Underwater robot driving path correction method, device and equipment and storage medium
By comparing and correcting the texture information of the underwater cleaning robot's driving path, the inefficiency problem caused by underwater robot relying on random paths is solved, and more efficient coverage and accurate cleaning is achieved.
Patent Information
- Application Number
- CN202411361940.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-27
- Publication Date
- 2024-12-31
AI Technical Summary
Due to the lack of navigation and positioning capabilities, underwater cleaning robots rely on random paths to work, resulting in long coverage time, many repetitive paths, and low work efficiency.
By acquiring the target image of the target area, the target texture information is extracted and the preset texture information is compared, the preset driving path is corrected according to the texture difference information, and the target driving path is generated to indicate the driving path of the underwater robot in the target area.
It effectively improves the working efficiency of underwater robots, reduces repetitive paths, and improves the comprehensiveness and accuracy of coverage.
Smart Images
Figure CN119225372A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of robots, and in particular to a method, device, equipment and storage medium for correcting the driving path of an underwater robot. Background Art
[0002] Underwater cleaning robots can clean swimming pools, fish ponds and reservoirs. The robots can reach any position by moving and turning in all directions through propellers or wheels and other power systems. The robots are also equipped with cleaning mechanisms such as brushes to perform cleaning work. For example, underwater cleaning robots mainly perform underwater cleaning work by scrubbing the ground and walls, absorbing water and dirt, filtering garbage, and discharging clean water. In order to ensure the cleaning effect and comprehensiveness, underwater cleaning robots need to cover all positions inside the pool as much as possible. Underwater cleaning robots generally do not have navigation and positioning capabilities and mainly rely on random paths to work. Therefore, it takes a long time to achieve full coverage, and there are many repeated paths, resulting in low work efficiency. Summary of the invention
[0003] In order to solve the problem in existing related technical means that underwater robots rely on random paths to work, require a long time to achieve full coverage, have many repeated paths, and lead to low work efficiency, the present application provides a method, device, equipment and storage medium for correcting the driving path of an underwater robot.
[0004] In a first aspect, the present application provides a method for correcting a driving path of an underwater robot, comprising:
[0005] Acquire a target image of a target area, wherein the target area represents a driving area of the underwater robot;
[0006] Extracting target texture information from the target image;
[0007] Comparing the target texture information with the preset texture information to obtain texture difference information;
[0008] According to the texture difference information, the preset driving path is corrected to obtain a target driving path, where the target driving path indicates a path for instructing the underwater robot to drive in the target area.
[0009] Optionally, comparing the target texture information with preset texture information to obtain texture difference information includes:
[0010] Comparing the target texture information with the preset texture information to obtain difference area information;
[0011] In a case where the difference region information meets a preset correction condition, the texture difference information is generated according to the difference region information.
[0012] Optionally, after comparing the target texture information with the preset texture information to obtain the difference area information, the method further includes:
[0013] Determine the difference position and the difference area corresponding to the difference region information;
[0014] Determine whether the difference area is greater than a preset area threshold;
[0015] When the difference area is greater than the preset area threshold, determining whether the difference position is within the preset driving path;
[0016] In a case where the difference position is not within the preset driving path, it is determined that the difference area information meets a preset correction condition.
[0017] Optionally, when the difference area is greater than the preset area threshold, after determining whether the difference position is within the preset driving path, the method further includes:
[0018] When the difference position is within a preset driving path, determining the number of passes of the preset driving path;
[0019] When the number of paths is less than a preset number threshold, it is determined that the difference region information meets a preset correction condition.
[0020] Optionally, when the difference position is within the preset driving path, after determining the number of passes of the preset driving path, the method further includes:
[0021] Determining the area interval to which the difference area belongs;
[0022] Determine the number threshold corresponding to the area interval as the preset number threshold;
[0023] Determine whether the number of paths is less than a preset number threshold.
[0024] Optionally, the step of correcting a preset driving path based on the texture difference information to obtain a target driving path includes:
[0025] Determining route correction parameters based on the difference position;
[0026] determining a driving parameter based on the difference area;
[0027] The preset driving path is corrected using the route correction parameter and the driving parameter to obtain the target driving path.
[0028] Optionally, the adopting the route correction parameter and the driving parameter to correct the preset driving path to obtain the target driving path includes:
[0029] Extracting preset route information and preset driving information from the preset driving path;
[0030] Using the route correction parameter to correct the preset route information to obtain target route information;
[0031] Using the driving parameters to modify the preset driving information to obtain target driving information;
[0032] The target driving path is generated according to the target route information and the target driving information.
[0033] In a second aspect, the present application provides a device for correcting a travel path of an underwater robot, comprising:
[0034] An acquisition module, used to acquire a target image of a target area, wherein the target area represents a driving area of the underwater robot;
[0035] An extraction module, used for extracting target texture information from the target image;
[0036] A comparison module, used to compare the target texture information with the preset texture information to obtain texture difference information;
[0037] The correction module is used to correct the preset driving path according to the texture difference information to obtain a target driving path, wherein the target driving path indicates a path for instructing the underwater robot to drive in the target area.
[0038] In a third aspect, an electronic device is provided, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;
[0039] Memory, used to store computer programs;
[0040] The processor is used to implement the underwater robot driving path correction method described in any one of the first aspects when executing the program stored in the memory.
[0041] In a fourth aspect, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the method for correcting the driving path of an underwater robot as described in any one of the first aspects is implemented.
[0042] The underwater robot driving path correction method, device, equipment and storage medium provided in the embodiments of the present application obtain a target image of a target area, the target area represents the driving area of the underwater robot, and extracts target texture information from the target image to compare the target texture information with preset texture information to obtain texture difference information, and then corrects the preset driving path based on the texture difference information to obtain a target driving path, the target driving path represents a path used to instruct the underwater robot to drive in the target area; thereby, the purpose of correcting the driving path of the underwater robot according to specific circumstances can be achieved, and the problem that the underwater robot relies on random paths to work, takes a long time to achieve full coverage, has many repeated paths, and leads to low work efficiency in the existing related technical means is solved, and the work efficiency of the underwater robot can be effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS
[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.
[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.
[0045] Figure 1 A schematic diagram of a flow chart of a method for correcting a driving path of an underwater robot provided in an embodiment of the present application;
[0046] Figure 2 A schematic diagram of an application scenario of a method for correcting a driving path of an underwater robot provided in an embodiment of the present application;
[0047] Figure 3 A schematic diagram of another application scenario of a method for correcting a driving path of an underwater robot provided in an embodiment of the present application;
[0048] Figure 4 A schematic diagram of a preset driving path of a method for correcting a driving path of an underwater robot provided in an embodiment of the present application;
[0049] Figure 5 A schematic diagram of a target driving path of an underwater robot driving path correction method provided in an embodiment of the present application;
[0050] Figure 6 A schematic diagram of the structure of a device for correcting the travel path of an underwater robot provided in an embodiment of the present application;
[0051] Figure 7A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0052] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.
[0053] With the development of society, the application of various small robots has become increasingly popular, such as sweeping robots, underwater cleaning robots, etc. Underwater robots are mainly used for underwater cleaning, such as swimming pools, ponds, water storage areas and other scenes; and due to the relatively single usage scenarios and functions of such robots, their costs will be strictly restricted, resulting in such underwater robots usually not having the function of underwater navigation control, and thus mainly relying on random paths to work, so it takes a long time to achieve full coverage, there are many repeated paths, and there is a problem of poor work efficiency.
[0054] Existing relevant technical means will use inertial navigation devices such as gyroscopes with low cost to play the role of inertial navigation positioning, and then control the underwater robot to travel in regular routes such as bow shapes, thereby reducing the repetition rate of the route and improving work efficiency.
[0055] However, the accuracy of inertial navigation is poor and will become worse over time, so after a period of time, there will still be problems with repeated and random routes. GPS positioning, radio positioning, laser positioning and other positioning methods that can be used in land environments cannot be used underwater because the underwater environment will interfere with radio waves, resulting in existing underwater robots still having repeated and random routes, leading to low work efficiency.
[0056] In order to solve the problem in the prior art that underwater robots rely on random paths to work, it takes a long time to achieve full coverage, there are many repeated paths, and the work efficiency is low, the embodiments of the present application provide a method, device, equipment and storage medium for correcting the driving path of an underwater robot, by acquiring a target image of a target area, the target area represents the driving area of the underwater robot, and extracting target texture information from the target image, so as to compare the target texture information with the preset texture information to obtain texture difference information, and then correct the preset driving path according to the texture difference information to obtain the target driving path, the target driving path represents the path used to instruct the underwater robot to drive in the target area; thereby, the purpose of correcting the driving path of the underwater robot according to the specific situation can be achieved, and the problem in the existing related technical means that the underwater robot relies on random paths to work, it takes a long time to achieve full coverage, there are many repeated paths, and the work efficiency is low can be effectively improved.
[0057] Figure 1 A flow chart of a method for correcting the travel path of an underwater robot provided in an embodiment of the present application. This method can be applied to one or more electronic devices such as an underwater robot, a client, and a server. In addition, the execution subject of this method can be hardware or software. When the above-mentioned execution subject is hardware, the execution subject can be one or more of the above-mentioned electronic devices. For example, a single electronic device can execute this method, or multiple electronic devices can cooperate with each other to execute this method. When the above-mentioned execution subject is software, this method can be implemented as multiple software or software modules, or as a single software or software module. No specific limitation is made here.
[0058] like Figure 1 As shown, the present application discloses an embodiment, providing a method for correcting a driving path of an underwater robot, which may specifically include the following steps:
[0059] Step S110: Acquire a target image of a target area, where the target area represents a driving area of the underwater robot.
[0060] Specifically, in this embodiment, the target area represents the area where the underwater robot currently needs to operate. For example, when the underwater robot is an underwater cleaning robot, the target area may be a swimming pool, pond, etc. that the underwater cleaning robot needs to clean; and the target image may represent an image of the target area acquired in real time. The image may be collected by a shooting device configured in the underwater robot, or may be captured by an external shooting device and then acquired from the external shooting device. Of course, other methods may also be used for acquisition, and this embodiment does not specifically limit this.
[0061] Step S120: extracting target texture information from the target image.
[0062] Specifically, after acquiring the target image, target texture information can be extracted from the target image. The target texture information represents texture information obtained after texture recognition of the target image. Since the underwater robot operates underwater, and there are factors such as liquid ripples, refraction, and reflections, it is difficult to directly identify garbage or dirt, reflections, ripples, and other image information in the acquired target image. Therefore, in this embodiment, the target image can be filtered to filter out interference information such as reflections and ripples, and extract texture information in the target area. The specific image filtering method can adopt a neural network model, an image recognition algorithm, and the like, which is not specifically limited in this embodiment.
[0063] Step S130: Compare the target texture information with the preset texture information to obtain texture difference information.
[0064] Specifically, after determining the target texture information, the target texture information can be compared with the preset texture information to obtain texture difference information, wherein the preset texture information represents the clean and complete texture information of the pre-configured target area. For example, the target area is a swimming pool, and the preset texture information is the texture information corresponding to the swimming pool when there is no garbage or dirt. By comparing the target texture information with the preset texture information, the difference between the target texture information and the clean and complete texture information of the pre-configured target area can be determined, that is, the texture difference information can represent the difference between the current texture of the target area and the texture when it is clean and complete.
[0065] Step S140: According to the texture difference information, the preset driving path is corrected to obtain a target driving path, where the target driving path indicates a path for instructing the underwater robot to drive in the target area.
[0066] Specifically, after determining the texture difference information, the preset driving path can be corrected according to the texture difference information to obtain the target driving path, wherein the preset driving path represents the operating working path currently configured for the underwater robot, that is, if the preset driving path is not corrected, the underwater robot will operate according to the preset driving path, and the target driving path can represent the path obtained after correcting the preset driving path, and of course, it can also be used to indicate the path of the underwater robot in the target area; the specific correction method can be to locate the dirt or garbage according to the texture difference information to obtain the area to be cleaned, and then correct the preset driving path according to the area to be cleaned to obtain the target driving path containing the cleaning area in the path. Of course, the above is only an example for illustration, and the specific determination and correction method can be adaptively configured according to the scenario and needs, and this embodiment does not make specific limitations on this.
[0067] It should be noted that the preset driving path in this embodiment can be a pre-configured complete running path such as a bow-shaped regular route, or it can be a partial running path determined in real time under a random running mode. For example, the underwater robot is in a random running mode and can only determine a 20-centimeter partial path in real time for driving. At this time, the 20-centimeter partial path is the preset driving path.
[0068] The embodiment of the present application obtains a target image of a target area, where the target area represents the driving area of the underwater robot, and extracts target texture information from the target image to compare the target texture information with preset texture information to obtain texture difference information, thereby playing a role in using the target image acquired by real-time acquisition to determine the difference between the target texture information of the current target area and the clean and complete texture information represented by the preset texture information; then, based on the texture difference information, the preset driving path is corrected to obtain the target driving path, where the target driving path represents the path used to instruct the underwater robot to drive in the target area; thereby, the purpose of correcting the driving path of the underwater robot according to the specific situation can be achieved, and the problem that the underwater robot relies on random paths to work, takes a long time to achieve full coverage, has many repeated paths, and leads to low work efficiency in the existing related technical means is solved, and the work efficiency of the underwater robot can be effectively improved.
[0069] In an optional embodiment of the present application, step S130 compares the target texture information with the preset texture information to obtain texture difference information, which may specifically include the following sub-steps:
[0070] Compare the target texture information with the preset texture information to obtain the difference area information;
[0071] When the difference region information meets the preset correction condition, texture difference information is generated according to the difference region information.
[0072] In this embodiment, in the process of comparing the target texture information with the preset texture information, the target texture information can be compared with the preset texture information to obtain the difference area information, and the difference area information indicates the area information where there is a difference between the target texture information and the preset texture information, such as reference Figure 2 and Figure 3 As shown, Figure 2 is the texture represented by the preset texture information, Figure 3The texture represented by the target texture information can be determined at this time to correspond to the difference area information of the two difference areas of circle and direction; since the area represented by the difference area information may already be in the preset driving path or the area represented by the difference area information is too small, it may be a slight recognition error or indicate slight dirt that does not need to be processed. At this time, there is no need to correct the preset driving path, that is, after obtaining the difference area information, it can be judged that the difference area information meets the preset correction condition, and the preset correction condition can represent the pre-configured conditions that need to be corrected, such as the area represented by the difference area information is not in the preset driving path or the area represented by the difference area information is larger. When the difference area information meets the preset correction condition, it means that the underwater robot may not be able to operate effectively when driving according to the preset driving path at this time. Therefore, texture difference information can be generated based on the difference area information, and then the preset driving path can be corrected through the texture difference information, so as to achieve the purpose of timely correcting the driving path of the underwater robot, which can effectively improve the work efficiency of the underwater robot.
[0073] It should be noted that, in the present embodiment, the target texture information is compared with the preset texture information to obtain N texture difference information, where N is 0 or a positive integer. When N is 0, it indicates that there is no difference between the current target texture information and the preset texture information. At this time, the underwater robot can operate according to the preset driving path without executing subsequent steps. When N is greater than or equal to 2, the preset driving path can be corrected according to all the texture difference information in the subsequent step S140 to obtain the target driving path. The target driving path represents the path used to instruct the underwater robot to travel in the target area.
[0074] In an optional embodiment of the present application, after comparing the target texture information with the preset texture information to obtain the difference area information, the following sub-steps may be specifically included:
[0075] Determine the difference position and difference area corresponding to the difference region information;
[0076] Determine whether the difference area is greater than a preset area threshold;
[0077] When the difference area is greater than a preset area threshold, determining whether the difference position is within a preset driving path;
[0078] When the difference position is not within the preset driving path, it is determined that the difference area information meets the preset correction condition.
[0079] In this embodiment, after obtaining the difference region information, in order to determine whether the difference region information meets the preset correction condition, the difference position and difference area corresponding to the difference region information can be determined first. Since the difference region information is the region information indicating the difference between the target texture information and the preset texture information, and the difference position can indicate the position where the difference between the target texture information and the preset texture information is located, for example Figure 3 The difference area can represent the difference between the target texture information and the preset texture information, such as Figure 3 The area of the circular or square difference in the middle; then it can be determined whether the difference area is greater than the preset area threshold, the preset area threshold represents the pre-configured minimum area threshold that needs to be adjusted. Since when the difference area is small, there may be recognition errors or the area is too small to be an object that does not need to be processed. When the difference area is not greater than the preset area threshold, it can be determined that the difference area represented by the difference area information at this time is a recognition error or the area is too small to be an object that does not need to be processed. At this time, there is no need to perform subsequent steps; and when the difference area is greater than the preset area threshold, it can be determined that the difference area represented by the difference area information at this time does not belong to a recognition error or the area is too small to be an object that does not need to be processed. At this time, Continue to determine whether the difference position is within the preset driving path. If the difference position is within the preset driving path, it can be determined that when the current underwater robot is operating according to the preset driving path, it can be determined that it can drive to the difference position for processing. At this time, there is no need to correct the preset driving path. If the difference position is not within the preset driving path, it can be determined that when the current underwater robot is operating according to the preset driving path, it cannot drive to the difference position for processing, that is, there will be a problem of low operating efficiency. At this time, the difference area information can be determined to meet the preset correction conditions, so as to execute the subsequent step of "correcting the preset driving path according to the texture difference information to obtain the target driving path".
[0080] In an optional embodiment of the present application, when the difference area is greater than a preset area threshold, after determining whether the difference position is within the preset driving path, the following sub-steps may be specifically included:
[0081] When the difference position is within the preset driving path, determining the number of passes of the preset driving path;
[0082] When the number of paths is less than a preset number threshold, it is determined that the difference region information meets the preset correction condition.
[0083] In this embodiment, when the difference position is within the preset driving path, the number of passes of the preset driving path can be determined. The number of passes indicates the number of times the underwater robot will pass the difference position when driving according to the preset driving path. When the number of passes is not less than the preset number threshold, it can be determined that when driving according to the preset driving path, the underwater robot will pass the difference position more times, and the difference position can be effectively cleaned. When the number of passes is less than the preset number threshold, it can be determined that when driving according to the preset driving path, the underwater robot will pass the difference position less times, and the difference position cannot be effectively cleaned. At this time, the difference area information can be determined to meet the preset correction condition, so as to execute the subsequent step of "correcting the preset driving path based on the texture difference information to obtain the target driving path"; for specific implementation, reference can be made to Figure 4 and Figure 5 , Figure 4 To preset the driving route, Figure 5 The corrected target driving path.
[0084] It can be seen that this embodiment determines the difference position and difference area corresponding to the difference area information, judges whether the difference area information meets the preset correction conditions, and plays a role in determining whether the preset driving path needs to be corrected. In this way, the preset driving path is corrected only when there is a difference area in the target area that the underwater robot cannot handle by driving according to the preset driving path, and the target driving path that can travel to the difference area is obtained, thereby achieving the effect of effectively improving the operating efficiency of the underwater robot.
[0085] This embodiment can be applied to the case where the preset driving path can be a pre-configured complete running path such as a bow-shaped regular route. At this time, the route represented by the preset running path can be corrected according to the number of passes to improve the operating efficiency of the underwater robot.
[0086] In an optional embodiment of the present application, when the difference position is within the preset driving path, after determining the number of passes of the preset driving path, the method further includes:
[0087] Determine the area interval to which the difference area belongs;
[0088] Determine the number threshold corresponding to the area interval as the preset number threshold;
[0089] Determine whether the number of paths is less than the preset number threshold.
[0090] In this embodiment, since the size of the area of dirt or garbage has a corresponding relationship with the difficulty of its cleaning treatment, generally, the larger the area, the greater the difficulty of its cleaning treatment. In this embodiment, after determining the number of passes of the preset driving path, the area interval to which the difference area belongs can be first determined. For example, the preset area interval A represents an area interval of 0-5 square centimeters, and the area interval B represents an area interval of 5-10 square centimeters. Each area area can be pre-configured with a corresponding number threshold. For example, the number threshold corresponding to the area interval A is 2, and the number threshold corresponding to the area interval B is 3; then the number threshold corresponding to the difference area can be determined as the preset number threshold, for example Figure 4 If the difference area at the circular position is 4 square centimeters, the number threshold of 2 can be determined as the preset number threshold, and Figure 4 If the difference area at the circular position is 6 square centimeters, the number threshold of 3 can be determined as the preset number threshold; then it can be judged whether the number of passes is less than the preset number threshold, and different preset number thresholds are used to judge the number of passes required according to different difference areas, so that the larger the difference area, the more times the underwater robot can be controlled to pass, thereby improving the cleaning efficiency; for specific implementation, reference can be made Figure 4 and Figure 5 , Figure 4 is the preset driving path. At this time, the number of times the circular difference position passes is 1, and the preset number threshold is 2. By executing the subsequent step of "correcting the preset driving path according to the texture difference information to obtain the target driving path", the number of times the target driving path passes the difference position can reach 2. Figure 5 As shown, the different positions of the rectangles are similarly not described here.
[0091] In an optional embodiment of the present application, step S140 corrects the preset driving path according to the texture difference information to obtain the target driving path, which may specifically include the following sub-steps:
[0092] Determine route correction parameters based on the difference position;
[0093] Based on the difference area, driving parameters are determined;
[0094] The route correction parameters and driving parameters are used to correct the preset driving path to obtain the target driving path.
[0095] In this embodiment, in the process of correcting the preset driving path according to the texture difference information to obtain the target driving path, since the difference position indicates the position of the difference area indicated by the difference area information, in order to enable the underwater robot to travel to the difference position, the route correction parameter can be determined according to the difference position, and the route correction parameter can represent the parameter used to correct the driving path to travel to the difference position; and the difference area represents the area of the difference between the target texture information and the preset texture information, that is, the size of the difference area is directly related to the size of the dirt or garbage. At this time, the driving parameter can be determined based on the difference area, and the driving parameter represents the parameter used to adjust the driving speed or cleaning power of the underwater robot when it travels to the difference position. The cleaning power can represent the operating power of the equipment configured in the underwater robot for cleaning the underwater environment, such as the power of the water suction pump, etc.; then the route correction parameter and the driving parameter can be used to correct the preset driving path to obtain the target driving path, so that when the underwater robot travels according to the target driving path, it can effectively pass through the difference position and adjust the driving speed or cleaning power at the difference position, so as to achieve the effect of improving the operating efficiency of the underwater robot.
[0096] In an optional embodiment of the present application, the route correction parameter and the driving parameter are used to correct the preset driving path to obtain the target driving path, which may specifically include the following sub-steps:
[0097] Extracting preset route information and preset driving information from the preset driving path;
[0098] The preset route information is corrected using the route correction parameter to obtain the target route information;
[0099] Using driving parameters to correct preset driving information to obtain target driving information;
[0100] A target driving path is generated according to the target route information and the target driving information.
[0101] In this embodiment, in the process of correcting the preset driving path, first, the preset route information and the preset driving information can be extracted from the preset driving path. The preset route information can indicate the route of the underwater robot traveling along the preset driving path, and the preset driving information can indicate the speed, operating power and other driving mode information of the underwater robot when traveling along the preset driving path; then, the preset route information can be corrected using route correction parameters to obtain target route information, and the preset driving information can be corrected using driving parameters to obtain target driving information, thereby playing a role in correcting the route and form of the preset driving path; finally, the target driving path can be generated based on the target route information and the target driving information.
[0102] In one example, the preset route information extracted from the preset driving path is Figure 4 The arc-shaped route shown in FIG. 1 and the extracted preset driving information are driving at a constant speed of V1 and running continuously at P1 power; at this time, the preset route information is corrected by using the route correction parameter, and the target route information obtained can be Figure 5 The route shown in the figure uses the driving parameters to modify the preset driving information, and the target driving information obtained can be Figure 5 The vehicle is driven at V2 speed in the circular and square difference areas, and at V1 speed in other places, as well as on the way Figure 5 The vehicle is operated at P2 power in the circular difference area and the square difference area, and at P1 power in other positions, where V2 is less than V1 and P2 is greater than P1; thus, the target driving path can be made shorter than the preset driving path when driving to Figure 5 When the circular difference area and the square difference area are separated, the underwater robot can operate at a slower speed and higher power, thereby achieving the effect of improving the cleaning efficiency of the underwater robot.
[0103] like Figure 6 As shown, the present application also discloses an embodiment, providing an underwater robot driving path correction device, which may include:
[0104] An acquisition module 610 is used to acquire a target image of a target area, where the target area represents a driving area of the underwater robot;
[0105] An extraction module 620 is used to extract target texture information from a target image;
[0106] A comparison module 630 is used to compare the target texture information with the preset texture information to obtain texture difference information;
[0107] The correction module 640 is used to correct the preset driving path according to the texture difference information to obtain a target driving path, where the target driving path indicates a path for instructing the underwater robot to drive in a target area.
[0108] In an optional embodiment of the present application, the comparison module 630 may include:
[0109] A comparison unit, used to compare the target texture information with the preset texture information to obtain difference area information;
[0110] The first generating unit is used to generate texture difference information according to the difference area information when the difference area information meets the preset correction condition.
[0111] In an optional embodiment of the present application, the comparison module 630 may further include:
[0112] A first determining unit, configured to determine a difference position and a difference area corresponding to the difference region information;
[0113] A first judging unit, used to judge whether the difference area is greater than a preset area threshold;
[0114] A second judgment unit, configured to judge whether the difference position is within a preset driving path when the difference area is greater than a preset area threshold;
[0115] The second determining unit is configured to determine that the difference area information meets a preset correction condition when the difference position is not within a preset driving path.
[0116] In an optional embodiment of the present application, the comparison module 630 may further include:
[0117] A third determining unit, for determining the number of passes of the preset driving path when the difference position is within the preset driving path;
[0118] The fourth determining unit is used to determine that the difference area information meets the preset correction condition when the number of paths is less than the preset number threshold.
[0119] In an optional embodiment of the present application, the comparison module 630 may further include:
[0120] a fifth determining unit, configured to determine the area interval to which the difference area belongs;
[0121] A sixth determining unit, configured to determine the number threshold corresponding to the area interval as a preset number threshold;
[0122] The third judgment unit is used to judge whether the number of paths is less than a preset number threshold.
[0123] In an optional embodiment of the present application, the correction module 640 may include:
[0124] a seventh determination unit, configured to determine a route correction parameter according to the difference position;
[0125] an eighth determination unit, configured to determine a driving parameter based on the difference area;
[0126] The correction unit is used to correct the preset driving path by using the route correction parameter and the driving parameter to obtain the target driving path.
[0127] In an optional embodiment of the present application, the correction unit may include:
[0128] An extraction subunit, used for extracting preset route information and preset driving information from a preset driving path;
[0129] A first correction subunit is used to correct the preset route information by using the route correction parameter to obtain the target route information;
[0130] A second correction subunit is used to correct the preset driving information by using the driving parameters to obtain the target driving information;
[0131] The generating subunit is used to generate a target driving path based on the target route information and the target driving information.
[0132] The implementation process of the functions and effects of each module in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, which will not be repeated here.
[0133] like Figure 7 As shown, an embodiment of the present application provides an electronic device, including a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720, and the memory 730 communicate with each other through the communication bus 740;
[0134] Memory 730, for storing computer programs;
[0135] In one embodiment of the present application, the processor 710 is used to execute the program stored in the memory 730 to implement the underwater robot driving path correction method provided by any of the aforementioned method embodiments, by acquiring a target image of the target area, the target area represents the driving area of the underwater robot, and extracting target texture information from the target image, so as to compare the target texture information with the preset texture information to obtain texture difference information, and then correct the preset driving path based on the texture difference information to obtain the target driving path, the target driving path represents the path used to instruct the underwater robot to drive in the target area; thereby, the purpose of correcting the driving path of the underwater robot according to the specific situation can be achieved, and the problem that the underwater robot relies on random paths to work in the existing related technical means, a long time is required to achieve full coverage, and there are many repeated paths, resulting in low work efficiency, can be solved, and the work efficiency of the underwater robot can be effectively improved.
[0136] An embodiment of the present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, a method for correcting an underwater robot's driving path as provided in any of the aforementioned method embodiments is implemented, by acquiring a target image of a target area, the target area representing the driving area of the underwater robot, and extracting target texture information from the target image, so as to compare the target texture information with preset texture information to obtain texture difference information, and then correcting the preset driving path based on the texture difference information to obtain a target driving path, the target driving path representing a path for instructing the underwater robot to drive in the target area; thereby, the purpose of correcting the driving path of the underwater robot according to specific circumstances can be achieved, and the problem that the underwater robot relies on random paths to work, takes a long time to achieve full coverage, has many repeated paths, and leads to low work efficiency in the existing related technical means is solved, and the work efficiency of the underwater robot can be effectively improved.
[0137] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.
[0138] The above describes specific embodiments of the present specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
[0139] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be 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 the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.
Claims
1. A method for correcting a travel path of an underwater robot, characterized in that: include: Acquire a target image of a target area, wherein the target area represents a driving area of the underwater robot; Extracting target texture information from the target image; Comparing the target texture information with the preset texture information to obtain texture difference information; According to the texture difference information, the preset driving path is corrected to obtain a target driving path, where the target driving path indicates a path for instructing the underwater robot to drive in the target area.
2. The method for correcting the underwater robot's driving path according to claim 1, characterized in that: The step of comparing the target texture information with the preset texture information to obtain texture difference information includes: Comparing the target texture information with the preset texture information to obtain difference area information; In a case where the difference region information meets a preset correction condition, the texture difference information is generated according to the difference region information.
3. The method for correcting the underwater robot's driving path according to claim 2, characterized in that: After comparing the target texture information with the preset texture information to obtain the difference area information, the method further includes: Determine the difference position and the difference area corresponding to the difference region information; Determine whether the difference area is greater than a preset area threshold; When the difference area is greater than the preset area threshold, determining whether the difference position is within the preset driving path; In a case where the difference position is not within the preset driving path, it is determined that the difference area information meets a preset correction condition.
4. The method for correcting the underwater robot's driving path according to claim 3, characterized in that: When the difference area is greater than the preset area threshold, after determining whether the difference position is within the preset driving path, the method further includes: When the difference position is within a preset driving path, determining the number of passes of the preset driving path; When the number of paths is less than a preset number threshold, it is determined that the difference region information meets a preset correction condition.
5. The method for correcting the underwater robot's travel path according to claim 4, characterized in that: In the case where the difference position is within the preset driving path, after determining the number of passes of the preset driving path, the method further includes: Determining the area interval to which the difference area belongs; Determine the number threshold corresponding to the area interval as the preset number threshold; Determine whether the number of paths is less than a preset number threshold.
6. The method for correcting the travel path of an underwater robot according to claim 3, characterized in that: The method of correcting the preset driving path according to the texture difference information to obtain the target driving path includes: Determining route correction parameters based on the difference position; determining a driving parameter based on the difference area; The preset driving path is corrected using the route correction parameter and the driving parameter to obtain the target driving path.
7. The method for correcting the underwater robot's driving path according to claim 6, characterized in that: The step of using the route correction parameter and the driving parameter to correct the preset driving path to obtain the target driving path includes: Extracting preset route information and preset driving information from the preset driving path; Using the route correction parameter to correct the preset route information to obtain target route information; Using the driving parameters to modify the preset driving information to obtain target driving information; The target driving path is generated according to the target route information and the target driving information.
8. A device for correcting the path of an underwater robot, characterized in that: include: An acquisition module, used to acquire a target image of a target area, wherein the target area represents a driving area of the underwater robot; An extraction module, used for extracting target texture information from the target image; A comparison module, used to compare the target texture information with the preset texture information to obtain texture difference information; The correction module is used to correct the preset driving path according to the texture difference information to obtain a target driving path, wherein the target driving path indicates a path for instructing the underwater robot to drive in the target area.
9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; The processor is used to implement the underwater robot driving path correction method described in any one of claims 1 to 7 when executing the program stored in the memory.
10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for correcting the driving path of an underwater robot as described in any one of claims 1 to 7 is implemented.