongs to the technical field of artificial intelligence, and particularly relates to a repositioning method, equipment and storage medium of self-mobile equipment. The method comprises the following steps: responding to an instruction for repositioning the self-mobile device in the working area, outputting prompt information to prompt a user to indicate a first map position of the self-mobile device on an area map of the working area; determining a local area map indicated by the first map position; acquiring template environment information corresponding to at least one second map position in the local area map; acquiring current environment information acquired by the mobile equipment based on the current position; the current environmental information is matched with the template environmental information to determine the location of the self-mobile device in the local area map. The problem of complicated relocation mode of the self-mobile equipment can be solved. By indicating the first map position by the user when the self-mobile device is repositioned, the repositioning efficiency can be improved by repositioning the current position of the self-mobile device.

Description

Relocation method and equipment for self-mobile equipment and storage medium

Technical Field

The application belongs to the technical field of artificial intelligence, and particularly relates to a repositioning method, equipment and storage medium of self-mobile equipment.

Background

Currently, autonomous positioning and navigation can be achieved by the self-mobile device by means of synchronous positioning and setup (Simultaneous Localization and Mapping, SLAM) techniques. However, in the SLAM process, it may be hijacked, etc., for example: is moved, suspended or dragged in a large range. At this point, uncontrolled drift errors occur from the positioning of the mobile device, requiring repositioning.

A conventional relocation method comprising: the self-mobile device searches the original departure position from the hijacked position, thereby completing the relocation of the self-mobile device.

However, the conventional relocation method is too cumbersome, which results in a problem of low relocation efficiency.

Disclosure of Invention

The application provides a relocation method, equipment and storage medium of self-mobile equipment, which can solve the problem of low relocation efficiency of the self-mobile equipment caused by complicated relocation mode. The application provides the following technical scheme:

in a first aspect, there is provided a relocation method of a self-mobile device, the method comprising: responding to an instruction for repositioning the self-mobile equipment in a working area, and outputting prompt information, wherein the prompt information is used for prompting a user to indicate a first map position of the self-mobile equipment on an area map of the working area at present; determining a local area map indicated by the first map location if the first map location is received; acquiring template environment information corresponding to at least one second map position in the local area map; acquiring current environment information acquired by the self-mobile equipment based on the current position; and matching the current environment information with the template environment information to determine the position of the self-mobile device in the local area map.

Optionally, the outputting the prompt information includes:

sending a map display instruction to a designated program to instruct the designated program to display the regional map through a display interface, wherein the regional map is used for the user to indicate the first map position on the regional map; the designation program returns to the first map location if the first map location is received.

Optionally, the outputting the prompt information further includes:

a prompting audio is output through an audio output component to prompt the user to indicate a first map location on the regional map.

Optionally, after the outputting the prompt information, the method further includes:

determining whether voice data is collected; under the condition that the voice data are collected, the voice data are recognized, and a voice recognition result is obtained; the first map location is determined based on the speech recognition result.

Optionally, the first map location is a location coordinate on the regional map; the determining a local area map indicated by the first map location includes:

determining a local area map with a preset shape and a preset size based on the first map position in the area map;

Or alternatively, the process may be performed,

in the area map subjected to area division, a local area map to which the first map position belongs is determined, and the area map is divided into a plurality of local area maps in advance.

Optionally, the first map location is a local area identifier of a local area map in the area map; the determining a local area map indicated by the first map location includes:

and determining the local area map corresponding to the first map position based on the corresponding relation between the local area identifier and the local area map.

Optionally, the matching the current environment information with the template environment information to determine a location of the self-mobile device in the local area map includes:

inputting the current environment information and the template environment information into a pre-trained repositioning neural network to obtain the position of the self-mobile device in the local area map; the repositioning neural network is used for determining whether the current environment information and the template environment information are matched or not, and determining a second map position corresponding to the matched template environment information as the position of the self-mobile device in the local area map.

Optionally, after the matching the current environmental information with the template environmental information, the method further includes:

acquiring template environment information corresponding to each third map position in the regional map under the condition that the position of the self-mobile device in the local regional map is not determined, wherein the third map position is different from the second map position; and matching the current environment information with template environment information corresponding to the third map position to determine the position of the self-mobile device in the regional map.

In a second aspect, an electronic device is provided, the device comprising a processor and a memory; the memory stores a program that is loaded and executed by the processor to implement the relocation method of the self-mobile device according to the first aspect.

In a third aspect, there is provided a computer readable storage medium having stored therein a program for implementing the self-mobile device relocation method provided in the first aspect when executed by a processor.

The beneficial effects of this application lie in: outputting prompt information in response to an instruction for repositioning the self-mobile device in the working area, wherein the prompt information is used for prompting a user to indicate a first map position of the self-mobile device on an area map of the working area; determining a local area map indicated by the first map position under the condition that the first map position is received; acquiring template environment information corresponding to at least one second map position in the local area map; acquiring current environment information acquired by the mobile equipment based on the current position; the current environmental information is matched with the template environmental information to determine the location of the self-mobile device in the local area map. The problem of low repositioning efficiency of the self-mobile equipment due to complicated repositioning modes can be solved. And prompting a user to indicate the first map position when the self-mobile device needs to be repositioned, and repositioning the current position of the self-mobile device according to the local area map corresponding to the first map position. At this time, the self-mobile device does not need to search a certain position in the whole working area, but performs repositioning in the local area map indicated by the user, so that the repositioning efficiency can be improved. Meanwhile, the self-mobile device does not need to move to the original departure position, and only needs to match the current environment information of the current position with the template environment information of at least one second map position in the local area map, so that the resources of the self-mobile device can be saved, and the repositioning efficiency can be further improved.

In addition, the self-mobile device performs relocation based on the second map position by determining the template environment information of at least one second map position in the local area map, so that the relocation range of the self-mobile device can be further reduced, and the relocation efficiency of the self-mobile device is improved.

In addition, in the case that the location of the self-mobile device in the local area map cannot be determined based on the second map location repositioning, each third map location different from the second map location is determined in the area map, and the self-mobile device performs repositioning again based on the third map location, so that the success rate of the self-mobile device repositioning can be improved.

In addition, by collecting and recognizing the voice data of the user, a voice recognition result is obtained, and the first map position is determined based on the voice recognition result, so that the user can select the first map position when the user is inconvenient to operate the regional map, the efficiency of determining the first map position can be improved, and the repositioning efficiency of the self-mobile equipment is improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will briefly explain the drawings needed in the embodiments or the prior art description, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a self-mobile device according to one embodiment of the present application;

FIG. 2 is a flow chart of a relocation method for a self-mobile device provided in one embodiment of the present application;

FIG. 3 is a block diagram of a self-mobile device apparatus provided in one embodiment of the present application;

fig. 4 is a block diagram of an electronic device provided in one embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. The present application will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.

In this application, unless otherwise indicated, terms of orientation such as "upper, lower, top, bottom" are used generally with respect to the orientation shown in the drawings or with respect to the component itself in the vertical, upright or gravitational direction; also, for ease of understanding and description, "inner and outer" refers to inner and outer relative to the profile of each component itself, but the above-mentioned orientation terms are not intended to limit the present application.

Fig. 1 is a schematic structural diagram of a self-mobile device according to an embodiment of the present application, where the self-mobile device may be a self-mobile device such as a sweeping robot, a washing robot, or the like, and the embodiment does not limit the type of the self-mobile device. As can be seen from fig. 1, the self-mobile device at least includes: a driving assembly 110, a moving assembly 120, a controller 130, a first sensor 140, and an information output assembly 150.

The driving component 110 is connected to the moving component 120, and is used for driving the moving component 120 to operate so as to drive the self-moving device to move.

The driving assembly 110 is connected to the controller 130, and is configured to respond to an instruction issued by the controller 130 to drive the moving assembly 120 to operate.

Alternatively, the driving assembly 110 may be implemented as a dc motor, a servo motor, a stepper motor, etc., and the embodiment is not limited to the implementation of the driving assembly 110.

The first sensor 140 is used to collect current environmental information. Alternatively, the first sensor 140 may be a camera, an infrared sensor, or a lidar sensor, etc. equipped with a color system (Red Green Blue, RGB) detection function, and the type of the first sensor 140 is not limited in this embodiment.

Alternatively, the first sensor 140 may be mounted on the housing of the self-mobile device and used to collect the environment in which the self-mobile device is located. The acquisition range of the first sensor 140 includes, but is not limited to: in the region directly in front of, obliquely above and/or obliquely below the direction of travel of the self-moving device; and/or from a left region of the travel direction of the mobile device; and/or from a right region of the travel direction of the mobile device; and/or from a rear region of the travel direction of the mobile device, etc., the present embodiment does not limit the acquisition range of the first sensor 140.

In addition, the number of the first sensors 140 may be one or at least two, and in the case where the number of the first sensors 140 is at least two, the types of the different first sensors 140 are the same or different, and the number and implementation of the first sensors 140 are not limited in this embodiment.

The first sensor 140 is connected to the controller 130 to transmit the collected current environmental information to the controller 130.

The controller 130 is used to relocate the self-mobile device. Alternatively, the controller 130 may be implemented as a single-chip microcomputer, or a processor, and the implementation of the controller 130 is not limited in this embodiment.

In this embodiment, the controller 130 is configured to: responding to an instruction for repositioning the self-mobile equipment in the working area, and outputting prompt information, wherein the prompt information is used for prompting a user to indicate a first map position of the self-mobile equipment on an area map of the working area; determining a local area map indicated by the first map position under the condition that the first map position is received; acquiring template environment information corresponding to at least one second map position in the local area map; acquiring current environment information acquired by the mobile equipment based on the current position; the current environmental information is matched with the template environmental information to determine the location of the self-mobile device in the local area map.

Wherein, the controller 130 outputs the prompt information, including: the control information output component 150 outputs the hint information. At this time, the controller 130 is connected to the controller 130 of the information output assembly 150 to control the information output assembly 150 to output the prompt information.

Implementations of the hint information include, but are not limited to: a map display instruction; and/or alert audio. The information output components 150 corresponding to different prompting messages are different, and the information output components 150 corresponding to each prompting message are described below.

First case: the prompt message includes a map display instruction for instructing a designated program to display an area map. Accordingly, the information output component 150 includes a communication component.

Accordingly, the controller 130 controls the information output component 150 to output the prompt information, including: the controller 130 transmits a map display instruction to a specified program through a communication component.

In one example, the specified program is a program installed in a specified device, the specified program having a function of calling and displaying a region map, the specified program may be a separately developed application program or a functional module embedded in an existing program, and the implementation of the specified program is not limited in this embodiment. In this case, the communication component is a component for performing communication between different devices, for example, the communication component is a transmitter or a radio frequency circuit.

The appointed device is in communication connection with the self-mobile device and has a display function to display an area map called by the appointed program. Illustratively, the designated device includes an electronic device with a display interface, such as a mobile phone and/or a tablet computer, and the implementation manner of the designated device is not limited in this embodiment.

In another example, the program is designated as a program installed in the self-mobile device. In this case, the communication component is a component for performing communication between different programs or processes in the same device, for example, the communication component is a bus or the like.

In this example, the self-mobile device is also provided with a display component to display an area map specifying program calls.

Second case: the prompt information includes prompt audio. Accordingly, the information output component 150 includes an audio output component.

Accordingly, the controller 130 controls the information output component 150 to output the prompt information, including: the controller 130 plays the alert audio through the audio output component.

In other embodiments, the alert information may also include audio alert instructions for instructing the designated program to play alert audio. Accordingly, the information output component 150 includes a communication component. Accordingly, the controller 130 controls the information output component 150 to output the prompt information, including: the controller 130 sends audio alert instructions to the specified program via the communication component. Or the prompt information comprises at least two of prompt audio, map display instructions and audio prompt instructions, the information output component is correspondingly set based on the type of the prompt information, and the implementation modes of the prompt information and the information output component are not limited in this embodiment.

In the above example, the user may select the first map location from the area map by after displaying the area map. However, in actual implementation, the user may not conveniently operate the area map, and thus selection of the first map location may not be achieved. Based on this, in this embodiment, the self-mobile device also has a function of performing voice interaction with the user. At this time, an audio acquisition component 170 is also provided on the self-mobile device. The audio collection assembly 170 is connected to the controller 130, and the audio collection assembly 170 is configured to collect audio data and send the collected audio data to the controller 130.

Accordingly, the controller 130 is further configured to determine whether the voice data is collected by the audio collection component 170; under the condition that voice data are collected, the voice data are recognized, and a voice recognition result is obtained; and determining a first map location based on the speech recognition result.

Optionally, the instructions to reposition the self-mobile device within the work area are generated by the self-mobile device based on sensory data of the second sensor. At this time, a second sensor 160 is further disposed on the self-mobile device, and the second sensor 160 is connected to the controller 130 and is used for transmitting sensing data to the controller 130. Accordingly, after receiving the sensing data, the controller 130 determines whether the self-mobile device is hijacked based on the sensing data; if yes, determining to reposition when the sensing data indicates that the self-mobile equipment is out of hijack, and generating a repositioning instruction; if the self-mobile device is not hijacked, the step of whether the self-mobile device is hijacked is executed again until the self-mobile device stops when the self-mobile device finishes working.

The hijacking means that abnormal movement occurs to the self-moving device, the abnormal movement means that the self-moving device does not autonomously occur, and the abnormal movement cannot be sensed by the self-moving device. Therefore, the self-mobile device cannot locate or cannot accurately locate its own position when hijacked. Such as: the self-mobile device is lifted, suspended in the moving process, or dragged in a large range, and the like, which are all the conditions that the self-mobile device is hijacked.

Accordingly, the disengagement hijacking means that abnormal movement is ended from the mobile device, such as: the situation that the mobile device returns to the ground again after being moved or stops being dragged after being dragged is the situation that the mobile device is separated from hijacking.

Illustratively, the sensed data includes, but is not limited to: the second sensor 160 includes, but is not limited to, a gyroscope, a displacement sensor, or an image collector, etc., accordingly, the implementation of the second sensor 160 is not limited in this embodiment. At this time, determining whether the self-mobile device is hijacked based on the sensed data includes: comparing the change condition of the sensing data with the change condition of the template in the hijacked state; if the change condition of the sensing data is matched with the change condition of the template in the hijacked state, determining that the self-mobile equipment is hijacked; if the change condition of the sensing data is not matched with the change condition of the template in the hijacked state, the self-mobile equipment is determined to be not hijacked. Alternatively, determining whether the self-mobile device is hijacked based on the sensed data includes: determining whether the change value of the sensing data is in the change range under the hijacked state; if yes, determining that the self-mobile equipment is hijacked; if not, it is determined that the self-mobile device is not hijacked.

Illustratively, the sensed data includes, but is not limited to: contact data, etc., and accordingly, the second sensor 160 includes, but is not limited to, a pressure sensor, a contact sensor, etc., the implementation of the second sensor 160 is not limited in this embodiment. At this time, determining whether the self-mobile device is hijacked based on the sensed data includes: determining whether the sensed data indicates that an object is present in proximity to the self-moving device; if yes, determining that the self-mobile equipment is hijacked; if not, it is determined that the self-mobile device is not hijacked.

Alternatively, the instruction to relocate the self-mobile device within the operating area is sent by a control device communicatively coupled to the self-mobile device. The control device may be a mobile phone, a remote controller, or a wearable device, and the type of the control device is not limited in this embodiment.

Alternatively, the instruction to relocate the self-mobile device within the work area is generated if a trigger operation is received from the mobile device for the relocation control. At this time, the self-mobile device is further provided with a repositioning control, where the repositioning control may be an entity button or a virtual control displayed by touching the display screen, and the implementation manner of the repositioning control is not limited in this embodiment.

The above-mentioned manner of obtaining the instruction for relocation is merely illustrative, and in actual implementation, the manner of obtaining the instruction for relocation from the mobile device may be other manners, which are not listed here.

It should be noted that, in actual implementation, the self-mobile device may further include other components, such as: power supply components, shock absorbing components, etc., are not specifically mentioned herein.

In the conventional relocation method, the self-mobile device searches for the original departure position from the hijacked position. The search mode is usually: the self-mobile device randomly moves in the working area and receives the infrared signal emitted by the original starting position (such as a charging seat) through the infrared receiving device. And under the condition that the infrared signal is received by the infrared receiving device, moving to the position of the infrared signal to move to the original departure position, and reading the map position of the original departure position stored in the regional map of the working area to finish repositioning. However, the conventional relocation method cannot relocate the self-mobile device when the self-mobile device is out of hijacking, the original departure position needs to be searched in the whole working area, and the relocation efficiency is low. In this embodiment, the user is prompted to indicate the first map position when the self-mobile device needs to be repositioned, and the current position of the self-mobile device is repositioned according to the local area map corresponding to the first map position. At this time, the self-mobile device does not need to search a certain position in the whole working area, but performs repositioning in the local area map indicated by the user, so that the repositioning efficiency can be improved. Meanwhile, the self-mobile device does not need to move to the original departure position, and only needs to match the current environment information of the current position with the template environment information of at least one second map position in the local area map, so that the resources of the self-mobile device can be saved, and the repositioning efficiency can be further improved.

The relocation method of the self-mobile device provided by the application is described in detail below.

As shown in fig. 2, an embodiment of the present application provides a relocation method of a self-mobile device, and this embodiment is described by taking the controller 130 in the self-mobile device shown in fig. 1 as an example, where the method at least includes the following steps:

Step 201, in response to the instruction for repositioning the self-mobile device in the working area, outputting prompt information.

The self-mobile device is provided with a repositioning control, and when a repositioning operation acting on the repositioning control is received, the repositioning control generates a repositioning instruction of the self-mobile device and sends the repositioning instruction to the controller; or the controller receives an instruction for repositioning the self-movement sent by other equipment (such as a remote controller); alternatively, the instruction to relocate the self-mobile device is generated by the self-mobile device based on the sensed data of the second sensor.

In actual implementation, the manner of acquiring the instruction for repositioning the self-mobile device may be other manners, and the implementation manner of the instruction for repositioning the self-mobile device is not limited in this embodiment.

The prompt information is used to prompt the user to indicate a first map location on the regional map of the work area from the mobile device.

Wherein the first map location is for uniquely indicating a certain location or local area in the work area. The first map location is indicated by the user. The indication mode may be selected by a user operating the area map or may be indicated by voice by the user, which is not limited in this embodiment.

The indication modes of different first map positions are different in corresponding modes of outputting prompt information. Specifically, in the case where the first map position is selected by the user to operate the area map, the output prompt information may enable the user to view the area map to operate the area map. In the case where the first map position is indicated by voice, the outputted prompt information may prompt the user to input voice data to indicate the first map position by the voice data.

The following describes a specific output manner of the prompt message, and in this embodiment, the output prompt message includes, but is not limited to, the following manners:

first kind: sending a map display instruction to the appointed program to instruct the appointed program to display a regional map through a display interface, wherein the regional map is used for a user to indicate a first map position on the regional map; the designation program returns to the first map location upon receiving the first map location.

The manner in which the user indicates the first map location on the regional map may be: clicking (can be clicking through a touch display screen or clicking through a mouse) a certain map position on the regional map by a user to obtain a first map position; accordingly, after the designating program receives the clicking operation, the map position acted on by the clicking operation is determined as the first map position. Or the appointed program displays the position information of at least one map position in the regional map, and the user selects the position information of one map position to obtain the first map position. Or, the input control of the first map position is displayed in the designated program, and the user inputs the first map position through the input control, and the embodiment does not limit the manner of indicating the first map position on the regional map by the user.

Optionally, the designating program further supports functions such as zoom-in display, zoom-out display, and position movement of the area map, and the manner in which the area map is displayed by the designating program is not limited in this embodiment.

The specific program may be installed in a specific device independent from the self-mobile device or installed in the self-mobile device, and the implementation of the specific program is not limited in this embodiment.

Second kind: the alert audio is output through the audio output component to alert the user to indicate a first map location on the regional map.

Alternatively, the alert audio may be a voice alert, such as: the prompting audio is a section of voice which is pre-stored in the self-mobile device and is used for inputting the current position of the self-mobile device; alternatively, the prompting audio may be a preset beep, for example: the prompting audio is a beep with preset duration played periodically, and the implementation manner of the prompting audio is not limited in this embodiment.

In other embodiments, the self-mobile device may also send an audio output instruction to the specific program to instruct the specific program to output the prompting audio, so as to prompt the user to indicate the first map location on the regional map, where the output manner of the prompting information is not listed here one by one.

Optionally, in order to avoid the problem that the user does not conveniently operate the area map to indicate the first map location, in this embodiment, after outputting the prompt information, the method further includes: determining whether voice data is collected; under the condition that voice data are collected, the voice data are recognized, and a voice recognition result is obtained; a first map location is determined based on the speech recognition result.

At the moment, an audio acquisition component is arranged on the self-mobile device, and the controller judges the audio data acquired by the audio acquisition component to determine whether voice data are acquired or not; or the appointed equipment is provided with an audio acquisition component, and the appointed equipment judges the audio data acquired by the audio acquisition component so as to determine whether voice data are acquired. Specifically, the controller or designated device distinguishes between voice data and non-voice data in the audio data by voice activity detection (Voice Activity Detection, VAD).

In the case that the voice data exists in the audio data, the voice data is recognized, and a voice recognition result is obtained, wherein the voice recognition result comprises the following modes:

first kind: and inputting the voice data into a voice recognition model to obtain a voice recognition result.

Among them, speech recognition models include, but are not limited to: dynamic time warping (Dyanmic Time Warping), vector quantization (Vector Quantization), or hidden markov models (Hidden Markov Models), etc., the present embodiment does not limit the implementation of the speech recognition model.

Second kind: extracting audio features of the voice data; and comparing the similarity between the audio features and pre-stored template audio features, and determining a semantic tag corresponding to the template audio feature with the highest similarity as a voice recognition result.

Among other things, audio features include, but are not limited to: the feature vectors, phonemes, etc. of the audio are not limited to the implementation of the audio features in this embodiment.

Optionally, the first map location is a location coordinate on the regional map. In other words, the first map location is one specific location coordinate indicated by the user.

Alternatively, the first map location is an area identification of a local area, which may be an attribute or a label of the local area. In other words, the first map location is an area indicated by the user. Such as: in the case where the area identification is an attribute, the area identification information is a restaurant, a bathroom, a bedroom, or the like. Such as: in the case where the area identification is a reference numeral, reference numerals 1, 2, 3, etc. are set in advance for the respective partial area maps in the area identification information area map.

In this embodiment, the attribute of the local area including a restaurant, a bathroom and a bedroom is taken as an example for explanation, and in actual implementation, the attribute dividing manner of the local area may be other manners, for example: the attributes of the local area are divided into: office areas, tea rest areas, etc., the present embodiment does not limit the attribute division manner of the local area.

Step 202, in the case of receiving the first map location, determining a local area map indicated by the first map location.

The local area map is a portion of an area map of the work area in which the self-mobile device is located. In this embodiment, the local area map may be changed based on the change in the first map position.

In one example, the first map location is a location coordinate on a regional map. Accordingly, the manner of determining the local area map indicated by the first map location in the area map of the work area includes, but is not limited to, at least one of:

first kind: in the regional map, a local regional map of a preset shape and a preset size is determined based on the first map position.

Wherein the preset shape and the preset size are pre-existing in the self-moving device. The preset shape may be a circular shape, a rectangular shape, or an irregular shape, and the implementation manner of the preset shape is not limited in this embodiment.

Illustratively, determining a local area map of a preset shape and a preset size based on a first map location, comprising: and generating a local area map with a preset shape and a preset size by taking the first map position coordinates as the centroid of the local area map.

Such as: the preset shape is circular and the preset size is 2 meters in radius. At this time, the local area map is determined to be a circular area with a radius of 2 meters on the area map with the position coordinates of the first map position as the center of a circle.

In other embodiments, the first map location may be an edge or other location of the local area map, and the present embodiment does not limit the manner in which the local area map of the preset shape and the preset size is determined based on the area identification information.

Second kind: in the area map subjected to area division, a local area map to which the first map position belongs is specified, and the area map is divided into a plurality of local area maps in advance.

The way to divide the regional map into a plurality of local regional maps includes, but is not limited to: the region map is divided according to the attribute, or the region map is divided according to the preset division size, and the division mode of the region map can be other modes in actual implementation, which is not listed here.

Such as: dividing the regional map into a bedroom regional map and a bathroom regional map. And when the area identification information is the position coordinate of the charging seat, the charging seat is positioned in the bedroom area, and the local area map to which the area identification information belongs is the bedroom area map.

In another example, a correspondence between local area identities and a local area map is stored in the self-mobile device. At this time, the first map position is a local area identifier of a local area map in the area map. Accordingly, determining a local area map indicated by the first map location includes: and determining the local area map corresponding to the first map position based on the corresponding relation between the local area identifier and the local area map.

Such as: the first map position is a label of each local area map, and at this time, after the label is acquired from the mobile device, the local area map corresponding to the label is found from the corresponding relationship.

And 203, acquiring template environment information corresponding to at least one second map position in the local area map.

In this embodiment, the local area map includes template environment information corresponding to a plurality of map positions, and the plurality of template environment information has position coordinates corresponding to the map positions. The controller obtains template environment information corresponding to at least one second map position.

Step 204, acquiring current environment information acquired from the mobile device based on the current location.

In one example, the current context information is collected from the context in which the mobile device is currently located. The current environmental information may be image data and/or point cloud data, and the current environmental information may be three-dimensional data or two-dimensional data, which is not limited by the implementation manner of the current environmental information in this embodiment.

Alternatively, the current environmental information may be acquired from the mobile device by acquiring an instruction for relocation, and the controller controls the first sensor to acquire the current environmental information; or, the first sensor is continuously collected after being powered on, and the embodiment does not limit the collection time of the current environmental information.

Step 205, matching the current environment information with the template environment information to determine the location of the self-mobile device in the local area map.

The template environment information is environment template information of the second map position.

Optionally, the template environment information of the second map location includes feature information of an obstacle, such as: the profile information, the size information and/or the distance information of the obstacle or information (such as feature vectors, etc.) that may be used to describe features of the obstacle, the present embodiment does not limit the type of the environmental template information.

Among others, obstacles include, but are not limited to: walls, closets, beds, etc., the present embodiment is not limited to the type of obstruction.

The manner in which the current environment information is matched to the template environment information of the second map location includes, but is not limited to, at least one of:

first kind: and inputting the current environment information and template environment information of the second map position into a pre-trained repositioning neural network to obtain the position of the self-mobile device in the local area map. The repositioning neural network is used to determine whether the current environment information and the template environment information of the second map location match, and if so, determine the second map location as the location of the self-mobile device in the local area map.

Accordingly, the training process for repositioning the neural network includes: inputting the sample environment information into a preset neural network model to obtain a model output result; inputting a loss function to a second map location corresponding to the model output result and the sample environment information to compare the model output result with the second map location; training a preset neural network model based on the loss value of the loss function until the neural network model converges to obtain a repositioning neural network.

In actual implementation, the repositioning neural network may output, in addition to the position of the mobile device in the local area map, other data such as template environment information corresponding to the position, similarity between the template environment information, and the like, and the network function of the repositioning neural network is not limited in this embodiment.

The neural network model may be a convolutional neural network (Convolutional Neural Networks, CNN), a recurrent neural network (Recursive Neural Network, RNN), a feed forward neural network (Feedforward Neural Network, FNN), and the implementation of the neural network model is not limited in this embodiment.

Second kind: calculating the similarity between the current environment information and the template environment information of the second map position; and if the similarity between the current environment information and the template environment information of the second map position is higher than a similarity threshold value, determining the second map position as the position of the self-mobile device in the local area map. The similarity threshold may be 98%, or 95%, or the like, and the value of the similarity threshold is not limited in this embodiment.

Optionally, under the condition that the position of the self-mobile device in the local area map is not determined, namely that the matching of the current environment information and the template environment information of the second map position is unsuccessful, the self-mobile device is further used for acquiring the template environment information corresponding to each third map position in the area map; and matching the current environment information with template environment information corresponding to the third map position to determine the position of the self-mobile device in the regional map.

Wherein the third map location is different from the second map location.

The matching method of the current environment information and the template environment information of the third map position refers to the matching method of the current environment information and the template environment information of the second map position, and this embodiment is not described herein again.

In summary, in the repositioning method for the self-mobile device according to the present embodiment, by responding to the instruction for repositioning the self-mobile device in the working area, the prompting information is output, where the prompting information is used to prompt the user to indicate the first map position of the self-mobile device on the area map of the working area currently; determining a local area map indicated by the first map position under the condition that the first map position is received; acquiring template environment information corresponding to at least one second map position in the local area map; acquiring current environment information acquired by the mobile equipment based on the current position; and matching the current environment information with the template environment information to determine the position of the self-mobile device in the local area map. The problem of low repositioning efficiency of the self-mobile equipment due to complicated repositioning modes can be solved. And prompting a user to indicate the first map position when the self-mobile device needs to be repositioned, and repositioning the current position of the self-mobile device according to the local area map corresponding to the first map position. At this time, the self-mobile device does not need to search a certain position in the whole working area, but performs repositioning in the local area map indicated by the user, so that the repositioning efficiency can be improved. Meanwhile, the self-mobile device does not need to move to the original departure position, and only needs to match the current environment information of the current position with the template environment information of at least one second map position in the local area map, so that the resources of the self-mobile device can be saved, and the repositioning efficiency can be further improved.

Fig. 3 is a block diagram of a self-mobile device relocation apparatus according to an embodiment of the present application, and this embodiment is described by taking the application of the apparatus to the self-mobile device shown in fig. 1 as an example. The device at least comprises the following modules: an information output module 310, a map determination module 320, a first acquisition module 330, a second acquisition module 340, and a repositioning module 350.

The information output module 310 is configured to output, in response to an instruction for repositioning the self-mobile device in the working area, prompt information for prompting a user to indicate a first map location on a regional map of the working area.

The map determining module 320 is configured to determine, when the first map location is received, a local area map indicated by the first map location.

The first obtaining module 330 is configured to obtain template environment information corresponding to at least one second map location in the local area map.

A second obtaining module 340, configured to obtain current environmental information collected by the mobile device based on the current location.

A relocation module 350 for matching the current environment information with the template environment information to determine the location of the self-mobile device in the local area map.

For relevant details reference is made to the above embodiments.

It should be noted that: in the self-mobile equipment repositioning device provided in the above embodiment, only the division of the above functional modules is used for illustration, and in practical application, the above functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the self-mobile equipment repositioning device is divided into different functional modules, so as to complete all or part of the functions described above. In addition, the self-mobile device relocation apparatus and the self-mobile device relocation method provided in the foregoing embodiments belong to the same concept, and specific implementation processes thereof are detailed in the method embodiments, which are not repeated herein.

The present embodiment provides an electronic device, as shown in fig. 4, which may be the self-mobile device in fig. 1. The electronic device comprises at least a processor 401 and a memory 402.

Processor 401 may include one or more processing cores such as: 4 core processors, 8 core processors, etc. The processor 401 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 401 may also include a main processor, which is a processor for processing data in an awake state, also called a CPU (Central Processing Unit ), and a coprocessor; a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 401 may integrate a GPU (Graphics Processing Unit, image processor) for rendering and drawing of content required to be displayed by the display screen. In some embodiments, the processor 401 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.

Memory 402 may include one or more computer-readable storage media, which may be non-transitory. Memory 402 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 402 is used to store at least one instruction for execution by processor 401 to implement the relocation method of a self-mobile device provided by the method embodiments in the present application.

In some embodiments, the electronic device may further optionally include: a peripheral interface and at least one peripheral. The processor 401, memory 402, and peripheral interfaces may be connected by buses or signal lines. The individual peripheral devices may be connected to the peripheral device interface via buses, signal lines or circuit boards. Illustratively, peripheral devices include, but are not limited to: radio frequency circuitry, touch display screens, audio circuitry, and power supplies, among others.

Of course, the electronic device may also include fewer or more components, as the present embodiment is not limited in this regard.

Optionally, the present application further provides a computer readable storage medium, in which a program is stored, the program being loaded and executed by a processor to implement the self-mobile device relocation method of the above-mentioned method embodiment.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims

1. A method of relocation from a mobile device, the method comprising:

responding to an instruction for repositioning the self-mobile equipment in a working area, and outputting prompt information, wherein the prompt information is used for prompting a user to indicate a first map position of the self-mobile equipment on an area map of the working area at present;

determining a local area map indicated by the first map location, the local area map being part of the area map, if the first map location is received;

Acquiring template environment information corresponding to at least one second map position in the local area map;

acquiring current environment information acquired by the self-mobile equipment based on the current position;

and matching the current environment information with the template environment information to determine the position of the self-mobile device in the local area map.

2. The method of claim 1, wherein outputting the hint information comprises:

3. The method of claim 1, wherein outputting the hint information comprises:

4. The method of claim 1, further comprising, after the outputting the hint information:

Determining whether voice data is collected;

under the condition that the voice data are collected, the voice data are recognized, and a voice recognition result is obtained;

the first map location is determined based on the speech recognition result.

5. The method of claim 1, wherein the first map location is a location coordinate on the regional map; the determining a local area map indicated by the first map location includes:

or alternatively, the process may be performed,

6. The method of claim 1, wherein the first map location is a local area identification of a local area map of the area maps; the determining a local area map indicated by the first map location includes:

7. The method of claim 1, wherein said matching the current environmental information with the template environmental information to determine a location of the self-mobile device in the local area map comprises:

8. The method according to any one of claims 1 to 7, further comprising, after said matching said current environmental information with said template environmental information:

acquiring template environment information corresponding to each third map position in the regional map under the condition that the position of the self-mobile device in the local regional map is not determined, wherein the third map position is different from the second map position;

and matching the current environment information with template environment information corresponding to the third map position to determine the position of the self-mobile device in the regional map.

9. An electronic device comprising a processor and a memory; stored in the memory is a program that is loaded and executed by the processor to implement the relocation method of a self-mobile device according to any one of claims 1 to 8.

10. A computer readable storage medium, characterized in that the storage medium has stored therein a program which, when executed by a processor, is adapted to carry out a relocation method of a self-mobile device according to any of claims 1 to 8.