CN116993967A - Ground material identification method and device, storage medium and electronic device - Google Patents
Ground material identification method and device, storage medium and electronic device Download PDFInfo
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- 239000000463 material Substances 0.000 title claims abstract description 116
- 238000000034 method Methods 0.000 title claims abstract description 48
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- 238000004590 computer program Methods 0.000 claims description 18
- 238000012360 testing method Methods 0.000 claims description 9
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Abstract
The embodiment of the application provides a ground material identification method and device, a storage medium and an electronic device, wherein the method comprises the following steps: acquiring attitude information of target equipment in the moving process of a region to be detected; determining the credibility of the target equipment for identifying the ground material in the region to be detected based on the attitude information; and determining the identification result of the ground material in the region to be detected according to the reliability. The application solves the problem of inaccurate ground material identification in the related technology, and achieves the effect of improving the accuracy of ground material identification.
Description
Technical Field
The embodiment of the application relates to the technical field of robots, in particular to a ground material identification method and device, a storage medium and an electronic device.
Background
In the prior art, a single device is generally used to identify the material quality. For example, the material information of the floor is recognized using ultrasonic waves or infrared signals or artificial intelligence (Artificial Intelligence, abbreviated as AI) provided in a target device (e.g., a sweeping robot).
However, when the posture of the target device is abnormal or the material is uneven, the ground material is easily identified and erroneously detected.
Disclosure of Invention
The embodiment of the application provides a ground material identification method and device, a storage medium and an electronic device, which are used for at least solving the problem of inaccurate ground material identification in the related technology.
According to an embodiment of the present application, there is provided a method for identifying a ground material, including: acquiring attitude information of target equipment in the moving process of a region to be detected; determining the credibility of the target equipment for identifying the ground material in the region to be detected based on the attitude information; and determining the recognition result of the ground material in the region to be detected according to the reliability.
According to another embodiment of the present application, there is provided a ground material identification apparatus, including: the first acquisition module is used for acquiring the attitude information of the target equipment in the moving process of the area to be detected; the first determining module is used for determining the credibility of the target equipment for identifying the ground material in the region to be detected based on the attitude information; and the second determining module is used for determining the recognition result of the ground material in the region to be detected according to the reliability.
In an exemplary embodiment, the first obtaining module includes: and the first acquisition unit is used for acquiring the vertical distance from the target equipment to the surface of the area to be detected in the case that the gesture information comprises distance information.
In one exemplary embodiment, the first acquiring unit includes: a first determining subunit, configured to determine a center point of the target device; and the first calculating subunit is used for calculating the vertical distance from the target equipment to the surface of the area to be measured according to the center point.
In one exemplary embodiment, the first acquiring unit includes: a second determining subunit, configured to determine a plurality of measurement points in the target device; the second calculating subunit is used for calculating the vertical distance from each measuring point to the surface of the area to be measured to obtain a plurality of vertical distances; and a third determining subunit, configured to determine an average value of the plurality of vertical distances as a vertical distance between the target device and the surface of the area to be measured.
In an exemplary embodiment, the first determining module includes: the first determining unit is used for determining the credibility of the target equipment for identifying the ground material in the region to be detected according to the vertical distance and the preset distance interval.
In an exemplary embodiment, the first determining unit includes: a fourth determining subunit, configured to determine the reliability as a first reliability when the vertical distance is not greater than a first preset threshold; a fifth determining subunit, configured to determine the reliability as a second reliability when the vertical distance is greater than the first preset threshold and less than a second preset threshold; a sixth determining subunit, configured to determine, when the vertical distance is not less than the second preset threshold, the reliability as a third reliability; the first credibility is larger than the second credibility, and the second credibility is larger than the third credibility.
In an exemplary embodiment, the second determining module includes a second determining unit, configured to determine the recognition result as a first target recognition result of the ground material when the confidence level is the first confidence level; the second obtaining unit is used for obtaining a second target identification result of the ground material according to a preset strategy when the credibility is the second credibility; and the first indicating unit is used for indicating the target equipment to stop working and sending out prompt information when the reliability is the third reliability, wherein the prompt information is used for prompting that the movement of the target equipment is abnormal.
In an exemplary embodiment, the second obtaining unit includes: a seventh determining subunit, configured to determine distance information of the target device in a preset time period; an eighth determining subunit, configured to determine N recognition results in the preset time period when the distance information continuously satisfies the second confidence level, where N is a natural number greater than 1; and a ninth determining subunit, configured to determine the second target recognition result from the N recognition results.
In an exemplary embodiment, the ninth determining subunit is further configured to perform one of: according to different result types in the N recognition results, determining M result sets, wherein the recognition result sets with the same result type are in the same result set, one recognition result is an element in the result set, and M is a natural number greater than or equal to 1; and determining the result type corresponding to the result set with the largest element number in the M result sets as the second target identification result.
In an exemplary embodiment, the above apparatus further includes: the first indicating module is used for indicating the target equipment to stop working and sending out the prompt information when the number of elements in each result set is smaller than the preset number after the M result sets are determined according to different result types in the N identification results.
In an exemplary embodiment, the first determining module includes: a third determining unit configured to determine an inclination angle between the target device and the surface of the area to be measured; a fourth determining unit, configured to determine the reliability as a second reliability when the vertical distance is greater than a first preset threshold and less than a second preset threshold and the inclination angle is less than a third preset threshold; a fifth determining unit, configured to determine the reliability as a third reliability when the vertical distance is greater than the first preset threshold and less than the second preset threshold and the inclination angle is not less than the third preset threshold; wherein the second confidence level is greater than the third confidence level.
According to a further embodiment of the application, there is also provided a computer readable storage medium having stored therein a computer program, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.
According to a further embodiment of the application, there is also provided an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
According to the application, the credibility of the target equipment for identifying the ground material in the region to be detected is determined through the acquired gesture information of the target equipment in the moving process of the region to be detected; and determining the recognition result of the ground material in the region to be detected according to the reliability. After the target equipment identifies the ground material, the credibility of the identification result is further verified through the gesture information, and the identification accuracy of the ground material is further verified. Therefore, the problem of inaccurate ground material identification in the related art can be solved, and the effect of improving the accuracy of ground material identification is achieved.
Drawings
FIG. 1 is a block diagram of a hardware configuration of a mobile terminal according to an embodiment of the present application;
FIG. 2 is a flow chart of a method for identifying a ground material according to an embodiment of the present application;
fig. 3 is a block diagram of a ground material recognition apparatus according to an embodiment of the present application.
Detailed Description
Embodiments of the present application will be described in detail below with reference to the accompanying drawings in conjunction with the embodiments.
It should be noted that the terms "first," "second," and the like in the description and the 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.
The method embodiments provided in the embodiments of the present application may be performed in a mobile terminal, a computer terminal or similar computing device. Taking the mobile terminal as an example, fig. 1 is a block diagram of a hardware structure of the mobile terminal according to an embodiment of the present application. As shown in fig. 1, a mobile terminal may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the structure shown in fig. 1 is merely illustrative and not limiting of the structure of the mobile terminal described above. For example, the mobile terminal may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1.
The memory 104 may be used to store computer programs, such as software programs and modules of application software, such as computer programs corresponding to the method for identifying a ground material in the embodiment of the present application, and the processor 102 executes the computer programs stored in the memory 104 to perform various functional applications and data processing, that is, implement the method described above. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, which may be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission means 106 is arranged to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet wirelessly.
In this embodiment, a method for identifying a ground material is provided, and fig. 2 is a flowchart of a method for identifying a ground material according to an embodiment of the present application, as shown in fig. 2, where the flowchart includes the following steps:
step S202, acquiring attitude information of target equipment in the moving process of a region to be detected;
in the present embodiment, the target device includes, but is not limited to, a home appliance, such as a sweeping robot, a dust collector, or the like. The area to be measured includes, but is not limited to, an area provided with a target material, such as a floor surface on which tiles or wooden floors are laid.
In this embodiment, the gesture information includes distance information and angle information between the target device and the ground in the moving process of the area to be measured, for example, when the target device is a sweeping robot, the sweeping robot is in a gesture parallel to the ground in the moving process of the ground where the tile is laid, so that the distance between the target device and the ground can be obtained; or when the sweeping robot passes through the threshold, the sweeping robot is in an inclined posture, and the inclination angle between the target equipment and the ground can be acquired.
Step S204, determining the credibility of the target equipment to identify the ground material in the area to be detected based on the attitude information;
in the present embodiment, the distance to the ground is calculated according to the posture information of the target device. For example, when the sweeping robot is in a state of being parallel to the ground in the moving process, the distance between the chassis of the target equipment and the ground can be detected, and the reliability of ground material identification can be detected according to the distance.
Step S206, determining the identification result of the ground material in the area to be detected according to the reliability.
In the present embodiment, the identification result includes the material information of the ground, for example, it is detected that the ground-laid floor is of a wooden material or it is detected that the ground-laid floor is of a stone material.
The main body of execution of the above steps may be a specific processor provided in a terminal, a server, a terminal or a server, or a processor or a processing device provided separately from the terminal or the server, but is not limited thereto.
Through the steps, the credibility of the target equipment for identifying the ground material in the region to be detected is determined through the acquired gesture information of the target equipment in the moving process of the region to be detected; and determining the distance between the target equipment and the target area based on the attitude information of the target equipment in the target area according to the identification result of the ground material in the area to be detected, determining the target distance, and verifying the identification result of the target equipment on the material of the target material according to the target distance. After the target equipment identifies the ground material of the target material, the credibility of the identification result is further verified through the attitude information target distance, so that the accuracy of the ground material identification of the target material is improved. Therefore, the problem of inaccurate identification of the ground material of the material in the related technology can be solved, and the effect of improving the accuracy of identifying the material of the ground material is achieved.
In an exemplary embodiment, in a case where the gesture information includes distance information, acquiring the gesture information of the target device during the movement of the area to be measured includes:
s21, obtaining the vertical distance from the target equipment to the surface of the area to be measured.
The embodiment is suitable for a scene that the target equipment is parallel to the ground. For example, in a scene where a flat ground normally moves.
In this embodiment, the vertical distance from the target device to the surface of the area to be measured is the distance from the target device to the surface of the area to be measured in the vertical direction. For example, the vertical distance between the center point of the chassis of the sweeping robot and the floor where it is located; or, an average distance of a plurality of distances between the center point of the chassis of the sweeping robot and the floor where the sweeping robot is located.
In this embodiment, the vertical distance from the target device to the surface of the area to be measured may be obtained by the sensor. The sensor may be located at the chassis of the target device or at other locations of the target device. The sensor may be an ultrasonic sensor or an infrared sensor. For example, the case where the target device is a floor sweeping robot is described as an example, and the sensor is provided at the floor of the floor sweeping robot to detect the distance between the floor sweeping robot and the floor during the movement of the floor sweeping robot. It should be noted that, the robot can discern ground material in the in-process that removes, also can discern ground material when static. The ground material can be directly identified by a sensor (e.g., an ultrasonic sensor or an infrared sensor); the ground material may also be identified by other means, such as uploading the acquired characteristics of the target material to a processor, and identifying the ground material by the processor.
In addition, the present embodiment is a target distance acquired after the sweeping robot recognizes the material of the target material set on the ground.
In one exemplary embodiment, obtaining a vertical distance of a target device to a surface of an area under test includes:
s31, determining a center point of the target equipment;
s32, according to the center point, calculating to obtain the vertical distance from the target equipment to the surface of the area to be measured.
In this embodiment, the vertical distance from the center point of the target device to the ground is the vertical distance. For example, the vertical distance between the ground at the center point of the chassis of the sweeping robot is measured by sensor measurements.
In one exemplary embodiment, obtaining a vertical distance of a target device to a surface of an area under test includes:
s41, determining a plurality of measurement points in the target equipment;
s42, calculating the vertical distance from each measuring point to the surface of the area to be measured to obtain a plurality of vertical distances;
s43, determining an average value of the plurality of vertical distances as the vertical distance from the target equipment to the surface of the area to be detected.
In this embodiment, the vertical distance between the ground and the plurality of measurement points in the target device is the vertical distance. The plurality of measurement points may be different positions of the chassis of the target device, such as a plurality of positions of the chassis of the target device which are uniformly distributed, for example, a plurality of vertical distances (for example, 2.5cm, 3.5cm and 3 cm) are obtained by measuring vertical distances between the plurality of measurement points on the chassis of the sweeping robot and the floor through a sensor, and an average value of the plurality of vertical distances is determined as a vertical distance (for example, 3 cm).
In one exemplary embodiment, determining the trustworthiness of the target device to identify the ground material in the area under test based on the pose information includes:
s51, determining the credibility of the target equipment for identifying the ground material in the region to be detected according to the vertical distance and the preset distance interval.
In this embodiment, the preset distance interval may be determined based on a distance threshold that can be identified by a sensor that measures a vertical distance, which may be understood that in different distance ranges, the reliability of the target device for identifying the ground material is different, in a lower range, the target device is illustrated to be closer to the ground, the reliability of the identification is higher, conversely, when the vertical distance is larger, the reliability of the target device for identifying the ground material is lower, and further, when the vertical distance is larger, the chassis of the target device is also longer from the ground, for example, in a higher suspension state, which may affect the safety of the target device. For example, where the threshold distance identifiable by the sensor is 10cm, the preset distance may be set to a value less than 8 cm.
In an exemplary embodiment, determining the reliability of the target device to identify the ground material in the area to be measured according to the vertical distance and the preset distance interval includes:
s61, determining the credibility as a first credibility when the vertical distance is not larger than a first preset threshold value;
s62, determining the credibility as second credibility when the vertical distance is larger than a first preset threshold and smaller than a second preset threshold;
s63, determining the reliability as a third reliability when the vertical distance is not smaller than a second preset threshold;
the first credibility is larger than the second credibility, and the second credibility is larger than the third credibility.
In this embodiment, the first preset threshold and the second preset threshold are both included in the preset distance interval. For example, the first preset threshold may be set to a value less than 3 cm; the second preset threshold may be set to a value greater than or equal to 3cm and less than 6 cm.
In this embodiment, the smaller the vertical distance, the greater the reliability of the ground material, and vice versa. For example, in the case that the recognition result of the ground material is a wooden material and the vertical distance is 1cm, the probability that the ground material is a wooden material is more than 90%; when the recognition result of the ground material is a wood material and the vertical distance is 5cm, the probability that the ground material is the wood material is less than 50%, and the ground material needs to be further determined at the moment; under the condition that the recognition result of the ground material is a wood material and the vertical distance is 9cm, the probability that the ground material is the wood material is extremely low, at the moment, the target equipment is possibly in an inclined state, and the current area needs to be withdrawn, so that the recognition of the ground material is terminated.
It should be noted that, the determination ranges of the first reliability, the second reliability, and the third reliability may be designed according to practical situations, for example, different preset distance intervals may be set according to different types of the target devices, and of course, in some other embodiments, only two preset distance intervals may be set, and accordingly, only two reliability may be determined, further, a plurality of reliability may also be determined by a plurality of area distance intervals, where the number of reliability is not limited in the embodiments of the present specification.
In one exemplary embodiment, the identification of the ground material in the area to be measured is determined based on the confidence, including,
s71, determining the identification result as a first target identification result of the ground material when the credibility is the first credibility;
s72, when the credibility is the second credibility, acquiring a second target identification result of the ground material according to a preset strategy;
and S73, when the credibility is the third credibility, indicating the target equipment to stop working, and sending out prompt information, wherein the prompt information is used for prompting the abnormal movement of the target equipment.
In this embodiment, the first reliability, the second reliability, and the third reliability are used to represent the probability that the ground material is a real material.
In an exemplary embodiment, when the reliability is the second reliability, obtaining a second target identification result of the ground material according to a preset policy includes:
s81, determining distance information of the target equipment in a preset time period;
s82, when the distance information continuously meets the second credibility, N identification results in a preset time period are determined, wherein N is a natural number larger than 1;
s83, determining a second target recognition result from the N recognition results.
In this embodiment, the distance information includes a vertical distance between the target device and the ground. When the distance information continues to satisfy the second confidence level, then the target device may be in a tilted state. For example, the robot is inclined in the process of passing the threshold, and the ground material is not accurately identified.
In this embodiment, the second target recognition result is determined from the N recognition results, including one of the following:
according to different result types in N recognition results, determining M result sets, wherein the recognition result sets with the same result type are in the same result set, one recognition result is an element in the result set, and M is a natural number greater than or equal to 1;
and determining the result type corresponding to the result set with the largest element number in the M result sets as a second target recognition result.
In this embodiment, the value of M, N may be flexibly set based on the actual application scenario or the recognition requirement, for example, the ground material recognized within 10 minutes includes 10 recognition results. Several recognition results with smaller distance can be selected from 10 recognition results, and the result with the most consistency of the recognition results is selected as the target recognition result. For example, if the a result includes 4, the B result includes 3, the C result includes 2, and the D result includes 1 among 10 recognition results, the a result may be regarded as the second target recognition result.
In this embodiment, after determining M result sets according to different result types in the N recognition results, the method further includes: and when the number of elements in each result set is smaller than the preset number, indicating the target equipment to stop working, and sending out the prompt information. For example, in the case that the number of a results is 4 in 10 recognition results and the preset number is 5, the target device may fail, and a prompt message is sent. At this point the target device terminates the identification of the ground material. By limiting the preset number, the reliability of material identification at high distances can be improved.
In one exemplary embodiment, determining the trustworthiness of the target device to identify the ground material in the area under test based on the pose information includes:
s91, determining the inclination angle of the target equipment and the surface of the area to be detected;
s92, determining the reliability as second reliability when the vertical distance is larger than a first preset threshold and smaller than a second preset threshold and the inclination angle is smaller than a third preset threshold;
s93, determining the reliability as third reliability when the vertical distance is larger than a first preset threshold and smaller than a second preset threshold and the inclination angle is not smaller than a third preset threshold;
wherein the second confidence level is greater than the third confidence level.
The embodiment can be applied to a scene where the target device is not parallel to the ground. For example, a scene in an inclined state when the sweeping robot passes a threshold.
In this embodiment, the inclination angle of the target device to the surface of the area to be measured may be determined by a sensor. The sensor may be disposed on the chassis of the target device or at other locations of the target device. The sensor may be an ultrasonic sensor or an infrared sensor. For example, taking the case that the inclination angle of the sweeping robot is measured by the infrared sensor as an example, the inclination angle of the chassis of the sweeping robot detected by the infrared sensor is 10 degrees and is smaller than a third preset threshold (for example, 20 degrees), and the recognition result is a wooden material, and the probability that the ground material is the wooden material is larger than 90%. The third preset threshold value may be set based on the actual use situation, for example, the third preset threshold value is a value smaller than 20. For example, if the inclination angle is 30 degrees, the inclination angle is larger than the third preset threshold value, and if the recognition result is a wooden material, the probability that the ground material is a wooden material is extremely small. The identification of the material of the target material is terminated by exiting the current region.
In this embodiment, if the reliability is determined to be the third reliability, the target device is instructed to terminate the identification of the ground material. After the target equipment terminates the identification of the ground material, the change amplitude of the distance between the target equipment and the ground detected in the subsequent preset time can be judged, and different change amplitudes correspond to different identification result calculation modes. For example, when the change amplitude is large, the target device is considered to be in an unsafe state. And when the variation amplitude is smaller, selecting the recognition result with the most consistency of the recognition results as the target recognition result.
From the description of the above embodiments, it will be clear to a person skilled in the art that the method according to the above embodiments may be implemented by means of software plus the necessary general hardware platform, but of course also by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present application.
In this embodiment, a device for identifying a ground material is further provided, and the device is used to implement the foregoing embodiments and preferred embodiments, which have been described and will not be repeated. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.
Fig. 3 is a block diagram of a ground material recognition apparatus according to an embodiment of the present application, as shown in fig. 3, the apparatus includes:
a first obtaining module 32, configured to obtain pose information of the target device during a moving process of the area to be measured;
a first determining module 34, configured to determine, based on the gesture information, a reliability of the target device to identify a ground material in the area to be measured;
the second determining module 36 is configured to determine a recognition result of the ground material in the area to be detected according to the reliability.
In an exemplary embodiment, the first obtaining module includes:
and the first acquisition unit is used for acquiring the vertical distance from the target equipment to the surface of the area to be detected in the case that the gesture information comprises distance information.
In one exemplary embodiment, the first acquiring unit includes:
a first determining subunit, configured to determine a center point of the target device;
and the first calculating subunit is used for calculating the vertical distance from the target equipment to the surface of the area to be measured according to the center point.
In one exemplary embodiment, the first acquiring unit includes:
a second determining subunit, configured to determine a plurality of measurement points in the target device;
the second calculating subunit is used for calculating the vertical distance from each measuring point to the surface of the area to be measured to obtain a plurality of vertical distances;
and a third determining subunit, configured to determine an average value of the plurality of vertical distances as a vertical distance between the target device and the surface of the area to be measured.
In an exemplary embodiment, the first determining module includes:
the first determining unit is used for determining the credibility of the target equipment for identifying the ground material in the region to be detected according to the vertical distance and the preset distance interval.
In an exemplary embodiment, the first determining unit includes:
a fourth determining subunit, configured to determine the reliability as a first reliability when the vertical distance is not greater than a first preset threshold;
a fifth determining subunit, configured to determine the reliability as a second reliability when the vertical distance is greater than the first preset threshold and less than a second preset threshold;
a sixth determining subunit, configured to determine, when the vertical distance is not less than the second preset threshold, the reliability as a third reliability;
the first credibility is larger than the second credibility, and the second credibility is larger than the third credibility.
In one exemplary embodiment, the second determining module includes,
a second determining unit configured to determine the identification result as a first target identification result of the ground material when the reliability is the first reliability;
the second obtaining unit is used for obtaining a second target identification result of the ground material according to a preset strategy when the credibility is the second credibility;
and the first indicating unit is used for indicating the target equipment to stop working and sending out prompt information when the reliability is the third reliability, wherein the prompt information is used for prompting that the movement of the target equipment is abnormal.
In an exemplary embodiment, the second obtaining unit includes:
a seventh determining subunit, configured to determine distance information of the target device in a preset time period;
an eighth determining subunit, configured to determine N recognition results in the preset time period when the distance information continuously satisfies the second confidence level, where N is a natural number greater than 1;
and a ninth determining subunit, configured to determine the second target recognition result from the N recognition results.
In an exemplary embodiment, the ninth determining subunit is further configured to perform one of: according to different result types in the N recognition results, determining M result sets, wherein the recognition result sets with the same result type are in the same result set, one recognition result is an element in the result set, and M is a natural number greater than or equal to 1;
and determining the result type corresponding to the result set with the largest element number in the M result sets as the second target identification result.
In an exemplary embodiment, the above apparatus further includes:
the first indicating module is used for indicating the target equipment to stop working and sending out the prompt information when the number of elements in each result set is smaller than the preset number after the M result sets are determined according to different result types in the N identification results.
In an exemplary embodiment, the first determining module includes:
a third determining unit configured to determine an inclination angle between the target device and the surface of the area to be measured;
a fourth determining unit, configured to determine the reliability as a second reliability when the vertical distance is greater than a first preset threshold and less than a second preset threshold and the inclination angle is less than a third preset threshold;
a fifth determining unit, configured to determine the reliability as a third reliability when the vertical distance is greater than the first preset threshold and less than the second preset threshold and the inclination angle is not less than the third preset threshold;
wherein the second confidence level is greater than the third confidence level.
It should be noted that each of the above modules may be implemented by software or hardware, and for the latter, it may be implemented by, but not limited to: the modules are all located in the same processor; alternatively, the above modules may be located in different processors in any combination.
Embodiments of the present application also provide a computer readable storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the method embodiments described above when run.
In the present embodiment, the above-described computer-readable storage medium may be configured to store a computer program for executing the above steps.
In one exemplary embodiment, the computer readable storage medium may include, but is not limited to: a usb disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing a computer program.
An embodiment of the application also provides an electronic device comprising a memory having stored therein a computer program and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.
In an exemplary embodiment, the electronic apparatus may further include a transmission device connected to the processor, and an input/output device connected to the processor.
In an exemplary embodiment, the above processor may be arranged to perform the above steps by means of a computer program.
Specific examples in this embodiment may refer to the examples described in the foregoing embodiments and the exemplary implementation, and this embodiment is not described herein.
It will be appreciated by those skilled in the art that the modules or steps of the application described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps of them may be fabricated into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the principle of the present application should be included in the protection scope of the present application.
Claims (14)
1. A method for identifying a ground material, comprising:
acquiring attitude information of target equipment in the moving process of a region to be detected;
determining the credibility of the target equipment for identifying the ground material in the region to be detected based on the attitude information;
and determining the recognition result of the ground material in the region to be detected according to the reliability.
2. The method according to claim 1, wherein, in the case where the posture information includes distance information, the acquiring posture information of the target device during the movement of the area to be measured includes:
and obtaining the vertical distance from the target equipment to the surface of the area to be measured.
3. The method of claim 2, wherein the obtaining the vertical distance of the target device to the surface of the area under test comprises:
determining a center point of the target device;
and according to the center point, calculating to obtain the vertical distance from the target equipment to the surface of the area to be measured.
4. The method of claim 2, wherein the obtaining the vertical distance of the target device to the surface of the area under test comprises:
determining a plurality of measurement points in the target device;
calculating the vertical distance from each measuring point to the surface of the region to be measured to obtain a plurality of vertical distances;
and determining the average value of the plurality of vertical distances as the vertical distance from the target equipment to the surface of the area to be detected.
5. The method of claim 2, wherein determining the trustworthiness of the target device to identify the ground material in the area under test based on the pose information comprises:
and determining the credibility of the target equipment for identifying the ground material in the region to be detected according to the vertical distance and the preset distance interval.
6. The method of claim 5, wherein determining the reliability of the target device to identify the ground material in the area to be measured according to the vertical distance and the preset distance interval comprises:
when the vertical distance is not greater than a first preset threshold, determining the credibility as a first credibility;
when the vertical distance is larger than the first preset threshold value and smaller than a second preset threshold value, determining the credibility as second credibility;
when the vertical distance is not smaller than the second preset threshold value, determining the credibility as a third credibility;
wherein the first degree of reliability is greater than the second degree of reliability, and the second degree of reliability is greater than the third degree of reliability.
7. The method of claim 6, wherein determining the identification of the ground material in the area under test based on the confidence comprises,
when the credibility is the first credibility, determining the identification result as a first target identification result of the ground material;
when the credibility is the second credibility, acquiring a second target identification result of the ground material according to a preset strategy;
and when the credibility is the third credibility, indicating the target equipment to stop working, and sending out prompt information, wherein the prompt information is used for prompting the movement of the target equipment to be abnormal.
8. The method of claim 7, wherein when the confidence level is the second confidence level, obtaining a second target recognition result of the ground material according to a preset policy includes:
determining distance information of the target equipment in a preset time period;
when the distance information continuously meets the second credibility, determining N identification results in the preset time period, wherein N is a natural number larger than 1;
and determining the second target recognition result from the N recognition results.
9. The method of claim 8, wherein determining the second target recognition result from the N recognition results comprises one of:
according to different result types in the N recognition results, determining M result sets, wherein the recognition result sets with the same result type are in the same result set, one recognition result is an element in the result set, and M is a natural number greater than or equal to 1;
and determining the result type corresponding to the result set with the largest element number in the M result sets as the second target identification result.
10. The method of claim 9, wherein after determining M result sets according to different result types in the N recognition results, the method further comprises:
and when the number of elements in each result set is smaller than the preset number, indicating the target equipment to stop working, and sending out the prompt information.
11. The method of claim 3, wherein determining, based on the pose information, a confidence that the target device identifies a ground material in the area under test comprises:
determining the inclination angle of the target equipment and the surface of the area to be detected;
when the vertical distance is larger than a first preset threshold value and smaller than a second preset threshold value and the inclination angle is smaller than a third preset threshold value, determining the credibility as a second credibility;
when the vertical distance is larger than the first preset threshold value and smaller than the second preset threshold value and the inclination angle is not smaller than the third preset threshold value, determining the credibility as a third credibility;
wherein the second confidence level is greater than the third confidence level.
12. A ground material identification device, comprising:
the first acquisition module is used for acquiring the attitude information of the target equipment in the moving process of the area to be detected;
the first determining module is used for determining the credibility of the target equipment for identifying the ground material in the region to be detected based on the gesture information;
and the second determining module is used for determining the recognition result of the ground material in the region to be detected according to the credibility.
13. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a computer program, wherein the computer program is arranged to execute the method of any of the claims 1 to 11 when run.
14. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the method of any of the claims 1 to 11.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210441624.1A CN116993967A (en) | 2022-04-25 | 2022-04-25 | Ground material identification method and device, storage medium and electronic device |
| PCT/CN2023/082089 WO2023207407A1 (en) | 2022-04-25 | 2023-03-17 | Floor material recognition method and apparatus, storage medium, and electronic apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210441624.1A CN116993967A (en) | 2022-04-25 | 2022-04-25 | Ground material identification method and device, storage medium and electronic device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116993967A true CN116993967A (en) | 2023-11-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210441624.1A Pending CN116993967A (en) | 2022-04-25 | 2022-04-25 | Ground material identification method and device, storage medium and electronic device |
Country Status (2)
| Country | Link |
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| CN (1) | CN116993967A (en) |
| WO (1) | WO2023207407A1 (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6664163B2 (en) * | 2015-08-05 | 2020-03-13 | キヤノン株式会社 | Image identification method, image identification device, and program |
| CN110361374B (en) * | 2019-07-30 | 2022-07-12 | 北京云端光科技术有限公司 | Substance detection method, substance detection device, storage medium, and electronic apparatus |
| CN113077018A (en) * | 2021-06-07 | 2021-07-06 | 浙江大华技术股份有限公司 | Target object identification method and device, storage medium and electronic device |
| CN113485372B (en) * | 2021-08-11 | 2023-06-16 | 追觅创新科技(苏州)有限公司 | Map searching method and device, storage medium and electronic device |
| CN114332707A (en) * | 2021-12-28 | 2022-04-12 | 浙江大华技术股份有限公司 | Method and device for determining equipment effectiveness, storage medium and electronic device |
-
2022
- 2022-04-25 CN CN202210441624.1A patent/CN116993967A/en active Pending
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- 2023-03-17 WO PCT/CN2023/082089 patent/WO2023207407A1/en unknown
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| WO2023207407A1 (en) | 2023-11-02 |
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