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

Abstract

Embodiments of the present application provide a ground material identification method and device, a storage medium and an electronic device, the method comprising: acquiring posture information of a target device during movement in a to-be-measured region; determining, based on the posture information, a credibility of the target device in identifying a ground material in the to-be-measured region; and determining an identification result of the ground material in the to-be-measured region according to the credibility. Through the present application, the problem of inaccurate identification of the ground material in the related art is solved, and the effect of improving the accuracy of identifying the ground material is achieved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of robotics, and in particular, to a ground material identification method and device, storage medium, and electronic device. BACKGROUND

[0002] In the prior art, a single device is generally used to identify the material of a material. For example, an ultrasonic wave or an infrared signal or artificial intelligence (AI) is used to identify the material information of a floor in a target device (e.g., a robot vacuum cleaner).

[0003] However, in the case where the posture of the target device is abnormal or the material is uneven, the identification of the ground material is prone to false detection. SUMMARY

[0004] Embodiments of the present application provide a ground material identification method and device, storage medium, and electronic device to at least solve the problem of inaccurate identification of ground material in related technologies.

[0005] According to an embodiment of the present application, a ground material identification method is provided, comprising: obtaining posture information of a target device during movement in a to-be-tested region; determining a credibility of the target device in identifying a ground material in the to-be-tested region based on the posture information; and determining an identification result of the ground material in the to-be-tested region according to the credibility.

[0006] According to another embodiment of the present application, a ground material identification device is provided, comprising: a first obtaining module configured to obtain posture information of a target device during movement in a to-be-tested region; a first determining module configured to determine a credibility of the target device in identifying a ground material in the to-be-tested region based on the posture information; and a second determining module configured to determine an identification result of the ground material in the to-be-tested region according to the credibility.

[0007] In one exemplary embodiment, the first obtaining module comprises: a first obtaining unit configured to obtain a vertical distance from the target device to a surface of the to-be-tested region when the posture information comprises distance information.

[0008] In one exemplary embodiment, the first obtaining unit comprises: a first determining sub-unit configured to determine a center point of the target device; and a first calculating sub-unit configured to calculate the vertical distance from the target device to the surface of the to-be-tested region according to the center point.

[0009] In an example embodiment, the first obtaining unit comprises: a second determining sub-unit configured to determine a plurality of measuring points in the target device; a second calculating sub-unit configured to calculate a vertical distance from each measuring point to the surface of the to-be-measured region, to obtain a plurality of vertical distances; and a third determining sub-unit configured to determine an average value of the plurality of vertical distances as the vertical distance from the target device to the surface of the to-be-measured region.

[0010] In an example embodiment, the first determining module comprises: a first determining unit configured to determine, according to the vertical distance and a preset distance interval, a confidence level of the target device in identifying the ground material in the to-be-measured region.

[0011] In an example embodiment, the first determining unit comprises: a fourth determining sub-unit configured to determine the confidence level as a first confidence level when the vertical distance is not greater than a first preset threshold; a fifth determining sub-unit configured to determine the confidence level as a second confidence level when the vertical distance is greater than the first preset threshold and less than a second preset threshold; and a sixth determining sub-unit configured to determine the confidence level as a third confidence level when the vertical distance is not less than the second preset threshold; wherein the first confidence level is greater than the second confidence level, and the second confidence level is greater than the third confidence level.

[0012] In an example embodiment, the second determining module comprises: a second determining unit configured to determine, when the confidence level is the first confidence level, the identification result as a first target identification result of the ground material; a second obtaining unit configured to obtain, when the confidence level is the second confidence level, a second target identification result of the ground material according to a preset strategy; and a first indicating unit configured to instruct, when the confidence level is the third confidence level, the target device to stop working and issue a prompt information, wherein the prompt information is used to prompt that the movement of the target device is abnormal.

[0013] In an example embodiment, the second obtaining unit comprises: a seventh determining sub-unit configured to determine distance information of the target device within a preset time period; an eighth determining sub-unit configured to determine N identification results within the preset time period when the distance information continuously satisfies the second confidence level, wherein N is a natural number greater than 1; and a ninth determining sub-unit configured to determine the second target identification result from the N identification results.

[0014] In an example embodiment, the ninth determining subunit is further configured to perform one of the following: determining M result sets according to different result types in the N recognition results, wherein recognition results with the same result type are in the same result set, one recognition result is an element in the result set, and M is a natural number greater than or equal to 1; and determining, as the second target recognition result, a result type corresponding to a result set with the largest number of elements in the M result sets.

[0015] In an example embodiment, the apparatus further includes a first indicating module configured to, after determining the M result sets according to different result types in the N recognition results, indicate the target device to stop working and issue the prompt information when the number of elements in each result set is less than a preset number.

[0016] In an example embodiment, the first determining module includes: a third determining unit configured to determine an inclination angle of the target device with respect to a surface of the region to be detected; a fourth determining unit configured to determine the confidence as a second confidence when the vertical distance is greater than a first preset threshold and less than a second preset threshold, and the inclination angle is less than a third preset threshold; and a fifth determining unit configured to determine the confidence as a third confidence when the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the inclination angle is not less than the third preset threshold, wherein the second confidence is greater than the third confidence.

[0017] According to another embodiment of the present application, a computer readable storage medium is provided, and the computer readable storage medium stores a computer program. The computer program is configured to perform the steps in any of the method embodiments when executed.

[0018] According to another embodiment of the present application, an electronic device is provided, which includes a memory and a processor. The memory stores a computer program, and the processor is configured to execute the computer program to perform the steps in any of the method embodiments.

[0019] According to the present application, the confidence of the target device in recognizing the ground material in the region to be detected is determined by the acquired posture information of the target device during movement in the region to be detected, and the recognition result of the ground material in the region to be detected is determined according to the confidence. After the target device recognizes the ground material, the confidence of the recognition result is further verified by the posture information, and the recognition accuracy of the ground material is further verified. Therefore, the problem of inaccurate recognition of the ground material in the related art can be solved, and the accuracy of recognizing the ground material is improved. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a hardware structure block diagram of a mobile terminal of a ground material identification method according to an embodiment of the present application;

[0021] Figure 2 is a flow chart of a ground material identification method according to an embodiment of the present application;

[0022] Figure 3 is a structure block diagram of a ground material identification device according to an embodiment of the present application. DETAILED DESCRIPTION

[0023] Hereinafter, embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0024] It should be noted that the terms "first", "second", and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence.

[0025] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking the case of running on a mobile terminal, Figure 1 is a hardware structure block diagram of a mobile terminal of a ground material identification method according to an embodiment of the present application. As shown in Figure 1 , the mobile terminal can include one or more (only one is shown in Figure 1 ) processor 102 (the processor 102 can include but not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the above-mentioned mobile terminal can also include a transmission device 106 for communication function and an input and output device 108. Those skilled in the art can understand that Figure 1 the structure shown is only for illustration, which does not limit the structure of the above-mentioned mobile terminal. For example, the mobile terminal can also include more or less components than Figure 1 shown, or have a different configuration from Figure 1 shown.

[0026] The memory 104 can be used to store computer programs, such as software programs of application software and modules, such as a computer program corresponding to the ground material identification method in the embodiments of the present application. The processor 102 can execute various functional applications and data processing, i.e., implement the above method, by running the computer programs stored in the memory 104. The memory 104 can include a high-speed random access memory, and can further include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory 104 can further include memories remotely arranged with respect to the processor 102, which can be connected to the mobile terminal through a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0027] The transmission device 106 is used to receive or send data via a network. Specific examples of the above network can include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (NIC), which can be connected to other network devices through a base station so as to be able to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet in a wireless manner.

[0028] In the present embodiment, a ground material identification method is provided, Figure 2 is a flowchart of the ground material identification method according to the embodiments of the present application, as shown in Figure 2 , which includes the following steps:

[0029] In step S202, attitude information of the target device during movement in the to-be-tested region is acquired.

[0030] In the present embodiment, the target device includes, but is not limited to, household appliances, such as a sweeping robot, a vacuum cleaner, etc. The to-be-tested region includes, but is not limited to, a region provided with a target material, such as a floor paved with ceramic tiles or wooden floorboards.

[0031] In the present embodiment, the attitude information includes distance information and angle information between the target device and the ground during movement of the target device in the to-be-tested region. For example, when the target device is a sweeping robot, the sweeping robot is in a parallel attitude during movement on a floor paved with ceramic tiles, and the distance between the target device and the ground can be acquired. Alternatively, when the sweeping robot passes through a threshold, the sweeping robot is in an inclined attitude, and the inclination angle between the target device and the ground can be acquired.

[0032] In step S204, the confidence of the target device in identifying the ground material in the to-be-tested region is determined based on the attitude information.

[0033] In this embodiment, the distance between the target device and the ground is calculated according to different attitude information of the target device. For example, when the robot cleaner keeps parallel to the ground during movement, the distance between the chassis of the target device and the ground can be detected, and the confidence of the ground material identification is determined according to the distance.

[0034] In step S206, the identification result of the ground material in the to-be-tested region is determined according to the confidence.

[0035] In this embodiment, the identification result includes the material information of the ground, for example, it is detected that the floor laid on the ground is a wooden material, or it is detected that the floor laid on the ground is a stone material.

[0036] The execution subject of the above steps can be a terminal, a server, a specific processor arranged in the terminal or the server, or a processor or processing device arranged independently of the terminal or the server, but is not limited thereto.

[0037] Through the above steps, the confidence of the target device in identifying the ground material in the to-be-tested region is determined based on the attitude information of the target device obtained during movement in the to-be-tested region; and the identification result of the ground material in the to-be-tested region is determined according to the confidence. The distance between the target device and the target region is detected based on the attitude information of the target device in the target region, the target distance is determined, and the identification result of the target device on the target material is verified according to the target distance. After the target device identifies the ground material of the target material, the confidence of the identification result is further verified through the attitude information and the target distance, thereby improving the accuracy of the identification of the ground material of the target material. Therefore, the problem of inaccurate identification of the ground material of the target material in the related art can be solved, and the effect of improving the accuracy of the identification of the ground material of the target material is achieved.

[0038] In one example embodiment, when the attitude information includes distance information, the attitude information of the target device during movement in the to-be-tested region is obtained, including:

[0039] S21, the vertical distance from the target device to the surface of the to-be-tested region is obtained.

[0040] This embodiment is applicable to the scenario where the target device keeps parallel to the ground. For example, in the scenario of normal movement on a flat ground.

[0041] In the embodiment, the vertical distance of the target device to the surface of the to-be-measured region is the vertical distance of the target device to the surface of the to-be-measured region. For example, the vertical distance between the center point of the chassis of the robot and the floor; or the average distance of multiple distances between the center point of the chassis of the robot and the floor.

[0042] In the embodiment, the vertical distance of the target device to the surface of the to-be-measured region can be obtained by a sensor. The sensor can be arranged at the chassis of the target device or other positions of the target device. The sensor can be an ultrasonic sensor or an infrared sensor. For example, taking the target device as a robot, the sensor is arranged at the chassis of the robot, and the distance between the chassis and the ground is detected during the movement of the robot. It should be noted that the robot can identify the ground material during movement or at rest. The ground material can be directly identified by the sensor (for example, an ultrasonic sensor or an infrared sensor); or the ground material can be identified by other means, for example, uploading the obtained characteristics of the target material to the processor to identify the ground material by the processor.

[0043] In addition, the target distance in the embodiment is obtained after the robot identifies the material of the target material arranged on the ground.

[0044] In an example embodiment, the vertical distance of the target device to the surface of the to-be-measured region is obtained by:

[0045] S31, determining the center point of the target device;

[0046] S32, calculating the vertical distance of the target device to the surface of the to-be-measured region according to the center point.

[0047] In the embodiment, the vertical distance of the center point of the target device to the ground is the vertical distance. For example, the vertical distance between the center point of the chassis of the robot and the ground is measured by a sensor.

[0048] In an example embodiment, the vertical distance of the target device to the surface of the to-be-measured region is obtained by:

[0049] S41, determining a plurality of measurement points in the target device;

[0050] S42, calculating the vertical distance of each measurement point to the surface of the to-be-measured region to obtain a plurality of vertical distances;

[0051] S43, determining the average value of the plurality of vertical distances as the vertical distance of the target device to the surface of the to-be-measured region.

[0052] In the embodiment, the vertical distance of the plurality of measuring points in the target device to the ground is the vertical distance. The plurality of measuring points can be different positions of the chassis of the target device, such as a plurality of positions uniformly distributed on the chassis of the target device. For example, the vertical distance between a plurality of measuring points on the chassis of the robot and the floor is measured by a sensor to obtain a plurality of vertical distances (for example, 2.5 cm, 3.5 cm, 3 cm), and the average of the plurality of vertical distances is determined as the vertical distance (for example, 3 cm).

[0053] In an example embodiment, the confidence of the target device in identifying the ground material in the to-be-measured area is determined based on the attitude information, including:

[0054] S51, determining the confidence of the target device in identifying the ground material in the to-be-measured area according to the vertical distance and the preset distance interval.

[0055] In the embodiment, the preset distance interval can be determined based on the distance threshold value that can be identified by the sensor for measuring the vertical distance. It can be understood that in different distance ranges, the reliability of the target device in identifying the ground material is different. In a lower range, it means that the target device is closer to the ground, and the reliability of the identification is higher. On the contrary, when the vertical distance is larger, the target device is farther away from the ground, and the reliability of the identification of the ground material will be lower. Further, when the vertical distance is larger, it also means that the chassis of the target device is farther away from the ground, such as in a higher suspended state, which will affect the safety of the target device. For example, the distance threshold value that can be identified by the sensor is 10 cm, and the preset distance can be set to a value less than 8 cm.

[0056] In an example embodiment, the confidence of the target device in identifying the ground material in the to-be-measured area is determined according to the vertical distance and the preset distance interval, including:

[0057] S61, when the vertical distance is not greater than a first preset threshold value, the confidence is determined as a first confidence;

[0058] S62, when the vertical distance is greater than the first preset threshold value and less than a second preset threshold value, the confidence is determined as a second confidence;

[0059] S63, when the vertical distance is not less than the second preset threshold value, the confidence is determined as a third confidence;

[0060] Wherein, the first confidence is greater than the second confidence, and the second confidence is greater than the third confidence.

[0061] In the embodiment, the first preset threshold value and the second preset threshold value are included in the preset distance interval. For example, the first preset threshold value can be set to a value less than 3 cm; and the second preset threshold value can be set to a value greater than or equal to 3 cm and less than 6 cm.

[0062] In this embodiment, the smaller the vertical distance, the greater the reliability of the ground material, and vice versa. For example, in the case of the identification result of the ground material being wood material and the vertical distance being 1 cm, it indicates that the probability of the ground material being wood material is greater than 90%; in the case of the identification result of the ground material being wood material and the vertical distance being 5 cm, it indicates that the probability of the ground material being wood material is less than 50%, at which time the ground material needs to be further determined; in the case of the identification result of the ground material being wood material and the vertical distance being 9 cm, it indicates that the probability of the ground material being wood material is extremely small, at which time the target device can be in a tilted state, needs to exit the current region, and terminate the identification of the ground material.

[0063] It should be noted that the determination range of the first reliability, the second reliability and the third reliability can be designed according to actual conditions, for example, different preset distance intervals can be set according to different models of target devices, of course, in some other embodiments, only two preset distance intervals can be set, and correspondingly, only two reliabilities are determined, and further, a plurality of reliabilities can be determined by a plurality of region distance intervals, and the number of reliabilities is not limited in the embodiments of the present specification.

[0064] In one example embodiment, the identification result of the ground material in the to-be-measured region is determined according to the reliability, comprising,

[0065] S71, when the reliability is the first reliability, the identification result is determined as the first target identification result of the ground material;

[0066] S72, when the reliability is the second reliability, a second target identification result of the ground material is obtained according to a preset strategy;

[0067] S73, when the reliability is the third reliability, the target device is instructed to stop working, and a prompt information is sent, wherein the prompt information is used to prompt that the movement of the target device is abnormal.

[0068] In this embodiment, the first reliability, the second reliability and the third reliability are used to indicate the probability that the ground material is a real material.

[0069] In one example embodiment, when the reliability is the second reliability, the second target identification result of the ground material is obtained according to a preset strategy, comprising:

[0070] S81, distance information of the target device in a preset time period is determined;

[0071] S82, when the distance information continuously meets the second reliability, N identification results in the preset time period are determined, wherein N is a natural number greater than 1;

[0072] S83, determining a second target recognition result from the N recognition results.

[0073] In this embodiment, the distance information includes a vertical distance between the target device and the ground. When the distance information continuously satisfies the second confidence level, the target device is likely to be in a tilted state. For example, the sweeping robot is in a tilted state during the process of passing through a threshold, and the recognized ground material is not accurate at this time.

[0074] In this embodiment, determining the second target recognition result from the N recognition results includes one of the following:

[0075] According to different result types in the N recognition results, M result sets are determined, wherein the recognition results with the same result type are in the same result set, one recognition result is an element in the result set, and M is a natural number greater than or equal to 1;

[0076] The result type corresponding to the result set with the largest number of elements in the M result sets is determined as the second target recognition result.

[0077] In this embodiment, the values of M and N can be flexibly set based on actual application scenarios or recognition requirements. For example, the ground material recognized within 10 minutes includes 10 recognition results. A few recognition results with smaller distances can be selected from the 10 recognition results, and the result with the most consistent recognition results is selected as the target recognition result. For example, in the 10 recognition results, A result includes 4, B result includes 3, C result includes 2, and D result includes 1, then A result can be selected as the second target recognition result.

[0078] In this embodiment, after determining the M result sets according to different result types in the N recognition results, the above method further includes: when the number of elements in each result set is less than a preset number, instructing the target device to stop working and issuing the prompt information. For example, in the case of 10 recognition results, A result is 4, and the preset number is 5, the target device may have a fault, and the prompt information is issued. At this time, the target device terminates the recognition of the ground material. By limiting the preset number, the reliability of material recognition at high distance can be improved.

[0079] In one example embodiment, based on the attitude information, the confidence level of the target device to recognize the ground material in the to-be-measured region is determined, including:

[0080] S91, determining an inclination angle of the target device and the surface of the to-be-measured region;

[0081] S92, when the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the inclination angle is less than the third preset threshold, the credibility is determined as a second credibility;

[0082] S93, when the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the inclination angle is not less than the third preset threshold, the credibility is determined as a third credibility;

[0083] The second credibility is greater than the third credibility.

[0084] The embodiment can be applied to a scene in which the target device is not parallel to the ground. For example, a scene in which the robot cleaner is in an inclined state when passing through a threshold.

[0085] In the embodiment, the inclination angle of the target device and the surface of the to-be-measured region can be determined by a sensor. The sensor can be arranged on the chassis of the target device, or can be arranged at other positions of the target device. The sensor can be an ultrasonic sensor, or can be an infrared sensor. For example, taking the measurement of the inclination angle of the robot cleaner by an infrared sensor as an example, the inclination angle of the chassis of the robot cleaner detected by the infrared sensor is 10 degrees, which is less than the third preset threshold (for example, 20 degrees), and the recognition result is a wooden material, indicating that the probability that the ground material is a wooden material is greater than 90%. The value of the third preset threshold can be set based on actual use, for example, the third preset threshold is a value less than 20. For example, when the inclination angle is 30 degrees, which is greater than the third preset threshold, and the recognition result is a wooden material, it indicates that the probability that the ground material is a wooden material is extremely small. The target device needs to exit the current region and terminate the identification of the material of the target material.

[0086] In the embodiment, when the credibility is determined as the third credibility, the target device is instructed to terminate the identification of the ground material. After the target device terminates the identification of the ground material, the change amplitude of the distance between the target device and the ground detected in a subsequent preset time can be further judged, and different change amplitudes correspond to different recognition result calculation manners. For example, when the change amplitude is large, it is considered that the target device is in an unsafe state. When the change amplitude is small, the recognition result with the most consistency is selected as the target recognition result.

[0087] Those skilled in the art can clearly understand that the method according to the above-mentioned embodiments can be realized by means of software on the necessary general hardware platform, and of course can also be realized by hardware, but in many cases the former is a better implementation. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, or an optical disk) and includes a plurality of instructions for causing a terminal device (which can be a mobile phone, a computer, a server, or a network device) to execute the method described in the various embodiments of the present application.

[0088] In this embodiment, a ground material identification device is also provided, which is used to implement the above-mentioned embodiments and preferred embodiments, and will not be described again. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, implementation of hardware, or a combination of software and hardware, is also possible and contemplated.

[0089] Figure 3 is a structural block diagram of a ground material identification device according to an embodiment of the present application, as shown in Figure 3 , the device includes:

[0090] A first acquisition module 32 is configured to acquire attitude information of a target device during movement in a to-be-measured region.

[0091] A first determination module 34 is configured to determine a credibility of the target device identifying a ground material in the to-be-measured region based on the attitude information.

[0092] A second determination module 36 is configured to determine an identification result of the ground material in the to-be-measured region according to the credibility.

[0093] In an exemplary embodiment, the first acquisition module includes:

[0094] A first acquisition unit is configured to acquire a vertical distance from the target device to a surface of the to-be-measured region when the attitude information includes distance information.

[0095] In an exemplary embodiment, the first acquisition unit includes:

[0096] A first determination sub-unit is configured to determine a center point of the target device.

[0097] A first calculation sub-unit is configured to calculate the vertical distance from the target device to the surface of the to-be-measured region according to the center point.

[0098] In an example embodiment, the first obtaining unit comprises:

[0099] A second determining sub-unit is configured to determine a plurality of measuring points in the target device.

[0100] A second calculating sub-unit is configured to calculate a vertical distance from each measuring point to a surface of the to-be-measured region, to obtain a plurality of vertical distances.

[0101] A third determining sub-unit is configured to determine an average value of the plurality of vertical distances as the vertical distance from the target device to the surface of the to-be-measured region.

[0102] In an example embodiment, the first determining module comprises:

[0103] A first determining unit is configured to determine a credibility of the target device in identifying the ground material in the to-be-measured region according to the vertical distance and a preset distance interval.

[0104] In an example embodiment, the first determining unit comprises:

[0105] A fourth determining sub-unit is configured to determine the credibility as a first credibility when the vertical distance is not greater than a first preset threshold.

[0106] A fifth determining sub-unit is configured to determine the credibility as a second credibility when the vertical distance is greater than the first preset threshold and less than a second preset threshold.

[0107] A sixth determining sub-unit is configured to determine the credibility as a third credibility when the vertical distance is not less than the second preset threshold.

[0108] The first credibility is greater than the second credibility, and the second credibility is greater than the third credibility.

[0109] In an example embodiment, the second determining module comprises,

[0110] A second determining unit is configured to determine the identification result as a first target identification result of the ground material when the credibility is the first credibility.

[0111] A second obtaining unit is configured to obtain a second target identification result of the ground material according to a preset strategy when the credibility is the second credibility.

[0112] A first indicating unit is configured to instruct the target device to stop working and issue a prompt information when the credibility is the third credibility, wherein the prompt information is used to prompt that the movement of the target device is abnormal.

[0113] In an example embodiment, the second obtaining unit comprises:

[0114] The seventh determining sub-unit is configured to determine distance information of the target device within a preset time period.

[0115] The eighth determining sub-unit is configured to determine N recognition results within the preset time period when the distance information continuously satisfies the second confidence level, where N is a natural number greater than 1.

[0116] The ninth determining sub-unit is configured to determine the second target recognition result from the N recognition results.

[0117] In an example embodiment, the ninth determining sub-unit is further configured to perform one of the following: determining M result sets according to different result types in the N recognition results, where recognition results with the same result type are in the same result set, one recognition result is an element in the result set, and M is a natural number greater than or equal to 1.

[0118] The result type corresponding to the result set with the largest number of elements in the M result sets is determined as the second target recognition result.

[0119] In an example embodiment, the device further comprises:

[0120] The first indicating module is configured to, after determining the M result sets according to different result types in the N recognition results, indicate the target device to stop working and issue the prompt information when the number of elements in each result set is less than a preset number.

[0121] In an example embodiment, the first determining module comprises:

[0122] The third determining unit is configured to determine an inclination angle of the target device and a surface of the to-be-measured region.

[0123] The fourth determining unit is configured to determine the confidence level as a second confidence level when the vertical distance is greater than a first preset threshold and less than a second preset threshold, and the inclination angle is less than a third preset threshold.

[0124] The fifth determining unit is configured to determine the confidence level as a third confidence level when the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the inclination angle is not less than the third preset threshold.

[0125] The second confidence level is greater than the third confidence level.

[0126] It should be noted that the above modules can be implemented by software or hardware, and the hardware can be implemented in the following manner, but is not limited thereto: all the modules are located in the same processor; or the modules are located in different processors in any combination.

[0127] The embodiment of the present application further provides a computer readable storage medium, which stores a computer program, and the computer program is configured to execute the steps in any of the method embodiments when running.

[0128] In the embodiment, the computer readable storage medium can be configured to store the computer program for executing the above steps.

[0129] In an example embodiment, the computer readable storage medium can include, but is not limited to, a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk and various media that can store computer programs.

[0130] The embodiment of the present application further provides an electronic device, which comprises a memory storing a computer program and a processor configured to execute the computer program to execute the steps in any of the method embodiments.

[0131] In an example embodiment, the electronic device can further comprise a transmission device connected with the processor and an input / output device connected with the processor.

[0132] In an example embodiment, the processor can be configured to execute the above steps by the computer program.

[0133] The specific examples in the embodiment can refer to the examples described in the above embodiments and example embodiments, and the embodiment will not be described here.

[0134] It should be apparent to those skilled in the art that the modules or steps of the application described above can be implemented with general computing devices, which can be centralized on a single computing device or distributed on a network of multiple computing devices, which can be implemented with program codes executable by the computing devices, so that they can be stored in storage devices and executed by the computing devices, and in some cases, the steps shown or described can be executed in different orders than shown, or made into individual integrated circuit modules, or made into a single integrated circuit module. Thus, the application is not limited to any particular combination of hardware and software.

[0135] The preferred embodiments of the application described above are intended to be merely exemplary and those skilled in the art will recognize that many changes and modifications can be made to the application without departing from the spirit and scope of the application. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the application should be included in the protection scope of the application.

Claims

1. A method of identifying a ground material, characterized by, The method comprises: obtaining attitude information of a target device during movement in a to-be-tested region, the attitude information comprising a vertical distance of the target device to a surface of the to-be-tested region and an inclination angle of the target device to the surface of the to-be-tested region; determining a credibility of the target device in identifying a ground material in the to-be-tested region based on the attitude information; determining an identification result of the ground material in the to-be-tested region according to the credibility; wherein, based on the attitude information, the credibility of the target device in identifying the ground material in the to-be-tested region is determined, comprising: when the vertical distance is greater than a first preset threshold and less than a second preset threshold, and the inclination angle is less than a third preset threshold, the credibility is determined as a second credibility; when the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the inclination angle is not less than the third preset threshold, the credibility is determined as a third credibility; wherein, the second credibility is greater than the third credibility, the determination of the identification result of the ground material in the to-be-tested region according to the credibility comprises, when the credibility is the second credibility, obtaining a second target identification result of the ground material according to a preset strategy, when the credibility is the second credibility, obtaining a second target identification result of the ground material according to a preset strategy, comprising: determining distance information of the target device within a preset time period; when the distance information continuously satisfies the second credibility, determining N identification results within the preset time period, wherein N is a natural number greater than 1; determining the second target identification result from the N identification results, determining the second target identification result from the N identification results comprises one of the following: determining M result sets according to different result types in the N identification results, wherein identification results with the same result type are in the same result set, one identification result is an element in the result set, and M is a natural number greater than or equal to 1; determining a result type corresponding to a result set with the most elements in the M result sets as the second target identification result.

2. The method of claim 1, wherein, The obtaining of the vertical distance of the target device to the surface of the to-be-tested region comprises: determining a center point of the target device; calculating the vertical distance of the target device to the surface of the to-be-tested region according to the center point.

3. The method of claim 1, wherein, The obtaining of the vertical distance of the target device to the surface of the to-be-tested region comprises: determining a plurality of measurement points in the target device; calculating the vertical distance of each measurement point to the surface of the to-be-tested region to obtain a plurality of vertical distances; determining an average value of the plurality of vertical distances as the vertical distance of the target device to the surface of the to-be-tested region.

4. The method of claim 1, wherein, The determination of the credibility of the target device in identifying the ground material in the to-be-tested region based on the attitude information further comprises: determining the credibility of the target device in identifying the ground material in the to-be-tested region according to the vertical distance and a preset distance interval.

5. The method of claim 4, wherein, The method further comprises: when the vertical distance is not greater than a first preset threshold, determining the credibility as a first credibility; wherein the first credibility is greater than the second credibility.

6. The method of claim 5, wherein, The method further comprises: when the credibility is the first credibility, determining the identification result as a first target identification result of the ground material; when the credibility is the third credibility, instructing the target device to stop working and issuing a prompt information, wherein the prompt information is used to prompt that the movement of the target device is abnormal.

7. The method of claim 1, wherein, After determining M result sets according to different result types in the N identification results, the method further comprises: when the number of elements in each result set is less than a preset number, instructing the target device to stop working and issuing a prompt information.

8. An apparatus for identifying a ground material, characterized by comprising: The method comprises: a first acquisition module, configured to acquire posture information of a target device in a movement process in a to-be-tested region, the posture information comprising a vertical distance of the target device to a surface of the to-be-tested region and an inclination angle of the target device to the surface of the to-be-tested region; a first determination module, configured to determine, based on the posture information, a credibility of the target device in identifying a ground material in the to-be-tested region; a second determination module, configured to determine, according to the credibility, an identification result of the ground material in the to-be-tested region, wherein the determination of the credibility of the target device in identifying the ground material in the to-be-tested region based on the posture information comprises: when the vertical distance is greater than a first preset threshold and less than a second preset threshold, and the inclination angle is less than a third preset threshold, determining the credibility as a second credibility; when the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the inclination angle is not less than the third preset threshold, determining the credibility as a third credibility; wherein the second credibility is greater than the third credibility, the determination of the identification result of the ground material in the to-be-tested region according to the credibility comprises, when the credibility is the second credibility, acquiring a second target identification result of the ground material according to a preset strategy, the acquisition of the second target identification result of the ground material according to the preset strategy when the credibility is the second credibility comprises: acquiring distance information of the target device in a preset time period; when the distance information continuously satisfies the second credibility, determining N identification results in the preset time period, wherein N is a natural number greater than 1; determining the second target identification result from the N identification results, the determination of the second target identification result from the N identification results comprises one of the following: determining M result sets according to different result types in the N identification results, wherein identification result sets with the same result type are in the same result set, one identification result is an element in the result set, and M is a natural number greater than or equal to 1; Corresponding to the result type of the result set with the largest number of elements in the M result sets, the result type of the second target recognition result is determined.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is configured to execute the method in any one of claims 1 to 7 when running. 10.An electronic device comprising a memory and a processor, the electronic device characterized by, The memory stores a computer program, and the processor is configured to execute the computer program to execute the method in any one of claims 1 to 7.

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