Cruise point determination method and device of intelligent mobile device, electronic device and medium

Abstract

The present disclosure relates to a cruise point determination method and device of a smart mobile device, an electronic device and a medium. The method comprises: when the smart mobile device works in a cruise mode, obtaining service objects in a working area and position information of each service object; determining a cruise point candidate area from a working map of the smart mobile device according to the position information of each service object and a preset coverage radius; and determining a cruise point from the cruise point candidate area. According to the present scheme, the cruise point can be determined from the working map according to the obtained position information of the service objects, the automatic setting of the cruise point is realized, the complex operation of manually setting the cruise point by the user is avoided, time and labor are saved, and the setting efficiency of the cruise point can be improved.

Description

Technical Field

[0001] This disclosure relates to the field of robotics technology, and in particular to a method, apparatus, electronic device, and medium for determining cruise points of an intelligent mobile device. Background Technology

[0002] Currently, smart mobile devices such as robot vacuum cleaners and service robots are becoming increasingly popular in various scenarios such as homes, shopping malls, and airports. Smart mobile devices often have a need for multi-point navigation.

[0003] In related technologies, in the multi-point navigation scenario of smart mobile devices, after the smart mobile device has built the map, it is necessary to manually set the navigation points on the map. The operation process is relatively complicated, time-consuming, labor-intensive, and inefficient. Summary of the Invention

[0004] In order to solve the above-mentioned technical problems, or at least partially solve the above-mentioned technical problems, this disclosure provides a method, apparatus, electronic device and medium for determining cruise points of intelligent mobile devices.

[0005] According to a first aspect of this disclosure, a method for determining cruise points on a smart mobile device is provided, comprising:

[0006] When the smart mobile device is working in cruise mode, it acquires the service objects within the working area and the location information of each of the service objects;

[0007] Based on the location information of each service object and the preset coverage radius, candidate areas for patrol points are determined from the working map of the smart mobile device;

[0008] Cruise points are determined from the candidate cruise point region.

[0009] According to a second aspect of this disclosure, a cruise point determination device for a smart mobile device is provided, comprising:

[0010] The acquisition module is used to acquire service objects within the working area and the location information of each service object when the smart mobile device is working in cruise mode.

[0011] The first determining module is used to determine the patrol point candidate area from the working map of the smart mobile device based on the location information of each service object and the preset coverage radius;

[0012] The second determining module is used to determine the cruise point from the cruise point candidate area.

[0013] According to a third aspect of this disclosure, an electronic device is provided, comprising: a processor and a memory, the processor being configured to execute a computer program stored in the memory, the computer program being executed by the processor to implement the steps of the cruise point determination method for the intelligent mobile device described in the first aspect.

[0014] According to a fourth aspect of this disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the cruise point determination method for an intelligent mobile device as described in the first aspect.

[0015] According to a fifth aspect of this disclosure, a computer program product is provided that, when run on a computer, causes the computer to perform the cruise point determination method for a smart mobile device as described in the first aspect.

[0016] The technical solution provided in this disclosure has the following advantages compared with the prior art:

[0017] The technical solution disclosed herein acquires the service objects and their location information within the working area when the smart mobile device is operating in cruise mode. Based on the location information of each service object and a preset coverage radius, it determines a candidate area for cruise points from the working map of the smart mobile device, and then determines the cruise points from the candidate area. Using this solution, cruise points can be automatically set from the working map based on the acquired location information of the service objects, avoiding the complex operation of manually setting cruise points by the user, saving time and effort, and improving the efficiency of cruise point setting. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0019] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0020] Figure 1 A flowchart illustrating a method for determining cruise points on a smart mobile device according to an embodiment of this disclosure;

[0021] Figure 2 This is a schematic diagram of the structure of a smart mobile device provided in an embodiment of the present disclosure;

[0022] Figure 3A flowchart illustrating a method for determining cruise points on a smart mobile device, provided in another embodiment of this disclosure;

[0023] Figure 4 This is a schematic diagram of the overlapping area provided in one embodiment of the present disclosure;

[0024] Figure 5 This is a schematic diagram illustrating that there is no overlapping coverage area between neighboring service objects in one embodiment of this disclosure;

[0025] Figure 6 A flowchart illustrating a method for determining cruise points on a smart mobile device according to a specific embodiment of this disclosure;

[0026] Figure 7 This is a schematic diagram of the structure of a cruise point determination device for a smart mobile device provided in an embodiment of the present disclosure. Detailed Implementation

[0027] Embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings. While some embodiments of this disclosure are shown in the drawings, it should be understood that this disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this disclosure. It should be understood that the accompanying drawings and embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of protection of this disclosure.

[0028] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0029] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc., used in this disclosure are only used to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0030] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0031] To address the problems of time-consuming, labor-intensive, and inefficient manual setting of patrol points for smart mobile devices in existing technologies, and the fact that manually set patrol points are static and cannot adapt to the dynamic movement of the target (i.e., the service object), this disclosure provides a method for determining patrol points for smart mobile devices. This method can determine patrol points from a working map based on the location information of the service object, achieving automatic patrol point setting and avoiding the complex manual operation by users, saving time and effort and improving the efficiency of patrol point setting. Furthermore, in this solution, the patrol points are determined based on the location information of the service object. Therefore, when the service object moves, the changing location information causes the determined patrol points to change accordingly, thus achieving dynamic changes in patrol points. This solution is applicable to different scenarios such as single-target, multi-target, moving target, and fixed target, is simple to implement, robust, and can meet the patrol needs in complex home scenarios.

[0032] Figure 1 This is a flowchart illustrating a method for determining the cruise point of a smart mobile device according to an embodiment of the present disclosure. The method can be executed by a device for determining the cruise point of a smart mobile device according to an embodiment of the present disclosure. The device can be implemented using software and / or hardware and is generally integrated into smart mobile devices such as service robots and robot vacuum cleaners.

[0033] Figure 2 This is a schematic diagram of the structure of a smart mobile device provided in an embodiment of this disclosure. Figure 2 As shown, the intelligent mobile device includes a visual positioning module, a mapping and positioning module, a path planning module, a mode control module, and a motion execution module. The visual positioning module uses a depth camera to obtain depth information of the service object; the depth camera can include, but is not limited to, a binocular camera, a 3D structured light camera, or a 3D ToF camera. The mapping and positioning module uses laser navigation or visual navigation technology, based on algorithms such as GMAPping, Cartographer, and ORB-SLAM for positioning and mapping. Combined with the depth information collected by the visual positioning module, a semantic map is constructed, which is the working map of the intelligent mobile device. The path planning module determines the cruise point from the constructed working map based on the location information of the service object detected by the depth camera, using the cruise point determination method provided in this disclosure, and performs local path planning using a local path planning algorithm, which can include, but is not limited to, Dijkstra's algorithm, artificial potential field method, spatial search method, and action behavior method. The mode control module activates the corresponding movement mode according to the user's intention; the movement mode can include, but is not limited to, whole-house cruise, single-room cruise, and loop cruise. The motion execution module uses hub motors, etc., to control the intelligent mobile device to move according to the path trajectory determined by the path planning module.

[0034] It is understandable that smart mobile devices are not limited to only including Figure 2 As shown in the diagram, smart mobile devices can also include other modules depending on their functions. For example, when a smart mobile device is an air purifying robot, it can also include an air purification module, a filter, etc. When a smart mobile device is a robot vacuum cleaner, it can also include a dust collection box, a mop, etc. Figure 2 The components of the smart mobile devices shown are merely examples and should not be construed as limiting the scope of this disclosure.

[0035] like Figure 1 As shown, the method for determining cruise points on this smart mobile device may include the following steps:

[0036] Step 101: When the smart mobile device is working in cruise mode, acquire the service objects within the working area and the location information of each service object.

[0037] The work area refers to the scope of services required by the smart mobile device, such as the room where the smart mobile device is currently located or the entire house.

[0038] In this embodiment of the disclosure, the type of service object may be different for different smart mobile devices, and the type of service object corresponding to the smart mobile device may be preset. For example, when the smart mobile device is a humidifier, the service object may be living things such as people and pets; when the smart mobile device is an air purifier, the service object may include living things such as people and pets, and may also include fixed objects such as wardrobes, tables and chairs.

[0039] For example, when a user activates the cruise mode on their smart mobile device, the device can use a depth camera to detect service objects within the work area that match a preset service object type. For instance, if the preset service object types include people and pets, the smart mobile device can use the depth camera to detect people and pets within the work area as service objects and obtain their location information. Using a depth camera to obtain service object location information allows for flexible setting of service object types, offering good flexibility.

[0040] The location information of each service object can be the coordinate information of the detected service object.

[0041] Step 102: Based on the location information of each service object and the preset coverage radius, determine the patrol point candidate area from the working map of the smart mobile device.

[0042] Among them, the working map refers to the semantic map corresponding to the working area constructed by the mapping and positioning module of the smart mobile device.

[0043] In this embodiment of the disclosure, each acquired service object can be marked on a working map. For example, the corresponding location can be found on the working map based on the location information of each service object and marked. During marking, the service object can use the location information as an identifier. It should be noted that when a service object moves, it is considered a different service object. For each marked service object, a patrol point candidate area can be determined from the working map based on the service object's location information and a preset coverage radius.

[0044] The coverage radius can be preset according to actual needs. Preferably, the coverage radius can be set to a value within the range of 1 meter to 3 meters.

[0045] For example, a corresponding coverage radius can be set for different types of smart mobile devices. For instance, when the smart mobile device is a robot vacuum cleaner, the corresponding coverage radius can be preset to 2 meters; when the smart mobile device is an air purifier, the corresponding coverage radius can be preset to 3 meters.

[0046] For example, when determining the patrol point candidate area, the coordinate point corresponding to the location information of the service object can be used as the center, and a square area corresponding to each service object can be determined with a preset coverage radius as the side length. The determined square area is determined as the patrol point candidate area. One service object corresponds to one square area, that is, one patrol point candidate area. Thus, the number of patrol point candidate areas is consistent with the number of service objects.

[0047] Step 103: Determine the cruise point from the cruise point candidate area.

[0048] In this embodiment of the disclosure, after the candidate area for cruise points is determined, a point can be selected from the candidate area as a cruise point according to preset rules.

[0049] For example, the preset rule could be to randomly select a point as the cruise point, or to randomly select an obstacle-free point from the cruise point candidate area as the cruise point. Here, an obstacle-free point refers to a coordinate point on the working map within the cruise point candidate area that is not occupied by obstacles. It is understandable that different smart mobile devices correspond to different obstacles. For example, for a robot vacuum cleaner, people and furniture are considered obstacles; for a humidifier, inanimate objects such as tables and chairs are considered obstacles.

[0050] For example, the preset rule could be to select the point closest to the current location of the smart mobile device as the cruise point. After determining the cruise point candidate area, the distance between each coordinate point in the cruise point candidate area and the current location of the smart mobile device can be calculated, and the point closest to the current location of the smart mobile device in the cruise point candidate area can be selected as the cruise point.

[0051] In this embodiment of the disclosure, after determining the cruise points, a local path planning algorithm can be used to plan the path trajectory. The smart mobile device moves to the cruise point according to the path trajectory to execute the task, which can be, but is not limited to, purification, humidification, sweeping, etc. For each determined cruise point, the local path planning algorithm is used to plan the path trajectory once.

[0052] It should be noted that when one service object corresponds to one cruise point candidate area, if there are multiple service objects, there are multiple cruise point candidate areas. A cruise point can be determined from each cruise point candidate area. Then, based on the determined cruise point and a preset local path planning algorithm, the movement trajectory of the intelligent mobile device is planned, and the intelligent mobile device is controlled to move according to the movement trajectory to perform the task. In this case, the path trajectory can be planned once for each determined cruise point, or the path trajectory can be planned after all cruise points are determined; this disclosure does not impose any restrictions on this.

[0053] The method for determining cruise points on a smart mobile device according to this disclosure involves acquiring service objects within a working area and their location information when the smart mobile device is operating in cruise mode. Based on the location information of each service object and a preset coverage radius, a candidate area for cruise points is determined from the working map of the smart mobile device, and then a cruise point is determined from this candidate area. This solution enables the automatic setting of cruise points based on the acquired location information of service objects, avoiding the complex manual setting process and saving time and effort, thus improving the efficiency of cruise point setting.

[0054] Figure 3 This is a flowchart illustrating a method for determining cruise points on a smart mobile device according to another embodiment of the present disclosure, as shown below. Figure 3 As shown, based on the foregoing embodiments, step 102 may include the following sub-steps:

[0055] Step 201: Determine the coverage area of ​​the smart mobile device from the working map of the smart mobile device based on the current location of the smart mobile device.

[0056] For example, a positioning device can be installed in a smart mobile device to obtain the smart device's current location, which can be represented by coordinate values.

[0057] Typically, smart mobile devices have a corresponding coverage area; for example, a robot vacuum cleaner's coverage area is a radius of 0.5 meters. In this embodiment of the disclosure, the coverage area of ​​a smart mobile device can be determined based on the current location and a preset working radius of the smart mobile device (e.g., 0.5 meters).

[0058] For example, the current location can be used as the center, and the preset working radius can be used as the radius. A circular area centered on the current location can be determined on the working map as the coverage area of ​​the smart mobile device.

[0059] For example, the current location can be used as the center point, and the preset working radius can be used as half the side length to determine a square area centered on the current location on the working map as the coverage area of ​​the smart mobile device.

[0060] Step 202: Based on the location information of each service object, determine the candidate service objects that are not within the coverage area from the service objects.

[0061] For example, the location information of each service object can be compared with the locations included in the determined coverage area. If the location information of a service object matches the coordinate value of a location within the coverage area, then the service object is determined to be within the coverage area, that is, the service object is covered by the coverage area of ​​the smart mobile device. For the covered target service object, the target service object can be marked as covered. If the location information of a service object does not match the coordinate value of each location within the coverage area, then the service object is determined to be outside the coverage area, that is, the service object is not covered by the coverage area of ​​the smart mobile device. The service object not covered by the coverage area is determined as a candidate service object.

[0062] In one optional embodiment of this disclosure, each acquired service object can be recorded in a service object list, and an identification field can be set to identify whether the service object is covered by the coverage area of ​​the smart mobile device. For the covered target service object, it is marked as covered, and for the uncovered candidate service object, it can be marked as uncovered or not marked.

[0063] Step 203: Based on the location information of the candidate service objects and the coverage radius, determine the patrol point candidate area from the working map.

[0064] Typically, when a service object is within the coverage area of ​​a smart mobile device, it is considered that the smart mobile device has performed a task on that service object. Therefore, in this embodiment of the disclosure, for service objects within the coverage area, they may not participate in the subsequent process of determining the patrol point, and the patrol point can be determined only based on the location information of candidate service objects that are not within the coverage area.

[0065] Specifically, in this embodiment of the disclosure, after identifying candidate service objects not covered by the coverage area of ​​the smart mobile device, a patrol point candidate area can be determined from the working map of the smart mobile device based on the location information corresponding to each candidate service object and a preset coverage radius. The method for determining the patrol point candidate area varies depending on the number of candidate service objects, which will be described in detail below.

[0066] In one optional embodiment of this disclosure, when determining the candidate area for cruise points, if there is only one candidate service object, a circular area can be determined on the working map of the smart mobile device with the coordinate point corresponding to the location information of the candidate service object as the center and the preset first coverage radius as the radius.

[0067] The first coverage radius can be preset according to actual needs. For example, the first coverage radius can be set to 0.5 meters.

[0068] In other words, when there is only one candidate service object, the circular area within the first coverage radius around the candidate service object can be determined as the cruise point candidate area.

[0069] In one optional embodiment of this disclosure, when determining the candidate area of ​​the cruise point, if there are multiple candidate service objects, the distance between each candidate service object and the smart mobile device can be determined based on the location information of each candidate service object and the current location of the smart mobile device, and a preset number of neighboring service objects can be determined from the candidate service objects based on the determined distance.

[0070] The preset number can be set according to actual needs. For example, the preset number can be set to 2, 3, etc.

[0071] In this embodiment of the disclosure, when determining the nearest service objects, a preset number of candidate service objects that are closest to the current location of the smart mobile device can be selected as the nearest service objects.

[0072] It should be noted that if the number of candidate service objects is less than the preset number, all candidate service objects can be considered as nearest neighbor service objects. To avoid wasting resources due to unnecessary distance calculation operations, before recording the distance between each candidate service object and the smart mobile device, it can be determined whether the number of candidate service objects is greater than the preset number. If so, the distance between the candidate service objects and the smart mobile device is calculated, and the preset number of nearest neighbor service objects is determined based on the distance. If the number of candidate service objects is less than or equal to the preset number, the distance between the candidate service objects and the smart mobile device can be skipped, and all candidate service objects can be directly determined as nearest neighbor service objects.

[0073] Next, the coordinates corresponding to the location information of each neighboring service object can be used as the center of a circle, and the preset second coverage radius can be used as the radius to determine the circular area range corresponding to each neighboring service object on the working map of the smart mobile device.

[0074] The second coverage radius can be preset according to actual needs. For example, the second coverage radius can be set to any value between 1 meter and 3 meters.

[0075] In other words, in this embodiment of the disclosure, for each neighboring service object, a circle is drawn on the working map with its own location as the center and the second coverage radius as the radius, which is the circular area range of the neighboring service object.

[0076] Next, based on the circular area of ​​each neighboring service object, the overlapping coverage areas between neighboring service objects can be determined as candidate areas for cruise points.

[0077] For example, when determining the overlapping area, coordinate points with the same coordinate value can be determined from each circular area based on the coordinate points contained in each circular area to form the overlapping area. The coordinate points contained in the overlapping area exist in the circular area corresponding to each neighboring service object.

[0078] It is understandable that the overlapping area of ​​the coverage corresponding to the neighbor service refers to the area that exists in common between the circular areas corresponding to each neighbor service object. If there is no common area between the circular areas of each neighbor service object, it is considered that the neighbor service objects do not have overlapping areas.

[0079] For example, Figure 4 This is a schematic diagram of the overlapping areas provided in one embodiment of the present disclosure. Figure 4 In the diagram, white dots represent the location of the smart mobile device, black dots represent the service recipients (M1, M2, M3, M4, and M5), and dashed circular areas represent the coverage area of ​​the smart mobile device. Figure 4 It can be seen that, Figure 4 The service objects shown are all outside the coverage area, therefore they are all identified as candidate service objects, and from Figure 4It can be seen that there are multiple candidate service objects. Assuming the preset number is 3, M1, M2, and M3 are determined as the nearest neighbor service objects based on the distance between each candidate service object and the smart mobile device. Then, circles are drawn with the locations of M1, M2, and M3 as centers and the preset second coverage radius as the radius, resulting in three circular regions, denoted as C1, C2, and C3 respectively. The overlapping portion of these three regions can then be determined based on C1, C2, and C3. Figure 4 The shaded area in the diagram represents the overlapping coverage area determined in this study, which is also the candidate area for cruise points. Then, a point can be selected from the candidate area as the cruise point, and the smart mobile device can be controlled to move to the cruise point to perform the task.

[0080] Furthermore, in one optional embodiment of this disclosure, if there is an obstacle in the determined coverage intersection area, for example, a table occupies part of the coverage intersection area, but the remaining area cannot allow the smart mobile device to pass smoothly, then it is determined that there is an obstacle in the coverage intersection area affecting the passage of the smart mobile device. In this case, one neighboring service object can be removed from the currently determined neighboring service objects to obtain the remaining neighboring service objects.

[0081] In one optional embodiment of this disclosure, if there is no overlapping area between the circular areas of each neighboring service object, for example, if there are three neighboring service objects, but only two of them have overlapping circular areas, then it is determined that there is no overlapping area between the circular areas of these three neighboring service objects. In this case, one neighboring service object can be removed from the currently determined neighboring service objects to obtain the remaining neighboring service objects.

[0082] For example, Figure 5 This is a schematic diagram illustrating that there is no overlapping coverage area between neighboring service objects provided in one embodiment of this disclosure. Figure 5 In the diagram, the white dot P0 represents the location of the smart mobile device, and the black dots represent the service objects being acquired, denoted as P1, P2, P3, and P4 respectively. P1, P2, and P3 are the identified nearest neighbor service objects, and W1, W2, and W3 are the circular areas corresponding to P1, P2, and P3 respectively. Figure 5 It can be seen that there is an overlapping area between W1 and W2, while there is no overlapping area between W3 and neither W1 nor W2. Therefore, it is determined that there is no overlapping area between P1, P2, and P3. In this case, one of the nearest neighbor service objects can be removed, leaving only two nearest neighbor service objects. For example, P3 can be removed, and the remaining P1 and P2 can be used to continue determining the candidate area for the cruise point.

[0083] For example, assuming that the circular area of ​​each neighboring service object has no overlapping areas between any two of them, the neighboring service object that is farthest from the smart mobile device can be removed.

[0084] Next, based on the location information and coverage radius of the remaining nearby service objects, candidate areas for patrol points can be determined from the working map.

[0085] Understandably, if there is only one remaining neighboring service object, the coverage radius is the first coverage radius described above. If there are multiple remaining neighboring service objects, the coverage radius is the second coverage radius, and the coverage intersection area is redefined. If the newly defined coverage intersection area has obstacles affecting the passage of smart mobile devices, or if there is no coverage intersection area yet, one neighboring service object is removed again, and the above steps are repeated until a patrol point candidate area is determined.

[0086] In this embodiment of the disclosure, by determining the candidate area of ​​the patrol point based on the location information of the determined candidate service object, the service object within the coverage area of ​​the smart mobile device does not need to participate in the subsequent patrol point determination process, which helps to avoid the situation where the service object whose task has already been performed is repeatedly performed.

[0087] In one optional embodiment of this disclosure, after a cruise point is determined, the smart mobile device can be controlled to move to the cruise point to perform a task based on a local path planning algorithm. Specifically, after each cruise point is determined, the smart mobile device can plan a path trajectory based on a preset local path planning algorithm and control itself to move along the planned path trajectory from its current position to the newly determined cruise point to perform the task. The task performed can be, but is not limited to, purification, humidification, sweeping, etc.

[0088] After a smart mobile device moves to a patrol point to perform a task, its current coverage area can be determined based on the location information of the patrol point and the working radius of the smart mobile device.

[0089] The working radius can be preset, for example, set to 0.5 meters, 0.8 meters, etc.

[0090] For example, after the smart mobile device moves to the cruise point, it can draw a circle on the working map with the location information of the cruise point as the center and the preset working radius of the smart mobile device as the radius, to obtain a circular coverage area.

[0091] In this embodiment of the disclosure, after determining the current coverage area of ​​the smart mobile device, it can be determined whether there is a service object within the coverage area based on the location information and coverage area of ​​the service object, and the target service object whose location information is within the coverage area is marked as covered.

[0092] It is understandable that the service objects involved in determining whether their location information is within the coverage area of ​​the smart mobile device should be those that have not been marked as covered, i.e., those that have never been covered by a coverage area. If a service object was within the coverage area of ​​the smart mobile device before it moved to the latest cruise point, but is no longer within the currently determined coverage area after moving to the latest cruise point, then since the service object was marked as covered when it was last within the coverage area, it will not be determined whether the service object is within the currently determined coverage area this time.

[0093] For example, all detected service objects can be recorded in a service object list. Service objects located on smart mobile devices are marked as covered. During the process of determining patrol points, service objects marked as covered will not participate in the patrol point determination process. In other words, the service objects participating in the patrol point determination process each time are those that have never been covered by the coverage area of ​​the smart mobile device.

[0094] It should be noted that the process of determining the cruise point described in the above embodiments is executed cyclically until all the service objects obtained are marked as covered, at which point the process of determining the cruise point stops. When the cruise mode of the smart mobile device is the single cruise mode, the smart mobile device stops working after moving to the last determined cruise point and completing the task.

[0095] In this embodiment of the disclosure, after the smart mobile device moves to the cruise point to perform the task, the coverage area of ​​the smart mobile device is re-determined, and the target service objects within the coverage area are marked as covered. This prevents service objects that were previously within the coverage area of ​​the smart mobile device from participating in the cruise point determination process, which helps to avoid repeatedly performing tasks on the same service object and also helps to improve the accuracy of cruise point determination.

[0096] In one optional embodiment of this disclosure, when the smart mobile device is in cyclical cruise mode, that is, the smart mobile device repeatedly cruises according to cruise points within the working area. In this case, the solution of this disclosure may further include: adding each determined cruise point to a cruise point list in sequence, and cyclically cruises within the working area of ​​the smart mobile device to perform the task according to the cruise point list.

[0097] For example, after the smart mobile device first determines a cruise point using the scheme of this disclosure, a cruise point list can be created, and the newly determined cruise point can be added to the cruise point list. The smart mobile device moves to the cruise point to perform a task and determines a new cruise point. When the smart mobile device determines another cruise point, the newly created cruise point is also added to the cruise point list. The above process is repeated until no new cruise points are generated. When the smart mobile device moves to the last cruise point to perform a task, the first traversal ends, and the cruise point list contains all the determined cruise points. Since the smart mobile device is in a cyclic cruise mode, the task continues to be performed one by one in the order of the cruise points in the cruise point list within the working area, from the first cruise point in the cruise point list to the last cruise point. This process continues until the user manually turns off the smart mobile device, or the number of cyclic cruises by the smart mobile device reaches a preset threshold number of cycles.

[0098] In this embodiment, when the cruise mode is cyclic cruise mode, each determined cruise point is sequentially added to the cruise point list, and the task is performed by cyclically cruising within the working area of ​​the smart mobile device according to the cruise point list. This allows the smart mobile device to perform the cruise point determination operation only once (i.e., after traversing all service objects) in cyclic cruise mode, eliminating the need to determine cruise points every time, thus improving the efficiency of cyclic cruise. Furthermore, managing the cruise point list allows for the fulfillment of different needs for cyclic cruise and single-round cruise.

[0099] Considering that service objects within the work area may be mobile, and the positions of mobile service objects may change dynamically, the position of the same service object may differ before and after movement, and service objects at different positions are considered different service objects. In one optional embodiment of this disclosure, service objects can be detected in real time or periodically during the execution of tasks by the smart mobile device. When a new service object appears (new location information is detected), the new service object is added to the service object list to determine a new patrol point. Thus, the patrol point is dynamically updated as the service object moves.

[0100] Figure 6 This is a flowchart illustrating a method for determining cruise points on a smart mobile device according to a specific embodiment of this disclosure. Figure 6As shown, after the process begins, in step 301, the smart mobile device activates cruise mode, and then proceeds to step 302, where the smart mobile device detects the location of the service object. In step 303, the smart mobile device determines whether there are any uncovered candidate service objects among the detected service objects based on the location of the service object and the coverage range of the smart mobile device. If so, step 304 is executed; otherwise, step 305 is executed. In step 304, the coverage intersection area of ​​the two nearest (preset number) neighboring service objects to the smart mobile device is determined. Specifically, the area corresponding to each neighboring service object can be determined based on the location of the neighboring service objects and a preset second coverage radius, and then the overlapping part between the two areas is determined as the coverage intersection area. In step 306, it is determined whether there is a coverage intersection area among the neighboring service objects. If so, step 307 is executed; otherwise, step 308 is executed. In step 307, it is further determined whether the coverage intersection area is reachable, that is, whether there are obstacles in the coverage intersection area that prevent the smart mobile device from passing through. If so, step 309 is executed; otherwise, step 308 is executed. In step 309, when the overlapping coverage area is reachable, a cruise point is determined from the overlapping coverage area, and the process proceeds to step 310. In step 308, when the overlapping coverage area is unreachable, or when there is no overlapping coverage area between neighboring service objects, the number of neighboring service objects is reduced, and the process proceeds to step 309. In step 309, a cruise point is determined based on the remaining neighboring service object. Specifically, a cruise point candidate area is determined based on the location of the remaining neighboring service object and a preset first coverage radius, and the cruise point is determined from the cruise point candidate area. After determining the cruise point, the process proceeds to step 310. In step 310, the intelligent mobile device is controlled to cruise to the cruise point based on a local path planning algorithm, and after the task is executed, the process returns to step 303. In step 305, it is determined whether the cruise mode is a cyclic cruise mode. If so, step 311 is executed; otherwise, the current process ends. In step 311, the intelligent mobile device cyclically traverses multiple cruise points to execute the task.

[0101] Corresponding to the above method embodiments, this disclosure also provides a cruise point determination device for smart mobile devices.

[0102] Figure 7 This is a schematic diagram of the structure of a cruise point determination device for a smart mobile device provided in an embodiment of the present disclosure, as shown below. Figure 7 As shown, the cruise point determination device 40 of the smart mobile device may include: an acquisition module 410, a first determination module 420, and a second determination module 430.

[0103] The acquisition module 410 is used to acquire service objects within the working area and the location information of each service object when the smart mobile device is working in cruise mode.

[0104] The first determining module 420 is used to determine the patrol point candidate area from the working map of the smart mobile device based on the location information of each service object and the preset coverage radius.

[0105] The second determining module 430 is used to determine the cruise point from the cruise point candidate area.

[0106] In one optional embodiment of this disclosure, the first determining module 420 includes:

[0107] The first determining unit is used to determine the coverage area of ​​the smart mobile device from the working map of the smart mobile device based on the current location of the smart mobile device.

[0108] The second determining unit is used to determine, based on the location information of each service object, candidate service objects that are not within the coverage area from among the service objects;

[0109] The third determining unit is used to determine the patrol point candidate area from the working map based on the location information of the candidate service object and the coverage radius.

[0110] In one optional embodiment of this disclosure, the third determining unit is further configured to:

[0111] When there is only one candidate service object, a circular area is determined on the working map with the coordinate point corresponding to the location information of the candidate service object as the center and a preset first coverage radius as the radius.

[0112] The circular area is defined as the candidate area for the cruise point.

[0113] In one optional embodiment of this disclosure, the third determining unit is further configured to:

[0114] When there are multiple candidate service objects, the distance between each candidate service object and the smart mobile device is determined based on the location information of each candidate service object and the current location of the smart mobile device.

[0115] Based on the distance, a preset number of neighboring service objects are determined from the candidate service objects;

[0116] Using the coordinate point corresponding to the location information of each neighboring service object as the center, and the preset second coverage radius as the radius, a circular area range corresponding to each neighboring service object is determined on the working map;

[0117] Based on the circular area range corresponding to each of the neighboring service objects, the overlapping coverage areas of the neighboring service objects are determined;

[0118] The overlapping areas are identified as candidate cruise point areas.

[0119] In one optional embodiment of this disclosure, the cruise point determination device 40 of the smart mobile device further includes:

[0120] The processing unit is configured to remove a neighboring service object if it is determined that there is an obstacle in the overlapping area, or if there is no overlapping area in the circular area corresponding to each neighboring service object.

[0121] The third determining unit is further configured to:

[0122] Based on the location information of the remaining nearby service objects and the coverage radius, candidate areas for cruise points are determined from the working map.

[0123] In one optional embodiment of this disclosure, the cruise point determination device 40 of the smart mobile device further includes:

[0124] The third determining module is used to determine the target service object within the coverage area from the service objects based on the location information of each service object;

[0125] A marking unit is used to mark the target service object as covered.

[0126] In one optional embodiment of this disclosure, the cruise mode is a cyclic cruise mode, and the cruise point determination device 40 of the smart mobile device further includes:

[0127] The module is used to add the cruise points that are determined each time to the cruise point list;

[0128] A cruise module is used to circulate within the work area according to the list of cruise points to perform tasks.

[0129] The cruise point determination device for smart mobile devices provided in this disclosure can execute any cruise point determination method for smart mobile devices provided in this disclosure, and has the corresponding functional modules and beneficial effects of the method execution. Content not described in detail in the device embodiments of this disclosure can be referred to the descriptions in any method embodiments of this disclosure.

[0130] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0131] In an exemplary embodiment of this disclosure, an electronic device is also provided, including a processor and a memory, wherein the processor is configured to execute a computer program stored in the memory, and the computer program, when executed by the processor, implements the steps of the cruise point determination method for the smart mobile device as described in the above embodiments.

[0132] In this embodiment of the disclosure, a computer-readable storage medium is also provided, on which a computer program is stored, wherein when the computer program is executed by a processor, the steps of the cruise point determination method for the smart mobile device described in the above embodiments are implemented.

[0133] It should be noted that the computer-readable storage medium disclosed herein can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory, read-only memory, erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. Program code contained on a computer-readable storage medium can be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, radio frequency, etc., or any suitable combination thereof.

[0134] In this embodiment of the disclosure, a computer program product is also provided, which, when run on a computer, causes the computer to perform the steps of the cruise point determination method for the smart mobile device described in the above embodiments.

[0135] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0136] The above description is merely a specific embodiment of this disclosure, enabling those skilled in the art to understand or implement it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for determining cruise points on a smart mobile device, characterized in that, The method includes: When a smart mobile device is working in cruise mode, it acquires the service objects within the working area and the location information of each service object, wherein different smart mobile devices correspond to different types of service objects; Based on the location information of each service object and the preset coverage radius, a patrol point candidate area is determined from the working map of the smart mobile device, wherein a corresponding coverage radius is set for different types of smart mobile devices; Cruise points are determined from the candidate cruise point region; The step of determining the patrol point candidate area from the working map of the smart mobile device based on the location information of each service object and a preset coverage radius includes: Based on the current location of the smart mobile device, determine the coverage area of ​​the smart mobile device from the working map of the smart mobile device; Based on the location information of each service object, candidate service objects that are not within the coverage area are determined from the service objects; Based on the location information of the candidate service objects and the coverage radius, the candidate area for patrol points is determined from the working map.

2. The method according to claim 1, characterized in that, The step of determining the patrol point candidate area from the working map based on the location information of the candidate service objects and the coverage radius includes: When there is only one candidate service object, a circular area is determined on the working map with the coordinate point corresponding to the location information of the candidate service object as the center and a preset first coverage radius as the radius. The circular area is defined as the candidate area for the cruise point.

3. The method according to claim 1, characterized in that, The step of determining the patrol point candidate area from the working map based on the location information of the candidate service objects and the coverage radius includes: When there are multiple candidate service objects, the distance between each candidate service object and the smart mobile device is determined based on the location information of each candidate service object and the current location of the smart mobile device. Based on the distance, a preset number of neighboring service objects are determined from the candidate service objects; Using the coordinate point corresponding to the location information of each neighboring service object as the center, and the preset second coverage radius as the radius, a circular area range corresponding to each neighboring service object is determined on the working map; Based on the circular area range corresponding to each of the neighboring service objects, the overlapping coverage areas of the neighboring service objects are determined; The overlapping areas are identified as candidate cruise point areas.

4. The method according to claim 3, characterized in that, The method further includes: If it is determined that there is an obstacle in the overlapping area, or if the circular area corresponding to each of the neighboring service objects does not have an overlapping area, then remove one neighboring service object; Based on the location information of the remaining nearby service objects and the coverage radius, candidate areas for cruise points are determined from the working map.

5. The method according to claim 1, characterized in that, The method further includes: Based on the location information of each service object, the target service object within the coverage area is determined from the service objects; The target service object is marked as covered.

6. The method according to any one of claims 1-5, characterized in that, The cruise mode is a cyclic cruise mode, and the method further includes: Each determined cruise point is added sequentially to the cruise point list; Based on the list of patrol points, the patrol circle circulates within the work area to perform tasks.

7. A cruise point determination device for a smart mobile device, characterized in that, The device includes: The acquisition module is used to acquire service objects within the working area and the location information of each service object when the smart mobile device is working in cruise mode, wherein different smart mobile devices correspond to different types of service objects; The first determining module is used to determine the patrol point candidate area from the working map of the smart mobile device based on the location information of each service object and the preset coverage radius, wherein the corresponding coverage radius is set for different types of smart mobile devices; The second determining module is used to determine the cruise point from the cruise point candidate area; The first determining module includes: The first determining unit is used to determine the coverage area of ​​the smart mobile device from the working map of the smart mobile device based on the current location of the smart mobile device. The second determining unit is used to determine, based on the location information of each service object, candidate service objects that are not within the coverage area from among the service objects; The third determining unit is used to determine the candidate area of ​​the cruise point from the working map based on the location information of the candidate service object and the coverage radius.

8. An electronic device, characterized in that, include: A processor and a memory, the processor being configured to execute a computer program stored in the memory, the computer program being executed by the processor to implement the steps of the cruise point determination method for a smart mobile device as described in any one of claims 1-6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the cruise point determination method for intelligent mobile devices as described in any one of claims 1-6.

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