Falling area detection method, device, equipment and storage medium

Abstract

The present application discloses a fall area detection method, device, equipment and storage medium, which are applied to a robot equipped with an anti-fall device installed according to preset installation parameters, including: obtaining a corresponding target data set based on data collected by the anti-fall device; calculating the detection distance corresponding to each target data in the target data set and the preset standard distance to obtain a corresponding calculation result; wherein the preset standard distance is the maximum distance corresponding to when the detection area of the anti-fall device is a non-fall area; judging whether the calculation result is greater than a preset distance threshold, if the calculation result is greater than the preset distance threshold, filtering out the target data corresponding to the calculation result from the target data set, and determining the area corresponding to the corresponding target data as the fall area. The present application determines the fall area based on the detection distance, the preset standard distance and the preset distance threshold, and can quickly detect the fall area through a single frame of data.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a falling area detection method, device, equipment and storage medium. Background Art

[0002] With the accelerated pace of modern life and advancements in technology, intelligent robots are now used in homes, municipalities, airports, and hotels. Robots operate in areas with varying heights, such as stairs, escalators, and door thresholds. They must identify and navigate these areas smoothly to prevent falls and potential safety hazards. However, existing fall prevention solutions require the coordinated operation of multiple distance sensors, and only after all sensors have completed detection can appropriate fall avoidance actions be implemented, resulting in a lengthy detection process. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a fall zone detection method, device, equipment and storage medium, which can quickly detect the fall zone and prevent the robot from falling. The specific solution is as follows:

[0004] In a first aspect, the present application discloses a drop zone detection method, which is applied to a robot equipped with an anti-drop device installed according to preset installation parameters, wherein the drop zone detection method includes:

[0005] Obtaining a corresponding target data set based on the data collected by the anti-fall device;

[0006] Calculating the detection distance corresponding to each target data in the target data set and the preset standard distance to obtain a corresponding calculation result; wherein the preset standard distance is the maximum distance corresponding to when the detection area of the anti-fall device is a non-fall area;

[0007] Determine whether the calculation result is greater than a preset distance threshold. If the calculation result is greater than the preset distance threshold, filter out target data corresponding to the calculation result from the target data set, and determine the area corresponding to the corresponding target data as the falling area.

[0008] Optionally, obtaining a corresponding target data set based on the data collected by the anti-fall device includes:

[0009] Determining a field of view angle to be detected based on a preset detection radius and a preset minimum drop width;

[0010] The data collected by the anti-fall device is intercepted according to the field of view angle to be detected to obtain the target data set.

[0011] Optionally, intercepting the data collected by the anti-fall device according to the field of view to be detected to obtain the target data set includes:

[0012] The target data in the target data set is sorted according to a preset data sorting rule to obtain a sorted target data set.

[0013] Optionally, filtering out target data corresponding to the calculation result from the target data set, and determining an area corresponding to the corresponding target data as a drop area, includes:

[0014] Determining target data corresponding to the operation result in the sorted target data set to obtain sorted target data;

[0015] The sorted target data is processed based on the preset angle continuity principle, and it is determined whether the number of target points corresponding to the processed target data is greater than the preset number of drop points. If so, the area corresponding to the sorted target data is determined as the drop area.

[0016] Optionally, determining the area corresponding to the corresponding target data as the drop area includes:

[0017] Sorting the filtered target data according to a preset data sorting rule to obtain sorted target data;

[0018] Grouping the sorted target data based on a preset angle continuity principle to obtain corresponding target data groups;

[0019] Counting the number of target points corresponding to the target data in each target data group;

[0020] Determine whether the target point number is greater than a preset drop point number; if so, determine the area corresponding to the target data group as the drop area.

[0021] Optionally, before determining the area corresponding to the corresponding target data as the drop area, the method further includes:

[0022] Based on the minimum field of view angle and the angular resolution corresponding to the anti-drop device, the corresponding number of drop points is determined to obtain a preset number of drop points corresponding to the preset minimum detection width; wherein, the minimum field of view angle is the angle corresponding to the preset minimum detection width determined based on the preset minimum detection width and the preset detection radius.

[0023] Optionally, performing a calculation on the detection distance corresponding to each target data in the target data set and a preset standard distance to obtain a corresponding calculation result includes:

[0024] A difference operation is performed between the detection distance corresponding to each target data and the preset standard distance to obtain a target distance difference corresponding to each target data, and the target distance difference is the operation result.

[0025] In a second aspect, the present application discloses a fall area detection device, which is applied to a robot. The robot is equipped with an anti-fall device installed according to preset installation parameters. The fall area detection device includes:

[0026] A data receiving module, configured to obtain a corresponding target data set based on the data collected by the anti-fall device;

[0027] a data calculation module, configured to calculate the detection distance corresponding to each target data in the target data set and a preset standard distance to obtain a corresponding calculation result; wherein the preset standard distance is the maximum distance corresponding to when the detection area of the anti-fall device is a non-fall area;

[0028] a data judgment module, configured to judge whether the calculation result is greater than a preset distance threshold, and if the calculation result is greater than the preset distance threshold, filter out target data corresponding to the calculation result from the target data set;

[0029] The area determination module is used to determine the area corresponding to the corresponding target data as a drop area.

[0030] In a third aspect, the present application discloses an electronic device, comprising:

[0031] Memory, used to store computer programs;

[0032] The processor is used to call and execute the computer program to implement the steps of the aforementioned falling area detection method.

[0033] In a fourth aspect, the present application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is called and executed by a processor, the steps of the aforementioned drop area detection method are implemented.

[0034] The present application provides a method for detecting a falling area, which is applied to a robot, wherein the robot is equipped with an anti-fall device installed according to preset installation parameters; wherein the method includes: obtaining a corresponding target data set based on the data collected by the anti-fall device; calculating the detection distance corresponding to each target data in the target data set and the preset standard distance to obtain a corresponding calculation result; wherein the preset standard distance is the maximum distance corresponding to when the detection area of the anti-fall device is a non-fall area; judging whether the calculation result is greater than a preset distance threshold, if the calculation result is greater than the preset distance threshold, filtering out the target data corresponding to the calculation result from the target data set, and determining the area corresponding to the corresponding target data as the falling area. It can be seen from this that the present application determines the falling area based on the detection distance corresponding to each target data in the target data set, the preset standard distance, and the preset distance threshold, that is, calculating the above-mentioned detection distance and the preset standard distance, and determining the falling area based on the corresponding calculation result and the preset distance threshold. It can be seen from this that the present application solution can quickly detect the falling area through single-frame data to prevent the robot from falling. Moreover, the detection range of the above-mentioned anti-fall device is large, which can effectively cover the range around the intelligent robot. The detection range can also be adjusted accordingly according to actual conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0036] Figure 1 This is a flow chart of a falling area detection method according to an embodiment disclosed in this application;

[0037] Figure 2 This is a schematic diagram of the installation position of a laser radar disclosed in this application;

[0038] Figure 3 This is a schematic diagram of the field of view of a laser radar disclosed in this application;

[0039] Figure 4 This is a flow chart of a falling area detection method according to another embodiment disclosed in this application;

[0040] Figure 5 This is a schematic diagram of the field of view angle to be detected according to an embodiment disclosed in this application;

[0041] Figure 6 This is a schematic diagram of the angle corresponding to the minimum detection width disclosed in this application;

[0042] Figure 7 This is a flow chart of a falling area detection method according to another embodiment disclosed in this application;

[0043] Figure 8 This is a structural schematic diagram of a falling area detection device disclosed in this application;

[0044] Figure 9 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0046] Currently, intelligent robots operate in a variety of scenarios, potentially posing a safety hazard of falling due to various factors. However, existing anti-fall technology solutions typically require multiple sets of distance sensors to work together, which is time-consuming and has a limited detection area. Therefore, this application provides an anti-fall detection method that can quickly detect the falling area using a single frame of data and effectively covers the surrounding area of the intelligent robot.

[0047] The embodiment of the present invention discloses a falling area detection method, which is applied to robots, including sweeping robots, cleaning robots, delivery robots, etc. Figure 1 As shown, the method includes:

[0048] Step S11: Obtain a corresponding target data set based on the data collected by the anti-fall device. In this embodiment, the robot is equipped with an anti-fall device installed according to preset installation parameters. The anti-fall device collects all data within its corresponding visual range and then sends the data to the robot. After receiving the data, the robot constructs a corresponding target data set based on the data. It is understandable that data corresponding to the current detection requirements are intercepted from all the data collected by the preset anti-fall device, and the intercepted data are determined as target data, that is, the data corresponding to the field of view angle to be detected is determined as target data, so that the detection area can be detected more specifically.

[0049] Different preset installation parameters are set for intelligent robots of different specifications in order to give full play to the detection function of the above-mentioned anti-fall device, wherein the above-mentioned anti-fall device may include but is not limited to 2D (2dimensional) laser radar, multi-line laser radar and RGBD (Red Green Blue Depth, depth camera) and the like. For example, when one of the above-mentioned 2D laser radars is used as the anti-fall device, that is, when a single-line laser radar is used as the anti-fall device, the angle data and the distance data corresponding to the angle data sent by the above-mentioned single-line laser radar are received, and then the corresponding target angle data and the target distance data corresponding to the target angle data are determined according to the above-mentioned field of view to be detected, and then the corresponding target data set is constructed based on the target angle data and the target distance data. It can be understood that the data sent by the anti-fall device may include but is not limited to the above-mentioned angle data and the distance data corresponding to the angle data, and the type of data needs to be determined according to the above-mentioned anti-fall device.

[0050] like Figure 2 As shown, the laser radar faces forward, and is installed at position A on the intelligent robot according to the size of the intelligent robot. For example, the height from the ground is AC, and the horizontal distance is BC. The pitch angle of the laser radar at this position is appropriately adjusted to λ. When the laser radar is installed at this position, the distance data corresponding to the area with the corresponding angle is AB. Figure 3 As shown, the visual range of the laser radar is 270 degrees, that is, the field of view of the laser radar is 270 degrees, the frame rate is 10 Hz, the angular resolution is 0.24 degrees, and the horizontal distance BC must be greater than the braking distance of the intelligent robot.

[0051] Step S12: Calculate the detection distance corresponding to each target data in the target data set and the preset standard distance to obtain a corresponding calculation result; wherein the preset standard distance is the maximum distance corresponding to when the detection area of the anti-fall device is a non-fall area.

[0052] In this embodiment, after the target data set is constructed, the detection distance corresponding to each target data in the target data set is calculated with the preset standard distance to obtain a corresponding calculation result. Specifically, the detection distance corresponding to each target data is calculated with the preset standard distance to obtain a target distance difference corresponding to the target data. The target distance difference is the calculation result obtained by calculating the detection distance and the preset standard distance. For example, the formula for calculating the target distance difference is: dif = lidar_dis - des_dis; where dif represents the target distance difference, lidar_dis represents the detection distance corresponding to each target data in the target data set, and des_dis represents the preset standard distance.

[0053] Step S13: Determine whether the calculation result is greater than a preset distance threshold. If the calculation result is greater than the preset distance threshold, filter out target data corresponding to the calculation result from the target data set, and determine the area corresponding to the corresponding target data as the falling area.

[0054] In this embodiment, the detection distance corresponding to each target data in the target data set is calculated with a preset standard distance to obtain a corresponding calculation result. Then, a determination is made as to whether the calculation result is greater than a preset distance threshold. If the calculation result is greater than the preset distance threshold, the target data corresponding to the calculation result is marked, the marked target data is filtered out from the target data, and the area corresponding to the target data is determined as a drop area. It is understood that each target data in the target data set corresponds to a calculation result. After calculating all the target data in the target data set, multiple calculation results are obtained. Then, the marked target data whose calculation results are greater than the preset distance threshold are filtered out from the target data set, and the area corresponding to the marked target data is determined as a drop area.

[0055] In this embodiment, when the above calculation result is a target distance difference, it is determined whether the target distance difference is greater than a preset distance difference. If the target distance difference is greater than a preset distance threshold, the target data corresponding to the target distance difference is filtered out from the target data set. It is understood that after comparing the target distance difference corresponding to each target data in the target data set with the preset distance threshold, the target data whose target distance difference is greater than the preset distance threshold is filtered out. For example, when dif>limit_dis, the target data corresponding to the target distance difference (dif) can be filtered out from the above target data set, where limit_dis represents the preset distance threshold.

[0056] As can be seen, the embodiment of the present application determines the drop zone based on the detection distance, preset standard distance, and preset distance threshold corresponding to each target data in the target data set. Specifically, the detection distance is calculated with the preset standard distance, and then the drop zone is determined based on the calculation result and the judgment result of the preset distance threshold. The embodiment of the present application can quickly detect the drop zone using a single frame of data. Moreover, the detection range of the anti-fall device installed on the robot is large, which can effectively cover the range around the intelligent robot, and the detection range can also be adjusted accordingly according to actual conditions.

[0057] See also Figure 4 As shown, an embodiment of the present invention discloses another falling area detection method.

[0058] Step S21: determining a field of view angle to be detected based on a preset detection radius and a preset minimum anti-fall width.

[0059] In this embodiment, after determining the preset detection radius and knowing the preset minimum anti-fall width corresponding to the robot, the field of view angle to be detected can be determined based on the preset detection radius and the preset minimum anti-fall width. Figure 5 As shown, when the preset minimum anti-fall width of the robot is b1c1 and the preset detection radius is a1b1, the preset minimum anti-fall width b1c1 and the preset detection radius a1b1 can be used to determine the field of view angle θ1 to be detected corresponding to the robot.

[0060] Step S22: intercepting the data collected by the anti-fall device according to the field of view angle to be detected to obtain the target data set.

[0061] In this embodiment, after the anti-fall device collects the corresponding data, it is necessary to intercept the required data according to the field of view angle to be detected, and determine the intercepted data as target data, thereby obtaining a corresponding target data set. It can be understood that after determining the above-mentioned field of view angle to be detected, the required data is intercepted according to the angle range of the above-mentioned field of view angle to be detected to obtain a target data set corresponding to the field of view angle to be detected. For example, when the field of view angle to be detected is 60°, and the angle range corresponding to the field of view angle to be detected is from 330° to 360° and from 0° to 30°, then the data collected by the anti-fall device within this angle range is intercepted to obtain a corresponding target data set.

[0062] Step S23: sorting the target data in the target data set according to a preset data sorting rule to obtain a sorted target data set.

[0063] In this embodiment, after constructing the corresponding target dataset, the data in the target dataset is out of order. To improve the accuracy of drop zone detection, the target data in the target dataset needs to be sorted according to a preset data sorting rule to obtain a sorted target dataset. It will be appreciated that the intercepted target data corresponds to data at different angles, so the target data can be sorted according to an ascending or descending angle sorting rule to obtain a sorted target dataset.

[0064] Step S24: Calculate the detection distance corresponding to each target data in the sorted target data set and the preset standard distance to obtain a corresponding calculation result; wherein the preset standard distance is the maximum distance corresponding to when the detection area of the anti-fall device is a non-fall area.

[0065] For the specific process of the above step S24, reference may be made to the corresponding contents disclosed in the above embodiment, which will not be described in detail here.

[0066] Step S25: Determine whether the calculation result is greater than a preset distance threshold. If the calculation result is greater than the preset distance threshold, determine the target data corresponding to the calculation result in the sorted target data set to obtain the sorted target data.

[0067] In this embodiment, when the target data corresponding to the calculation result being greater than the preset distance threshold is determined, the target data is filtered out from the target data set, and then sorted target data is obtained. It is understandable that since the target data set is ordered, the target data filtered out from the sorted target data set is also ordered.

[0068] Step S26: Process the sorted target data based on the preset angle continuity principle, and determine whether the number of target points corresponding to the processed target data is greater than the preset number of drop points. If so, determine the area corresponding to the sorted target data as the drop area.

[0069] In this embodiment, after obtaining the sorted target data, the sorted target data is processed based on the preset angle continuity principle, and the number of target points corresponding to the target data with continuous angles is determined, and then it is judged whether the number of target points corresponding to the processed target data is greater than the preset drop point number. If so, the area corresponding to the sorted target data is determined as the drop area.

[0070] In this embodiment, before determining the area corresponding to the target data as the drop area, it also includes: determining the corresponding drop points based on the minimum field of view angle and the angular resolution corresponding to the anti-drop device, so as to obtain the preset drop points corresponding to the preset minimum detection width; wherein the minimum field of view angle is the angle corresponding to the preset minimum detection width determined based on the preset minimum detection width and the preset detection radius. It can be understood that the preset drop points are determined based on the minimum field of view angle and the angular resolution corresponding to the anti-drop device, so as to obtain the preset drop points corresponding to the minimum detection width, that is, the ratio of the minimum field of view angle to the angular resolution corresponding to the anti-drop device is used as the preset drop points. For example, when the minimum detection field of view angle is 2.86° and the angular resolution corresponding to the anti-drop device is 0.24°, the drop points nPoint are calculated to be 12, that is, the preset drop points are set to 12. As Figure 6 As shown, when the preset minimum detection width is bc and the preset detection radius is ab, the minimum field angle corresponding to the preset minimum detection width can be determined based on the preset minimum detection width bc and the preset detection radius ab. It can be understood that Figure 6 The preset detection radius ab in Figure 5 The preset detection radius is a1b1 which is equal.

[0071] It can be seen that in the embodiment of the present application, the present application determines the drop area based on the detection distance, preset standard distance and preset distance threshold corresponding to each target data in the target data set, that is, the above-mentioned detection distance is calculated with the above-mentioned preset standard distance, and then the target data corresponding to the calculation result is determined when it is greater than the preset distance threshold, and the target data is sorted, and then the sorted target data is processed according to the preset angle continuity principle, and the drop area is determined based on the comparison result of the target point number corresponding to the processed target data and the preset drop point number, thereby avoiding the occurrence of false detection of the drop area caused by noise points and improving the detection accuracy of the drop area. The embodiment of the present application can quickly detect the drop area through angle-continuous data, and the detection range of the anti-drop device on the robot is large, which can effectively cover the range around the intelligent robot, and the detection range can also be adjusted accordingly according to actual conditions.

[0072] See also Figure 7 As shown, an embodiment of the present invention discloses another embodiment of a falling area detection method.

[0073] Step S31: obtaining a corresponding target data set according to the data collected by the anti-fall device.

[0074] Step S32: Calculate the detection distance corresponding to each target data in the target data set and the preset standard distance to obtain a corresponding calculation result; wherein the preset standard distance is the maximum distance corresponding to when the detection area of the anti-fall device is a non-fall area.

[0075] Step S33: determining whether the calculation result is greater than a preset distance threshold; if the calculation result is greater than the preset distance threshold, filtering out target data corresponding to the calculation result from the target data set.

[0076] For the specific process of the above steps S31 to S33, reference may be made to the corresponding contents disclosed in the above embodiments, which will not be described again here.

[0077] Step S34: sorting the filtered target data according to a preset data sorting rule to obtain sorted target data.

[0078] In this embodiment, since the target data in the target data set is not sorted, when the target data is filtered out from the target data set, the filtered target data is out of order. Therefore, the filtered target data can be sorted according to a preset data sorting rule to obtain sorted target data. It is understood that sorting the filtered target data in ascending or descending order according to actual application requirements can improve the accuracy of falling area detection.

[0079] Step S35: grouping the sorted target data based on a preset angle continuity principle to obtain corresponding target data groups.

[0080] In this embodiment, after the filtered target data is sorted according to the preset data sorting rule, the sorted target data is grouped based on the preset angle continuity principle to obtain corresponding target data groups. It is understandable that the target data with continuous angles in the sorted target data are grouped as one data group, thereby obtaining multiple groups of target data groups with continuous angles.

[0081] Step S36: Counting the number of target points corresponding to the target data in each target data group.

[0082] In this embodiment, after the sorted target data are grouped, the number of target points in each target data group needs to be counted. It is understandable that the corresponding number of target points can be determined based on the angular range corresponding to the target data group and the angular resolution corresponding to the anti-fall device.

[0083] Step S37: Determine whether the target point number is greater than a preset drop point number; if so, determine the area corresponding to the target data group as the drop area.

[0084] In this embodiment, after counting the number of target points in each group of the target data groups, it is determined whether the number of target points corresponding to each group of the target data groups is greater than the preset number of drop points. If it is determined that the number of target points corresponding to the target data group is greater than the preset number of drop points, the area corresponding to the target data group is determined as the drop area.

[0085] It can be seen that in the embodiment of the present application, the present application calculates the detection distance corresponding to each target data in the target data set with the preset standard distance, and then compares the calculation result of the above detection distance and the above standard distance with the preset distance threshold to filter out the target data whose calculation result is greater than the above preset distance threshold from the above target data set, and sorts the filtered target data, and then groups the sorted target data based on the angle continuity principle to determine the corresponding target data group. Furthermore, based on the number of target points in the target data group, it is judged whether the area corresponding to the target data group is a falling area, thereby avoiding the occurrence of false detection of the falling area caused by noise points, and improving the detection accuracy of the falling area. In addition, the present application scheme can realize rapid detection of the falling area, and the detection range of the anti-fall device is large, which can effectively cover the range around the intelligent robot, and the detection range can also be adjusted accordingly according to actual conditions.

[0086] Correspondingly, the embodiment of the present application further discloses a falling area detection device, which is applied to a robot, wherein the robot is equipped with an anti-fall device installed according to preset installation parameters, see Figure 8 As shown, the device includes:

[0087] A data receiving module 11 is configured to obtain a corresponding target data set based on the data collected by the anti-fall device;

[0088] The data operation module 12 is used to calculate the detection distance corresponding to each target data in the target data set and the preset standard distance to obtain a corresponding operation result; wherein the preset standard distance is the maximum distance corresponding to when the detection area of the anti-fall device is a non-fall area;

[0089] a data judging module 13, configured to judge whether the calculation result is greater than a preset distance threshold, and if the calculation result is greater than the preset distance threshold, filter out target data corresponding to the calculation result from the target data set;

[0090] The area determination module 14 is configured to determine the area corresponding to the corresponding target data as a drop area.

[0091] As can be seen from the above, the embodiment of the present application determines the drop area based on the detection distance, preset standard distance, and preset distance threshold corresponding to each target data in the target data set. That is, the above detection distance is calculated with the above preset standard distance, and then the drop area is determined based on the corresponding calculation result and the judgment result of the preset distance threshold. The embodiment of the present application can quickly detect the drop area through a single frame of data. Since the detection range of the anti-fall device installed on the intelligent robot is large, the above detection range can effectively cover the range around the intelligent robot, and the detection range can also be adjusted accordingly according to actual conditions.

[0092] In some specific embodiments, the data receiving module 11 specifically includes:

[0093] A field of view angle determination unit, configured to determine a field of view angle to be detected based on a preset detection radius and a preset minimum anti-fall width;

[0094] A data interception unit is used to intercept the data collected by the anti-fall device according to the field of view angle to be detected to obtain the target data set.

[0095] In some specific embodiments, the falling area detection device further includes:

[0096] The first data sorting unit is configured to sort the target data in the target data set according to a preset data sorting rule to obtain a sorted target data set.

[0097] In some specific embodiments, the data operation module 12 specifically includes:

[0098] The difference determination unit is used to perform a difference operation on the detection distance corresponding to each target data and a preset standard distance to obtain a target distance difference corresponding to each target data, wherein the target distance difference is the operation result.

[0099] In some specific embodiments, the data judgment module 13 specifically includes:

[0100] a first data determining unit, configured to determine target data corresponding to the operation result in the sorted target data set to obtain sorted target data;

[0101] The data processing unit is used to process the sorted target data based on the preset angle continuity principle, and determine whether the number of target points corresponding to the processed target data is greater than the preset number of drop points. If so, the area corresponding to the sorted target data is determined as the drop area.

[0102] In some specific embodiments, the data judgment module 13 specifically includes:

[0103] a second data sorting unit, which sorts the filtered target data according to a preset data sorting rule to obtain sorted target data;

[0104] a data grouping unit, configured to group the sorted target data based on a preset angle continuity principle to obtain corresponding target data groups;

[0105] a point counting unit, configured to count the target points corresponding to the target data in each target data group;

[0106] The point determination unit is used to determine whether the target point is greater than a preset drop point; if so, the area corresponding to the target data group is determined as a drop area.

[0107] In some specific embodiments, before determining the area corresponding to the target data as the drop area, the method further includes:

[0108] A drop point determination unit is used to determine the corresponding drop points based on the minimum field of view angle and the angular resolution corresponding to the anti-drop device, so as to obtain a preset drop point number corresponding to the preset minimum detection width; wherein the minimum field of view angle is the angle corresponding to the preset minimum detection width determined based on the preset minimum detection width and the preset detection radius.

[0109] Furthermore, an embodiment of the present application also provides an electronic device. Figure 9 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram should not be considered as any limitation to the scope of application of the present application.

[0110] Figure 9 This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a power supply 23, a communication interface 24, an input / output interface 25, and a communication bus 26. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps of the drop zone detection method disclosed in any of the aforementioned embodiments. Furthermore, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0111] In this embodiment, the power supply 23 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 24 can create a data transmission channel between the electronic device 20 and the external device. The communication protocol it follows is any communication protocol that can be applied to the technical solution of this application and is not specifically limited here; the input and output interface 25 is used to obtain external input data or output data to the outside world. Its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0112] In addition, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk or CD, etc. The resources stored thereon can include an operating system 221, a computer program 222, etc., and the storage method can be temporary storage or permanent storage.

[0113] The operating system 221 is used to manage and control the hardware devices and computer program 222 on the electronic device 20, and can be Windows Server, Netware, Unix, Linux, etc. In addition to including a computer program capable of implementing the drop area detection method performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 222 can further include a computer program capable of implementing other specific tasks.

[0114] Furthermore, an embodiment of the present application also discloses a storage medium, in which a computer program is stored. When the computer program is loaded and executed by a processor, the steps of the drop area detection method disclosed in any of the aforementioned embodiments are implemented.

[0115] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from the other embodiments. Reference can be made to the descriptions of the identical or similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and the relevant parts can be referred to the descriptions of the methods.

[0116] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0117] The above is a detailed introduction to the fall area detection method, device, equipment and storage medium provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technical personnel in this field, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A falling area detection method, applied to a robot, characterized in that: The robot is equipped with an anti-fall device installed according to preset installation parameters; wherein the fall area detection method includes: Obtaining a corresponding target data set based on the data collected by the anti-fall device; Calculating the detection distance corresponding to each target data in the target data set and the preset standard distance to obtain a corresponding calculation result; wherein the preset standard distance is the maximum distance corresponding to when the detection area of the anti-fall device is a non-fall area; determining whether the calculation result is greater than a preset distance threshold, and if so, filtering target data corresponding to the calculation result from the target data set based on a preset number of drop points, and determining an area corresponding to the corresponding target data as a drop area; Before determining the area corresponding to the corresponding target data as the drop area, it also includes: determining the corresponding number of drop points based on the minimum field of view angle and the angular resolution corresponding to the anti-drop device to obtain the preset number of drop points corresponding to the preset minimum detection width; wherein, the minimum field of view angle is the angle corresponding to the preset minimum detection width determined based on the preset minimum detection width and the preset detection radius.

2. The falling area detection method according to claim 1, characterized in that: The obtaining of a corresponding target data set based on the data collected by the anti-fall device includes: Determining a field of view angle to be detected based on the preset detection radius and the preset minimum anti-fall width; The data collected by the anti-fall device is intercepted according to the field of view angle to be detected to obtain the target data set.

3. The falling area detection method according to claim 2, characterized in that: The step of intercepting the data collected by the anti-fall device according to the field of view to be detected to obtain the target data set includes: The target data in the target data set is sorted according to a preset data sorting rule to obtain a sorted target data set.

4. The falling area detection method according to claim 3, characterized in that: The step of screening out target data corresponding to the operation result from the target data set and determining an area corresponding to the corresponding target data as a drop area includes: Determining target data corresponding to the operation result in the sorted target data set to obtain sorted target data; The sorted target data is processed based on the preset angle continuity principle, and it is determined whether the number of target points corresponding to the processed target data is greater than the preset number of drop points. If so, the area corresponding to the sorted target data is determined as the drop area.

5. The falling area detection method according to claim 1, characterized in that: Determining the area corresponding to the corresponding target data as the drop area includes: Sorting the filtered target data according to a preset data sorting rule to obtain sorted target data; Grouping the sorted target data based on a preset angle continuity principle to obtain corresponding target data groups; Counting the number of target points corresponding to the target data in each target data group; Determine whether the target point number is greater than a preset drop point number; if so, determine the area corresponding to the target data group as the drop area.

6. The falling area detection method according to any one of claims 1 to 5, characterized in that: The operation of calculating the detection distance corresponding to each target data in the target data set and the preset standard distance to obtain a corresponding operation result includes: A difference operation is performed between the detection distance corresponding to each target data and the preset standard distance to obtain a target distance difference corresponding to each target data, and the target distance difference is the operation result.

7. A falling area detection device, characterized in that: Applied to a robot, the robot is equipped with an anti-fall device installed according to preset installation parameters, and the fall area detection device includes: A data receiving module, configured to obtain a corresponding target data set based on the data collected by the anti-fall device; a data calculation module, configured to calculate the detection distance corresponding to each target data in the target data set and a preset standard distance to obtain a corresponding calculation result; wherein the preset standard distance is the maximum distance corresponding to when the detection area of the anti-fall device is a non-fall area; a data judgment module, configured to judge whether the calculation result is greater than a preset distance threshold, and if the calculation result is greater than the preset distance threshold, filter out target data corresponding to the calculation result from the target data set based on a preset number of drop points; an area determination module, configured to determine an area corresponding to the corresponding target data as a falling area; A drop point determination unit is used to determine the corresponding drop point number based on the minimum field of view angle and the angular resolution corresponding to the anti-drop device before determining the area corresponding to the corresponding target data as the drop area, so as to obtain the preset drop point number corresponding to the preset minimum detection width; wherein the minimum field of view angle is the angle corresponding to the preset minimum detection width determined based on the preset minimum detection width and the preset detection radius.

8. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is used to call and execute the computer program to implement the steps of the falling area detection method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that Used to store computer programs; wherein, when the computer program is called and executed by a processor, the steps of the falling area detection method according to any one of claims 1 to 6 are implemented.

Images