WO2024007739A1 - 自移动设备的部署方法、装置、电子设备及存储介质 - Google Patents

自移动设备的部署方法、装置、电子设备及存储介质 Download PDF

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Publication number
WO2024007739A1
WO2024007739A1 PCT/CN2023/093989 CN2023093989W WO2024007739A1 WO 2024007739 A1 WO2024007739 A1 WO 2024007739A1 CN 2023093989 W CN2023093989 W CN 2023093989W WO 2024007739 A1 WO2024007739 A1 WO 2024007739A1
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Prior art keywords
time interval
area
period
target object
target
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PCT/CN2023/093989
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English (en)
French (fr)
Inventor
李立辉
李绍斌
宋德超
贾巨涛
吴伟
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珠海格力电器股份有限公司
珠海联云科技有限公司
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Publication of WO2024007739A1 publication Critical patent/WO2024007739A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/95—Retrieval from the web
    • G06F16/953—Querying, e.g. by the use of web search engines
    • G06F16/9537—Spatial or temporal dependent retrieval, e.g. spatiotemporal queries
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/95—Retrieval from the web
    • G06F16/953—Querying, e.g. by the use of web search engines
    • G06F16/9535—Search customisation based on user profiles and personalisation

Definitions

  • Embodiments of the present application relate to the field of computer technology, and in particular, to a deployment method, device, electronic device, and storage medium for a mobile device.
  • Trash cans are indispensable necessities in daily life. With the development of society and the advancement of science and technology, removable trash cans appear in people's daily lives.
  • movable trash cans At present, the deployment location of movable trash cans is fixed. When users need to throw away garbage, they need to walk near the movable trash cans. The deployment of movable trash cans is unreasonable and the user experience is poor.
  • embodiments of the present application provide a deployment method, device, electronic device, and storage medium for a mobile device.
  • embodiments of the present application provide a deployment method for a mobile device.
  • the method includes:
  • the location information determine the activity trajectory of the target object in each area
  • the obtaining the location information of the target object in each area include:
  • Determining the activity trajectory of the target object in each area based on the location information includes:
  • the location information determine the activity trajectory of the target object in the area in each preset time interval
  • Determining the deployment location of the mobile device in each area based on the activity trajectory includes:
  • the controlling the movement of the mobile device to the deployment location includes:
  • obtaining the location information of the target object in each preset time interval in the area includes:
  • Determining the activity trajectory of the target object in the area in each preset time interval based on the location information includes:
  • the location information determine the activity trajectory of the target object in the area in each preset time interval in each period within the continuous period;
  • Determining the deployment position of the mobile device in the area for each preset time interval based on the activity trajectory includes:
  • Controlling the mobile device to move to the deployment location before each preset time interval includes:
  • electromagnetic wave devices are respectively provided in each area; for any area, obtaining the position information of each preset time interval target object in the area in each period within a continuous period includes: :
  • the initial position information is the coordinates of the target object in the electromagnetic wave device. Relative coordinates under the system;
  • filtering each preset time interval in each period within a continuous period according to the activity trajectory to obtain a target time interval includes:
  • each preset time interval is determined to be the target time interval.
  • filtering each preset time interval in each period within a continuous period according to the activity trajectory to obtain a target time interval further includes:
  • filtering each preset time interval in each period within a continuous period according to the activity trajectory to obtain a target time interval further includes:
  • the continuous remaining time intervals are merged to obtain a merged continuous time interval
  • the first time interval and the second time interval are determined to be target time intervals.
  • determining the target time interval from the deployment position of the mobile device in the area according to the target activity trajectory includes:
  • the position within the area that is outside the volume range of the target object and the distribution range of the obstacle and is closest to the center of the activity trajectory is the deployment position of the mobile device in the area during the target time interval.
  • an embodiment of the present application provides a deployment device for a mobile device.
  • the device includes:
  • the information acquisition module is used to obtain the location information of the target object in each area;
  • a trajectory determination module configured to determine the activity trajectory of the target object in each area based on the location information
  • a location determination module configured to determine the deployment location of the mobile device in each area based on the activity trajectory
  • a device control module is used to control the movement of the mobile device to the deployment location.
  • embodiments of the present application provide an electronic device, including: a processor and a memory,
  • the processor is configured to execute a self-mobile device deployment program stored in the memory to implement the self-mobile device deployment method described in any one of the first aspects.
  • embodiments of the present application provide a storage medium that stores one or more programs, and the one or more programs can be executed by one or more processors to implement any of the tasks in the first aspect.
  • a method of deploying a self-mobile device according to the invention is a storage medium that stores one or more programs, and the one or more programs can be executed by one or more processors to implement any of the tasks in the first aspect.
  • the technical solution provided by the embodiments of this application is to obtain the location information of the target object in each area, determine the activity trajectory of the target object in each area based on the location information, and determine the deployment position of the mobile device in each area based on the activity trajectory. , control movement from the mobile device to the deployment location. It can collect the location information of the target object in various areas, and then determine the activity trajectory of the target object. Determine the deployment position of the mobile device based on the activity trajectory of the target object, and control the movement of the mobile device to the deployment position without hindering the daily activities of the target object. . Compared with placing the mobile device fixedly in a certain place, this does not require the target object to walk near the mobile device, making the movement of the mobile device more intelligent and improving the object's experience.
  • Figure 1 is a schematic architectural diagram of a deployment system for mobile devices according to an embodiment of the present application
  • Figure 2 is a flow chart of an embodiment of a self-mobile device deployment method provided by an embodiment of the present application
  • Figure 3 is an embodiment flow chart of another self-mobile device deployment method provided by an embodiment of the present application.
  • Figure 4 is an embodiment flow chart of yet another self-mobile device deployment method provided by an embodiment of the present application.
  • Figure 5 is an embodiment flow chart of yet another self-mobile device deployment method provided by an embodiment of the present application.
  • Figure 6 is a block diagram of an embodiment of a self-mobile device deployment device provided by an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • the self-mobile device deployment system includes an electromagnetic wave device 101 , a self-mobile device 102 and an edge server 103 .
  • the above-mentioned electromagnetic wave device 101 specifically refers to a device that provides information collection and information transmission services. It may be a microwave radar, an infrared sensor, etc., and the embodiments of the present application are not limited to this.
  • the above-mentioned self-mobile device 102 refers to a smart device that provides services to users and can be moved. It can be a movable trash can, a sweeping robot, etc. In Figure 1, only a movable trash can is used as an example.
  • the above-mentioned edge server 103 refers to a server corresponding to the above-mentioned electromagnetic wave device 101 and the mobile device 102, and can provide background services for them, including but not limited to: information processing services, command issuing services, etc.
  • the electromagnetic wave device 101 can collect the location information of the target object and send the location information to the edge server. After determining the deployment location of the self-mobile device 102 based on the location information, the edge server 103 issues a movement instruction to the self-mobile device 102 so that the self-mobile device 102 moves to the deployment location to implement deployment of the self-mobile device.
  • FIG. 2 is a flow chart of an embodiment of a deployment method for a mobile device provided by an embodiment of the present application. As shown in Figure 2, the process may include the following steps:
  • Step 201 Obtain the location information of the target object in each area.
  • Each of the above-mentioned areas specifically refers to at least one area, which can be a living area such as the target object's bedroom or kitchen, or a work area such as an office or laboratory.
  • the embodiments of the present application are not limited to this.
  • the target object may be the only object in the area; when there are multiple objects in the area, the target object may be an object to be measured determined in advance.
  • the embodiment of the present application No restrictions.
  • the target object is in more than one area (for example, the target object is in the bedroom from 0 to 9 o'clock, and the target object is in the living room from 9 to 12 o'clock), resulting in the target collected by the electromagnetic wave device in an area.
  • the target object may be in other areas. Therefore, an electromagnetic wave device can be placed in each area, so that the electromagnetic wave device can collect the location information of the target object in the corresponding area.
  • the method may be applied to an edge server, such as the edge server 103 illustrated in FIG. 1 .
  • an edge server such as the edge server 103 illustrated in FIG. 1 .
  • the location information of the target object in each area can be periodically collected through the electromagnetic wave device 101 and uploaded to the edge server 103, so that the edge server 103 can receive the location information collected by the electromagnetic wave device 101.
  • the location information of the target object in each area can obtain the location information of the target object in each area.
  • Step 202 Determine the activity trajectory of the target object in each area based on the location information.
  • the above location information refers to the location information of the target object in each area.
  • the above-mentioned activity trajectories are the activity trajectories of the target object corresponding to the above-mentioned position information in each area.
  • the above activity trajectory is expressed in the form of a heat map.
  • the activity trajectory can also be in other specific forms (such as lines, etc.), and the embodiments of the present application are not limited to this.
  • the embodiment of the present application does not limit the number of activity trajectories.
  • Step 203 Determine the deployment position of the mobile device in each area according to the activity trajectory.
  • the above deployment location refers to the location where the mobile device is deployed in each area.
  • the deployment location that meets the preset conditions can be determined based on the activity trajectory of the above target object in each area.
  • the above-mentioned preset conditions may include being outside the distribution range of obstacles and the activity trajectory range, and being closest to the center of the activity trajectory. In this way, the deployment location of the mobile device in each area can be determined.
  • Step 204 Control the movement of the mobile device to the deployment location.
  • the method can be applied to an edge server, such as the edge server 103 illustrated in FIG. 1 .
  • the edge server 103 can issue a control instruction to the self-mobile device, so that the self-mobile device can respond to the control instruction issued by the edge server 103 and move to the above-mentioned deployment location. In this way, control is achieved from the mobile device to the deployment location.
  • the edge server 103 can issue a control instruction to the self-mobile device, so that the self-mobile device can respond to the control instruction issued by the edge server 103 and move to the center of the area.
  • the above-mentioned deployment method of a self-mobile device can also be applied to a self-mobile device, such as the self-mobile device 102 illustrated in FIG. 1 .
  • the location information of the target object in each area is periodically collected through the electromagnetic wave device and sent to the self-mobile device 102, so that after receiving the location information, the self-mobile device 102 determines the activity trajectory of the target object in each area, and the self-movement The device 102 is deployed at a deployment position in each area, and then moves to the above deployment position.
  • the location information of the target object in each area is obtained, the activity trajectory of the target object in each area is determined based on the location information, and the target object's activity trajectory is determined based on the activity trajectory.
  • the deployment position of the mobile device in each area controls the movement of the mobile device to the deployment position.
  • the location information of the target object in various areas can be collected to determine the activity trajectory of the target object, and the deployment of the mobile device can be determined based on the activity trajectory of the target object.
  • Location control moves from the mobile device to the deployed location without interfering with the target subject's daily activities. Compared with placing the mobile device fixedly in a certain place, this does not require the target object to walk near the mobile device, making the movement of the mobile device more intelligent and improving the object's experience.
  • FIG. 3 is a flow chart of another deployment method for a mobile device provided by an embodiment of the present application.
  • the process shown in Figure 3 may include the following steps based on the process shown in Figure 2 above:
  • Step 301 For any area, obtain the location information of the target object in each preset time interval in the area.
  • the electromagnetic wave equipment in each area can periodically collect the location information of the target object within a period of time.
  • the target object is in more than one area within a period of time (such as one day) (for example, the target object is in the bedroom from 0 to 9 o'clock, and the target object is in the living room from 9 to 12 o'clock), resulting in a situation where the target object is in more than one area.
  • the above period of time can be divided into multiple preset time intervals, so that the target objects can be counted according to the preset time interval. location information.
  • each of the above-mentioned preset time intervals includes at least one preset time interval. Assuming that the above period of time is one day, then the preset time interval can be one hour.
  • the edge server can obtain the location information of the target object in each area in each preset time interval.
  • the bedroom and the living room For example, assume that there are two areas: the bedroom and the living room, and assume that a period of time is one day, and the preset time interval is 1 hour. Then, for any one of these two areas, obtain the location information of the target object in the area for 24 preset time intervals, specifically including the location information in the bedroom and the location information in the living room.
  • Step 302 Determine the activity trajectory of the target object in each preset time interval in the area based on the location information.
  • the above position information is the position information of the target object in each area within a period of time.
  • the activity trajectory of the target object in each area within a period of time can be determined.
  • the activity trajectory is used to express the activities of the target object in each area of each preset time interval. It can be a heat map, a line or other forms of expression. The embodiment of the present application does not limit this.
  • the bedroom and the living room For example, assume that there are two areas: the bedroom and the living room, and assume that a period of time is one day, and the preset time interval is 1 hour. Then, for any one of the above two areas, based on the location information of the 24 preset time interval target objects in the area, determine the activity trajectories of the 24 preset time interval target objects in the area, specifically including: Activity trajectories in the bedroom and activity trajectories in the living room.
  • Step 303 Determine the deployment position of the mobile device in the area for each preset time interval based on the activity trajectory.
  • step 203 in order to avoid affecting the daily activities of the target object in the above-mentioned area and to save time, the above-mentioned deployment position is outside the range of obstacles and activity trajectories in the above-mentioned area and is far away from the center of the activity trajectory. nearest location.
  • the deployment position of the mobile device in the area for each preset time interval can be determined based on the activity trajectories.
  • the deployment positions of the 24 preset time interval target objects in the bedroom and living room can be determined based on the activity trajectories of the 24 preset time interval target objects in the bedroom and living room, including: 0 to 12 o'clock target
  • the first deployment position of the object is in the bedroom and the second deployment position of the target object is in the living room from 12:00 to 24:00.
  • Step 304 Control the movement of the mobile device to the deployment position before each preset time interval.
  • step 304 please refer to the relevant description of step 204, which will not be described again here.
  • the self-mobile device can be controlled to move to the first deployment position before 0:00 to 12:00, and the self-mobile device can be controlled to move to the second deployment position before 12:00 to 24:00.
  • the mobile device can be controlled to move to the deployment location before the preset time interval, realizing intelligent deployment, saving the time for the target object to find the mobile device, and improving efficiency.
  • the location information of the target object in each preset time interval in the area is obtained; and based on the location information, the activity trajectory of the target object in each preset time interval in the area is determined.
  • the trajectory determines the deployment position of the mobile device in the area for each preset time interval, and then controls the movement of the mobile device to the deployment position before each preset time interval.
  • the mobile device can be moved to the deployment position in each area before each preset time interval, preventing the target object from looking for the mobile device in each area of each preset time interval, saving time and improving the subject's experience. .
  • FIG. 4 is a flow chart of another embodiment of a mobile device deployment method provided by an embodiment of the present application.
  • the process shown in Figure 4 may include the following steps based on the process shown in Figure 3 above:
  • Step 401 For any area, obtain the location information of the target object in the area in each preset time interval in each period within the continuous period.
  • the location information of the target object in each area in a continuous period of time can be obtained.
  • the above-mentioned continuous period may be one week or one month, and the embodiment of the present application does not limit this.
  • the location information of the target object in each area in each preset time interval in each continuous period can be collected through electromagnetic wave equipment in each area, and the collected location The information is uploaded to the edge server.
  • the edge server can obtain the location information of the target object in each area in each preset time interval in each continuous period.
  • Step 402 Determine each preset time interval in each period within the continuous period based on the location information. The activity trajectory of the target object in the area.
  • the above position information is the position information of the target object in each preset time interval in each period within a continuous period.
  • the continuous period is 7 days
  • each period is one day
  • each preset time interval is 24 preset time intervals
  • each area is an office.
  • the above location information is the location information of the target object in the office in 24 preset time intervals in each day within 7 days. In this way, for any area, based on the above location information, the activity trajectory of the target object in the area for each preset time interval in each period of continuous periods can be determined.
  • step 302 the above-mentioned activity trajectory is used to express the activities of the target object in each area of each preset time interval. It can be a heat map, a line or other forms of expression. The embodiment of the present application does not limit this. .
  • Step 403 Filter each preset time interval in each period within the continuous period according to the activity trajectory to obtain the target time interval.
  • Step 404 From the activity trajectories, extract the target activity trajectories of the target objects in the target time interval in each period within the continuous period.
  • Step 405 Determine the deployment position of the mobile device in the area within the target time interval based on the target activity trajectory.
  • Step 406 Control the mobile device to move to the deployment location before the target time interval.
  • steps 403 to 406 The following is a unified description of steps 403 to 406:
  • a target time interval in which the target object appears in the area can be determined, so that the self-mobile device can move to the deployment location in the area before the target time interval.
  • the target object may appear in a certain area for a short period of time. This may cause the mobile device to be unable to move to the deployment location in the area before the target time interval due to an emergency. Therefore, in order to avoid the impact of emergencies, it is possible to filter based on the activity trajectories of the target objects in the area in each preset time interval in each period in the continuous period, and determine the target objects in each preset time interval in each period in the continuous period.
  • the valid time interval is the target time interval.
  • the edge server can determine the deployment position of the mobile device in the area during the target time interval based on the target activity trajectory, and then, before the target time interval, the edge server can control the mobile device to move to the above deployment position. In this way, the mobile device can be realized to carry out intelligent movement according to the activity trajectory of the target object, thereby improving the object's experience.
  • the location information of the target object in each preset time interval in each period of a continuous period is obtained, and based on the location information, each preset time interval in each period of the continuous period is determined.
  • the activity trajectory of the target object within the time interval is obtained.
  • each preset time interval in each period within the continuous period is filtered according to the activity trajectory to obtain the target time interval.
  • the target activity trajectories of the target time interval objects in the region in each period of continuous periods are extracted.
  • the deployment position of the self-mobile device in the area in the target time interval is determined, and then the movement of the self-mobile device to the deployment position is controlled before the target time interval.
  • the activity trajectory can be determined based on the location information of the target object, and the self-mobile device can be deployed according to the activity trajectory. There is no need for the target object to find and walk near the fixed self-mobile device, which improves efficiency and enhances the object's experience.
  • FIG. 5 is a flow chart of yet another self-mobile device deployment method provided by an embodiment of the present application.
  • the process shown in Figure 5 may include the following steps based on the process shown in Figure 4 above:
  • Step 501 Electromagnetic wave equipment is set up in each area; for any area, the initial position information of the target object in the area in each preset time interval in each period of consecutive periods collected by the electromagnetic wave equipment is obtained, and the initial position information is the target The relative coordinates of the object in the electromagnetic wave device coordinate system.
  • Step 502 Convert the initial position information into position information, where the position information is the absolute coordinates of the target object in the regional coordinate system.
  • step 501 and step 502 The following is a unified description of step 501 and step 502:
  • the target object is in more than one area, resulting in gaps in the location information of the target object collected by the electromagnetic wave equipment in one area.
  • the target object may be in other areas.
  • electromagnetic wave equipment can be set up in each area, so that the electromagnetic wave equipment can collect the location information of the target object in each area.
  • the position information may be coordinates.
  • the electromagnetic wave device may be a microwave radar. Accordingly, the initial position information may be the relative coordinates of the target object in the microwave radar coordinate system, that is, the coordinates of the target object relative to the microwave radar.
  • the electromagnetic wave device can be targeted at any area to collect the relative coordinates of the target object in each preset time interval in each continuous period under the electromagnetic wave coordinate system in the area. Convert to absolute coordinates in the regional coordinate system, that is, convert the initial position information into position information. In this way, under the same regional coordinate system, the position information of the target object in each region in each preset time interval in each continuous period can be obtained.
  • the above-mentioned regional coordinate system may be a coordinate system established with a point in any area as the center, or may be a coordinate system established with a point in the target environment to which each area belongs as the center.
  • the embodiments of the present application are No restrictions.
  • the above absolute coordinates are the coordinate values of the target object in the regional coordinate system.
  • the regional coordinate system may be a spatial coordinate system or a plane coordinate system, which is not limited in the embodiment of the present application.
  • each area is: bedroom, living room, kitchen. Then, a regional coordinate system can be established with the northeast corner of the above bedroom plan as the center.
  • each area is: bedroom, living room, kitchen. Then, the regional coordinate system can be established with the northwest corner of the floor plan of the houses corresponding to the above areas as the center.
  • the electromagnetic wave device collects the initial position information of the target object in the bedroom as (-1, -1), and assume that the bedroom floor plan is a rectangular floor plan with a length of 3 and a width of 2.
  • the electromagnetic wave coordinates are centered on the southwest corner of the bedroom.
  • the established plane coordinate system and regional coordinate system are centered on the northeast corner of the bedroom. vertical plane coordinate system.
  • the initial position information is converted into position information, that is, the relative coordinates (-1, -1) are converted into absolute coordinates (2, 1) in the active coordinate system.
  • the electromagnetic wave coordinate system corresponding to the electromagnetic wave device and the orientation of the electromagnetic wave device can be determined, the angle between the electromagnetic wave coordinate system and the regional coordinate system is calculated based on the orientation, and the angle and initial position information are substituted into the preset coordinate transformation.
  • the location information is obtained.
  • Step 503 Based on the location information, determine the activity trajectory of the target object in the area for each preset time interval in each period within the continuous period.
  • step 503 please refer to the relevant description of step 402 in the process shown in Figure 4, which will not be described again here.
  • Step 504 For each period in a continuous period, determine the activity of the target object in each preset time interval in the period according to the activity trajectory.
  • the activity is the position of the target object in the area in the activity trajectory of each preset time interval in the period. Amount of information.
  • Step 505 Compare the activity of the target object in each preset time interval in the period with the preset activity threshold; if the activity of the target object in each preset time interval in the period is greater than or equal to active If the activity of the target object in each preset time interval in the area in the period is less than the activity threshold, step 507 is executed.
  • Step 506 Determine each preset time interval as a target time interval.
  • Step 507 Delete the target preset time interval from each preset time interval to obtain each remaining time interval of the period.
  • each predetermined time period in the period can be determined.
  • the activity of the target object in each preset time interval in the area is compared with a preset activity threshold (for example, 100) to filter the target object's activity trajectory and then determine the target time interval.
  • a preset activity threshold for example, 100
  • the above-mentioned activity level is the number of position information of the target object in the activity trajectory of the area in each preset time interval in each period of continuous period, that is, the electromagnetic equipment periodically collects the number of occurrences of the target object in the area.
  • the electromagnetic wave device collects the location information of the target object in the area every minute, and it is assumed that the target object has been in the area for an hour. Then, according to the above description, it can be determined that the number of position information in the activity trajectory of the target object in the area in a preset time interval is 60, that is, the activity level is 60.
  • each preset time interval in the period If the activity of the target object in each preset time interval in the period is greater than or equal to the activity threshold, it means that the activity trajectories of the target object in each preset time interval in the period are valid activity trajectories, and There is no activity track that appears in the area in a short period of time. Therefore, each preset time interval can be determined as the target time interval.
  • each preset time interval target object in the area in the period is less than the activity threshold, it means that the activity of each preset time interval target object in the period is Activity trajectories in the area, there are activity trajectories that appear in the area for a short period of time. Based on this, the above target preset time interval can be deleted from each preset time interval to obtain the remaining time interval.
  • the target object goes to the bedroom to get something at 10 a.m.
  • the activity level of the target object in the bedroom at 10 a.m. is 2, and the activity threshold is 30.
  • the target object's activity in the bedroom may be less than the activity threshold, and 10 o'clock will be deleted from each preset time interval.
  • each preset time interval in which the activity is greater than or equal to the activity threshold can be quickly determined based on the heat map, as well as the target preset time interval in which the activity is less than the activity threshold. , and then determine the target time interval. So that the movable device can be moved to the deployment location in the corresponding area before the target time interval.
  • Step 508 Determine whether there is a continuous remaining time zone in each remaining time interval in the period. time; if it does not exist, perform step 509; if it exists, perform step 510.
  • Step 509 Determine each remaining time interval as a target time interval.
  • Step 510 Combine the continuous remaining time intervals to obtain the combined continuous time intervals.
  • Step 511 Perform union processing on the continuous time intervals of each time period within the continuous time period to obtain the first time interval.
  • Step 512 Perform union processing on the non-continuous remaining time intervals among the remaining time intervals of each period within the continuous time period to obtain the second time interval.
  • Step 513 Determine the first time interval and the second time interval as the target time interval.
  • each period is divided into multiple preset time intervals, there may be continuous activity trajectories of the remaining time intervals of the target object in the area in each remaining time interval of the period. , therefore, to facilitate statistics, continuous preset time intervals can be merged.
  • each remaining time interval can be determined as the target time interval.
  • the continuous remaining time intervals are merged to obtain the merged continuous time interval.
  • the continuous time interval is from 7 o'clock to 9 o'clock.
  • the continuous time intervals of each period within the continuous period can be combined to obtain the A time interval; perform union processing on non-consecutive remaining time intervals in each remaining time interval of each period within a continuous period to obtain a second time interval, and finally determine the first time interval and the second time interval as the target time interval .
  • the effective time intervals of the target objects in each area of each preset time interval of each period in the continuous period can be obtained, that is, the target time interval.
  • the continuous period is 7 days
  • the remaining time intervals of the target object in the first area for each of the 7 consecutive days are: 7 o'clock to 9 o'clock, 7 o'clock to 9 o'clock, 11 o'clock to 12 o'clock, 7:00 to 10:00, 11:00 to 13:00, 7:00 to 10:00, 7:00 to 10:00, 8:00 to 10:00, 11:00 to 13:00.
  • the above remaining time intervals can be combined and processed, and the target time intervals are obtained: 7 o'clock to 10 o'clock, and 11 o'clock to 13 o'clock.
  • Step 514 From the activity trajectories, extract the target activity trajectories of the target objects in the target time interval in each period within the continuous period.
  • step 514 please refer to the relevant description of step 404 in the process shown in Figure 4, which will not be described again here.
  • Step 515 Perform union processing on the target activity trajectories.
  • Step 516 Determine the activity trajectory center of the target activity trajectory that has been processed by the union.
  • Step 517 Determine the volume range of the target object in the target activity trajectory.
  • Step 518 Determine the distribution range of obstacles in the area.
  • Step 519 Determine the position within the area that is outside the volume range of the target object and the distribution range of obstacles and is closest to the center of the activity trajectory as the deployment position of the mobile device in the area during the target time interval.
  • Step 520 Control the movement of the mobile device to the deployment location before the target time interval.
  • the targets of the target objects in each area of the target time interval in each period of the continuous period are extracted.
  • the target activity trajectories of the target objects in each area in each period of consecutive periods can be combined and processed.
  • the target activity trajectory of the target object in the first area in each period of the continuous period is trajectory A
  • the target activity trajectory of the target object in the first area in each period of the continuous period is is trajectory B.
  • the target object since the target object has a volume, the target object will occupy a part of the volume range of the area. And in each area, there may be obstacles, and the obstacles will also occupy part of the distribution range of the area. Therefore, the activity trajectory center of the above-mentioned target activity trajectories that has been processed by union, the volume range of the target object in the activity trajectory, and the distribution range of obstacles in each area can be determined.
  • the mobile device in order to avoid the mobile device from affecting the daily activities of the target object in each area, and in order to save time, it can be determined that the volume range of the target object and the distribution range of obstacles in each area are outside the activity trajectory.
  • the closest position of the center is the deployment position of the mobile device in each area since the target time interval. In this way, the mobile device can be controlled to move to the above-mentioned deployment position before the target time interval, thereby improving the experience.
  • each area includes a first area and a second area
  • the target time interval corresponding to the first area is from 8:00 to 10:00
  • the target time interval corresponding to the second area is from 13:00 to 15:00
  • the target time interval corresponding to the first area is from 13:00 to 15:00.
  • the deployment position in one area is position a
  • the deployment position in the second area is position b.
  • the self-mobile device closest to the target deployment location in the target area can be selected, and the self-mobile device can be moved to the deployment location in the target area.
  • the mobile device If there is a self-mobile device, and within the same target time interval, there are target objects whose activity in multiple areas is greater than or equal to the activity threshold, then the area with the highest activity is selected as the target area, and then the deployment in the target area is determined. Position, before the target time interval, control the mobile device to move to the deployment position.
  • the above is only an exemplary description of the specific form of deployment from the mobile device.
  • the deployment from the mobile device can also be in other specific forms, and the embodiments of the present application are not limited to this.
  • the embodiments of the present application do not limit the number of areas and the types and quantities of mobile devices.
  • this application also provides a block diagram of an embodiment of the device.
  • FIG. 6 is a block diagram of an embodiment of a self-mobile device deployment apparatus provided by an embodiment of the present application. As shown in Figure 6, the device includes:
  • Information acquisition module 601 is used to obtain the location information of the target object in each area;
  • the trajectory determination module 602 is used to determine the activity trajectory of the target object in each area based on the location information:
  • the location determination module 603 is used to determine the deployment location of the mobile device in each area according to the activity trajectory;
  • the device control module 604 is used to control the movement of the self-mobile device to the deployment location.
  • the information acquisition module 601 includes (not shown in the figure):
  • the information acquisition submodule is used to obtain, for any area, the location information of the target object in each preset time interval in the area;
  • the trajectory determination module 602 includes (not shown in the figure):
  • a trajectory determination submodule configured to determine the activity trajectory of the target object in the area in each preset time interval based on the location information
  • the position determination module 603 includes (not shown in the figure):
  • a location determination submodule configured to determine the deployment location of the mobile device in the area in each preset time interval according to the activity trajectory
  • the device control module 604 includes (not shown in the figure):
  • Device control submodule used to control the mobile device before each preset time interval Move to the deployment location.
  • the information acquisition sub-module includes (not shown in the figure):
  • An information acquisition unit configured to acquire, for any area, the location information of the target object in each preset time interval in the area within each period of the continuous period;
  • the trajectory determination sub-module includes (not shown in the figure):
  • a trajectory determination unit configured to determine the activity trajectory of the target object in the area in each preset time interval in each period of the continuous period based on the location information
  • the position determination sub-module includes (not shown in the figure):
  • the target time interval determination unit is used to filter each preset time interval in each period within the continuous period according to the activity trajectory to obtain the target time interval;
  • a target activity trajectory determination unit configured to extract, from the activity trajectory, the target activity trajectory of the target object in the area in the target time interval in each period of the continuous period;
  • a position determination unit configured to determine the deployment position of the mobile device in the area during the target time interval based on the target activity trajectory
  • the device control sub-module includes (not shown in the figure):
  • An equipment control unit configured to control the movement of the self-mobile equipment to the deployment position before the target time interval.
  • electromagnetic wave equipment is provided in each area; the information acquisition unit is specifically used for:
  • the initial position information is the coordinates of the target object in the electromagnetic wave device. Relative coordinates under the system;
  • the target time interval determination unit is specifically used to:
  • each preset time interval is determined to be the target time interval.
  • the target time interval determination unit is also used to:
  • each remaining time interval is determined to be the target time interval.
  • the target time interval determination unit is also used to:
  • the continuous remaining time intervals are merged to obtain a merged continuous time interval
  • the first time interval and the second time interval are determined to be target time intervals.
  • the position determining unit is specifically used to:
  • the position within the area that is outside the volume range of the target object and the distribution range of the obstacle and is closest to the center of the activity trajectory is the deployment position of the mobile device in the area during the target time interval.
  • FIG. 7 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • the electronic device 700 shown in Figure 7 includes: at least one processor 701, a memory 702, at least one network interface 704 and a user interface 703.
  • the various components in electronic device 700 are coupled together by bus system 705 .
  • the bus system 705 is used to implement connection communication between these components.
  • the bus system 705 also includes a power bus, a control bus and a status signal bus.
  • the various buses are labeled bus system 705 in FIG. 7 .
  • the user interface 703 may include a display, a keyboard or a clicking device (eg, a mouse, a trackball), a touch pad, or a touch screen, etc.
  • the memory 702 in the embodiment of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories.
  • 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), electrically removable memory. Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory.
  • Volatile memory may be 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
  • SDRAM double data rate synchronous dynamic random access memory
  • Double Data Rate SDRAM DDRSDRAM
  • enhanced SDRAM ESDRAM
  • Synchlink DRAM SLDRAM
  • Direct Rambus RAM DRRAM
  • the memory 702 described herein is intended to include, but is not limited to, these and any other suitable types of memory.
  • memory 702 stores the following elements, executable units or data structures, or subsets thereof, or extensions thereof: operating system 7021 and application programs 7022.
  • the operating system 7021 includes various system programs, such as framework layer, core library layer, driver layer, etc., which are used to implement various basic services and process hardware-based tasks.
  • Application program 7022 includes various application programs, such as media player (Media Player), browser (Browser), etc., and is used to implement various application services.
  • the program that implements the method of the embodiment of this application can be included in the application program 7022 in.
  • the processor 701 is used to execute the method steps provided by each method embodiment, for example, including :
  • the location information determine the activity trajectory of the target object in each area
  • the methods disclosed in the above embodiments of the present application can be applied to the processor 701 or implemented by the processor 701 .
  • the processor 701 may be an integrated circuit chip with signal processing capabilities. During the implementation process, each step of the above method can be completed by instructions in the form of hardware integrated logic circuits or software in the processor 701 .
  • the above-mentioned processor 701 can be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), an off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • a general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • the steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented by a hardware decoding processor, or executed by a combination of hardware and software units in the decoding processor.
  • the software unit can be located in random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, registers and other mature storage media in this field.
  • the storage medium is located in the memory 702.
  • the processor 701 reads the information in the memory 702 and completes the steps of the above method in combination with its hardware.
  • the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof.
  • the processing unit can be implemented in one or more Application Specific Integrated Circuits (ASIC), Digital Signal Processing (DSP), Digital Signal Processing Device (DSP Device, DSPD), programmable Logic device (Programmable Logic Device, PLD), Field-Programmable Gate Array (FPGA), general-purpose processor, controller, Microcontrollers, microprocessors, other electronic units for performing the functions described in this application, or combinations thereof.
  • ASIC Application Specific Integrated Circuits
  • DSP Digital Signal Processing
  • DSP Device Digital Signal Processing Device
  • DSPD Digital Signal Processing Device
  • PLD programmable Logic Device
  • FPGA Field-Programmable Gate Array
  • controller Microcontrollers, microprocessors, other electronic units for performing the functions described in this application, or combinations thereof.
  • the techniques described herein may be implemented by means of units that perform the functions described herein.
  • Software code may be stored in memory and executed by a processor.
  • the memory can be implemented in the processor or external to the processor.
  • the electronic device provided in this embodiment may be the electronic device as shown in Figure 7, and can perform all the steps of the self-mobile device deployment method in Figure 2-5, thereby realizing the self-mobile device deployment method in Figure 2-5.
  • the electronic device provided in this embodiment may be the electronic device as shown in Figure 7, and can perform all the steps of the self-mobile device deployment method in Figure 2-5, thereby realizing the self-mobile device deployment method in Figure 2-5.
  • the embodiment of the present application also provides a storage medium (computer-readable storage medium).
  • the storage medium here stores one or more programs.
  • the storage medium may include volatile memory, such as random access memory; the memory may also include non-volatile memory, such as read-only memory, flash memory, hard disk or solid state hard drive; the memory may also include the above types of memory. combination.
  • One or more programs in the storage medium can be executed by one or more processors to implement the above-described self-mobile device deployment method executed on the electronic device side.
  • the processor is configured to execute a self-mobile device deployment program stored in the memory to implement the following steps of a self-mobile device deployment method executed on the electronic device side:
  • the location information determine the activity trajectory of the target object in each area
  • RAM random access memory
  • ROM read-only memory
  • electrically programmable ROM electrically erasable programmable ROM
  • register hard disk, removable disk, CD-ROM, or any other form of storage known in the art in the medium.

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Abstract

本申请涉及一种自移动设备的部署方法、装置、电子设备及存储介质，该方法包括：获取目标对象在各个区域内的位置信息；根据所述位置信息，确定所述目标对象在各个区域内的活动轨迹；根据所述活动轨迹确定自移动设备在各个区域内的部署位置；控制所述自移动设备移动至所述部署位置。由此，可以实现根据目标对象的活动轨迹确定自移动设备的部署位置，控制自移动设备移动到部署位置，不会妨碍目标对象的日常活动。不需要目标对象走到自移动设备的附近，使自移动设备的移动更加智能，提升对象的体验感。

Description

自移动设备的部署方法、装置、电子设备及存储介质
本申请要求于2022年07月06日提交中国专利局、申请号为202210799680.2、申请名称“自移动设备的部署方法、装置、电子设备及存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及计算机技术领域，尤其涉及一种自移动设备的部署方法、装置、电子设备及存储介质。
背景技术
垃圾桶是日常生活中必不可少的生活用品，随着社会的发展和科学技术的进步，可移动垃圾桶出现在人们的日常生活中。
目前，可移动垃圾桶的部署位置固定，在用户需要丢垃圾时，还需要用户走到可移动垃圾桶的附近，可移动垃圾桶的部署不合理，用户体验不佳。
发明内容
鉴于此，为解决上述可移动垃圾桶的部署位置固定，在用户需要丢垃圾时，还需要用户走到可移动垃圾桶的附近，可移动垃圾桶的部署不合理，用户体验不佳的技术问题，本申请实施例提供一种自移动设备的部署方法、装置、电子设备及存储介质。
第一方面，本申请实施例提供一种自移动设备的部署方法，所述方法包括：
获取目标对象在各个区域内的位置信息；
根据所述位置信息，确定所述目标对象在各个区域内的活动轨迹；
根据所述活动轨迹确定自移动设备在各个区域内的部署位置；
控制所述自移动设备移动至所述部署位置。
在一可能的实施方式中，所述获取目标对象在各个区域内的位置信息， 包括：
针对任一区域，获取各个预设时间区间目标对象在所述区域内的位置信息；
所述根据所述位置信息，确定所述目标对象在各个区域内的活动轨迹，包括：
根据所述位置信息，确定各个预设时间区间所述目标对象在所述区域内的活动轨迹；
所述根据所述活动轨迹确定自移动设备在各个区域内的部署位置，包括：
根据所述活动轨迹确定各个预设时间区间自移动设备在所述区域内的部署位置；
所述控制所述自移动设备移动至所述部署位置，包括：
在各个预设时间区间之前，控制所述自移动设备移动至所述部署位置。
在一可能的实施方式中，所述针对任一区域，获取各个预设时间区间目标对象在所述区域内的位置信息，包括：
针对任一区域，获取连续时段内每一时段中各个预设时间区间目标对象在所述区域内的位置信息；
所述根据所述位置信息，确定各个预设时间区间所述目标对象在所述区域内的活动轨迹，包括：
根据所述位置信息，确定连续时段内每一时段中各个预设时间区间所述目标对象在所述区域内的活动轨迹；
所述根据所述活动轨迹确定各个预设时间区间自移动设备在所述区域内的部署位置，包括：
根据所述活动轨迹对连续时段内每一时段中各个预设时间区间进行筛选，得到目标时间区间；
从所述活动轨迹中，提取连续时段内每一时段中所述目标时间区间所述目标对象在所述区域内的目标活动轨迹；
根据目标活动轨迹，确定所述目标时间区间自移动设备在所述区域内的部署位置；
所述在各个预设时间区间之前，控制所述自移动设备移动至所述部署位置，包括：
在所述目标时间区间之前，控制所述自移动设备移动至所述部署位置。
在一可能的实施方式中，在各个区域内分别设置有电磁波设备；所述针对任一区域，获取连续时段内每一时段中各个预设时间区间目标对象在所述区域内的位置信息，包括：
针对任一区域，获取所述电磁波设备采集的连续时段内每一时段中各个预设时间区间目标对象在所述区域内的初始位置信息，所述初始位置信息为所述目标对象在电磁波设备坐标系下的相对坐标；
将所述初始位置信息转换为位置信息，其中，所述位置信息为所述目标对象在区域坐标系下的绝对坐标。
在一可能的实施方式中，所述根据所述活动轨迹对连续时段内每一时段中各个预设时间区间进行筛选，得到目标时间区间，包括：
针对连续时段内每一时段，根据所述活动轨迹确定所述时段中各个预设时间区间所述目标对象在所述区域内的活跃度，所述活跃度为所述时段中各个预设时间区间所述目标对象在所述区域内活动轨迹中位置信息的数量；
将所述时段中各个预设时间区间所述目标对象在所述区域内的所述活跃度与预设的活跃度阈值进行比较；
若所述时段中各个预设时间区间所述目标对象在所述区域内的所述活跃度均大于或等于所述活跃度阈值，则确定各个预设时间区间为目标时间区间。
在一可能的实施方式中，所述根据所述活动轨迹对连续时段内每一时段中各个预设时间区间进行筛选，得到目标时间区间，还包括：
若所述时段中各个预设时间区间所述目标对象在所述区域内的所述活跃度中，存在目标预设时间区间所述目标对象在所述区域内的活跃度小于所述活跃度阈值，则将目标预设时间区间从各个预设时间区间内删除，得到所述时段的各个剩余时间区间；
确定所述时段中各个剩余时间区间中，是否存在连续的剩余时间区间；
若所述时段中各个剩余时间区间中，不存在连续的剩余时间区间，则确 定各个剩余时间区间为目标时间区间。
在一可能的实施方式中，所述根据所述活动轨迹对连续时段内每一时段中各个预设时间区间进行筛选，得到目标时间区间，还包括：
若所述时段中各个剩余时间区间中，存在连续的剩余时间区间，则将连续的剩余时间区间进行合并，得到合并后的连续时间区间；
对连续时段内每一时段的所述连续时间区间进行并集处理，得到第一时间区间；
对连续时段内每一时段的各剩余时间区间中非连续的剩余时间区间进行并集处理，得到第二时间区间；
确定所述第一时间区间和所述第二时间区间为目标时间区间。
在一可能的实施方式中，所述根据目标活动轨迹，确定所述目标时间区间自移动设备在所述区域内的部署位置，包括：
对所述目标活动轨迹进行并集处理；
确定经过并集处理的所述目标活动轨迹的活动轨迹中心；
确定所述目标活动轨迹中所述目标对象的体积范围；
确定所述区域内障碍物的分布范围；
确定所述区域内在所述目标对象的体积范围以及所述障碍物的分布范围之外，且距离所述活动轨迹中心最近的位置为所述目标时间区间自移动设备在所述区域内的部署位置。
第二方面，本申请实施例提供一种自移动设备的部署装置，所述装置包括：
信息获取模块，用于获取目标对象在各个区域内的位置信息；
轨迹确定模块，用于根据所述位置信息，确定所述目标对象在各个区域内的活动轨迹；
位置确定模块，用于根据所述活动轨迹确定自移动设备在各个区域内的部署位置；
设备控制模块，用于控制所述自移动设备移动至所述部署位置。
第三方面，本申请实施例提供一种电子设备，包括：处理器和存储器， 所述处理器用于执行所述存储器中存储的自移动设备的部署程序，以实现第一方面中任一项所述的自移动设备的部署方法。
第四方面，本申请实施例提供一种存储介质，所述存储介质存储有一个或者多个程序，所述一个或者多个程序可被一个或者多个处理器执行，以实现第一方面中任一项所述的自移动设备的部署方法。
本申请实施例提供的技术方案，通过获取目标对象在各个区域内的位置信息，根据位置信息，确定目标对象在各个区域内的活动轨迹，根据活动轨迹确定自移动设备在各个区域内的部署位置，控制自移动设备移动至部署位置。可以采集目标对象在各个区域的位置信息，进而确定目标对象的活动轨迹，根据目标对象的活动轨迹确定自移动设备的部署位置，控制自移动设备移动到部署位置，不会妨碍目标对象的日常活动。这相比将自移动设备固定的放置在某一处地方，不需要目标对象走到自移动设备的附近，使自移动设备的移动更加智能，提升对象的体验感。
附图说明
图1为本申请实施例示出的一种自移动设备的部署系统的架构示意图；
图2为本申请实施例提供的一种自移动设备的部署方法的实施例流程图；
图3为本申请实施例提供的另一种自移动设备的部署方法的实施例流程图；
图4为本申请实施例提供的又一种自移动设备的部署方法的实施例流程图；
图5为本申请实施例提供的再一种自移动设备的部署方法的实施例流程图；
图6为本申请实施例提供的一种自移动设备的部署装置的实施例框图；
图7为本申请实施例提供的一种电子设备的结构示意图。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申 请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
为便于理解本申请实施例，下面首先结合附图对本申请涉及的自移动设备的部署系统的架构进行举例说明：
参见图1，为本申请提供的一种自移动设备的部署系统的架构示意图。如图1所示，该自移动设备的部署系统包括电磁波设备101，自移动设备102以及边缘服务器103。
其中，上述电磁波设备101，具体是指提供信息采集、信息传输服务的设备，其可以是微波雷达，红外线感应器等，本申请实施例对此不做限制。
上述自移动设备102，是指为用户提供服务，且可以移动的智能设备，其可以是可移动垃圾桶，扫地机器人等，图1中仅以可移动垃圾桶为例。
上述边缘服务器103，是指与上述电磁波设备101以及自移动设备102对应的服务器，可为其提供后台服务，包括但不限于：信息处理服务、指令下达服务等。
可以理解的是，图1中的电磁波设备和自移动设备的数量仅是示意。根据实际需要，可以包括任意数目的电磁波设备和自移动设备。
基于图1所示的系统架构，在本申请实施例中，可由电磁波设备101采集目标对象的位置信息，并将该位置信息发送至边缘服务器。边缘服务器103根据该位置信息，确定对自移动设备102的部署位置之后，向自移动设备102下达移动指令，以使自移动设备移动至上述部署位置，实现对自移动设备的部署。
下面结合附图以具体实施例对本申请提供的自移动设备的部署方法做进一步的解释说明，实施例并不构成对本申请实施例的限定。
参见图2，为本申请实施例提供的一种自移动设备的部署方法的实施例流程图。如图2所示，该流程可包括以下步骤：
步骤201、获取目标对象在各个区域内的位置信息。
其中，上述各个区域具体是指至少一个区域，其可以是目标对象的卧室、厨房等生活区域，也可以是办公室、实验室等工作区域，本申请实施例对此不做限制。在该区域内只有一个对象时，上述目标对象可以是在该区域内的唯一对象；在该区域内存在多个对象时，上述目标对象可以是提前确定的待测对象，本申请实施例对此不做限制。
在实践中，可能存在目标对象不止在一个区域内的情况(例如，0时至9时目标对象在卧室，9时至12时目标对象在客厅)，导致一个区域内的电磁波设备所采集的目标对象的位置信息可能存在空白，此时，目标对象可能在其他的区域内。因此，可在各个区域内分别放置一个电磁波设备，以使电磁波设备可采集所属区域内目标对象的位置信息。
在一实施例中，该方法可应用于边缘服务器，例如图1中所示例的边缘服务器103。由图1所示例的系统架构可知，可通过电磁波设备101周期性地采集目标对象在各个区域内的位置信息，并上传至边缘服务器103，以使边缘服务器103可接收到上述电磁波设备101采集的目标对象在各个区域内的位置信息。如此，边缘服务器可获取目标对象在各个区域内的位置信息。
步骤202、根据位置信息，确定目标对象在各个区域内的活动轨迹。
上述位置信息是指目标对象在各个区域内的位置信息。上述活动轨迹是与上述位置信息对应的目标对象在各个区域内的活动轨迹。
可选的，为了清楚地表现目标对象在各个区域内的活动轨迹，上述活动轨迹以热力图的形式表现。
需要说明的是，以上仅仅是活动轨迹的具体形式的示例性说明，在实践中，活动轨迹还可以为其他具体形式(例如线条等)，本申请实施例对此不做限制。此外，本申请实施例对活动轨迹的数量也不做限制。
步骤203、根据活动轨迹确定自移动设备在各个区域内的部署位置。
其中，上述部署位置是指对自移动设备在各个区域内进行部署的位置。
在实践中，在区域内可能存在一些由于一些原因无法移动的障碍物，假设，区域为目标对象的卧室，那么，在卧室内可能存在床、化妆桌等障碍物。
由上述描述可见，在一实施例中，为避免自移动设备在各个区域内影响 目标对象的日常活动，且为了节省时间，因此，可根据上述目标对象在各个区域内的活动轨迹，确定满足预设条件的部署位置。其中，上述预设条件可包括在障碍物的分布范围以及活动轨迹范围之外，且距离活动轨迹中心最近。如此，可确定自移动设备在各个区域内的部署位置。
步骤204、控制自移动设备移动至部署位置。
由上述描述可见，在一实施例中，该方法可应用于边缘服务器，例如图1中所示例的边缘服务器103。在确定自移动设备在各个区域内的部署位置之后，边缘服务器103可下达控制指令给自移动设备，以使自移动设备可响应边缘服务器103下达的控制指令，移动到上述部署位置。如此，实现了控制自移动设备移动到部署位置。
举例来说，假设部署位置为区域的中心位置，自移动设备当前处于区域的东南角位置。那么，按照上述描述，边缘服务器103可下达控制指令给自移动设备，以使自移动设备可响应边缘服务器103下达的控制指令，移动到区域的中心位置。
此外，在一实施例中，上述自移动设备的部署方法还可应用于自移动设备，例如图1中所示例的自移动设备102。通过电磁波设备周期性地采集目标对象在各个区域内的位置信息并发送给自移动设备102，以使自移动设备102接收到位置信息后，确定目标对象在各个区域内的活动轨迹，以及自移动设备102在各个区域内的部署位置，进而移动至上述部署位置。
需要说明的是，以上仅仅是自移动设备的部署方法的执行主体的示例性说明，在实践中，还可为其他执行主体(例如云服务器等)，本申请实施例对此不做限制。
至此，完成图2所示流程的相关描述。
通过图2所示流程可以看出，在本申请的技术方案中，通过获取目标对象在各个区域内的位置信息，根据位置信息，确定目标对象在各个区域内的活动轨迹，根据活动轨迹确定自移动设备在各个区域内的部署位置，控制自移动设备移动至部署位置。可以采集目标对象在各个区域的位置信息，进而确定目标对象的活动轨迹，根据目标对象的活动轨迹确定自移动设备的部署 位置，控制自移动设备移动到部署位置，不会妨碍目标对象的日常活动。这相比将自移动设备固定的放置在某一处地方，不需要目标对象走到自移动设备的附近，使自移动设备的移动更加智能，提升对象的体验感。
参见图3，为本申请实施例提供的另一种自移动设备的部署方法的实施例流程图。该图3所示流程在上述图2所示流程的基础上，可包括以下步骤：
步骤301、针对任一区域，获取各个预设时间区间目标对象在区域内的位置信息。
由图2所示流程的描述可见，为提高准确率，各个区域内的电磁波设备可周期性地采集目标对象在一段时间内的位置信息。在实践中，可能存在一段时间内(例如一天)目标对象不止在一个区域内的情况(例如，0时至9时目标对象在卧室，9时至12时目标对象在客厅)，导致一个区域内的电磁波设备在一段时间内所采集的目标对象的位置信息可能存在空白，此时，目标对象可能在其他的区域内。因此，可获取一段时间内目标对象在各个区域内的位置信息。
可选的，为实现各个区域内的电磁波设备可周期性地采集目标对象在一段时间内的位置信息，可将上述一段时间划分成多个预设时间区间，以便按照预设时间区间统计目标对象的位置信息。由此可见，上述各个预设时间区间包括至少一个预设时间区间。假设上述一段时间为一天，那么，预设时间区间可以为一个小时。
基于此，在存在至少一个区域时，可针对任一区域，获取各个预设时间区间目标对象在该区域内的位置信息。如此，边缘服务器可获取到各个预设时间区间目标对象在各个区域内的位置信息。
举例来说，假设存在两个区域：卧室和客厅，并假设一段时间为一天，且预设时间区间为1个小时。那么，针对这两个区域中任一区域，获取24个预设时间区间目标对象在区域内的位置信息，具体包括在卧室内的位置信息和在客厅内的位置信息。
步骤302、根据位置信息，确定各个预设时间区间目标对象在区域内的活动轨迹。
由上述描述可见，上述位置信息为一段时间内目标对象在各个区域内的位置信息。相应的，根据该位置信息，可确定一段时间内目标对象在各个区域内的活动轨迹。其中，活动轨迹用于表现目标对象在各个预设时间区间各个区域的活动，其可以是热力图，也可以是线条或其他表现形式，本申请实施例对此不做限制。
举例来说，假设存在两个区域：卧室和客厅，并假设一段时间为一天，且预设时间区间为1个小时。那么，针对上述两个区域中任一区域，根据24个预设时间区间目标对象在该区域内的位置信息，确定24个预设时间区间目标对象在该区域内的活动轨迹，具体包括：在卧室内的活动轨迹和在客厅内的活动轨迹。
步骤303、根据活动轨迹确定各个预设时间区间自移动设备在区域内的部署位置。
由步骤203的描述可见，为避免影响目标对象在上述区域内的日常活动，且为了节省时间，上述部署位置为上述区域内在该区域内障碍物以及活动轨迹的范围之外，且距离活动轨迹中心最近的位置。
针对任一区域，在确定各个预设时间区间目标对象在区域内的活动轨迹之后，可根据活动轨迹确定各个预设时间区间自移动设备在区域内的部署位置。
举例来说，假设存在两个区域：卧室和客厅，一段时间为一天，且预设时间区间为1个小时，并假设目标对象在0时至12时在卧室，12时至24时在客厅。那么，基于上述描述，可根据24个预设时间区间目标对象分别在卧室和客厅的活动轨迹，确定24个预设时间区间目标对象在卧室和客厅的部署位置，包括：0时至12时目标对象在卧室的第一部署位置和12时至24时目标对象在客厅的第二部署位置。
步骤304、在各个预设时间区间之前，控制自移动设备移动至部署位置。
步骤304的详细描述可参见步骤204的相关描述，这里不再赘述。
举例来说，假设存在两个区域：卧室和客厅，一段时间为一天，且预设时间区间为1个小时，并假设目标对象在0时至12时在卧室，12时至24时 在客厅。那么，基于上述描述，在确定24个预设时间区间目标对象分别在卧室和客厅内的部署位置(具体为0时至12时目标对象在卧室的第一部署位置和12时至24时目标对象在客厅的第二部署位置)之后，可在0时至12时之前，控制自移动设备移动至第一部署位置，并在12时至24时之前，控制该自移动设备移动至第二部署位置。
通过这种处理方式，可控制自移动设备在预设时间区间之前，移动至部署位置，实现智能化部署，省去了目标对象寻找自移动设备的时间，提高效率。
至此，完成图3所示流程的相关描述。
在本申请的技术方案中，通过针对任一区域，获取各个预设时间区间目标对象在区域的位置信息；并根据位置信息，确定各个预设时间区间目标对象在区域内的活动轨迹，根据活动轨迹确定各个预设时间区间自移动设备在区域内的部署位置，进而在各个预设时间区间之前，控制自移动设备移动至部署位置。由此，可实现自移动设备在各个预设时间区间之前，移动至各个区域内的部署位置，避免目标对象在各个预设时间区间各个区域内寻找自移动设备，节省时间，提升对象的体验感。
参见图4，为本申请实施例提供的又一种自移动设备的部署方法的实施例流程图。该图4所示流程在上述图3所示流程的基础上，可包括以下步骤：
步骤401、针对任一区域，获取连续时段内每一时段中各个预设时间区间目标对象在区域内的位置信息。
在一实施例中，为提高自移动设备在各个预设时间区间各个区域内移动的准确率，可获取连续时段内目标对象在各个区域内的位置信息。其中，上述连续时段可以是一周，也可以一个月，本申请实施例对此不做限制。
由图2和图3所示流程的描述可见，可通过各个区域内的电磁波设备采集连续时段内每一时段中各预设时间区间目标对象在各个区域内的位置信息，并将采集到的位置信息上传至边缘服务器。边缘服务器可获取到连续时段内每一时段各个预设时间区间目标对象在各个区域内的位置信息。
步骤402、根据位置信息，确定连续时段内每一时段中各个预设时间区间 目标对象在区域内的活动轨迹。
由上述描述可见，上述位置信息为连续时段内每一时段中各个预设时间区间目标对象在各个区域内的位置信息。例如，假设连续时段为7天，每一时段为一天，各个预设时间区间为24个预设时间区间，各个区域为办公室。那么，上述位置信息为7天内每一天中24个预设时间区间目标对象在办公室内的位置信息。如此，针对任一区域，根据上述位置信息，可确定连续时段内每一时段中各个预设时间区间目标对象在区域内的活动轨迹。
由步骤302的描述可见，上述活动轨迹用于表现目标对象在各个预设时间区间各个区域的活动，其可以是热力图，也可以是线条或其他表现形式，本申请实施例对此不做限制。
步骤403、根据活动轨迹对连续时段内每一时段中各个预设时间区间进行筛选，得到目标时间区间。
步骤404、从活动轨迹中，提取连续时段内每一时段中目标时间区间目标对象在区域内的目标活动轨迹。
步骤405、根据目标活动轨迹，确定目标时间区间自移动设备在区域内的部署位置。
步骤406、在目标时间区间之前，控制自移动设备移动至部署位置。
以下对步骤403至步骤406进行统一描述：
在实践中，针对任一区域来说，可能存在目标对象在某一个或多个预设时间区间不在该区域内。因此，为准确部署自移动设备，可确定目标对象出现在该区域的目标时间区间，以使自移动设备可在目标时间区间之前，移动至该区域内的部署位置。
并且，还可能存在某些原因，导致目标对象短时间出现在某一区域，这就可能导致因为一次突发情况，自移动设备无法在目标时间区间之前，移动至该区域的部署位置。因此，为了避免突发情况的影响，可根据连续时段内每一时段中各个预设时间区间目标对象在该区域内的活动轨迹进行筛选，确定连续时段内每一时段中各个预设时间区间中有效的时间区间为目标时间区间。
相应的，从连续时段内每一时段中各个预设时间区间目标对象在该区域内的活动轨迹中，提取出连续时段内每一时段中目标时间区间目标对象在区域内的目标活动轨迹。以便边缘服务器可根据目标活动轨迹，从确定目标时间区间自移动设备在区域内的部署位置，进而，在目标时间区间之前，边缘服务器可控制自移动设备移动至上述部署位置。如此，可实现自移动设备根据目标对象的活动轨迹，进行智能移动，提升对象的体验感。
至于如何确定部署位置以及控制自移动设备移动至部署位置，在上述图2和图3所示流程中进行详细描述，这里不再赘述。
至此，完成图4所示流程的相关描述。
在本申请的技术方案中，通过针对任一区域，获取连续时段内每一时段中各个预设时间区间目标对象在区域的位置信息，根据位置信息，确定连续时段内每一时段中各个预设时间区间目标对象在区域内的活动轨迹。再根据活动轨迹对连续时段内每一时段中各个预设时间区间进行筛选，得到目标时间区间。从活动轨迹中，提取连续时段内每一时段中目标时间区间对象在区域的目标活动轨迹。根据目标活动轨迹，确定目标时间区间自移动设备在区域内的部署位置，进而在目标时间区间之前，控制自移动设备移动至部署位置。由此，可实现根据目标对象的位置信息，确定活动轨迹，并根据活动轨迹对自移动设备进行部署，无需目标对象寻找并走到固定的自移动设备附近，提高效率，提升对象的体验感。
参见图5，为本申请实施例提供的再一种自移动设备的部署方法的实施例流程图。该图5所示流程在上述图4所示流程的基础上，可包括以下步骤：
步骤501、在各个区域内分别设置有电磁波设备；针对任一区域，获取电磁波设备采集的连续时段内每一时段中各个预设时间区间目标对象在区域内的初始位置信息，初始位置信息为目标对象在电磁波设备坐标系下的相对坐标。
步骤502、将初始位置信息转换为位置信息，其中，位置信息为目标对象在区域坐标系下的绝对坐标。
以下对步骤501和步骤502进行统一描述：
由上述描述可见，在实践中，可能存在目标对象不止在一个区域内的情况，导致一个区域内的电磁波设备所采集的目标对象的位置信息可能存在空白，此时，目标对象可能在其他的区域内。因此，可在各个区域内分别设置电磁波设备，以使电磁波设备可采集目标对象在各个区域内的位置信息。
在一实施例中，为清楚表述电磁波设备所采集的目标对象的位置信息，该位置信息可以是坐标。上述电磁波设备可以是微波雷达，相应的，上述初始位置信息可以是目标对象在微波雷达坐标系下的相对坐标，也即目标对象相对于微波雷达的坐标。
在本申请实施例中，为方便整理在各个区域内目标对象的位置信息，以及消除不同区域内不同位置下的各个电磁波设备所采集的在不同电磁波坐标系下的初始位置信息，并根据初始位置信息确定目标对象在各个区域内的活动轨迹的影响，可将电磁波设备针对任一区域，采集的连续时段内每一时段中各个预设时间区间目标对象在区域内的电磁波坐标系下的相对坐标转换为在区域坐标系下的绝对坐标，也即将初始位置信息转换为位置信息。如此，可得到在同一区域坐标系下，连续时段内每一时段中各个预设时间区间目标对象在各个区域内的位置信息。
其中，上述区域坐标系可以是以任一区域中的一点为中心而建立的坐标系，也可以是以各个区域所属的目标环境中的一点为中心而建立的坐标系，本申请实施例对此不做限制。上述绝对坐标为目标对象在区域坐标系下的坐标值。并且，该区域坐标系可以是空间坐标系，也可以平面坐标系，本申请实施例对此不做限制。
举例来说，假设各个区域分别为：卧室、客厅、厨房。那么，可以以上述卧室平面图的东北角为中心，建立区域坐标系。
再假设各个区域分别为：卧室、客厅、厨房。那么，可以以上述各个区域对应的房屋的房屋平面图中西北角为中心，建立区域坐标系。
举例来说，假设电磁波设备采集到目标对象在卧室的初始位置信息为(-1，-1)，并假设卧室平面图为长为3，宽2的长方形平面图，电磁波坐标是以卧室西南角为中心所建立的平面坐标系，区域坐标系为以卧室东北角为中心建 立的平面坐标系。那么，按照上述描述，将初始位置信息转换为位置信息，也即将相对坐标(-1，-1)转换为活动坐标系下的绝对坐标(2，1)。
可选的，可确定上述电磁波设备对应的电磁波坐标系以及电磁波设备的朝向，根据朝向计算电磁波坐标系和区域坐标系之间的夹角，将该夹角、初始位置信息代入预设的坐标转换计算公式中，得到位置信息。
步骤503、根据位置信息，确定连续时段内每一时段中各个预设时间区间目标对象在区域内的活动轨迹。
至于步骤503的详细描述，可参见图4所示流程中步骤402的相关描述，这里不再赘述。
步骤504、针对连续时段内每一时段，根据活动轨迹确定时段中各个预设时间区间目标对象在区域内的活跃度，活跃度为时段中各个预设时间区间目标对象在区域内活动轨迹中位置信息的数量。
步骤505、将时段中各个预设时间区间目标对象在区域内的活跃度与预设的活跃度阈值进行比较；若时段中各个预设时间区间目标对象在区域内的活跃度均大于或等于活跃度阈值，则执行步骤506；若时段中各个预设时间区间目标对象在区域内的活跃度中，存在目标预设时间区间目标对象在区域内的活跃度小于活跃度阈值，则执行步骤507。
步骤506、确定各个预设时间区间为目标时间区间。
步骤507、将目标预设时间区间从各个预设时间区间内删除，得到时段的各个剩余时间区间。
以下对步骤504至步骤507进行统一描述：
由上述图4所示流程中的描述可见，可能存在某些原因，导致目标对象短时间出现在某一区域，为了避免目标对象短时间出现在区域内而导致目标对象的活动轨迹发生短时间的转折，进而导致自移动设备的部署位置不够准确。因此，可对目标对象的活动轨迹进行筛选。
具体的，在本申请实施例中，可针对任一区域以及针对连续时段内每一时段，根据目标对象在该时段中各个预设时间区间目标对象在区域内的活动轨迹，确定时段中各个预设时间区间目标对象在区域内的活跃度。将时段中 各个预设时间区间目标对象在区域内的活跃度与预设的活跃度阈值(例如100)进行比较，以对目标对象的活动轨迹进行筛选，进而确定目标时间区间。
上述活跃度为连续时段内每一时段中各个预设时间区间目标对象在区域内活动轨迹中位置信息的数量，也即电磁设备周期采集目标对象在区域内的出现次数。
例如，电磁波设备每一分钟采集一次目标对象在区域内的位置信息，并假设目标对象在区域中待了一个小时。那么，按照上述描述，可确定一个预设时间区间目标对象在区域内活动轨迹中位置信息的数量为60，也即活跃度为60。
若时段中各个预设时间区间目标对象在区域内的活跃度均大于或等于活跃度阈值，则说明该时段中各个预设时间区间目标对象在区域内的活动轨迹都属于有效的活动轨迹，并不存在短时间出现在区域内的活动轨迹，因此，可确定各个预设时间区间为目标时间区间。
若时段中各个预设时间区间目标对象在区域内的活跃度中，存在目标预设时间区间目标对象在区域内的活跃度小于活跃度阈值，则说明该时段中各个预设时间区间目标对象在区域内的活动轨迹，存在短时间出现在区域内的活动轨迹。基于此，可将上述目标预设时间区间从各个预设时间区间内删除，得到剩余时间区间。
例如，假设早上10时目标对象去卧室取东西，此时，确定早上10时目标对象在卧室的活跃度为2，活跃度阈值为30。那么，可以确定目标对象在卧室内的活跃度可能小于活跃度阈值，则将10时从各个预设时间区间内删除。
此外，假设活动轨迹以热力图的形式表现，那么，可根据热力图，快速的确定活跃度大于或等于活跃度阈值的各个预设时间区间，以及活跃度小于活跃度阈值的目标预设时间区间，进而，确定目标时间区间。以使可移动设备可在目标时间区间之前，移动至对应的区域内的部署位置。
通过这种处理，可以根据活动轨迹，筛选出有效的活动轨迹以及对应的目标时间区间。
步骤508、确定时段中各个剩余时间区间中，是否存在连续的剩余时间区 间；若不存在，则执行步骤509；若存在，则执行步骤510。
步骤509、确定各个剩余时间区间为目标时间区间。
步骤510、将连续的剩余时间区间进行合并，得到合并后的连续时间区间。
步骤511、对连续时段内每一时段的连续时间区间进行并集处理，得到第一时间区间。
步骤512、对连续时段内每一时段的各剩余时间区间中非连续的剩余时间区间进行并集处理，得到第二时间区间。
步骤513、确定第一时间区间和第二时间区间为目标时间区间。
以下对步骤508至步骤513进行统一描述：
由上述描述可见，在确定时段中各个预设时间区间目标对象在区域内的活跃度中，存在目标预设时间区间目标对象在区域内的活跃度小于活跃度阈值时，可将上述目标预设时间区间从各个预设时间区间内删除，得到剩余时间区间。
在本申请实施例中，由于将每一时段划分为多个预设时间区间，使得在该区域内目标对象在该时段中各个剩余时间区间的活动轨迹，可能存在连续的剩余时间区间的活动轨迹，因此，为方便统计，可将连续的预设时间区间进行合并。
基于上述描述，在将上述目标预设时间区间从各个预设时间区间内删除，得到剩余时间区间之后，可确定时段中各个剩余时间区间中，是否存在连续的剩余时间区间，以确定目标时间区间。
若时段中各个剩余时间区间中，不存在连续的剩余时间区间，则可确定各个剩余时间区间为目标时间区间。
若时段中各个剩余时间区间中，存在连续的剩余时间区间，则将连续的剩余时间区间进行合并，得到合并后的连续时间区间。
例如，假设早上7时至8时，8时至9时，这两个剩余时间区间目标对象在区域内的活跃度大于或等于活跃度阈值，则可将上述两个剩余时间区间进行合并，得到连续时间区间为7时至9时。
之后，可对连续时段内每一时段的连续时间区间进行并集处理，得到第 一时间区间；对连续时段内每一时段的各剩余时间区间中非连续的剩余时间区间进行并集处理，得到第二时间区间，最终，确定第一时间区间和第二时间区间为目标时间区间。如此，可得到连续时段内每一时段各个预设时间区间目标对象在各个区域内的有效时间区间，也即目标时间区间。
举例来说，假设连续时段为7天，并假设连续7天每一天目标对象在第一区域内的剩余时间区间分别为：7时至9时，7时至9时、11时至12时，7时至10时、11时至13时，7时至10时，7时至10时，8时至10时、11时至13时。那么，按照上述描述，可将上述各剩余时间区间进行并集处理，得到目标时间区间为：7时至10时、11时至13时。
步骤514、从活动轨迹中，提取连续时段内每一时段中目标时间区间目标对象在区域内的目标活动轨迹。
至于步骤514的详细描述，可参见图4所示流程中步骤404的相关描述，这里不再赘述。
步骤515、对目标活动轨迹进行并集处理。
步骤516、确定经过并集处理的目标活动轨迹的活动轨迹中心。
步骤517、确定目标活动轨迹中目标对象的体积范围。
步骤518、确定区域内障碍物的分布范围。
步骤519、确定区域内在目标对象的体积范围以及障碍物的分布范围之外，且距离活动轨迹中心最近的位置为目标时间区间自移动设备在区域内的部署位置。
步骤520、在目标时间区间之前，控制自移动设备移动至部署位置。
以下对步骤515至步骤520进行统一描述：
由上述描述可见，在从连续时段内每一时段中各个预设时间区间目标对象在各个区域内的活动轨迹中，提取得到连续时段内每一时段中目标时间区间目标对象在各个区域内的目标活动轨迹之后，可对连续时段内每一时段中目标对象在各个区域内的目标活动轨迹进行并集处理。
例如，假设连续时段内每一时段中目标对象在第一区域内的目标活动轨迹为轨迹A，连续时段内每一时段中目标对象在第一区域内的目标活动轨迹 为轨迹B。那么，按照上述描述，对目标活动轨迹进行并集处理，可得到经过并集处理的目标活动轨迹为{轨迹A，轨迹B}。
进而，由于目标对象是有体积的，因此，目标对象在区域内会占用区域中一部分的体积范围。并且在各个区域内，可能存在障碍物，而障碍物也会占用所属区域中一部分的分布范围。因此，可确定上述经过并集处理的目标活动轨迹的活动轨迹中心，活动轨迹中目标对象的体积范围，以及各个区域内障碍物的分布范围。
在一实施例中，为避免自移动设备在各个区域内影响目标对象的日常活动，且为了节省时间，可确定各个区域内在目标对象的体积范围以及障碍物的分布范围之外，且距离活动轨迹中心最近的位置为目标时间区间自移动设备在各个区域内的部署位置。如此，可在目标时间区间之前，控制自移动设备移动至上述部署位置，提升体验感。
举例来说，假设各个区域包括第一区域和第二区域，并且第一区域对应的目标时间区间为8时至10时，第二区域对应的目标时间区间为13时至15时，并假设第一区域内的部署位置为位置a，第二区域内的部署位置为位置b。那么，按照上述描述，可在8时至10时之前，控制自移动设备移动至第一区域内的位置a，在13时至15时之前，控制自移动设备移动至第一区域内的位置b。
此外，若各个区域内，存在多个自移动设备，那么在目标时间之前，可选择距离目标区域目标部署位置最近的自移动设备，将该自移动设备移动至目标区域内的部署位置。
若存在一个自移动设备，且同一目标时间区间内，存在目标对象在多个区域的活跃度均大于或等于活跃度阈值，则选择活跃度最高的区域为目标区域，进而确定目标区域内的部署位置，在目标时间区间之前，控制该自移动设备移动至部署位置。
基于上述描述，若存在多个自移动设备，且同一目标时间区间内，存在目标对象在多个区域的活跃度均大于或等于活跃度阈值，则选择活跃度较高的几个区域为目标区域，进而确定活跃度较高的几个区域的部署位置，在目 标时间区间之前，控制距离最近的自移动设备移动至部署位置。
需要说明的是，以上仅仅是部署自移动设备的具体形式的示例性说明，在实践中，部署自移动设备还可以为其他具体形式，本申请实施例对此不做限制。此外，本申请实施例对区域的数量以及自移动设备的种类、数量也不做限制。
通过上述处理方式，可实现根据目标对象在各个预设时间区间各个区域内的活动轨迹，智能部署自移动设备，提高效率，提升体验感。
与前述自移动设备的部署方法的实施例相对应，本申请还提供装置的实施例框图。
参见图6，为本申请实施例提供的一种自移动设备的部署装置的实施例框图。如图6所示，该装置包括：
信息获取模块601，用于获取目标对象在各个区域内的位置信息；
轨迹确定模块602，用于根据所述位置信息，确定所述目标对象在各个区域内的活动轨迹：
位置确定模块603，用于根据所述活动轨迹确定自移动设备在各个区域内的部署位置；
设备控制模块604，用于控制所述自移动设备移动至所述部署位置。
在一可能的实施方式中，所述信息获取模块601，包括(图中未示出)：
信息获取子模块，用于针对任一区域，获取各个预设时间区间目标对象在所述区域内的位置信息；
所述轨迹确定模块602，包括(图中未示出)：
轨迹确定子模块，用于根据所述位置信息，确定各个预设时间区间所述目标对象在所述区域内的活动轨迹；
所述位置确定模块603，包括(图中未示出)：
位置确定子模块，用于根据所述活动轨迹确定各个预设时间区间自移动设备在所述区域内的部署位置；
所述设备控制模块604，包括(图中未示出)：
设备控制子模块，用于在各个预设时间区间之前，控制所述自移动设备 移动至所述部署位置。
在一可能的实施方式中，所述信息获取子模块，包括(图中未示出)：
信息获取单元，用于针对任一区域，获取连续时段内每一时段中各个预设时间区间目标对象在所述区域内的位置信息；
所述轨迹确定子模块，包括(图中未示出)：
轨迹确定单元，用于根据所述位置信息，确定连续时段内每一时段中各个预设时间区间所述目标对象在所述区域内的活动轨迹；
所述位置确定子模块，包括(图中未示出)：
目标时间区间确定单元，用于根据所述活动轨迹对连续时段内每一时段中各个预设时间区间进行筛选，得到目标时间区间；
目标活动轨迹确定单元，用于从所述活动轨迹中，提取连续时段内每一时段中所述目标时间区间所述目标对象在所述区域内的目标活动轨迹；
位置确定单元，用于根据目标活动轨迹，确定所述目标时间区间自移动设备在所述区域内的部署位置；
所述设备控制子模块，包括(图中未示出)：
设备控制单元，用于在所述目标时间区间之前，控制所述自移动设备移动至所述部署位置。
在一可能的实施方式中，在各个区域内分别设置有电磁波设备；所述信息获取单元，具体用于：
针对任一区域，获取所述电磁波设备采集的连续时段内每一时段中各个预设时间区间目标对象在所述区域内的初始位置信息，所述初始位置信息为所述目标对象在电磁波设备坐标系下的相对坐标；
将所述初始位置信息转换为位置信息，其中，所述位置信息为所述目标对象在区域坐标系下的绝对坐标。
在一可能的实施方式中，所述目标时间区间确定单元，具体用于：
针对连续时段内每一时段，根据所述活动轨迹确定所述时段中各个预设时间区间所述目标对象在所述区域内的活跃度，所述活跃度为所述时段中各个预设时间区间所述目标对象在所述区域内活动轨迹中位置信息的数量；
将所述时段中各个预设时间区间所述目标对象在所述区域内的所述活跃度与预设的活跃度阈值进行比较；
若所述时段中各个预设时间区间所述目标对象在所述区域内的所述活跃度均大于或等于所述活跃度阈值，则确定各个预设时间区间为目标时间区间。
在一可能的实施方式中，所述目标时间区间确定单元，还用于：
若所述时段中各个预设时间区间所述目标对象在所述区域内的所述活跃度中，存在目标预设时间区间所述目标对象在所述区域内的活跃度小于所述活跃度阈值，则将目标预设时间区间从各个预设时间区间内删除，得到所述时段的各个剩余时间区间；
确定所述时段中各个剩余时间区间中，是否存在连续的剩余时间区间；
若所述时段中各个剩余时间区间中，不存在连续的剩余时间区间，则确定各个剩余时间区间为目标时间区间。
在一可能的实施方式中，所述目标时间区间确定单元，还用于：
若所述时段中各个剩余时间区间中，存在连续的剩余时间区间，则将连续的剩余时间区间进行合并，得到合并后的连续时间区间；
对连续时段内每一时段的所述连续时间区间进行并集处理，得到第一时间区间；
对连续时段内每一时段的各剩余时间区间中非连续的剩余时间区间进行并集处理，得到第二时间区间；
确定所述第一时间区间和所述第二时间区间为目标时间区间。
在一可能的实施方式中，所述位置确定单元，具体用于：
对所述目标活动轨迹进行并集处理；
确定经过并集处理的所述目标活动轨迹的活动轨迹中心；
确定所述目标活动轨迹中所述目标对象的体积范围；
确定所述区域内障碍物的分布范围；
确定所述区域内在所述目标对象的体积范围以及所述障碍物的分布范围之外，且距离所述活动轨迹中心最近的位置为所述目标时间区间自移动设备在所述区域内的部署位置。
图7为本申请实施例提供的一种电子设备的结构示意图，图7所示的电子设备700包括：至少一个处理器701、存储器702、至少一个网络接口704和用户接口703。电子设备700中的各个组件通过总线系统705耦合在一起。可理解，总线系统705用于实现这些组件之间的连接通信。总线系统705除包括数据总线之外，还包括电源总线、控制总线和状态信号总线。但是为了清楚说明起见，在图7中将各种总线都标为总线系统705。
其中，用户接口703可以包括显示器、键盘或者点击设备(例如，鼠标，轨迹球(trackball))、触感板或者触摸屏等。
可以理解，本申请实施例中的存储器702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)。本文描述的存储器702旨在包括但不限于这些和任意其它适合类型的存储器。
在一些实施方式中，存储器702存储了如下的元素，可执行单元或者数据结构，或者他们的子集，或者他们的扩展集：操作系统7021和应用程序7022。
其中，操作系统7021，包含各种系统程序，例如框架层、核心库层、驱动层等，用于实现各种基础业务以及处理基于硬件的任务。应用程序7022，包含各种应用程序，例如媒体播放器(Media Player)、浏览器(Browser)等，用于实现各种应用业务。实现本申请实施例方法的程序可以包含在应用程序 7022中。
在本申请实施例中，通过调用存储器702存储的程序或指令，具体的，可以是应用程序7022中存储的程序或指令，处理器701用于执行各方法实施例所提供的方法步骤，例如包括：
获取目标对象在各个区域内的位置信息；
根据所述位置信息，确定所述目标对象在各个区域内的活动轨迹；
根据所述活动轨迹确定自移动设备在各个区域内的部署位置；
控制所述自移动设备移动至所述部署位置。
上述本申请实施例揭示的方法可以应用于处理器701中，或者由处理器701实现。处理器701可能是一种集成电路芯片，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701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701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申请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。结合本申请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单元组合执行完成。软件单元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702，处理器701读取存储器702中的信息，结合其硬件完成上述方法的步骤。
可以理解的是，本文描述的这些实施例可以用硬件、软件、固件、中间件、微码或其组合来实现。对于硬件实现，处理单元可以实现在一个或多个专用集成电路(Application Specific Integrated Circuits，ASIC)、数字信号处理器(Digital Signal Processing，DSP)、数字信号处理设备(DSP Device，DSPD)、可编程逻辑设备(Programmable Logic Device，PLD)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)、通用处理器、控制器、 微控制器、微处理器、用于执行本申请所述功能的其它电子单元或其组合中。
对于软件实现，可通过执行本文所述功能的单元来实现本文所述的技术。软件代码可存储在存储器中并通过处理器执行。存储器可以在处理器中或在处理器外部实现。
本实施例提供的电子设备可以是如图7中所示的电子设备，可执行如图2-5中自移动设备的部署方法的所有步骤，进而实现图2-5中自移动设备的部署方法的技术效果，具体请参照图2-5相关描述，为简洁描述，在此不作赘述。
本申请实施例还提供了一种存储介质(计算机可读存储介质)。这里的存储介质存储有一个或者多个程序。其中，存储介质可以包括易失性存储器，例如随机存取存储器；存储器也可以包括非易失性存储器，例如只读存储器、快闪存储器、硬盘或固态硬盘；存储器还可以包括上述种类的存储器的组合。
当存储介质中一个或者多个程序可被一个或者多个处理器执行，以实现上述在电子设备侧执行的自移动设备的部署方法。
所述处理器用于执行存储器中存储的自移动设备的部署程序，以实现以下在电子设备侧执行的自移动设备的部署方法的步骤：
获取目标对象在各个区域内的位置信息；
根据所述位置信息，确定所述目标对象在各个区域内的活动轨迹；
根据所述活动轨迹确定自移动设备在各个区域内的部署位置；
控制所述自移动设备移动至所述部署位置。
专业人员应该还可以进一步意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
结合本文中所公开的实施例描述的方法或算法的步骤可以用硬件、处理器执行的软件模块，或者二者的结合来实施。软件模块可以置于随机存储器 (RAM)、内存、只读存储器(ROM)、电可编程ROM、电可擦除可编程ROM、寄存器、硬盘、可移动磁盘、CD-ROM、或技术领域内所公知的任意其它形式的存储介质中。
以上所述的具体实施方式，对本申请的目的、技术方案和有益效果进行了进一步详细说明，所应理解的是，以上所述仅为本申请的具体实施方式而已，并不用于限定本申请的保护范围，凡在本申请的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (11)

  1. 一种自移动设备的部署方法，所述方法包括：
    获取目标对象在各个区域内的位置信息；
    根据所述位置信息，确定所述目标对象在所述各个区域内的活动轨迹；
    根据所述活动轨迹确定自移动设备在所述各个区域内的部署位置；
    控制所述自移动设备移动至所述部署位置。
  2. 根据权利要求1所述的方法，其中，所述获取目标对象在各个区域内的位置信息，包括：
    针对任一区域，获取各个预设时间区间所述目标对象在所述区域内的位置信息；
    所述根据所述位置信息，确定所述目标对象在所述各个区域内的活动轨迹，包括：
    根据所述位置信息，确定所述各个预设时间区间所述目标对象在所述区域内的活动轨迹；
    所述根据所述活动轨迹确定自移动设备在各个区域内的部署位置，包括：
    根据所述活动轨迹确定所述各个预设时间区间所述自移动设备在所述区域内的所述部署位置；
    所述控制所述自移动设备移动至所述部署位置，包括：
    在所述各个预设时间区间之前，控制所述自移动设备移动至所述部署位置。
  3. 根据权利要求2所述的方法，其中，
    所述针对任一区域，获取各个预设时间区间目标对象在所述区域内的位置信息，包括：
    针对任一区域，获取连续时段内每一时段中所述各个预设时间区间所述目标对象在所述区域内的位置信息；
    所述根据所述位置信息，确定各个预设时间区间所述目标对象在所述区域内的活动轨迹，包括：
    根据所述位置信息，确定连续时段内每一时段中所述各个预设时间区间 所述目标对象在所述区域内的活动轨迹；
    所述根据所述活动轨迹确定各个预设时间区间自移动设备在所述区域内的部署位置，包括：
    根据所述活动轨迹对连续时段内每一时段中所述各个预设时间区间进行筛选，得到目标时间区间；
    从所述活动轨迹中，提取连续时段内每一时段中所述目标时间区间所述目标对象在所述区域内的目标活动轨迹；
    根据所述目标活动轨迹，确定所述目标时间区间所述自移动设备在所述区域内的部署位置；
    所述在各个预设时间区间之前，控制所述自移动设备移动至所述部署位置，包括：
    在所述目标时间区间之前，控制所述自移动设备移动至所述部署位置。
  4. 根据权利要求3所述的方法，其中，在各个区域内分别设置有电磁波设备；所述针对任一区域，获取连续时段内每一时段中所述各个预设时间区间目标对象在所述区域内的位置信息，包括：
    针对任一区域，获取所述电磁波设备采集的连续时段内每一时段中所述各个预设时间区间所述目标对象在所述区域内的初始位置信息，所述初始位置信息为所述目标对象在电磁波设备坐标系下的相对坐标；
    将所述初始位置信息转换为所述位置信息，其中，所述位置信息为所述目标对象在区域坐标系下的绝对坐标。
  5. 根据权利要求3所述的方法，其中，所述根据所述活动轨迹对连续时段内每一时段中各个预设时间区间进行筛选，得到目标时间区间，包括：
    针对连续时段内每一时段，根据所述活动轨迹确定所述时段中各个预设时间区间所述目标对象在所述区域内的活跃度，所述活跃度为所述时段中各个预设时间区间所述目标对象在所述区域内活动轨迹中位置信息的数量；
    将所述时段中各个预设时间区间所述目标对象在所述区域内的所述活跃度与预设的活跃度阈值进行比较；
    若所述时段中各个预设时间区间所述目标对象在所述区域内的所述活跃 度均大于或等于所述活跃度阈值，则确定各个预设时间区间为所述目标时间区间。
  6. 根据权利要求5所述的方法，其中，所述根据所述活动轨迹对连续时段内每一时段中各个预设时间区间进行筛选，得到目标时间区间，还包括：
    若所述时段中各个预设时间区间所述目标对象在所述区域内的所述活跃度中，存在目标预设时间区间所述目标对象在所述区域内的活跃度小于所述活跃度阈值，则将目标预设时间区间从各个预设时间区间内删除，得到所述时段的各个剩余时间区间；
    确定所述时段中各个剩余时间区间中，是否存在连续的剩余时间区间；
    若所述时段中各个剩余时间区间中，不存在连续的剩余时间区间，则确定各个剩余时间区间为所述目标时间区间。
  7. 根据权利要求6所述的方法，其中，所述根据所述活动轨迹对连续时段内每一时段中各个预设时间区间进行筛选，得到目标时间区间，还包括：
    若所述时段中各个剩余时间区间中，存在连续的剩余时间区间，则将连续的剩余时间区间进行合并，得到合并后的连续时间区间；
    对连续时段内每一时段的所述连续时间区间进行并集处理，得到第一时间区间；
    对连续时段内每一时段的各剩余时间区间中非连续的剩余时间区间进行并集处理，得到第二时间区间；
    确定所述第一时间区间和所述第二时间区间为目标时间区间。
  8. 根据权利要求3所述的方法，其中，所述根据目标活动轨迹，确定所述目标时间区间自移动设备在所述区域内的部署位置，包括：
    对所述目标活动轨迹进行并集处理；
    确定经过并集处理的所述目标活动轨迹的活动轨迹中心；
    确定所述目标活动轨迹中所述目标对象的体积范围；
    确定所述区域内障碍物的分布范围；
    确定所述区域内在所述目标对象的体积范围以及所述障碍物的分布范围之外，且距离所述活动轨迹中心最近的位置为所述目标时间区间自移动设备 在所述区域内的部署位置。
  9. 一种自移动设备的部署装置，所述装置包括：
    信息获取模块，用于获取目标对象在各个区域内的位置信息；
    轨迹确定模块，用于根据所述位置信息，确定所述目标对象在所述各个区域内的活动轨迹；
    位置确定模块，用于根据所述活动轨迹确定自移动设备在所述各个区域内的部署位置；
    设备控制模块，用于控制所述自移动设备移动至所述部署位置。
  10. 一种电子设备，包括：处理器和存储器，所述处理器用于执行所述存储器中存储的自移动设备的部署程序，以实现权利要求1～8中任一项所述的自移动设备的部署方法。
  11. 一种存储介质，所述存储介质存储有一个或者多个程序，所述一个或者多个程序可被一个或者多个处理器执行，以实现权利要求1～8中任一项所述的自移动设备的部署方法。
PCT/CN2023/093989 2022-07-06 2023-05-12 自移动设备的部署方法、装置、电子设备及存储介质 WO2024007739A1 (zh)

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