WO2021027958A1 - 可移动设备行进的处理方法、装置及存储介质 - Google Patents

可移动设备行进的处理方法、装置及存储介质 Download PDF

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Publication number
WO2021027958A1
WO2021027958A1 PCT/CN2020/109579 CN2020109579W WO2021027958A1 WO 2021027958 A1 WO2021027958 A1 WO 2021027958A1 CN 2020109579 W CN2020109579 W CN 2020109579W WO 2021027958 A1 WO2021027958 A1 WO 2021027958A1
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WIPO (PCT)
Prior art keywords
image
target area
movable device
instruction
cloud server
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PCT/CN2020/109579
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English (en)
French (fr)
Inventor
王游
陈子冲
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纳恩博（常州）科技有限公司
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Publication of WO2021027958A1 publication Critical patent/WO2021027958A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/24—Classification techniques
    • G06F18/241—Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/10—Terrestrial scenes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/07—Target detection

Definitions

  • the present disclosure relates to the field of information technology, and in particular to a movable device, a processing method, device, and storage medium of a movable device.
  • a mobile device passes through a target area, it is generally based on the establishment of a relatively large-scale high-precision map in advance, and a navigation route is formulated so that the mobile device passes through the target area.
  • the cloud server is not connected to all traffic lights or monitoring equipment in the target area, so it is impossible to accurately know the road conditions in each target area or the working status of the traffic lights in the target area, which will make the mobile equipment Safety through the target area cannot be guaranteed. Based on this, the traffic consumed by the cloud server to make the decision of the mobile device to pass the target area is also relatively large.
  • the embodiments of the present disclosure provide a processing method, device, removable device, and storage medium for a removable device.
  • a processing method for travel of a mobile device comprising:
  • the movable device is controlled to pass through the target area.
  • the embodiment of the present disclosure also provides a processing method for traveling of a movable device, the method including:
  • the first image is an image obtained by the mobile device's image acquisition of the target area; the first image is the mobile device if it is determined that the mobile device is located The first position of is located within a predetermined distance range of the target area, and controls the image collected after the movable device stops;
  • the first instruction is used to control the movable device to pass through the target area;
  • the first instruction is sent to the movable device.
  • the embodiment of the present disclosure also provides a processing device for traveling of a movable device, the device including:
  • the first processing unit is configured to control the movable device to stop if it is determined that the first position where the movable device is located is within a predetermined distance of the target area;
  • An image acquisition unit configured to perform image acquisition on the target area to obtain a first image
  • the first sending unit is configured to send the first image to a cloud server
  • a first receiving unit configured to receive a first instruction sent by the cloud server based on the image information
  • the second processing unit is configured to control the movable device to pass through the target area based on the first instruction.
  • the embodiment of the present disclosure also provides a processing device for traveling of a movable device, the device including:
  • the second receiving unit is configured to receive image information of the first image sent by the mobile device; the first image is the image obtained by the mobile device's image acquisition of the target area; the first image is the If the movable device determines that the first position where the movable device is located is within a predetermined distance range of the target area, control the image collected after the movable device stops;
  • a determining unit configured to determine a first instruction based on the first image; the first instruction is used to control the movable device to pass through the target area;
  • the second sending unit is configured to send the first instruction to the movable device.
  • the embodiment of the present disclosure also provides a portable device, the portable device includes: a first processor and a first memory for storing a computer service capable of running on the first processor, wherein the first When the processor is used to run the computer service, it implements the processing method for moving a mobile device according to any embodiment of the present disclosure.
  • the embodiment of the present disclosure also supports a cloud server, the cloud server includes: a second processor and a second memory for storing computer services that can run on the second processor, wherein the second processor uses When running the computer service, the mobile device travel processing method described in any embodiment of the present disclosure is implemented.
  • the embodiments of the present disclosure also provide a storage medium having computer-executable instructions in the storage medium, and the computer-executable instructions are executed by a processor to implement the processing method for moving a mobile device according to any embodiment of the present disclosure .
  • the movable device In the method for processing travel of a movable device provided by the embodiment of the present disclosure, if it is determined that the first position of the movable device is within a predetermined distance of the target area, the movable device is controlled to stop; Stop traveling at the first position within the predetermined range, thereby reducing the occurrence of collisions with obstacles in the target area caused by the mobile device directly passing through the target area, and effectively reducing the occurrence of traffic accidents.
  • the first image is obtained by image collection of the target area; the first image is sent to the cloud server without uploading the images collected during the entire travel of the mobile device to the cloud server, thereby It can also reduce the amount of traffic required to upload image data.
  • the embodiment of the present disclosure controls the mobile device to pass through the target area based on the first instruction after receiving the first instruction sent by the cloud server based on the image information; this can facilitate
  • the cloud server makes a decision based on the image information of the first image, and makes the mobile device based on the first instruction of the cloud server decision to control the mobile device to pass through the target area, thereby improving the mobile device Security through the target area.
  • FIG. 1 is a schematic flowchart of a processing method for traveling of a mobile device according to an embodiment of the disclosure
  • FIG. 2 is a schematic flowchart of another method for processing travel of a movable device according to an embodiment of the present disclosure
  • FIG. 3 is a schematic flowchart of another method for processing travel of a mobile device according to an embodiment of the disclosure
  • FIG. 4 is a schematic diagram of a processing apparatus for traveling of a movable device according to an embodiment of the disclosure
  • FIG. 5 is a schematic diagram of another processing apparatus for moving a movable device according to an embodiment of the disclosure.
  • FIG. 6 is a schematic diagram of the hardware structure of a portable device provided by an embodiment of the disclosure.
  • FIG. 7 is a schematic diagram of the hardware structure of a cloud server provided by an embodiment of the disclosure.
  • an embodiment of the present disclosure provides a processing method for travel of a movable device, including:
  • Step 101 If it is determined that the first position of the movable device is within a predetermined distance of the target area, control the movable device to stop; this step can also be that the first position of the movable device is located in the target area Control the movable equipment to slow down within the predetermined distance range;
  • Step 103 Perform image collection on the target area to obtain a first image
  • Step 105 Send the first image to a cloud server
  • Step 107 Receive a first instruction sent by the cloud server based on the image information
  • Step 109 Based on the first instruction, control the movable device to pass through the target area.
  • the method provided in the embodiments of the present disclosure can be applied to a portable device, which is a portable device integrated with an image acquisition module; the portable device also establishes a communication connection with a cloud server.
  • the movable device includes but is not limited to at least one of the following: a scooter and a self-moving robot including a mobile chassis.
  • the target area is an area containing an intersection; the intersection is an intersection with traffic lights.
  • the intersection includes but is not limited to at least one of the following: a cross-shaped intersection, a T-shaped intersection, and a half-round island intersection.
  • the traffic light includes but is not limited to one of the following: a first type of traffic light and a second type of traffic light; the first type of traffic light is a signal light composed of red, yellow, and green lights; the second type of traffic light The light is a signal light composed of red and green lights.
  • the first position is located within a predetermined distance range of the target area; the first position is at a first distance from the target area; and the accuracy of the first distance is meters.
  • controlling the movable device to stop in 101 may be controlling the traveling speed of the mobile device to 0; or, it may also be controlling the traveling speed of the mobile device to slow down.
  • controlling the movable device to stop in step 101 is: controlling the movable device to change from a first speed to a second speed; where , The second speed is less than the first speed.
  • the movable device can travel to a position closer to the target area at a relatively slow speed; if the first instruction sent by the cloud server is received before reaching the target area, Based on the first instruction, the movable device can be controlled to pass through the target area, which can reduce the number of times of stopping/starting the movable device, and can save time for the movable device to pass through the target area.
  • the method before the step 101, further includes: controlling the movable device to move to the first position based on a wireless positioning mode.
  • a global positioning system Global Positioning System, GPS
  • GPS Global Positioning System
  • the GPS navigation route is a route between the starting position of the mobile device and the first position;
  • the mobile device controls itself to move from the starting position to the first position according to the GPS navigation route.
  • a GPS device or a GPS sensor is also installed in the mobile device; the GPS device or the GPS sensor can collect the location information of the mobile device in real time.
  • the first image is an image including a traffic light.
  • the movable device if it is determined that the first position where the movable device is located is within a predetermined distance range of the target area, the movable device is controlled to stop or slow down; in this way, it can be within the predetermined range of the target area. Stop traveling or traveling slowly at the first position, so as to reduce the occurrence of collisions with obstacles in the target area caused by the direct or rapid passing of the mobile device through the target area, thereby effectively reducing the occurrence of traffic accidents.
  • the first image is obtained by image collection of the target area; the first image is sent to the cloud server without uploading the image collected during the entire travel of the mobile device to the cloud Server, which can reduce the traffic required to upload image data.
  • the embodiment of the present disclosure controls the mobile device to pass through the target area based on the first instruction after receiving the first instruction sent by the cloud server based on the image information; this can facilitate
  • the cloud server makes a decision based on the image information of the first image, and makes the mobile device based on the first instruction of the cloud server decision to control the mobile device to pass through the target area, thereby improving the mobile device Security through the target area.
  • the step 109 includes but is not limited to at least one of the following:
  • controlling the movable device Based on the first instruction, controlling the movable device to stop after reaching a first predetermined position in the target area.
  • step 109 further includes:
  • the movable device staying in the target area can be controlled to continue to travel until it passes through the target area.
  • the first instruction is an instruction carrying a second distance.
  • the movable device may control the movable device to advance the second distance based on the first instruction.
  • the second distance may be the sum of the linear distance passing through the target area and the first distance.
  • the first instruction is an instruction carrying a first time interval.
  • the movable device may control the movable device to pass through the target area after a first time interval based on the first instruction.
  • the timing for the mobile device to pass through the target area may also be determined based on the first instruction sent by the cloud server.
  • the method further includes:
  • Step 100 Collect a second image including the first position; the image accuracy of the second image is less than the image accuracy of the first image;
  • the determining that the first position where the movable device is located is within a predetermined distance range of the target area includes:
  • Step 1011 If the second image includes image information of at least a part of the target area, determine that the first position is within a predetermined distance of the target area.
  • the method further includes: if it is determined that the first position where the movable device is located is within a predetermined distance of the target area, turning on the first image acquisition module of the movable device;
  • the capturing a second image including the first position includes: capturing the second image by using a first image capturing module.
  • the movable device is equipped with a first image acquisition module and a second image acquisition module, and the image accuracy of the image acquired by the first image acquisition module is lower than that of the second image acquisition module The image accuracy of the captured image; wherein the first image capture module is used to capture the second image, and the first image module is used to capture the first image.
  • the image accuracy of the second image obtained is lower than the image accuracy of the first image; in this way, a relatively low-resolution image acquisition module can be used for image acquisition of the second image to identify whether the movable device is in In the vicinity of the target area, the power consumption of such image acquisition modules to acquire images is relatively high. .
  • the method further includes: before the movable device reaches the first position, performing image acquisition based on the first image acquisition module.
  • the method further includes: sending the second image to the cloud server;
  • the determining that the first position where the movable device is located is within a predetermined distance range of the target area includes:
  • the second instruction is an instruction to determine that the first position is located within a predetermined distance range of the target area.
  • the second image collected by the mobile device can be sent to the cloud server, and the cloud server can determine whether the mobile device has entered the vicinity of the intersection; and, because the upload is a relatively low-precision first image Second image, thereby reducing the flow of uploading the second image from the cloud server.
  • the area image information of the target area may be area image information that characterizes an intersection.
  • it may be a cross-shaped pavement, or at least one of a T-shaped pavement, a semi-circular road surface, etc.; it may also be a traffic light with red and green lights or a traffic light with red, yellow, and green lights; it may also be a road near the intersection Side facilities; wherein, the roadside facilities can be intersection signs, intersection cameras, etc.
  • the collected second image includes road junctions, facilities, etc., it is determined that the first location is within a predetermined distance range of the target area.
  • the movable device it can be automatically detected whether the movable device has entered the target area or the vicinity of the target area, that is, by collecting the second image of the first position, if the second image is determined If the image contains at least partial area image information of the target area, it is determined that the first position is located within a certain distance range of the target area.
  • using a low-definition image capture module to capture the second image containing the first position has lower image accuracy than the first image captured by the high-definition capture module, but due to the recognition Whether the movable device is located in the target area itself does not require high image accuracy, so the second image obtained by using the low-definition image acquisition module does not affect whether the current position of the movable device is located in the target area. Recognition within a predetermined range.
  • the embodiments of the present disclosure can also use a low-cost low-resolution image acquisition module for image acquisition on the premise that it can be recognized whether the movable device is within the predetermined range of the target.
  • the traffic required for uploading the second image can be further reduced.
  • the determining that the first position where the movable device is located is within a predetermined distance range of the target area includes:
  • Step 1012 Determine that the longitude and latitude information of the first location matches the preset longitude and latitude information of the target area.
  • the current position (ie, the first position) of the mobile device can be collected at a preset time interval; by comparing the longitude and latitude information of the first position with the preset longitude and latitude information of the target area; If it is determined that the longitude and latitude information of the first location and the longitude and latitude information of the target area are within a certain threshold range, it is determined that the longitude and latitude information of the first location matches the longitude and latitude information of the target area. In this way, in the embodiment of the present disclosure, it can also be automatically detected whether the movable device enters the predetermined range of the target area.
  • the method may further include: uploading the first location to a cloud server in real time, and the server is used to determine the location information of the first location and the preset location information of the target area Whether it matches.
  • step 101 after the step 101, it further includes:
  • the method further includes:
  • a first prompt message is sent to the remote control terminal of the movable device, where the first prompt message is used to prompt the remote control terminal that the movable device reaches within a predetermined distance range of the target area.
  • the movable device also establishes a communication connection with a remote control terminal; the remote control terminal may send control instructions to the movable device to control the forward, backward, and forward movement of the movable device. At least one operation such as steering.
  • the acquiring the target area to obtain the first image includes:
  • the image acquisition module of the movable device is rotated so that the image acquisition module performs image acquisition on the target area at different acquisition angles to obtain the first image.
  • the collection instruction may be a collection instruction sent by the cloud server; or, the collection instruction may be a collection instruction input by an operator in a remote control interface of a mobile device.
  • the remote control interface is an interface on the remote control terminal.
  • the movable device when there are multiple image acquisition modules, they can be set at different positions of the movable device to be able to acquire the target area based on different acquisition angles to obtain multiple images based on the target area.
  • the movable device when there is one image acquisition module, can be rotated at different acquisition angles by a first angle to the left and/or a first angle to the right; the first angle is less than or equal to 90 degrees .
  • the target area can be acquired at different acquisition angles based on one image acquisition module; specifically, the acquisition angle of 180 degrees, that is, the image acquisition of the target area can be achieved in all directions;
  • the number of image acquisition modules can also be reduced, thereby reducing the cost of the movable device.
  • the method before the sending the first image to the cloud server, the method further includes:
  • Identifying that the target area in the first image contains information about the working state of traffic lights
  • the sending the first image to a cloud server includes:
  • the image information in the first image may also be recognized on the mobile device first, and the operating state information of the traffic lights contained in the target area may be determined;
  • the working status information including traffic lights is sent to the cloud server; in this way, the amount of data uploaded to the cloud server can be further greatly reduced, thereby greatly reducing the traffic required for uploading to the remote server.
  • the sending the first image to the cloud server includes:
  • the entire first image can be sent to a cloud server, so that the cloud server can recognize image information in the target area based on the first image.
  • the identifying that the target area in the first image includes information about the working state of traffic lights includes:
  • the operating state of the traffic light contained in the first image is recognized.
  • the mobile device is also installed with an image recognition algorithm APP (for example, a deep learning application APP), or has an image recognition algorithm environment, or can establish a connection with a terminal equipped with an image recognition algorithm.
  • the mobile device may recognize at least one of the following based on the image recognition algorithm: whether there is a traffic light in the target area, and whether the traffic light is a first type of traffic light or a second type of traffic light; Describe the lighting of each signal lamp in the traffic light.
  • the movable device can automatically recognize the working state of the traffic light in the target area according to the image recognition algorithm set by itself.
  • the method further includes:
  • the specific object contained in the first image is recognized.
  • the specific object is an obstacle; the obstacle includes: a movable obstacle and a stationary obstacle.
  • the movable obstacle includes but is not limited to at least one of the following: a person, a vehicle, a robot, and a scooter.
  • the vehicles include: buses, cars, taxis, and so on.
  • the static obstacles include but are not limited to at least one of the following: cement piers and flower beds.
  • the remote server can process and recognize the working state of the traffic light based on the first image, and to determine whether there are obstacles such as people, vehicles, and/or robots in the target area; so that the remote server can A more comprehensive analysis of the feasibility of the movable device passing through the target area can return a more reasonable decision (ie, the first instruction) to the movable device, thereby improving the movement of the movable device based on the first instruction.
  • the safety of the target area reduces the occurrence of traffic accidents such as a collision between the mobile device and the specific object in the target area.
  • the identifying that the target area in the first image includes information about the working state of traffic lights includes:
  • the operating state information of the traffic light contained in the first image is recognized.
  • the first image is displayed on the remote control interface of the terminal controller of the mobile device; the operator on the remote control interface can determine whether the first image contains a traffic light based on the recognition of human eyes, and The working status of each signal lamp in the traffic light; in this way, if the terminal controller determines that the first input operation for the first image is detected, then based on the first input operation, identify the Contains information about the working status of traffic lights.
  • the first image may be output on the remote control interface of the remote control terminal of the mobile device; based on the identification of the staff in front of the remote control terminal, the target area is determined
  • the working state of the traffic light thus, it is possible to avoid to a certain extent the misrecognition caused by the recognition of the mobile device through the algorithm, and the accuracy of identifying the working state of the traffic light in the target area is improved.
  • controlling the movable device to pass through the target area based on the first instruction further includes:
  • control the movable device to pass the second position.
  • the second position is any position in the target area.
  • the second position is any position on the movement route of the movable device in the target area.
  • the third distance between the specific object and the second position of the target area can be determined according to the current position of the specific object; the third speed of the specific object is acquired; based on the third distance And the third speed, determine the first moment when the specific object reaches the second position; determine the second moment when the movable device reaches the second position; if it is determined that the second moment is in the Within the predetermined time threshold range at the first moment, it is estimated that the movable device and the specific object will collide at the second position in the target area; if it is determined that the second moment is at the first moment Outside the predetermined time threshold range, it is estimated that the movable device and the specific object will not collide at the second position in the target area.
  • the timing for the movable device to pass through the target area can also be determined, which can reduce the probability of collision between the movable device and a specific object at the second position of the target area, thereby improving the movable The safety of the device passing the target area.
  • control the movable device if it is estimated that the movable device and the specific object will collide at a second position in the target area, control the movable device to slow down the driving speed;
  • the driving speed of the movable device is restored.
  • the movable device when the movable device passes through the target area, it is also predicted whether it will collide with a specific object at any position in the target area; if so, control the movable device in advance Drive at a reduced speed to avoid collision with the specific object, thereby further improving the safety of the movable device passing through the target area. Moreover, after the specific object passes through a position where a collision may occur, the traveling speed of the movable device is restored, which can also minimize the wasted traveling time due to avoiding the specific object.
  • an embodiment of the present disclosure also provides a processing method for moving a movable device, including:
  • Step 201 Receive a first image sent by a movable device; the first image is an image obtained by the movable device's image collection of a target area; the first image is an image obtained by the movable device if it is determined to be movable The first position where the device is located is within a predetermined distance range of the target area, and the image collected after the movable device is controlled to stop; the first image here may also be an image collected after the speed of the movable device is reduced;
  • Step 203 Determine a first instruction based on the first image; the first instruction is used to control the movable device to pass through the target area;
  • Step 205 Send the first instruction to the movable device.
  • the method provided in the embodiments of the present disclosure may be applied to a cloud server; the cloud server establishes a communication connection with at least one of the movable devices.
  • the target area is an area containing an intersection; the intersection is an intersection with traffic lights.
  • the intersection includes but is not limited to at least one of the following: a cross-shaped intersection, a T-shaped intersection, and a roundabout intersection.
  • the traffic light includes but is not limited to one of the following: a first type of traffic light and a second type of traffic light; the first type of traffic light is a signal light composed of red, yellow, and green lights; the second type of traffic light The light is a signal light composed of red and green lights.
  • the first image is an image including a traffic light.
  • the first instruction may be an instruction instructing the movable device to advance, or an instruction instructing the movable device to advance after a first time interval.
  • the first instruction may be an instruction carrying a second distance; or, the first instruction may be an instruction carrying a first time interval.
  • the first instruction is sent to the movable device so that the movable device starts to control the movable device to pass through the target area based on the first instruction , To improve the safety of the mobile device passing through the target area.
  • the method further includes:
  • a second instruction is sent to the movable device.
  • the current position (ie, the first position) of the movable device is within a predetermined distance range of the target area by receiving the second image sent by the movable device.
  • the second image with relatively low accuracy is received, the amount of data transmission can be reduced, and the traffic required for data transmission can be reduced.
  • the method further includes:
  • a second instruction is sent to the movable device; wherein, the second instruction is used to instruct the movable The first position where the device is located is within a predetermined distance range of the target area.
  • the mobile device it can be determined whether the mobile device is located at the target area based on the cloud server's determination of the longitude and latitude of the first location of the mobile device and the longitude and latitude of the target area.
  • the area is within a predetermined distance.
  • the method further includes:
  • the first prompt message is used to prompt the cloud server that the mobile device reaches within a predetermined distance of the target area; the collection instruction is used to prompt the mobile device to image the target area Collecting to obtain the first image.
  • the movable device when the movable device is determined to be located within a predetermined distance range of the target area, the movable device is reminded to collect the target area to obtain the first image.
  • the 201 includes:
  • the entire first image sent by the mobile device can be received, so that the cloud server can recognize the first image, specifically, the work of the traffic lights contained in the target area Recognition of the status, so as to make a decision based on the recognized operating status information of the traffic light, that is, determine the instruction.
  • the working state information of the traffic lights in the target area that the mobile device has identified may be received, so that the cloud server can make a decision based on the working state information, that is, determine the first instruction.
  • the step 203 includes:
  • Step 2031 Based on the first image, determine the working state of the traffic light included in the first image;
  • Step 2032 Determine a first instruction based on the working state of the traffic light.
  • the first instruction is an instruction to instruct the movable device to move forward; if it is determined that the working state of the traffic light is yellow or red On, the first instruction is an instruction instructing the movable device to move forward after a preset time.
  • the first instruction is sent according to the time information.
  • the first instruction may be an instruction instructing the movable device to allow passage through the target area.
  • the cloud server can predict that the traffic light will switch from turning on the prohibited traffic light to Information about the length of time required for the traffic light to be lit.
  • the first image may also include: traffic flow information in the target area.
  • the traffic flow includes but is not limited to: the flow of people and the flow of vehicles. Determine according to the flow of vehicles and people.
  • the first instruction For example, if the traffic volume is large, the issuance of the first instruction that allows passing through the target area may be appropriately extended. If the traffic volume is small, the first instruction to pass through the target area may be issued appropriately in advance.
  • the issuance of the first instruction and the content of the first instruction may be comprehensively determined based on the first image, the working status of the integrated traffic, and the traffic flow in the target area or a specific distance around the target area.
  • a deep learning model such as a neural network may be used to process the first image, so as to obtain various reference information for generating the first instruction, and further obtain the first quality according to the reference information.
  • the working state of the traffic lights contained in the target area may be determined based on the cloud server, and the decision is made based on the working state of the traffic lights, that is, the first instruction is determined.
  • the step 2031 includes:
  • the operating state of the traffic light contained in the first image is recognized.
  • the remote server is also installed with an image recognition algorithm APP (for example, a deep learning application APP), or has an image recognition algorithm environment, or can establish a connection with a terminal equipped with an image recognition algorithm.
  • the cloud server may recognize at least one of the following based on the image recognition algorithm: whether there is a traffic light in the target area, whether the traffic light is a first type of traffic light or a second type of traffic light; The lighting of each signal lamp in traffic lights.
  • the cloud server can automatically recognize the working state of the traffic lights in the target area according to the image recognition algorithm set by itself, so as to determine and control the movable device based on the working state of the traffic lights Pass the first instruction of the target area.
  • the step 2031 further includes:
  • the operating state of the traffic light included in the first image is recognized.
  • the first image is displayed on the display interface of the cloud server; the operator in front of the cloud server can determine whether the first image contains traffic lights and the status of each signal light in the traffic lights based on the recognition of human eyes. Working status; In this way, if the display interface determines that a second input operation for the first image is detected, then based on the second input operation, identify the working status of the traffic light contained in the first image information.
  • the first image may be displayed on the display interface of the cloud server, and the working state of the traffic light in the target area is determined based on the recognition of the staff in front of the display interface; , To a certain extent, it is possible to avoid the misrecognition caused by the recognition of the mobile device through the algorithm, and to improve the accuracy of recognizing the working state of the traffic light in the target area.
  • an embodiment of the present disclosure also provides a processing device for traveling of a movable device, and the device includes:
  • the first processing unit 31 is configured to control the movable device to stop if it is determined that the first position where the movable device is located is within a predetermined distance range of the target area;
  • the image acquisition unit 32 is configured to perform image acquisition on the target area to obtain a first image
  • the first sending unit 33 is configured to send the first image to a cloud server
  • the first receiving unit 34 is configured to receive a first instruction sent by the cloud server based on the image information
  • the second processing unit 35 is configured to control the movable device to pass through the target area based on the first instruction.
  • the image acquisition unit 32 is further configured to acquire a second image including the first position; the image accuracy of the second image is less than the image accuracy of the first image;
  • the first processing unit 31 is configured to determine that the first position is located within a predetermined distance range of the target area if the second image includes image information of at least a part of the target area.
  • the image acquisition unit 32 is further configured to rotate the image acquisition module of the movable device based on the acquisition instruction so that the image acquisition module performs image acquisition on the target area at different acquisition angles. , To obtain the first image.
  • the first processing unit 31 is configured to determine that the longitude and latitude information of the first location matches the preset longitude and latitude information of the target area.
  • the first sending unit 33 is configured to send the entire first image to the cloud server.
  • the first processing unit 31 is further configured to recognize that the target area in the first image contains working state information of traffic lights;
  • the first sending unit 33 is further configured to send the work status information in the first image to the cloud server.
  • the device further includes: an image recognition unit 36; wherein,
  • the image recognition unit 36 is configured to recognize the working state of the traffic light contained in the first image based on an image recognition algorithm.
  • the image recognition unit 36 is further configured to output the first image; detect a first input operation on the first image; and identify the first image based on the first input operation The working status information of the traffic light contained in the image.
  • the second processing unit 35 is configured to determine whether the movable device and the specific object will collide at the second position in the target area; if so, after determining that the specific object passes through the After the second position, the movable device is controlled to pass through the second position.
  • an embodiment of the present disclosure also provides a processing device for traveling of a movable device, and the device includes:
  • the second receiving unit 41 is configured to receive a first image sent by a movable device; the first image is an image obtained by the movable device's image collection of a target area; the first image is the movable device If the device determines that the first position where the movable device is located is within a predetermined distance range of the target area, control the image collected after the movable device is stopped;
  • the determining unit 42 is configured to determine a first instruction based on the first image; the first instruction is used to control the movable device to pass through the target area;
  • the second sending unit 43 is configured to send the first instruction to the movable device.
  • the second receiving unit 41 is further configured to receive a second image sent by the movable device; wherein the image accuracy of the second image is less than the image accuracy of the first image;
  • the second sending unit 43 is further configured to, based on the second image, if it is determined that the first position where the movable device is located is within a predetermined distance range of the target area, send the first position to the movable device Two instructions.
  • the second sending unit 43 is further configured to send a collection instruction to the movable device if the first prompt message sent by the movable device is received;
  • the first prompt message is used to prompt the cloud server that the mobile device reaches within a predetermined distance of the target area; the collection instruction is used to prompt the mobile device to image the target area Collecting to obtain the first image.
  • the second receiving unit 41 is further configured to receive the entire first image sent by the movable device
  • the determining unit 42 is configured to determine, based on the first image, the working state of the traffic light included in the first image; based on the working state of the traffic light, determine the first One instruction.
  • the embodiment of the present disclosure also discloses a movable device, the movable device includes: a first processor 51 and a first processor for storing computer services that can run on the first processor 51 A memory 52, where the first processor 51 is used to run the computer service to implement the mobile device travel processing method applied to the mobile device.
  • the embodiment of the present disclosure also discloses a cloud server
  • the cloud server includes: a second processor 61 and a second memory for storing computer services that can run on the second processor 61 62.
  • the second processor 61 When the second processor 61 is used to run the computer service, it implements the mobile device travel processing method applied to the cloud server.
  • both the first memory 52 and the second memory 62 in the embodiment of the present disclosure may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory.
  • the non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), and electrically available Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory.
  • the volatile memory may be a random access memory (Random Access Memory, RAM), which is used as an external cache.
  • RAM static random access memory
  • DRAM dynamic random access memory
  • DRAM synchronous dynamic random access memory
  • DDRSDRAM Double Data Rate Synchronous Dynamic Random Access Memory
  • Enhanced SDRAM, ESDRAM Synchronous Link Dynamic Random Access Memory
  • Synchlink DRAM Synchronous Link Dynamic Random Access Memory
  • DRRAM Direct Rambus RAM
  • the first processor 51 and the second processor 61 may be integrated circuit chips with signal processing capabilities. In the implementation process, the steps of the above method can be completed by hardware integrated logic circuits in the processor or instructions in the form of software.
  • the aforementioned processor may be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (ASIC), a ready-made programmable gate array (Field Programmable Gate Array, FPGA) or other Programming logic devices, discrete gates or transistor logic devices, discrete hardware components.
  • DSP Digital Signal Processor
  • ASIC application specific integrated circuit
  • FPGA ready-made programmable gate array
  • the methods, steps, and logical block diagrams disclosed in the embodiments of the present disclosure can be implemented or executed.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.
  • the steps of the method disclosed in combination with the embodiments of the present disclosure may be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in a mature storage medium in the field, such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers.
  • the storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.
  • the computer-readable storage medium stores an executable program.
  • the executable program When executed by a processor, it can be applied to the portable device or the cloud.
  • the steps of the processing method of the mobile device of the server For example, one or more of the methods shown in Figures 1-3.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are merely illustrative.
  • the division of the units is only a logical function division, and there may be other divisions in actual implementation, such as: multiple units or components can be combined, or It can be integrated into another system, or some features can be ignored or not implemented.
  • the coupling, or direct coupling, or communication connection between the components shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may be electrical, mechanical or other forms of.
  • the units described above as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units; Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • the functional units in the embodiments of the present disclosure can be all integrated into one processing module, or each unit can be individually used as a unit, or two or more units can be integrated into one unit;
  • the unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.
  • a person of ordinary skill in the art can understand that all or part of the steps in the above method embodiments can be implemented by a program instructing relevant hardware.
  • the foregoing program can be stored in a computer readable storage medium. When the program is executed, it is executed. Including the steps of the foregoing method embodiment; and the foregoing storage medium includes: removable storage devices, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disks or optical disks, etc.

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Abstract

一种可移动设备行进的处理方法，所述方法包括：若确定可移动设备所处的第一位置位于目标区域的预定距离范围内，控制所述可移动设备停止（101）；对所述目标区域进行图像采集，得到第一图像（103）；将所述第一图像发送给云端服务器（105）；接收所述云端服务器基于所述图像信息发送的第一指令（107）；基于所述第一指令，控制所述可移动设备通过所述目标区域（109）。还提供一种可移动设备行进的处理装置、可移动设备及存储介质。

Description

可移动设备行进的处理方法、装置及存储介质
相关申请的交叉引用
本公开基于申请号为201910755766.3、申请日为2019年08月15日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本公开作为参考。
技术领域
本公开涉及信息技术领域，尤其涉及一种可移动设备、可移动设备的处理方法、装置及存储介质。
背景技术
目前，可移动设备通过目标区域时，一般是基于预先建立比较大范围的高精地图，通过制定导航路线，使得可移动设备通过所述目标区域。而目前，云端服务器并非与所有目标区域内的交通灯、或监控设备等都进行了联网，从而无法准确知晓各目标区域内的路面情况或者目标区域中交通灯的工作状态，会使得可移动设备通过所述目标区域的安全得不到保障。基于此，通过云端服务器进行所述可移动设备通过所述目标区域的决策所消耗的流量也比较大。
发明内容
有鉴于此，本公开实施例提供一种可移动设备的处理方法、装置、可移动设备及存储介质。
本公开的技术方案是这样实现的：
一种可移动设备行进的处理方法，所述方法包括：
若确定可移动设备所处的第一位置位于目标区域的预定距离范围内，控制所述可移动设备停止；
对所述目标区域进行图像采集，得到第一图像；
将所述第一图像发送给云端服务器；
接收所述云端服务器基于所述图像信息发送的第一指令；
基于所述第一指令，控制所述可移动设备通过所述目标区域。
本公开实施例还提供了一种可移动设备行进的处理方法，所述方法包括：
接收可移动设备发送的第一图像；所述第一图像为所述可移动设备对目标区域进行图像采集，得到的图像；所述第一图像为所述可移动设备若确定可移动设备所处的第一位置位于所述目标区域的预定距离范围内，控制所述可移动设备停止后采集的图像；
基于所述第一图像，确定第一指令；所述第一指令用于控制所述可移动设备通过所述目标区域；
将所述第一指令发送给所述可移动设备。
本公开实施例还提供了一种可移动设备行进的处理装置，所述装置包括：
第一处理单元，配置为若确定可移动设备所处的第一位置位于目标区域的预定距离范围内，控制所述可移动设备停止；
图像采集单元，配置为对所述目标区域进行图像采集，得到第一图像；
第一发送单元，配置为将所述第一图像发送给云端服务器；
第一接收单元，配置为接收所述云端服务器基于所述图像信息发送的第一指令；
第二处理单元，配置为基于所述第一指令，控制所述可移动设备通过所述目标区域。
本公开实施例还提供了一种可移动设备行进的处理装置，所述装置包括：
第二接收单元，配置为接收可移动设备发送的第一图像的图像信息；所述第一图像为所述可移动设备对目标区域进行图像采集，得到的图像；所述第一图像为所述可移动设备若确定可移动设备所处的第一位置位于所述目标区域的预定距离范围内，控制所述可移动设备停止后采集的图像；
确定单元，配置为基于所述第一图像，确定第一指令；所述第一指令用于控制所述可移动设备通过所述目标区域；
第二发送单元，配置为将所述第一指令发送给所述可移动设备。
本公开实施例还提供了一种可移动设备，所述可移动设备包括：第一处理器和用于存储能够在所述第一处理器上运行计算机服务的第一存储器，其中所述第一处理器用于运行所述计算机服务时，实现本公开任一实施例所述的可移动设备行进的处理方法。
本公开实施例还挺了一种云端服务器，所述云端服务器包括：第二处理器和用于存储能够在所述第二处理器上运行计算机服务的第二存储器，其中所述第二处理器用于运行所述计算机服务时，实现本公开任一实施例所述的可移动设备行进的处理方法。
本公开实施例还提供了一种存储介质，所述存储介质中有计算机可执行指令，所述计算机可执行指令被处理器执行实现本公开任一实施例所述的可移动设备行进的处理方法。
本公开实施例提供的可移动设备行进的处理方法，若确定可移动设备所处的第一位置位于目标区域的预定距离范围内，控制所述可移动设备停止；如此，可以在位于目标区域的预定范围内的第一位置处停止行进，从而能够减少可移动设备直接通过所述目标区域而导致在所述目标区域与障碍物发生碰撞的情况出现，有效减少交通事故的发生。
且，本公开实施例通过对所述目标区域进行图像采集，得到第一图像；将所述第一图像发送给云端服务器，无需将整个可移动设备行进过程中采集的图像上传给云端服务器，从而也可以减少上传图像数据所需的流量。
且，本公开实施例是在通过接收所述云端服务器基于所述图像信息发送的第一指令后；才基于所述第一指令，控制所述可移动设备通过所述目标区域；如此，可以便于云端服务器基于第一图像的图像信息进行的决策，并使得可移动设备基于所述云端服务器决策的第一指令，才控制所述可移动设备通过所述目标区域，从而能够提高所述可移动设备通过所述目标区域的安全性。
附图说明
图1为本公开实施例提供的一种可移动设备行进的处理方法的流程示意图；
图2为本公开实施例提供的又一种可移动设备行进的处理方法的流程示意图；
图3为本公开实施例提供的另一种可移动设备行进的处理方法的流程示意图；
图4为本公开实施例提供的一种可移动设备行进的处理装置的示意图；
图5为本公开实施例提供的另一种可移动设备行进的处理装置的示意图；
图6为本公开实施例提供的一种可移动设备的硬件结构示意图；
图7为本公开实施例提供的一种云端服务器的硬件结构示意图。
具体实施方式
下结合附图及实施例，对本公开进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本公开，并不用于限定本公开。
除非另有定义，本文所使用的所有的技术和科学术语与属于本公开的技术领域的技术人员通常理解的含义相同。本文中在本公开的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本公开。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
如图1所示，本公开实施例提供了一种可移动设备行进的处理方法，包括：
步骤101，若确定可移动设备所处的第一位置位于目标区域的预定距离范围内，控制所述可移动设备停止；该步骤还可以是，在可移动设备所处的第一位置位于目标区域的预定距离范围内控制可移动设备减慢；
步骤103，对所述目标区域进行图像采集，得到第一图像；
步骤105，将所述第一图像发送给云端服务器；
步骤107，接收所述云端服务器基于所述图像信息发送的第一指令；
步骤109，基于所述第一指令，控制所述可移动设备通过所述目标区域。
本公开实施例所提供的方法可应用于可移动设备，所述可移动设备为集成了图像采集模组的可移动设备；所述可移动设备还与云端服务器建立通信连接。
这里，所述可移动设备包括但不限于以下至少之一：滑板车、包含移动底盘的自行移动的机器人。
其中，所述目标区域为包含有路口的区域；所述路口为带有交通灯的路口。所述路口包括但不限于以下至少之一：十字形路口、T形路口、半环岛路口。其中，所述交通灯包括但不限于以下之一：第一类交通灯、第二 类交通灯；所述第一类交通灯为由红、黄、绿灯组成的信号灯；所述第二类交通灯为由红、绿灯组成的信号灯。
其中，所述第一位置位于目标区域的预定距离范围内；所述第一位置与所述目标区域相距第一距离；其中，所述第一距离的精确度为米。
在实际应用中，所述101中控制所述可移动设备停止，可以为控制所述移动设备的行进速度为0；或者，也可以为控制所述移动设备的行进速度减慢。
例如，在一实施例中，若确定所述第一距离为十几米，所述步骤101中控制所述可移动设备停止为：控制所述可移动设备由第一速度转变为第二速度；其中，所述第二速度小于所述第一速度。
在减慢或者停止之后，对目标区域进行第一图像的采集，并将采集的第一图像发送给云服务器。
如此，在本实施例中，所述可移动设备能够以比较缓慢的速度行驶到更接近于目标区域的位置；若在达到目标区域之前的时刻，接收到了所述云端服务器发送的第一指令，可基于所述第一指令，控制所述可移动设备通过所述目标区域，可以减少了停止/启动可移动设备的次数，能够节省可移动设备通过所述目标区域的时间。
在一实施例中，在所述步骤101之前，所述方法还包括：基于无线定位方式，控制所述可移动设备移动到所述第一位置。
例如，在所述可移动设备中设置一全球定位系统(Global Positioning System，GPS)导航路线，所述GPS导航路线为所述可移动设备所在的起始位置与所述第一位置的路线；可移动设备根据所述GPS导航路线，控制自身由所述起始位置移动到所述第一位置。这里，所述可移动设备中还安装有GPS装置或者GPS传感器；所述GPS装置或所述GPS传感器可以实时采集所述可移动设备所在的位置信息。
在一实施例中，所述第一图像为包括交通灯的图像。
在本公开实施例中，若确定可移动设备所处的第一位置位于目标区域的预定距离范围内，控制所述可移动设备停止或减慢；如此，可以在位于目标区域的预定范围内的第一位置处停止行进或慢速行进，从而能够减少可移动设备直接或快速通过所述目标区域而导致在所述目标区域与障碍物发生碰撞的情况出现，有效减少交通事故的发生。
且，在本公开实施例中，通过对所述目标区域进行图像采集，得到第一图像；将所述第一图像发送给云端服务器，无需将整个可移动设备行进过程中采集的图像上传给云端服务器，从而可以减少上传图像数据所需的流量。
且，本公开实施例是在通过接收所述云端服务器基于所述图像信息发送的第一指令后；才基于所述第一指令，控制所述可移动设备通过所述目标区域；如此，可以便于云端服务器基于第一图像的图像信息进行的决策，并使得可移动设备基于所述云端服务器决策的第一指令，才控制所述可移动设备通过所述目标区域，从而能够提高所述可移动设备通过所述目标区域的安全性。
在一些实施例中，所述步骤109，包括但不限于以下至少之一：
基于所述第一指令，控制所述可移动设备不停留的通过所述目标区域；
基于所述第一指令，控制所述可移动设备达到所述目标区域中第一预定位置后停止。
如此，在本公开实施例中，可以基于第一指令，直接不停留的通过所述目标区域；或者达到所述目标区域中某一位置后停止行进。
在另一实施例中，所述步骤109，还包括：
基于所述第一指令，若确定所述可移动设备在所述第一预定位置停留第一时间阈值后，控制所述可移动设备通过所述目标区域。
如此，在本实施例中，可以基于第一指令，控制在目标区域中停留的可移动设备继续行进，直至通过所述目标区域。
在一实施例中，所述第一指令为携带第二距离的指令。在本实施例中，所述可移动设备可基于所述第一指令，控制所述可移动设备前进所述第二距离。这里，所述第二距离可以为通过所述目标区域的直线距离与所述第一距离之和。
在另一实施例中，所述第一指令为携带第一时间间隔的指令。在本实施例中，所述可移动设备可基于所述第一指令，控制所述可移动设备在第一时间间隔后通过所述目标区域。如此，在本公开实施例中，还可以基于云端服务器发送的第一指令，确定所述可移动设备通过所述目标区域的时机。
在一些实施例中，如图2所示，所述方法还包括：
步骤100，采集包含所述第一位置的第二图像；所述第二图像的图像精度小于所述第一图像的图像精度；
所述确定可移动设备所处的第一位置位于目标区域的预定距离范围内，包括：
步骤1011，若所述第二图像中包含所述目标区域的至少部分区域的图像信息，确定所述第一位置位于目标区域的预定距离范围内。
在一实施例中，所述方法还包括：若确定所述可移动设备所处的第一位置位于目标区域的预定距离范围内，开启所述可移动设备的第一图像采集模组；
所述采集包含所述第一位置的第二图像，包括：利用第一图像采集模组采集所述第二图像。
在上述实施例中，所述可移动设备安装有第一图像采集模组和第二图像采集模组，所述第一图像采集模组采集图像的图像精度低于所述第二图 像采集模组采集图像的图像精度；其中，所述第一图像采集模组用于采集所述第二图像，所述第一图像模组用于采集所述第一图像。如此，获得的第二图像的图像精度低于所述第一图像的图像精度；如此，可以利用比较低清图像采集模组进行第二图像的图像采集，用以识别所述可移动设备是否处于目标区域附近，这种图像采集模组采集图像的功耗较高清的图像采集模组的图像采集所需的功耗小。。
在另一些实施例中，所述方法还包括：所述可移动设备达到所述第一位置之前，基于所述第一图像采集模组进行图像采集。
在另一些实施例中，所述方法还包括：将所述第二图像发送给所述云端服务器；
所述确定可移动设备所处的第一位置位于目标区域的预定距离范围内，包括：
若接收到所述云端服务器基于所述第二图像返回的第二指令，确定所述可移动设备所处的第一位置位于所述目标区域的预定距离范围内。
这里，所述第二指令为确定所述第一位置位于所述目标区域的预定距离范围内的指令。
如此，在本公开实施例中，可以将可移动设备采集的第二图像发送给云端服务器，通过云端服务器确定所述可移动设备是否进入到路口附近；且，由于上传的是比较低精度的第二图像，从而可以减少上传云端服务器的第二图像的流量。
这里，所述目标区域的至少部分区域图像信息可以为表征路口的区域图像信息。例如，可以为十字形路面，或者T形路面、半环岛环形路面等的至少之一；还可以为红、绿灯的交通灯或者为红、黄、绿灯的交通灯；还可以为路口附近的路侧设施；其中，所述路侧设施可以为路口指示牌、路口摄像头等。总之，只要采集到的所述第二图像中包括路口相关路面、 设施等，都确定所述第一位置位于所述目标区域的预定距离范围内。
如此，在本公开实施例中，可以自动检测出所述可移动设备是否进入到所述目标区域内或者所述目标区域的附近，即可以通过采集第一位置的第二图像，若确定第二图像中包含有目标区域的至少部分区域图像信息，则确定所述第一位置位于所述目标区域的一定距离范围内。
在本公开实施例中，利用低清图像采集模组采集包含所述第一位置的第二图像，虽然相对于比利用高清采集模组采集得到第一图像的图像精度低，但是，由于识别所述可移动设备是否位于目标区域本身对图像精度的要求不高，因而利用低清图像采集模组得到的第二图像也不影响对所述可移动设备所在的当前位置是否位于所述目标区域的预定范围内的识别。如此，本公开实施例在能够识别出所述可移动设备是否在所述目标预定范围内的前提下，还能够使用成本较低的低清图像采集模组进行图像采集。且，若将所述第二图像上传给云端服务器，还能进一步减少上传第二图像时所需的流量。
在另一些实施例中，所述确定可移动设备所处的第一位置位于目标区域的预定距离范围内，包括：
步骤1012，确定所述第一位置的经纬度信息与预先设置的所述目标区域的经纬度信息相匹配。
在本公开实施例中，可以以预设的时间间隔采集可移动设备所处的当前位置(即第一位置)；通过比较所述第一位置的经纬度信息以及预先设置的目标区域的经纬度信息；若确定所述第一位置的经纬度信息与所述目标区域的经纬度信息在一定阈值范围内，则确定所述第一位置的经纬度信息与目标区域的经纬度信息匹配。如此，本公开实施例中，还可以自动检测出所述可移动设备是否进入到所述目标区域的预定范围内。
在一实施例中，所述方法还可以包括：将所述第一位置实时上传给云 端服务器，所述服务器用于确定所述第一位置的位置信息与预先设置的所述目标区域的位置信息是否匹配。
在一些实施例中，所述步骤101之后，还包括：
向所述第一云端服务器发送第一提示消息，所述第一提示消息用于提示所述云端服务器所述可移动设备达到所述目标区域的预定距离范围内。
如此，可以便于所述云端服务器后续控制所述可移动设备的操作。
在另一些实施例中，所述步骤101之后，还包括：
向所述可移动设备的远程控制终端发送第一提示消息，所述第一提示消息用于提示所述远程控制端所述可移动设备达到所述目标区域的预定距离范围内。
在本公开实施实施例中，所述可移动设备还与远程控制终端建立通信连接；所述远程控制终端可以向所述可移动设备发送控制指令，以控制所述可移动设备的前进、后退、转向等至少之一的操作。
如此，可以便于所述远程控制端后续控制所述可移动设备的操作。
在一些实施例中，所述述对所述目标区域进行采集，得到第一图像，包括：
基于采集指令，转动所述可移动设备的图像采集模组使得所述图像采集模组以不同采集角度对所述目标区域进行图像采集，以获得所述第一图像。
其中，所述采集指令可以为所述云端服务器发送的采集指令；或者，所述采集指令可以为操作人员在可移动设备的远程控制界面中输入的采集指令。其中，所述远程控制界面为所述远程控制终端上的界面。
其中，所述图像采集模组为一个或多个。
例如，所述图像采集模组为多个时，可以设置在所述可移动设备的不同位置处，以用于能够基于不同采集角度对所述目标区域进行采集，获得 基于所述目标区域的多个第一子图像；基于所述多个第一子图像，融合成所述第一图像。
又如，所述图像采集模组为一个时，所述可移动设备转动不同采集角度可以为左向旋转第一角度和/或右向旋转第一角度；所述第一角度小于或等于90度。如此，可以基于一个图像采集模组就能实现以不同采集角度对所述目标区域进行采集；具体地，可以实现180度的采集角度、即全方位的对所述目标区域进行图像采集；从而可以在获得尽可能包括所述目标区域的所有区域范围的所述第一图像的前提下，还能够减少图像采集模组的个数，从而降低所述可移动设备的成本。
在一些实施例中，在所述将所述第一图像发送给云端服务器之前，还包括：
识别所述第一图像中所述目标区域包含交通灯的工作状态信息；
所述将所述第一图像发送给云端服务器，包括：
将所述第一图像中的所述工作状态信息发送给所述云端服务器。
在本公开实施例中，也可以先在可移动设备这端识别出所述第一图像中图像信息，确定所述目标区域中所包含的交通灯的工作状态信息；再将所述目标区域所述包含交通灯的工作状态信息发送给云端服务器；如此，可以进一步大大减少上传给所述云端服务器的数据量，从而大大降低上传远端服务器所需的流量。
在另一些实施例中，所述将第一图像发送给云端服务器，包括：
将整个所述第一图像发送给云端服务器。
如此，在本公开实施例中，可以将整个所述第一图像发送给云端服务器，以便于所述云端服务器可以基于所述第一图像识别所述目标区域中的图像信息。
在一些实施例中，所述识别所述第一图像中所述目标区域包含交通灯 的工作状态信息，包括：
基于图像识别算法，识别出所述第一图像中所包含的所述交通灯的工作状态。
可以理解的是，所述可移动设备中还安装有图像识别算法APP(例如深度学习的应用APP)，或者具备图像识别算法环境，或者可以与具备图像识别算法的终端建立连接。所述可移动设备可以基于所述图像识别算法，识别出以下至少之一：所述目标区域中是否有交通灯、所述交通灯是为第一类型交通灯或者为第二类型交通灯；所述交通灯中各信号灯点亮的情况。
如此，在本公开实施例中，所述可移动设备可以根据自身设置的图像识别算法，自动识别出所述目标区域中交通灯工作状态。
在一些实施例中，所述方法还包括：
基于图像识别算法，识别出所述第一图像中所述包含的特定对象。
其中，所述特定对象为障碍物；所述障碍物包括：可移动障碍物和静止障碍物。这里，所述可移动障碍物包括但不限于以下至少之一：人、车辆、机器人、滑板车。其中所述车辆包括：公共汽车、小汽车、出租车，等等。所述静止障碍物包括但不限于以下至少之一：水泥墩子、花坛。
在本公开实施例中，还可以基于第一图像，处理识别出交通灯的工作状态，还可以确定所述目标区域中是否存在人、车辆和/或机器人等障碍物；从而使得远端服务器能够更加全面的分析所述可移动设备通过所述目标区域的可行性，从而能够返回更加合理的决策(即第一指令)给可移动设备，进而提高所述可移动设备基于所第一指令通过所述目标区域的安全性，减少所述可移动设备在目标区域与所述特定对象发生碰撞等的交通事故的发生。
在另一些实施例中，所述识别所述第一图像中所述目标区域包含交通灯的工作状态信息，包括：
输出所述第一图像；
检测针对所述第一图像的第一输入操作；
基于所述第一输入操作，识别出所述第一图像中所包含的交通灯的工作状态信息。
在实际应用中，在可移动设备的终端控制器的运程控制界面显示第一图像；在远程控制界面的操作人员，根据人眼的识别可以确定出所述第一图像中是否包含交通灯，以及交通灯中各信号灯的工作状态；如此，若所述终端控制器确定检测到针对所述第一图像的第一输入操作，则基于所述第一输入操作，识别出所述第一图像中所包含的交通灯的工作状态信息。
如此，在本公开实施例中，可以在所述可移动设备的远程控制终端的远程控制界面上输出第一图像；基于远程控制终端前的工作人员的识别，确定出所述目标区域中所述交通灯的工作状态；从而，可以在一定程度上避免可移动设备通过算法识别所带来的误识别，提高了识别出所述目标区域内交通灯的工作状态的准确性。
在一些实施例中，所述基于所述第一指令，控制所述可移动设备通过所述目标区域，还包括：
判断所述可移动设备和特定对象是否将在所述目标区域内的第二位置发生碰撞；
若是，在确定所述特定对象通过所述第二位置后，控制所述可移动设备通过所述第二位置。
这里，所述第二位置为所述目标区域的任意位置。
在一实施例中，所述第二位置为所述目标区域内、所述可移动设备的移动路线上的任意位置。
这里，可根据所述特定对象所处的当前位置，确定出所述特定对象与所述目标区域的第二位置的第三距离；获取所述特定对象的第三速度；基 于所述第三距离与所述第三速度，确定所述特定对象达到所述第二位置的第一时刻；确定所述可移动设备达到所述第二位置的第二时刻；若确定所述第二时刻在所述第一时刻的预定时间阈值范围内，则预估所述可移动设备和所述特定对象将在所述目标区域内的第二位置发生碰撞；若确定所述第二时刻在所述第一时刻的预定时间阈值范围外，则预估所述可移动设备和所述特定对象不会在所述目标区域内的第二位置发生碰撞。
在本公开实施例中，还可以确定出可移动设备通过所述目标区域的时机，可以减少可移动设备与特定对象在所述目标区域的第二位置发生碰撞的几率，从而提高所述可移动设备通过所述目标区域的安全性。
在另一些实施例中，若预估所述可移动设备和所述特定对象将在所述目标区域内的第二位置发生碰撞，控制所述可移动设备减缓行驶速度；
若确定所述特定对象通过所述第二位置后，恢复所述可移动设备的行驶速度。
如此，在本公开实施例中，在所述可移动设备通过所述目标区域的过程中，还预判是否会与特定对象在目标区域的任意位置发生碰撞；若是，提前控制所述可移动设备减速行驶，避免与所述特定对象发生碰撞，从而能够进一步提高所述可移动设备通过所述目标区域的安全性。且，在所述特定对象通过可能发生碰撞的位置后，恢复所述可移动设备的行驶速度，还能够尽量减少由于避让所述特定对象而浪费的行驶时间。
这里需要指出的是：以下一种可移动设备行进的处理方法项的描述，是应用于云端服务器侧的，与上述应用在可移动设备侧的可移动设备行进的处理方法项描述是类似的。对于本公开中应用于云端服务器侧的可移动设备行进的处理方法实施例中未披露的技术细节，请参照本公开应用于可移动设备侧的可移动设备行进的处理方法实施例的描述。
如图3所示，本公开实施例还提供了一种可移动设备行进的处理方法， 包括：
步骤201，接收可移动设备发送的第一图像；所述第一图像为所述可移动设备对目标区域进行图像采集，得到的图像；所述第一图像为所述可移动设备若确定可移动设备所处的第一位置位于所述目标区域的预定距离范围内，控制所述可移动设备停止后采集的图像；此处的第一图像也可以是可移动设备降低速度之后采集的的图像；
步骤203，基于所述第一图像，确定第一指令；所述第一指令用于控制所述可移动设备通过所述目标区域；
步骤205，将所述第一指令发送给所述可移动设备。
本公开实施例所提供的方法可应用云端服务器；所述云端服务器与至少一个所述可移动设备建立通信连接。
其中，所述目标区域为包含有路口的区域；所述路口为带有交通灯的路口。所述路口包括但不限于以下至少之一：十字形路口、T形路口、版环岛路口。其中，所述交通灯包括但不限于以下之一：第一类交通灯、第二类交通灯；所述第一类交通灯为由红、黄、绿灯组成的信号灯；所述第二类交通灯为由红、绿灯组成的信号灯。
在一实施例中，所述第一图像为包括交通灯的图像。
这里，所述第一指令可以为指示所述可移动设备前进的指令，或者，指示可移动设备在第一时间间隔后前进的指令。这里，所述第一指令可以为携带第二距离的指令；或者，所述第一指令可以为携带了第一时间间隔的指令。
在本公开实施例中，无需接收整个可移动设备行进过程中采集的图像，只需接收在所述可移动设备确定在所述目标区域的预定距离范围内对所述目标区域进行采集得到的第一图像，从而可以减少流量的传输。且根据所述采集的第一图像，确定出第一指令后，将所述第一指令发送可移动设备， 以使得可移动设备基于第一指令才开始控制所述可移动设备通过所述目标区域，提高所述可移动设备通过所述目标区域的安全性。
在一些实施例中，所述方法还包括：
接收所述可移动设备发送的第二图像；其中，所述第二图像的图像精度小于所述第一图像的图像精度；
基于所述第二图像，若确定所述可移动设备所处的第一位置位于所述目标区域的预定距离范围内，向所述可移动设备发送第二指令。
如此，可以通过接收可移动设备发送的第二图像，确定可移动设备的当前位置(即第一位置)是否位于目标区域的预定距离范围内。且，由于接收的是比较低精度的第二图像，从而可以减少数据传输量，以及减少传输数据所需的流量。
在一些实施例中，所述方法还包括：
接收所述可移动设备发送的第一位置；
若确定所述的第一位置的经纬度信息与预先设置的所述目标区域的经纬度信息相匹配，向所述可移动设备发送第二指令；其中，所述第二指令用于指示所述可移动设备所处的第一位置位于所述目标区域的预定距离范围内。
如此，在本公开实施例中，可以基于云端服务器对所述可移动设备所述的第一位置的经纬度与所述目标区域的经纬度的确定，而确定出所述可移动设备是否位于所述目标区域预定距离范围内。
在一些实施例中，所述方法还包括：
若接收到所述可移动设备发送的第一提示消息，向所述可移动设备发送采集指令；
其中，所述第一提示消息用于提示所述云端服务器所述可移动设备达到所述目标区域的预定距离范围内；所述采集指令用于提示所述可移动设 备对所述目标区域进行图像采集，以获得所述第一图像。
在本公开实施例中，当所述可移动设备确定位于所述目标区域的预定距离范围内时，提醒所述可移动设备对所述目标区域进行采集，以获得第一图像。
在一些实施例中，所述201，包括：
接收所述可移动设备发送的整个所述第一图像；
或者，
接收所述可移动设备发送的所述目标区域所包含的交通灯的工作状态信息；其中，所述工作状态信息为识别所述第一图像得到的信息。
在本公开实施例中，可以接收所述可移动设备发送的整个第一图像，以便于云端服务器对所述第一图像的识别，具体地，对所述目标区域中所包含的交通灯的工作状态的识别，从而基于识别出的交通灯的工作状态信息进行决策，即确定指令。或者，可接收可移动设备已经识别出的目标区域中交通灯的工作状态信息，以便于云端服务器基于所述工作状态信息进行决策，即确定第一指令。
在一些实施例中，所述步骤203，包括：
步骤2031，基于所述第一图像，确定所述第一图像中所包含的所述交通灯的工作状态；
步骤2032，基于所述交通灯的工作状态，确定第一指令。
这里，若确定所述交通灯的工作状态为绿灯点亮，则所述第一指令为指示所述可移动设备前进的指令；若确定所述交通灯的工作状态为黄灯点亮或者红灯点亮，则所述第一指令为指示所述可移动设备在预设时间后前进的指令。
这里，若根据第一图像的图像信息，确定出交通灯从禁止通行的交通灯点亮切换到允许通行的交通灯点亮的所需的时长信息，根据该时长信息 发送所述第一指令。第一指令可为指示可移动设备允许通过所述目标区域的指令。
例如，在第一图像中可能有某一个交通灯点亮的倒计时信息，因此根据该倒计时信息，结合交通灯的切换规律，从而云端服务器可以预测出交通灯从禁止通行的交通灯点亮切换到允许通行的交通灯点亮的所需的时长信息。
再例如，在第一图像中除了有交通灯的图像信息，还可包括：目标区域内交通流量的信息，该交通流量包括但不限于：人流量和车辆流量，根据车辆流量和人流量，确定所述第一指令。例如，交通流量大，则可能适当的延长允许经过所述目标区域的第一指令的下发。若交通流量小，可能适当提前经过所述目标区域的第一指令的下发。
在一些情况下，可以根据第一图像，综合交通等的工作状态和目标区域或目标区域的周边特定距离内的交通流量，综合确定所述第一指令的下发和第一指令的内容。
例如，可以利用神经网络等深度学习模型处理所述第一图像，从而得到生成第一指令的各种参考信息，并进一步根据参考信息得到所述第一质量等。
在本公开实施例中，可以基于云端服务器确定出目标区域中所包含的交通灯的工作状态，基于所述交通灯的工作状态进行决策，即确定第一指令。
在一些实施例中，所述步骤2031，包括：
基于图像识别算法，识别出所述第一图像中所包含的所述交通灯的工作状态。
可以理解的是，所述远端服务器中还安装有图像识别算法APP(例如深度学习的应用APP)，或者具备图像识别算法环境，或者可以与具备图像 识别算法的终端建立连接。所述云端服务器可以基于所述图像识别算法，识别出以下至少之一：所述目标区域中是否有交通灯、所述交通灯是为第一类型交通灯或者为第二类型交通灯；所述交通灯中各信号灯点亮的情况。
如此，在本公开实施例中，所述云端服务器可以根据自身设置的图像识别算法，自动识别出所述目标区域中交通灯工作状态，以便于基于所述交通灯的工作状态确定控制可移动设备通过所述目标区域的第一指令。
在另一些实施例中，所述步骤2031，还包括：
输出所述第一图像；
检测针对所述第一图像的第二输入操作；
基于所述第二输入操作，识别出所述第一图像中所包含的交通灯的工作状态。
在实际应用中，在云端服务器的显示界面显示第一图像；在云端服务器前的操作人员，根据人眼的识别可以确定出所述第一图像中是否包含交通灯，以及交通灯中各信号灯的工作状态；如此，若所述显示界面确定检测到针对所述第一图像的第二输入操作，则基于所述第二输入操作，识别出所述第一图像中所包含的交通灯的工作状态信息。
如此，在本公开实施例中，可以在所述云端服务器的显示界面上显示第一图像，基于显示界面前的工作人员的识别，确定出所述目标区域中所述交通灯的工作状态；从而，可以在一定程度上避免可移动设备通过算法识别所带来的误识别，提高了识别出所述目标区域内交通灯的工作状态的准确性。
这里需要指出的是：以下可移动设备行进的处理装置项的描述，与上述可移动设备行进的处理方法项描述是类似的，同方法的有益效果描述，不做赘述。对于本公开可移动设备行进的处理装置实施例中未披露的技术细节，请参照本公开可移动设备行进的处理方法实施例的描述。
如图4所示，本公开实施例还提供了一种可移动设备行进的处理装置，所述装置包括：
第一处理单元31，配置为若确定可移动设备所处的第一位置位于目标区域的预定距离范围内，控制所述可移动设备停止；
图像采集单元32，配置为对所述目标区域进行图像采集，得到第一图像；
第一发送单元33，配置为将所述第一图像发送给云端服务器；
第一接收单元34，配置为接收所述云端服务器基于所述图像信息发送的第一指令；
第二处理单元35，配置为基于所述第一指令，控制所述可移动设备通过所述目标区域。
在一些实施例中，所述图像采集单元32，还配置为采集包含所述第一位置的第二图像；所述第二图像的图像精度小于所述第一图像的图像精度；
所述第一处理单元31，配置为若所述第二图像中包含所述目标区域的至少部分区域的图像信息，确定所述第一位置位于目标区域的预定距离范围内。
在一些实施例中，所述图像采集单元32，还配置为基于采集指令，转动所述可移动设备的图像采集模组使得所述图像采集模组以不同采集角度对所述目标区域进行图像采集，以获得所述第一图像。
在一些实施例中，所述第一处理单元31，配置为确定所述第一位置的经纬度信息与预先设置的所述目标区域的经纬度信息相匹配。
在一些实施例中，所述第一发送单元33，配置为将整个所述第一图像发送给所述云端服务器。
在一些实施例中，所述第一处理单元31，还配置为配置为识别所述第一图像中所述目标区域包含交通灯的工作状态信息；
所述第一发送单元33，还配置为将所述第一图像中的所述工作状态信息发送给所述云端服务器。
在一些实施例中，所述装置还包括：图像识别单元36；其中，
所述图像识别单元36，配置为基于图像识别算法，识别出所述第一图像中所包含的所述交通灯的工作状态。
在一些实施例中，所述图像识别单元36，还配置为输出所述第一图像；检测针对所述第一图像的第一输入操作；基于所述第一输入操作，识别出所述第一图像中所包含的交通灯的工作状态信息。
在一些实施例中，所述第二处理单元35，配置为判断所述可移动设备和特定对象是否将在所述目标区域内的第二位置发生碰撞；若是，在确定所述特定对象通过所述第二位置后，控制所述可移动设备通过所述第二位置。
如图5所示，本公开实施例还提供了一种可移动设备行进的处理装置，所述装置包括：
第二接收单元41，配置为接收可移动设备发送的第一图像；所述第一图像为所述可移动设备对目标区域进行图像采集，得到的图像；所述第一图像为所述可移动设备若确定可移动设备所处的第一位置位于所述目标区域的预定距离范围内，控制所述可移动设备停止后采集的图像；
确定单元42，配置为基于所述第一图像，确定第一指令；所述第一指令用于控制所述可移动设备通过所述目标区域；
第二发送单元43，配置为将所述第一指令发送给所述可移动设备。
在一些实施例中，所述第二接收单元41，还配置为接收所述可移动设备发送的第二图像；其中，所述第二图像的图像精度小于所述第一图像的图像精度；
所述第二发送单元43，还配置为基于所述第二图像，若确定所述可移 动设备所处的第一位置位于所述目标区域的预定距离范围内，向所述可移动设备发送第二指令。
在一些实施例中，第二发送单元43，还配置为若接收到所述可移动设备发送的第一提示消息，向所述可移动设备发送采集指令；
其中，所述第一提示消息用于提示所述云端服务器所述可移动设备达到所述目标区域的预定距离范围内；所述采集指令用于提示所述可移动设备对所述目标区域进行图像采集，以获得所述第一图像。
在一些实施例中，所述第二接收单元41，还配置为接收所述可移动设备发送的整个所述第一图像；
或者，
接收所述可移动设备发送的所述目标区域所包含的交通灯的工作状态信息；其中，所述工作状态信息为识别所述第一图像得到的信息。
在一些实施例中，所述确定单元42，配置为基于所述第一图像，确定所述第一图像中所包含的所述交通灯的工作状态；基于所述交通灯的工作状态，确定第一指令。
如图6所示，本公开实施例还公开了一种可移动设备，所述可移动设备包括：第一处理器51和用于存储能够在所述第一处理器51上运行计算机服务的第一存储器52，其中所述第一处理器51用于运行所述计算机服务时，实现应用于所述可移动设备的所述的可移动设备行进的处理方法。
如图7所示，本公开实施例还公开了一种云端服务器，所述云端服务器包括：第二处理器61和用于存储能够在所述第二处理器61上运行计算机服务的第二存储器62，其中所述第二处理器61用于运行所述计算机服务时，实现应用于所述云端服务器的所述的可移动设备行进的处理方法。
在一些实施例中，本公开实施例中的第一存储器52和第二存储器62均可以是易失性存储器或非易失性存储器，或可包括易失性和非易失性存 储器两者。其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory，RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的RAM可用，例如静态随机存取存储器(Static RAM，SRAM)、动态随机存取存储器(Dynamic RAM，DRAM)、同步动态随机存取存储器(Synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Rate SDRAM，DDRSDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(Synchlink DRAM，SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM，DRRAM)。本文描述的系统和方法的存储器旨在包括但不限于这些和任意其它适合类型的存储器。
而第一处理器51和第二处理器61可能种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是通用处理器、数字信号处理器(Digital Signal Processor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现成可编程门阵列(Field Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本公开实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本公开实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。 该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。
本公开又一实施例提供了一种计算机存储介质，该计算机可读存储介质存储有可执行程序，所述可执行程序被处理器执行时，可实现应用于所述可移动设备或所述云端服务器的所述可移动设备行进的处理方法的步骤。例如，如图1-图3所示的方法中的一个或多个。
在本公开所提供的几个实施例中，应该理解到，所揭露的设备和方法，可以通过其它的方式实现。以上所描述的设备实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，如：多个单元或组件可以结合，或可以集成到另一个系统，或一些特征可以忽略，或不执行。另外，所显示或讨论的各组成部分相互之间的耦合、或直接耦合、或通信连接可以是通过一些接口，设备或单元的间接耦合或通信连接，可以是电性的、机械的或其它形式的。
上述作为分离部件说明的单元可以是、或也可以不是物理上分开的，作为单元显示的部件可以是、或也可以不是物理单元，即可以位于一个地方，也可以分布到多个网络单元上；可以根据实际的需要选择其中的部分或全部单元来实现本实施例方案的目的。
另外，在本公开各实施例中的各功能单元可以全部集成在一个处理模块中，也可以是各单元分别单独作为一个单元，也可以两个或两个以上单元集成在一个单元中；上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。本领域普通技术人员可以理解：实现上述方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成，前述的程序可以存储于一计算机可读取存储介质中，该程序在执行时，执行包括上述方法实施例的步骤；而前述的存储介质包括：移动存储设备、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random  Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
本公开所提供的几个方法实施例中所揭露的方法，在不冲突的情况下可以任意组合，得到新的方法实施例。
本公开所提供的几个产品实施例中所揭露的特征，在不冲突的情况下可以任意组合，得到新的产品实施例。
本公开所提供的几个方法或设备实施例中所揭露的特征，在不冲突的情况下可以任意组合，得到新的方法实施例或设备实施例。
以上所述，仅为本公开的具体实施方式，但本公开的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本公开揭露的技术范围内，可轻易想到变化或替换，都应涵盖在本公开的保护范围之内。因此，本公开的保护范围应以所述权利要求的保护范围为准。

Claims (14)

  1. 一种可移动设备行进的处理方法，所述方法包括：
    若确定可移动设备所处的第一位置位于目标区域的预定距离范围内，控制所述可移动设备停止或减慢行进速度；
    对所述目标区域进行图像采集，得到第一图像；
    将所述第一图像发送给云端服务器；
    接收所述云端服务器基于所述图像信息发送的第一指令；
    基于所述第一指令，控制所述可移动设备通过所述目标区域。
  2. 根据权利要求1所述的方法，其中，所述方法还包括：
    采集包含所述第一位置的第二图像；所述第二图像的图像精度小于所述第一图像的图像精度；
    所述确定可移动设备所处的第一位置位于目标区域的预定距离范围内，包括：
    若所述第二图像中包含所述目标区域的至少部分区域的图像信息，确定所述第一位置位于目标区域的预定距离范围内。
  3. 根据权利要求1或2所述的方法，其中，所述对所述目标区域进行采集，得到第一图像，包括：
    基于采集指令，转动所述可移动设备的图像采集模组使得所述图像采集模组以不同采集角度对所述目标区域进行图像采集，以获得所述第一图像。
  4. 根据权利要求1所述的方法，其中，所述确定可移动设备所处的第一位置位于目标区域的预定距离范围内，包括：
    确定所述第一位置的经纬度信息与预先设置的所述目标区域的经纬度信息相匹配。
  5. 根据权利要求1所述的方法，其中，在所述将所述第一图像发送给云端服务器之前，还包括：
    识别所述第一图像中所述目标区域包含交通灯的工作状态信息；
    所述将所述第一图像发送给云端服务器，包括：
    将所述第一图像中的所述工作状态信息发送给所述云端服务器。
  6. 根据权利要求5所述的方法，其中，所述识别所述第一图像中所述目标区域包含交通灯的工作状态信息，包括：
    基于图像识别算法，识别出所述第一图像中所包含的所述交通灯的工作状态；或者，
    输出所述第一图像；
    检测针对所述第一图像的第一输入操作；
    基于所述第一输入操作，识别出所述第一图像中所包含的交通灯的工作状态信息。
  7. 根据权利要求1所述的方法，其中，所述基于所述第一指令，控制所述可移动设备通过所述目标区域，还包括：
    判断所述可移动设备和特定对象是否将在所述目标区域内的第二位置发生碰撞；
    若是，在确定所述特定对象通过所述第二位置后，控制所述可移动设备通过所述第二位置。
  8. 一种可移动设备行进的处理方法，所述方法包括：
    接收可移动设备发送的第一图像；所述第一图像为所述可移动设备对目标区域进行图像采集，得到的图像；所述第一图像为所述可移动设备若确定可移动设备所处的第一位置位于所述目标区域的预定距离范围内，控制所述可移动设备停止或减慢行进速度后采集的图像；
    基于所述第一图像，确定第一指令；所述第一指令用于控制所述可移 动设备通过所述目标区域；
    将所述第一指令发送给所述可移动设备。
  9. 根据权利要求8所述的方法，其中，所述基于所述第一图像的图像信息，确定第一指令，包括：
    基于所述第一图像，确定所述第一图像中所包含的所述交通灯的工作状态；
    基于所述交通灯的工作状态，确定第一指令。
  10. 一种可移动设备行进的处理装置，所述装置包括：
    第一处理单元，配置为若确定可移动设备所处的第一位置位于目标区域的预定距离范围内，控制所述可移动设备停止或减慢行进速度；
    图像采集单元，配置为对所述目标区域进行图像采集，得到第一图像；
    第一发送单元，配置为将所述第一图像发送给云端服务器；
    第一接收单元，配置为接收所述云端服务器基于所述图像信息发送的第一指令；
    第二处理单元，配置为基于所述第一指令，控制所述可移动设备通过所述目标区域。
  11. 一种可移动设备行进的处理装置，所述装置包括：
    第二接收单元，配置为接收可移动设备发送的第一图像；所述第一图像为所述可移动设备对目标区域进行图像采集，得到的图像；所述第一图像为所述可移动设备若确定可移动设备所处的第一位置位于所述目标区域的预定距离范围内，控制所述可移动设备停止后或减慢行进速度采集的图像；
    确定单元，配置为基于所述第一图像，确定第一指令；所述第一指令用于控制所述可移动设备通过所述目标区域；
    第二发送单元，配置为将所述第一指令发送给所述可移动设备。
  12. 一种可移动设备，其中，所述可移动设备包括：第一处理器和用于存储能够在所述第一处理器上运行计算机服务的第一存储器，其中所述第一处理器用于运行所述计算机服务时，实现权利要求1-7任一项所述的可移动设备行进的处理方法。
  13. 一种云端服务器，其中，所述云端服务器包括：第二处理器和用于存储能够在所述第二处理器上运行计算机服务的第二存储器，其中所述第二处理器用于运行所述计算机服务时，实现权利要求8-9任一项所述的可移动设备行进的处理方法。
  14. 一种存储介质，所述存储介质中有计算机可执行指令，其中，所述计算机可执行指令被处理器执行实现权利要求1-7或8-9任一项所述的可移动设备行进的处理方法。
PCT/CN2020/109579 2019-08-15 2020-08-17 可移动设备行进的处理方法、装置及存储介质 WO2021027958A1 (zh)

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