WO2023207407A1

WO2023207407A1 - Floor material recognition method and apparatus, storage medium, and electronic apparatus

Info

Publication number: WO2023207407A1
Application number: PCT/CN2023/082089
Authority: WO
Inventors: 孙佳佳; 王睿麟; 关奥
Original assignee: 追觅创新科技(苏州)有限公司
Priority date: 2022-04-25
Filing date: 2023-03-17
Publication date: 2023-11-02
Also published as: CN116993967A

Abstract

Embodiments of the present invention provide a floor material recognition method and apparatus, a storage medium, and an electronic apparatus. The method comprises: obtaining attitude information of a target device when moving in a region to be detected; determining, on the basis of the attitude information, the reliability of the target device to recognize a floor material of the region to be detected; and determining, according to the reliability, a recognition result of the floor material of the region to be detected. By means of the present invention, the problem in the related art of inaccurate recognition of floor materials is solved, thereby achieving the effect of improving the recognition accuracy of floor materials.

Description

Ground material identification method and device, storage medium, electronic device

This disclosure requires the priority of the following patent application: a Chinese patent application submitted to the China Patent Office on April 25, 2022, with the application number: 202210441624.1, and the invention name is "Ground material identification method and device, storage medium, electronic device" ; The entire contents of the above patent applications are incorporated into this disclosure by reference.

Technical field

Embodiments of the present invention relate to the field of robotic technology, and specifically, to a ground material identification method and device, a storage medium, and an electronic device.

Background technique

In the existing technology, a single device is generally used to identify the material material. For example, ultrasonic or infrared signals or artificial intelligence (Artificial Intelligence, referred to as AI) installed in the target device (for example, a sweeping robot) are used to identify the material information of the floor.

However, when the posture of the target device is abnormal or the material is uneven, the recognition of ground materials is prone to false detection problems.

Contents of the invention

Embodiments of the present invention provide a ground material identification method and device, a storage medium, and an electronic device, so as to at least solve the problem of inaccurate ground material identification in related technologies.

According to an embodiment of the present invention, a ground material identification method is provided, which includes: obtaining posture information of a target device during movement in an area to be measured; and determining based on the posture information that the target device recognizes the ground material in the area to be measured. The credibility; determine the recognition result of the ground material in the above-mentioned area to be measured based on the above credibility.

According to another embodiment of the present invention, a ground material recognition device is provided, including: a first acquisition module, used to acquire posture information of the target device during movement in the area to be measured; a first determination module, based on The above posture information determines the credibility of the target device in identifying the ground material in the area to be measured; the second determination module is used to determine the recognition result of the ground material in the area to be measured based on the credibility.

In an exemplary embodiment, the first acquisition module includes: a first acquisition unit, configured to acquire the vertical distance from the target device to the surface of the area to be measured when the posture information includes distance information.

In an exemplary embodiment, the above-mentioned first acquisition unit includes: a first determination sub-unit, used to determine the center point of the above-mentioned target device; a first calculation sub-unit, used to calculate, based on the above-mentioned center point, the destination of the above-mentioned target device. The vertical distance to the surface of the above-mentioned area to be measured.

In an exemplary embodiment, the above-mentioned first acquisition unit includes: a second determination sub-unit, used to determine a plurality of measurement points in the above-mentioned target device; a second calculation sub-unit, used to calculate each measurement point to the above-mentioned target device. The vertical distance of the surface of the measured area is measured to obtain multiple vertical distances; the third determination subunit is used to determine the average value of the multiple vertical distances as the vertical distance from the target device to the surface of the area to be measured.

In an exemplary embodiment, the first determination module includes: a first determination unit, configured to determine the credibility of the target device in identifying the ground material in the area to be measured based on the vertical distance and the preset distance interval. .

In an exemplary embodiment, the above-mentioned first determination unit includes: a fourth determination sub-unit, configured to determine the above-mentioned credibility as the first credibility when the above-mentioned vertical distance is not greater than a first preset threshold. ; The fifth determination subunit is used to determine the credibility as the second credibility when the vertical distance is greater than the first preset threshold and less than the second preset threshold; the sixth determination subunit, It is used to determine the above-mentioned credibility as the third credibility when the above-mentioned vertical distance is not less than the above-mentioned second preset threshold; wherein the above-mentioned first credibility is greater than the above-mentioned second credibility, and the above-mentioned second credibility can The reliability is greater than the third credibility mentioned above.

In an exemplary embodiment, the second determination module includes a second determination unit configured to determine the recognition result as the first target of the ground material when the credibility is the first credibility. Recognition result; the second acquisition unit is used to obtain the second target recognition result of the ground material according to a preset strategy when the credibility is the second credibility; the first indication unit is used to obtain the second target recognition result of the ground material when the credibility is the credibility When the degree of confidence reaches the third credibility level, the target device is instructed to stop working and a prompt message is issued, where the prompt information is used to prompt that the movement of the target device is abnormal.

In an exemplary embodiment, the above-mentioned second acquisition unit includes: a seventh determination sub-unit, used to determine the distance information of the above-mentioned target device within a preset time period; an eighth determination sub-unit, used to determine when the above-mentioned distance information When the above-mentioned second credibility is continuously satisfied, N recognition results within the above-mentioned preset time period are determined, wherein the above-mentioned N is a natural number greater than 1; the ninth determination sub-unit is used to determine the N recognition results from the above-mentioned N recognition results. The above second target recognition result.

In an exemplary embodiment, the above-mentioned ninth determination subunit is also used to perform one of the following: determine M result sets according to different result types among the above N recognition results, wherein the recognition result sets with the same result type In the same result set, a recognition result is an element in the above-mentioned result set, and the above-mentioned M is a natural number greater than or equal to 1; the result type corresponding to the result set with the largest number of elements among the above-mentioned M result sets is determined as the above-mentioned th 2. Target recognition results.

In an exemplary embodiment, the above device further includes: a first indication module, configured to determine M result sets according to different result types among the above N recognition results, when the number of elements in each result set is less than When the number is preset, the above target device is instructed to stop working and the above prompt message is issued.

In an exemplary embodiment, the above-mentioned first determination module includes: a third determination unit, used to determine the inclination angle between the above-mentioned target device and the above-mentioned area surface to be measured; a fourth determination unit, used to determine when the above-mentioned vertical distance is greater than When the first preset threshold is less than the second preset threshold, and the inclination angle is less than the third preset threshold, the credibility is determined as the second credibility; the fifth determination unit is used to determine when the vertical angle When the distance is greater than the above-mentioned first preset threshold and less than the above-mentioned second preset threshold, and the above-mentioned tilt angle is not less than the above-mentioned third preset threshold, the above-mentioned credibility is determined as the third credibility; wherein, the above-mentioned second credibility The credibility is greater than the third credibility mentioned above.

According to yet another embodiment of the present invention, a computer-readable storage medium is also provided. A computer program is stored in the computer-readable storage medium, wherein the computer program is configured to execute any of the above methods when running. Steps in Examples.

According to yet another embodiment of the present invention, an electronic device is also provided, including a memory and a processor. A computer program is stored in the memory, and the processor is configured to run the computer program to perform any of the above. Steps in method embodiments.

Through the present invention, the credibility of the target device in identifying the ground material in the area to be measured is determined by obtaining the attitude information of the target device during its movement in the area to be measured; and the identification of the ground material in the area to be measured is determined based on the credibility. result. After the target device recognizes the ground material, the credibility of the recognition result is further verified through the posture information, further verifying the accuracy of the recognition of the ground material. Therefore, the problem of inaccurate identification of ground materials in related technologies can be solved, and the accuracy of identifying ground materials can be improved.

Description of drawings

Figure 1 is a hardware structure block diagram of a mobile terminal for a ground material identification method according to an embodiment of the present invention;

Figure 2 is a flow chart of a ground material identification method according to an embodiment of the present invention;

Figure 3 is a structural block diagram of a ground material identification device according to an embodiment of the present invention.

Detailed ways

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings and embodiments.

It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

The method embodiments provided in the embodiments of this application can be executed in a mobile terminal, a computer terminal, or a similar computing device. Taking running on a mobile terminal as an example, FIG. 1 is a hardware structure block diagram of a mobile terminal for a ground material identification method according to an embodiment of the present invention. As shown in Figure 1, the mobile terminal may include one or more (only one is shown in Figure 1) processors 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the above-mentioned mobile terminal may also include a transmission device 106 and an input and output device 108 for communication functions. Persons of ordinary skill in the art can understand that the structure shown in Figure 1 is only illustrative, and it does not limit the structure of the above-mentioned mobile terminal. 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 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the ground material identification method in the embodiment of the present invention. The processor 102 runs the computer program stored in the memory 104, thereby Execute various functional applications and data processing, that is, implement the above methods. 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 located remotely relative to the processor 102, and these remote memories may be connected to the mobile terminal through a network. Examples of the above-mentioned networks include but are not limited to the Internet, intranets, local area networks, mobile communication networks and combinations thereof.

The transmission device 106 is used to receive or send data via a network. Specific examples of the above-mentioned network 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, NIC for short), which can Connect to other network devices to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (Radio Frequency, RF for short) module, which is used to communicate with the Internet wirelessly.

This embodiment provides a method for identifying ground materials. Figure 2 is a flow chart of a method for identifying ground materials according to an embodiment of the present invention. As shown in Figure 2, the process includes the following steps:

Step S202: Obtain the posture information of the target device during movement in the area to be measured;

In this embodiment, the target device includes but is not limited to home appliances, such as sweeping robots, vacuum cleaners, etc. The area to be tested includes, but is not limited to, an area where the target material is provided, such as a floor with tiles or wooden floors.

In this embodiment, the posture information includes distance information and angle information between the target device and the ground when it is moving in the area to be measured. For example, when the target device is a sweeping robot, the sweeping robot is moving on a floor laid with tiles. , in an attitude parallel to the ground, the distance between the target device and the ground can be obtained; or, when the sweeping robot crosses the threshold, it is in an inclined attitude, and the tilt angle between the target device and the ground can be obtained.

Step S204: Determine the credibility of the target device in identifying the ground material in the area to be measured based on the posture information;

In this embodiment, the distance to the ground is calculated based on different posture information of the target device. For example, if the sweeping robot remains parallel to the ground during movement, it can detect the distance between the chassis of the target device and the ground, and detect the credibility of the ground material recognition based on the distance.

Step S206: Determine the recognition result of the ground material in the area to be measured based on the credibility.

In this embodiment, the recognition result includes the material information of the ground. For example, it is detected that the floor laid on the ground is made of wooden material, or it is detected that the floor laid on the ground is made of stone material.

The execution subject of the above steps may be a terminal, a server, a specific processor provided in the terminal or server, or a processor or processing device provided relatively independently from the terminal or server, but is not limited thereto.

Through the above steps, the credibility of the target device's identification of the ground material in the area to be measured is determined by obtaining the posture information of the target device during its movement in the area to be measured; and the identification of the ground material in the area to be measured is determined based on the credibility. The results detect the target device and the target based on the attitude information of the target device in the target area. The distance between the target areas is determined, and the recognition result of the target device's material of the target material is verified according to the target distance. After the target device identifies the ground material of the target material, the credibility of the recognition result is further verified through the attitude information target distance, thereby improving the accuracy of the ground material identification of the target material. Therefore, the problem of inaccurate identification of the ground material of the material in the related technology can be solved, and the accuracy of identifying the material of the ground material can be improved.

In an exemplary embodiment, when the posture information includes distance information, obtaining the posture information of the target device during movement in the area to be measured includes:

S21: Obtain the vertical distance from the target device to the surface of the area to be measured.

This embodiment is suitable for scenarios where the target device is parallel to the ground. For example, a scene of normal movement on flat ground.

In this embodiment, the vertical distance from the target device to the surface of the area to be measured is the vertical distance from the target device to the surface of the area to be measured. For example, the vertical distance between the center point of the chassis of the sweeping robot and the floor; or the average distance of multiple distances between the center point of the chassis of the sweeping robot and the floor.

In this embodiment, the vertical distance from the target device to the surface of the area to be measured can be obtained through a sensor. The sensor can be set at the chassis of the target device or at other locations on the target device. The sensor can be an ultrasonic sensor or an infrared sensor. For example, taking the target device as a sweeping robot as an example, the sensor is installed on the chassis of the sweeping robot to detect the distance between the chassis device and the ground during the movement of the sweeping robot. It should be noted that the sweeping robot can identify the ground material while moving and can also identify the ground material when stationary. The ground material can be directly identified through sensors (for example, ultrasonic sensors or infrared sensors); the ground material can also be identified through other methods, for example, the acquired characteristics of the target material are uploaded to the processor, and the ground material is identified through the processor.

In addition, in this embodiment, the target distance is obtained after the sweeping robot identifies the material of the target material set on the ground.

In an exemplary embodiment, obtaining the vertical distance from the target device to the surface of the area to be measured includes:

S31, determine the center point of the target device;

S32: Calculate the vertical distance from the target device to the surface of the area to be measured based on the center point.

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 center point of the chassis of the sweeping robot and the ground is measured through sensor measurement.

S41, determine multiple measurement points in the target device;

S42, calculate the vertical distance from each measurement point to the surface of the area to be measured, and obtain multiple vertical distances;

S43: Determine the average value of multiple vertical distances as the vertical distance from the target device to the surface of the area to be measured.

In this embodiment, the vertical distance from multiple measurement points in the target device to the ground is the vertical distance. The multiple measurement points can be different positions on the chassis of the target device, such as multiple positions evenly distributed on the chassis of the target device. For example, a sensor can be used to measure the vertical distance between multiple measurement points on the chassis of a sweeping robot and the floor to obtain multiple Vertical distance (for example, 2.5cm, 3.5cm, 3cm), the average value of multiple vertical distances is determined as the vertical distance (for example, 3cm).

In an exemplary embodiment, determining the credibility of the target device's recognition of the ground material in the area to be measured based on the posture information includes:

S51: Determine the credibility of the target device in identifying the ground material in the area to be measured based on 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 vertical distance. It can be understood that within different distance ranges, the target device has different reliability in identifying ground materials. In a lower range, it means that the target device is closer to the ground, and the recognition reliability is higher. On the contrary, when the vertical distance is relatively large, it avoids that the target device is further away from the ground, and its reliability in identifying the ground material is lower. Furthermore, when the vertical distance is relatively large, it also means that the chassis of the target equipment is relatively far from the ground, such as being in a high suspended state, which will have an impact on the safety of the target equipment. For example, if the distance threshold that the sensor can recognize is 10cm, the preset distance can be set to a value less than 8cm.

In an exemplary embodiment, determining the credibility of the target device in identifying the ground material in the area to be measured based on the vertical distance and the preset distance interval includes:

S61, when the vertical distance is not greater than the first preset threshold, determine the credibility as the first credibility;

S62, when the vertical distance is greater than the first preset threshold and less than the second preset threshold, determine the credibility as the second credibility;

S63, when the vertical distance is not less than the second preset threshold, determine the credibility as the third credibility;

Among them, the first credibility is greater than the second credibility, and the second credibility is greater than the third credibility.

In this embodiment, both the first preset threshold and the second preset threshold are 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 3 cm and less than 6 cm.

In this embodiment, the smaller the vertical distance, the greater the credibility of the ground material, and vice versa. For example, if the recognition result of the ground material is wooden material, and the vertical distance is 1cm, it means that the probability that the ground material is wooden material is greater than 90%; if the recognition result of the ground material is wooden material, and the vertical distance When the distance is 5cm, it means that the probability that the ground material is wooden material is less than 50%. At this time, the ground material needs to be further determined; when the recognition result of the ground material is wooden material and the vertical distance is 9cm, then It means that the probability that the ground material is wooden is extremely small. At this time, the target device may be in a tilted state and needs to exit the current area to terminate the recognition of the ground material.

It should be noted that the determination ranges of the above-mentioned first credibility, second credibility and third credibility can be designed according to the actual situation. For example, different preset distance intervals can be set according to different models of target devices. Of course, , in some other embodiments, only two preset distance intervals can be set, and accordingly, only two credibility levels can be determined. Furthermore, multiple credibility levels determined by multiple regional distance intervals can also be determined. The number of reliability is not limited in the embodiment of this specification.

In an exemplary embodiment, determining the recognition result of the ground material in the area to be measured based on credibility includes:

S71, when the credibility is the first credibility, determine the recognition result as the first target recognition result of the ground material;

S72, when the credibility is the second credibility, obtain the second target recognition result of the ground material according to the preset strategy;

S73, when the credibility is the third credibility, instruct the target device to stop working and send out prompt information, where the prompt information is used to prompt that the movement of the target device is abnormal.

In this embodiment, the first credibility, the second credibility and the third credibility are used to represent the probability that the ground material is a real material.

In an exemplary embodiment, when the credibility is the second credibility, the second target recognition result of the ground material is obtained according to a preset strategy, including:

S81, determine the distance information of the target device within the preset time period;

S82, when the distance information continues to meet the second credibility, determine N recognition results within the preset time period, where N is a natural number greater than 1;

S83: Determine the second target recognition result from the N recognition results.

In this embodiment, the distance information includes the vertical distance between the target device and the ground. When the distance information continues to satisfy the second confidence level, the target device may be in a tilted state. For example, if the sweeping robot is tilted when crossing a threshold, the ground material recognized at this time is not accurate.

In this embodiment, the second target recognition result is determined from the N recognition results, including one of the following:

Determine M result sets according to different result types among the N recognition results, where 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 greater than or equal to 1 of natural numbers;

The result type corresponding to the result set with the largest number of elements among the M result sets is determined as the second target recognition result.

In this embodiment, the values of M and N can be flexibly set based on actual application scenarios or recognition requirements. For example, the ground material recognized within 10 minutes includes 10 recognition results. You can select several recognition results with smaller distances from the 10 recognition results, and select the result with the most consistent recognition results as the target recognition result. For example, among the 10 recognition results, there are 4 A results, 3 B results, 2 C results, and 1 D result, then the A result can be used as the second target recognition result.

In this embodiment, after determining M result sets according to different result types among the N recognition results, the above method further includes: when the number of elements in each result set is less than a preset number, indicating that the The target device stops working and issues the above prompt message. For example, if there are 4 A results among 10 recognition results and the preset number is 5, the target device may have malfunctioned and issued a prompt message. At this time, the target device terminates the recognition of the ground material. By limiting the number of presets, the reliability of material recognition at high distances can be improved.

In an exemplary embodiment, based on the posture information, determining the credibility of the target device in identifying the ground material in the area to be measured includes:

S91, determine the inclination angle between the target device and the surface of the area to be measured;

S92, when the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the tilt angle is less than the third preset threshold, determine the credibility as the second credibility;

S93, when the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the tilt angle is not less than the third preset threshold, determine the credibility as the third credibility;

Among them, the second credibility is greater than the third credibility.

This embodiment may be applicable to scenarios where the target device is not parallel to the ground. For example, a scene in which the sweeping robot is tilted when crossing a threshold.

In this embodiment, a sensor can be used to determine the tilt angle between the target device and the surface of the area to be measured. The sensor can be disposed on the chassis of the target device or at other locations on the target device. The sensor can be an ultrasonic sensor or an infrared sensor. For example, take the infrared sensor to measure the tilt angle of the sweeping robot as an example. The tilt angle of the chassis of the sweeping robot detected by the infrared sensor is 10 degrees, which is less than the third preset threshold (for example, 20 degrees). The recognition result is that the material is made of wood. , it means that the probability that the ground material is wooden material is greater than 90%. The value of the third preset threshold can be set based on actual usage conditions. For example, the third preset threshold is a value less than 20. For example, if the tilt angle is 30 degrees, it is greater than the third preset threshold. If the recognition result is wooden material, it means that the probability that the ground material is wooden material is extremely small. You need to exit the current area and terminate the identification of the target material's material.

In this embodiment, when the credibility is determined to be the third credibility, the target device is instructed to terminate the recognition of the ground material. After the target device terminates the recognition of the ground material, it can also determine the change amplitude of the distance between the target device and the ground detected within the subsequent preset time. Different change amplitudes correspond to different recognition result calculation methods. For example, if the change amplitude is large, the target device is considered to be in an unsafe state. When the change amplitude is small, the recognition result with the most consistent recognition results is selected as the target recognition result.

Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is Better implementation. Based on this understanding, the technical solution of the present invention can be embodied in the form of a software product in essence or the part that contributes to the existing technology. The computer software product is stored in a storage medium (such as ROM/RAM, disk, CD), including several instructions to cause a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in various embodiments of the present invention.

This embodiment also provides a ground material identification device, which is used to implement the above implementation. Examples and preferred embodiments that have already been described will not be described again. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the apparatus described in the following embodiments is preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

Figure 3 is a structural block diagram of a ground material identification device according to an embodiment of the present invention. As shown in Figure 3, the device includes:

The first acquisition module 32 is used to acquire the posture information of the target device during its movement in the area to be measured;

The first determination module 34 is configured to determine the credibility of the target device's recognition of the ground material in the area to be measured based on the posture information;

The second determination module 36 is configured to determine the recognition result of the ground material in the area to be measured based on the credibility.

In an exemplary embodiment, the above-mentioned first acquisition module includes:

The first acquisition unit is configured to acquire the vertical distance from the target device to the surface of the area to be measured when the attitude information includes distance information.

In an exemplary embodiment, the above-mentioned first acquisition unit includes:

The first determination subunit is used to determine the center point of the above-mentioned target device;

The first calculation subunit is used to calculate the vertical distance from the target device to the surface of the area to be measured based on the center point.

The second determination subunit is used to determine multiple measurement points in the above-mentioned target device;

The second calculation subunit is used to calculate the vertical distance from each measurement point to the surface of the above-mentioned area to be measured, and obtain multiple vertical distances;

The third determination subunit is used to determine the average value of the plurality of vertical distances as the vertical distance from the target device to the surface of the area to be measured.

In an exemplary embodiment, the above-mentioned first determination module includes:

The first determination unit is configured to determine the credibility of the target device in identifying the ground material in the area to be measured based on the vertical distance and the preset distance interval.

In an exemplary embodiment, the above-mentioned first determining unit includes:

The fourth determination subunit is used to determine the above-mentioned credibility as the first credibility when the above-mentioned vertical distance is not greater than the first preset threshold;

A fifth determination subunit configured to determine the credibility as the second credibility when the vertical distance is greater than the first preset threshold and less than the second preset threshold;

A sixth determination subunit, configured to determine the above-mentioned credibility as a third credibility when the above-mentioned vertical distance is not less than the above-mentioned second preset threshold;

Wherein, the above-mentioned first credibility is greater than the above-mentioned second credibility, and the above-mentioned second credibility is greater than the above-mentioned third credibility.

In an exemplary embodiment, the above-mentioned second determination module includes:

a second determination unit configured to determine the recognition result as the first target recognition result of the ground material when the credibility is the first credibility;

A second acquisition unit, configured to acquire the second target recognition result of the ground material according to a preset strategy when the above-mentioned credibility is the above-mentioned second credibility;

The first instruction unit is configured to instruct the target device to stop working and send prompt information when the credibility is the third credibility, where the prompt information is used to prompt that the movement of the target device is abnormal.

In an exemplary embodiment, the above-mentioned second acquisition unit includes:

The seventh determination subunit is used to determine the distance information of the above-mentioned target device within a preset time period;

The eighth determination subunit is used to determine N recognition results within the above-mentioned preset time period when the above-mentioned distance information continues to meet the above-mentioned second credibility, wherein the above-mentioned N is a natural number greater than 1;

The ninth determination subunit is used to determine the above-mentioned second target recognition result from the above-mentioned N recognition results.

In an exemplary embodiment, the above-mentioned ninth determination subunit is also used to perform one of the following: determine M result sets according to different result types among the above N recognition results, wherein the recognition result sets with the same result type In the same result set, a recognition result is an element in the above result set, and the above M is a natural number greater than or equal to 1;

In an exemplary embodiment, the above device further includes:

The first instruction module is used to instruct the above-mentioned target device to stop working when the number of elements in each result set is less than the preset number after determining M result sets according to different result types among the above-mentioned N recognition results, and Issue the above prompt message.

A third determination unit, used to determine the inclination angle between the above-mentioned target device and the above-mentioned surface of the area to be measured;

The fourth determination unit is configured to determine the credibility as the second credibility when the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the tilt angle is less than the third preset threshold. Spend;

The fifth determination unit is configured to determine the credibility as when the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the tilt angle is not less than the third preset threshold. third credibility;

Wherein, the above-mentioned second credibility is greater than the above-mentioned third credibility.

It should be noted that each of the above modules can be implemented through software or hardware. For the latter, it can be implemented in the following ways, but is not limited to this: the above modules are all located in the same processor; or the above modules can be implemented in any combination. The forms are located in different processors.

Embodiments of the present invention also provide a computer-readable storage medium that stores a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.

In this embodiment, the above-mentioned computer-readable storage medium may be configured to store a computer program for performing the above steps.

In an exemplary embodiment, the computer-readable storage medium may include but is not limited to: U disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM) , mobile hard disk, magnetic disk or optical disk and other media that can store computer programs.

An embodiment of the present invention also provides an electronic device, including a memory and a processor. A computer program is stored in the memory, and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

In an exemplary embodiment, the above-mentioned electronic device may further include a transmission device and an input and output device. equipment, wherein the transmission device is connected to the above-mentioned processor, and the input and output device is connected to the above-mentioned processor.

In an exemplary embodiment, the above-mentioned processor may be configured to perform the above steps through a computer program.

For specific examples in this embodiment, reference may be made to the examples described in the above-mentioned embodiments and exemplary implementations, and details will not be described again in this embodiment.

Obviously, those skilled in the art should understand that the above-mentioned modules or steps of the present invention can be implemented using general-purpose computing devices. They can be concentrated on a single computing device, or distributed across a network composed of multiple computing devices. They may be implemented in program code executable by a computing device, such that they may be stored in a storage device for execution by the computing device, and in some cases may be executed in a sequence different from that shown herein. Or the described steps can be implemented by making them into individual integrated circuit modules respectively, or by making multiple modules or steps among them into a single integrated circuit module. As such, the invention is not limited to any specific combination of hardware and software.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present invention shall be included in the protection scope of the present invention.

Claims

A method for identifying ground materials, which is characterized by including:

Obtain the attitude information of the target device during movement in the area to be measured;

Determine the credibility of the target device in identifying the ground material in the area to be measured based on the posture information;

The recognition result of the ground material in the area to be measured is determined based on the credibility.
The method according to claim 1, characterized in that, when the posture information includes distance information, the obtaining the posture information of the target device during movement in the area to be measured includes:

Obtain the vertical distance from the target device to the surface of the area to be measured.
The method according to claim 2, characterized in that said obtaining the vertical distance from the target device to the surface of the area to be measured includes:

Determine the center point of the target device;

According to the center point, the vertical distance from the target device to the surface of the area to be measured is calculated.
The method according to claim 2, characterized in that said obtaining the vertical distance from the target device to the surface of the area to be measured includes:

determining a plurality of measurement points in the target device;

Calculate the vertical distance from each measurement point to the surface of the area to be measured, and obtain multiple vertical distances;

The average value of the plurality of vertical distances is determined as the vertical distance from the target device to the surface of the area to be measured.
The method according to claim 2, characterized in that, based on the posture information, determining the credibility of the target device in identifying the ground material in the area to be measured includes:

According to the vertical distance and the preset distance interval, the credibility of the target device in identifying the ground material in the area to be measured is determined.
The method according to claim 5, characterized in that, according to the vertical distance and the preset distance interval to determine the credibility of the target device in identifying the ground material in the area to be measured, including:

When the vertical distance is not greater than the first preset threshold, the credibility is determined as the first credibility;

When the vertical distance is greater than the first preset threshold and less than the second preset threshold, the credibility is determined as the second credibility;

When the vertical distance is not less than the second preset threshold, determine the credibility as a third credibility;

Wherein, the first credibility is greater than the second credibility, and the second credibility is greater than the third credibility.
The method of claim 6, wherein determining the identification result of the ground material in the area to be measured based on the credibility includes:

When the credibility is the first credibility, determining the recognition result as the first target recognition result of the ground material;

When the credibility is the second credibility, obtain the second target recognition result of the ground material according to a preset strategy;

When the credibility is the third credibility, the target device is instructed to stop working and prompt information is issued, where the prompt information is used to prompt that the movement of the target device is abnormal.
The method according to claim 7, characterized in that when the credibility is the second credibility, obtaining the second target recognition result of the ground material according to a preset strategy includes:

Determine the distance information of the target device within a preset time period;

When the distance information continues to meet the second credibility, determine N recognition results within the preset time period, where N is a natural number greater than 1;

The second target recognition result is determined from the N recognition results.
The method according to claim 8, characterized in that, from the N recognition results The second target recognition result is determined, including one of the following:

According to different result types among the N recognition results, M result sets are determined, wherein the recognition result sets with the same result type are in the same result set, and one recognition result is an element in the result set, and the M is a natural number greater than or equal to 1;

The result type corresponding to the result set with the largest number of elements among the M result sets is determined as the second target recognition result.
The method according to claim 9, characterized in that, after determining M result sets according to different result types among the N recognition results, the method further includes:

When the number of elements in each result set is less than the preset number, the target device is instructed to stop working and the prompt message is issued.
The method according to claim 3, characterized in that, based on the posture information, determining the credibility of the target device in identifying the ground material in the area to be measured includes:

Determine the inclination angle between the target device and the surface of the area to be measured;

When the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the tilt angle is less than the third preset threshold, the credibility is determined as the second credibility;

When the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the tilt angle is not less than the third preset threshold, the credibility is determined as the third preset threshold. Three credibility;

Wherein, the second credibility is greater than the third credibility.
The method according to any one of claims 6 to 11, wherein determining the identification result of the ground material in the area to be measured based on the credibility includes:

When the credibility is determined to be the third credibility, instruct the target device to terminate the identification of the ground material;

After the target device terminates the recognition of the ground material, determine the change amplitude of the distance between the target device and the ground detected within a subsequent preset time;

The recognition result is calculated according to the calculation method corresponding to the change amplitude.
The method according to any one of claims 1 to 12, characterized in that the target device is a sweeping robot.
A device for identifying ground materials, which is characterized by including:

The first acquisition module is used to acquire the posture information of the target device during its movement in the area to be measured;

A first determination module, configured to determine the credibility of the target device in identifying the ground material in the area to be measured based on the posture information;

The second determination module is used to determine the recognition result of the ground material in the area to be measured based on the credibility.
A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, wherein the computer program is configured to execute the method described in any one of claims 1 to 13 when running. Methods.
An electronic device, including a memory and a processor, characterized in that a computer program is stored in the memory, and the processor is configured to run the computer program to execute the requirements of any one of claims 1 to 13. method described.