Traveling control method and system for commercial traveling equipment

Abstract

The invention discloses a marching control method and system for commercial marching equipment, and the method comprises the steps: associating an indoor scene and a corresponding indoor model based on a building signal of a user in a marching space of the commercial marching equipment, and determining an indoor distribution diagram according to the indoor scene and the corresponding indoor model; modeling of an indoor model and interaction of indoor scenes are realized. Further, an optimized advancing path is determined according to the position variable quantity of the indoor model and dynamic interaction of the advancing path; and triggering a turning path of the commercial advancing equipment according to the optimized advancing path and a front obstacle detected by the commercial advancing equipment, and determining an advancing control interface according to the turning path, the optimized advancing path and the indoor distribution diagram, thereby realizing multi-dimensional control of the turning path, the optimized advancing path and the indoor distribution diagram. The accuracy of an advancing control interface and the controllability of a user are guaranteed, and efficient application that commercial advancing equipment is compatible with various unknown scenes is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of commercial traveling equipment, and in particular to a traveling control method and system for commercial traveling equipment. Background Art

[0002] With the development of science and technology, commercial moving equipment is gradually applied to people's lives and moves in different directions in indoor scenes. At this time, commercial autonomous moving equipment can be commercial cleaning robots, inspection robots, guide robots, etc. In the existing technology, commercial moving equipment moves in the corresponding moving space and moves along a single moving path. It does not fully consider the indoor model and the obstacles ahead, which affects the accuracy of the moving control interface and makes it difficult to make commercial moving equipment compatible with various unknown scenes. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a travel control method and system for commercial traveling equipment, which define a corresponding indoor scene according to the location of the commercial traveling equipment; match the corresponding indoor model according to the indoor scene and the indoor model database; construct a travel space for the commercial traveling equipment according to a map interface corresponding to the indoor scene, the location of the indoor model and the location of the commercial traveling equipment; in the travel space of the commercial traveling equipment, associate the indoor scene and the corresponding indoor model based on the user's creation signal, and determine the indoor distribution map according to the indoor scene and the corresponding indoor model, which is compatible with the overall consideration of the indoor scene and the corresponding indoor model, and ensures the accuracy of the indoor distribution map, thereby realizing the modeling of the indoor model and the interaction of the indoor scene.

[0004] Furthermore, the travel path of the commercial traveling equipment is determined based on the location of the commercial traveling equipment, the indoor distribution map and the target location, the position changes of the indoor model are monitored in real time, and the optimized travel path is determined according to the position change of the indoor model and the dynamic interaction of the travel path; the turning path of the commercial traveling equipment is triggered according to the optimized travel path and the front obstacles detected by the commercial traveling equipment, and the travel control interface is determined according to the turning path, the optimized travel path and the indoor distribution map, thereby realizing multi-dimensional control of the turning path, the optimized travel path and the indoor distribution map, ensuring the accuracy of the travel control interface and the user's controllability, and realizing the efficient application of commercial traveling equipment compatible with various unknown scenarios.

[0005] The embodiment of the present invention provides a travel control method for commercial traveling equipment, which is applied to the travel control scenario of commercial traveling equipment;

[0006] The traveling control method of the commercial traveling equipment comprises:

[0007] Define the corresponding indoor scene according to the location of the commercial mobile equipment;

[0008] Match the corresponding indoor model according to the indoor scene and the indoor model database;

[0009] Constructing a travel space for commercial moving equipment according to a map interface corresponding to the indoor scene, the location of the indoor model, and the location of the commercial moving equipment;

[0010] In the traveling space of the commercial traveling device, an indoor scene and a corresponding indoor model are associated based on a user's creation signal, and an indoor distribution map is determined according to the indoor scene and the corresponding indoor model;

[0011] The travel path of the commercial travel equipment is determined based on the location of the commercial travel equipment, the indoor distribution map and the target location, the position change of the indoor model is monitored in real time, and the optimized travel path is determined according to the position change of the indoor model and the dynamic interaction of the travel path;

[0012] According to the optimized travel path and the front obstacle detected by the commercial travel equipment, the changing path of the commercial travel equipment is triggered, and the travel control interface is determined according to the changing path, the optimized travel path and the indoor distribution map. At this time, the dynamic movement of the commercial travel equipment is presented on the travel control interface.

[0013] Optionally, defining a corresponding indoor scene according to the location of the commercial mobile equipment includes:

[0014] Collect positioning signals of commercial moving equipment;

[0015] Determining the location of the commercial traveling equipment based on the analysis of the positioning signal of the commercial traveling equipment;

[0016] Outputting a past travel path of the commercial traveling equipment based on the location tracing of the location of the commercial traveling equipment;

[0017] An environment image passed by the commercial mobile device is defined according to a previous travel path, a corresponding indoor name set is defined according to the environment image, and a final indoor name is defined according to the indoor name set and a first position corresponding to a satellite signal of the commercial mobile device;

[0018] The corresponding indoor scene is defined according to the final indoor name, the corresponding space planning map and the multiple environment images.

[0019] Optionally, matching the corresponding indoor model according to the indoor scene and the indoor model database includes:

[0020] Freeze frame interior scenes;

[0021] Associating indoor scenes and partitioning learning models;

[0022] Determine multiple indoor spaces based on indoor scenes and partitioning learning models;

[0023] Matching the same indoor model database based on multiple indoor spaces and past travel paths of commercial travel equipment;

[0024] Associating multiple indoor spaces and indoor model databases;

[0025] A plurality of indoor features are determined according to the plurality of indoor spaces and an indoor model database, and corresponding indoor models are matched according to the plurality of indoor features.

[0026] Optionally, the step of constructing a traveling space for the commercial traveling equipment according to a map interface corresponding to the indoor scene, a location of the indoor model, and a location of the commercial traveling equipment includes:

[0027] Freeze the interior model;

[0028] Associating the map interface corresponding to the indoor scene, the location of the indoor model, and the location of the commercial moving equipment;

[0029] Define a first space coefficient based on a map interface corresponding to the indoor scene and a location of the indoor model;

[0030] defining a second space coefficient based on a location where the commercial traveling equipment is located and a location where the indoor model is located;

[0031] Associating the second spatial coefficient, the first spatial coefficient, and a corresponding spatial matching table;

[0032] The traveling space of the commercial traveling equipment is constructed according to the second space coefficient, the first space coefficient and the corresponding space matching table.

[0033] Optionally, in the traveling space of the commercial traveling device, associating an indoor scene with a corresponding indoor model based on a creation signal of a user, and determining an indoor distribution map according to the indoor scene and the corresponding indoor model, includes:

[0034] Freeze the travel space of commercial traveling equipment;

[0035] In the traveling space of the commercial traveling device, collecting a user's creation signal;

[0036] Associating indoor scenes and corresponding indoor models based on user creation signals;

[0037] The indoor distribution map is determined according to the indoor scene and the corresponding indoor model.

[0038] Optionally, the method of determining the travel path of the commercial traveling device based on the location of the commercial traveling device, the indoor distribution map and the target location, monitoring the position change of the indoor model in real time, and determining the optimized travel path according to the position change amount of the indoor model and the dynamic interaction of the travel path includes:

[0039] Freeze indoor distribution map;

[0040] Mark the location of commercial mobile equipment and the target location based on the indoor distribution map;

[0041] The travel path of the commercial moving equipment is determined according to the location of the commercial moving equipment, the indoor distribution map and the target location.

[0042] Optionally, the method further includes: determining a travel path of the commercial traveling device based on the location of the commercial traveling device, the indoor distribution map, and the target location, monitoring the position change of the indoor model in real time, and determining an optimized travel path according to the position change amount of the indoor model and the dynamic interaction of the travel path;

[0043] Traverse the travel path of the commercial moving equipment, and determine the corresponding position detection point according to the travel path and the location of the indoor model;

[0044] Real-time monitoring of each location detection point to monitor the position changes of the indoor model in real time;

[0045] The optimized travel path is determined according to the position change of the indoor model and the dynamic interaction of the travel path.

[0046] Optionally, the changing path of the commercial traveling equipment is triggered according to the optimized traveling path and the front obstacle detected by the commercial traveling equipment, and the traveling control interface is determined according to the changing path, the optimized traveling path and the indoor distribution map. At this time, the dynamic movement of the commercial traveling equipment is presented on the traveling control interface, including:

[0047] Freeze the optimized travel path;

[0048] When the commercial traveling equipment is in a dynamic traveling state, the front image of the commercial traveling equipment is monitored in real time, and the front obstacle detected by the commercial traveling equipment is determined according to the recognition of the front image;

[0049] The optimized travel path and the front obstacle detected by the commercial travel equipment are associated, and the change of direction path of the commercial travel equipment is triggered.

[0050] Optionally, the method triggers a direction-changing path of the commercial traveling equipment according to the optimized traveling path and the front obstacle detected by the commercial traveling equipment, and determines a traveling control interface according to the direction-changing path, the optimized traveling path and the indoor distribution map. At this time, the dynamic movement of the commercial traveling equipment is presented on the traveling control interface, and further includes:

[0051] Triggering temporary avoidance of the commercial traveling equipment according to the direction-changing path of the commercial traveling equipment, and continuing to travel along the optimized traveling path after avoiding;

[0052] The travel control interface is determined according to the change-of-direction path, the optimized travel path and the indoor distribution map. At this time, the dynamic movement of the commercial travel equipment is presented on the travel control interface.

[0053] In addition, an embodiment of the present invention further provides a travel control system for commercial travel equipment, the travel control system for commercial travel equipment comprising:

[0054] Indoor scene indoor model, used to define the corresponding indoor scene according to the location of the commercial mobile equipment;

[0055] Indoor model The indoor model is used to match the corresponding indoor model according to the indoor scene and the indoor model database;

[0056] The indoor model of the traveling space is used to construct the traveling space of the commercial traveling equipment according to the map interface corresponding to the indoor scene, the location of the indoor model and the location of the commercial traveling equipment;

[0057] An indoor distribution map indoor model is used to associate an indoor scene with a corresponding indoor model based on a user's creation signal in the traveling space of the commercial traveling device, and determine an indoor distribution map according to the indoor scene and the corresponding indoor model;

[0058] The indoor model of the travel path is used to determine the travel path of the commercial travel equipment based on the location of the commercial travel equipment, the indoor distribution map and the target location, monitor the position change of the indoor model in real time, and determine the optimized travel path according to the position change of the indoor model and the dynamic interaction of the travel path;

[0059] The indoor model of the travel control interface is used to trigger the changing path of the commercial travel equipment according to the optimized travel path and the front obstacles detected by the commercial travel equipment, and determine the travel control interface according to the changing path, the optimized travel path and the indoor distribution map. At this time, the dynamic movement of the commercial travel equipment is presented on the travel control interface.

[0060] In an embodiment of the present invention, through the method in the embodiment of the present invention, a corresponding indoor scene is defined according to the location of the commercial traveling equipment; the corresponding indoor model is matched according to the indoor scene and the indoor model database; the traveling space of the commercial traveling equipment is constructed according to the map interface corresponding to the indoor scene, the location of the indoor model and the location of the commercial traveling equipment; in the traveling space of the commercial traveling equipment, the indoor scene and the corresponding indoor model are associated based on the user's creation signal, and the indoor distribution map is determined according to the indoor scene and the corresponding indoor model, which is compatible with the overall consideration of the indoor scene and the corresponding indoor model, and ensures the accuracy of the indoor distribution map, thereby realizing the modeling of the indoor model and the interaction of the indoor scene.

[0061] Furthermore, the travel path of the commercial traveling equipment is determined based on the location of the commercial traveling equipment, the indoor distribution map and the target location, the position changes of the indoor model are monitored in real time, and the optimized travel path is determined according to the position change of the indoor model and the dynamic interaction of the travel path; the turning path of the commercial traveling equipment is triggered according to the optimized travel path and the front obstacles detected by the commercial traveling equipment, and the travel control interface is determined according to the turning path, the optimized travel path and the indoor distribution map, thereby realizing multi-dimensional control of the turning path, the optimized travel path and the indoor distribution map, ensuring the accuracy of the travel control interface and the user's controllability, and realizing the efficient application of commercial traveling equipment compatible with various unknown scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] 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, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0063] Figure 1 is a flow chart of a traveling control method for commercial traveling equipment in an embodiment of the present invention;

[0064] Figure 2 is a flow chart of S11 in the traveling control method of commercial traveling equipment in an embodiment of the present invention;

[0065] Figure 3 is a flow chart of S12 in the traveling control method of commercial traveling equipment in an embodiment of the present invention;

[0066] Figure 4 is a flow chart of S13 in the traveling control method of commercial traveling equipment in an embodiment of the present invention;

[0067] Figure 5is a flow chart of S14 in the traveling control method of commercial traveling equipment in an embodiment of the present invention;

[0068] Figure 6 is a flow chart of S15 in the traveling control method for commercial traveling equipment in an embodiment of the present invention;

[0069] Figure 7 is a flow chart of S16 in the traveling control method of commercial traveling equipment in an embodiment of the present invention;

[0070] Figure 8 It is a schematic diagram of the structure of a travel control system for commercial travel equipment in an embodiment of the present invention;

[0071] Fig. 9 The figure is a hardware diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0072] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0073] See also Figures 1 to 9 , a traveling control method for commercial traveling equipment, applied to the traveling control scenario of commercial traveling equipment; the traveling control method for commercial traveling equipment includes:

[0074] Step S11: defining a corresponding indoor scene according to the location of the commercial mobile equipment;

[0075] Step S12: matching the corresponding indoor model according to the indoor scene and the indoor model database;

[0076] Step S13: constructing a travel space for the commercial traveling equipment according to the map interface corresponding to the indoor scene, the location of the indoor model, and the location of the commercial traveling equipment;

[0077] Step S14: in the traveling space of the commercial traveling device, associating the indoor scene and the corresponding indoor model based on the user's creation signal, and determining the indoor distribution map according to the indoor scene and the corresponding indoor model;

[0078] Step S15: determining the travel path of the commercial traveling device based on the location of the commercial traveling device, the indoor distribution map and the target location, monitoring the position change of the indoor model in real time, and determining the optimized travel path according to the position change amount of the indoor model and the dynamic interaction of the travel path;

[0079] Step S16: Trigger the changing path of the commercial traveling equipment according to the optimized traveling path and the front obstacle detected by the commercial traveling equipment, and determine the traveling control interface according to the changing path, the optimized traveling path and the indoor distribution map. At this time, the dynamic movement of the commercial traveling equipment is presented on the traveling control interface.

[0080] In an embodiment of the present invention, through the method in the embodiment of the present invention, a corresponding indoor scene is defined according to the location of the commercial traveling equipment; the corresponding indoor model is matched according to the indoor scene and the indoor model database; the traveling space of the commercial traveling equipment is constructed according to the map interface corresponding to the indoor scene, the location of the indoor model and the location of the commercial traveling equipment; in the traveling space of the commercial traveling equipment, the indoor scene and the corresponding indoor model are associated based on the user's creation signal, and the indoor distribution map is determined according to the indoor scene and the corresponding indoor model, which is compatible with the overall consideration of the indoor scene and the corresponding indoor model, and ensures the accuracy of the indoor distribution map, thereby realizing the modeling of the indoor model and the interaction of the indoor scene.

[0081] Furthermore, the travel path of the commercial traveling equipment is determined based on the location of the commercial traveling equipment, the indoor distribution map and the target location, the position changes of the indoor model are monitored in real time, and the optimized travel path is determined according to the position change of the indoor model and the dynamic interaction of the travel path; the turning path of the commercial traveling equipment is triggered according to the optimized travel path and the front obstacles detected by the commercial traveling equipment, and the travel control interface is determined according to the turning path, the optimized travel path and the indoor distribution map, thereby realizing multi-dimensional control of the turning path, the optimized travel path and the indoor distribution map, ensuring the accuracy of the travel control interface and the user's controllability, and realizing the efficient application of commercial traveling equipment compatible with various unknown scenarios.

[0082] refer to Figure 2 , in step S11, a corresponding indoor scene is defined according to the location of the commercial mobile equipment;

[0083] In the specific implementation process of the present invention, the specific steps may be:

[0084] S111: Collecting positioning signals of commercial traveling equipment;

[0085] S112: determining the location of the commercial traveling equipment according to the analysis of the positioning signal of the commercial traveling equipment;

[0086] S113: outputting a past travel path of the commercial traveling equipment based on the location tracing of the location of the commercial traveling equipment;

[0087] S114: defining an environment image that the commercial traveling device has passed through according to a previous traveling path, defining a corresponding indoor name set according to the environment image, and defining a final indoor name according to the indoor name set and a first position corresponding to a satellite signal of the commercial traveling device;

[0088] S115: defining a corresponding indoor scene according to the final indoor name, the corresponding space planning map, and the multiple environment images.

[0089] In an embodiment of the present application, positioning signals of commercial traveling equipment are collected and introduced, so that the location of the commercial traveling equipment is determined based on the analysis of the positioning signals of the commercial traveling equipment, thereby ensuring the accuracy of the location of the commercial traveling equipment.

[0090] Furthermore, based on the location tracing of the commercial moving equipment, the previous travel path of the commercial moving equipment is output, and the previous travel path is controlled, so as to define the environmental image passed by the commercial moving equipment according to the previous travel path, and define the corresponding indoor name set according to the environmental image, so as to present the richness of the indoor name set.

[0091] Therefore, the final indoor name is defined according to the indoor name set and the first position corresponding to the satellite signal of the commercial mobile equipment, and the corresponding indoor scene is defined according to the final indoor name, the corresponding space planning map and multiple environmental images. The overall consideration of the final indoor name, the corresponding space planning map and multiple environmental images is compatible, ensuring multi-dimensional control of the final indoor name, the corresponding space planning map and multiple environmental images, and ensuring the accuracy of the indoor scene.

[0092] refer to Figure 3 , in step S12, matching the corresponding indoor model according to the indoor scene and the indoor model database;

[0093] In the specific implementation process of the present invention, the specific steps may be:

[0094] S121: freeze frame interior scene;

[0095] S122: Associating indoor scenes and dividing learning models;

[0096] S123: determining a plurality of indoor spaces based on the indoor scene and the partitioning learning model;

[0097] S124: matching the same indoor model database based on multiple indoor spaces and previous travel paths of the commercial traveling equipment;

[0098] S125: Associating multiple indoor spaces and indoor model databases;

[0099] S126: Determine a plurality of indoor features according to the plurality of indoor spaces and the indoor model database, and match corresponding indoor models according to the plurality of indoor features.

[0100] In an embodiment of the present application, an indoor scene is frozen, and an indoor scene and a partition learning model are introduced to associate the indoor scene and the partition learning model; the partition learning model is trained based on previous indoor scenes.

[0101] At this time, multiple indoor spaces are determined based on indoor scenes and division learning models, multiple indoor spaces are introduced, and a reasonable division of multiple indoor spaces is achieved. Therefore, the same indoor model database is matched based on multiple indoor spaces and the previous travel paths of commercial moving equipment, which is compatible with the overall consideration of multiple indoor spaces and the previous travel paths of commercial moving equipment, and ensures the interaction of the indoor model database.

[0102] Furthermore, multiple indoor spaces and indoor model databases are associated; multiple indoor features are determined based on the multiple indoor spaces and indoor model databases, and corresponding indoor models are matched based on the multiple indoor features, thereby ensuring the accuracy of the indoor model and the matching of the indoor model with the indoor scene.

[0103] refer to Figure 4 , in step S13, in the floor cleaning space, a traveling space for the commercial traveling equipment is constructed according to the map interface corresponding to the indoor scene, the location of the indoor model, and the location of the commercial traveling equipment;

[0104] In the specific implementation process of the present invention, the specific steps may be:

[0105] S131: freeze frame interior model;

[0106] S132: Associating a map interface corresponding to the indoor scene, a location of the indoor model, and a location of the commercial traveling equipment;

[0107] S133: defining a first space coefficient based on a map interface corresponding to the indoor scene and a location of the indoor model;

[0108] S134: defining a second space coefficient based on the location of the commercial traveling equipment and the location of the indoor model;

[0109] S135: Associating the second spatial coefficient, the first spatial coefficient, and the corresponding spatial matching table;

[0110] S136: Construct a traveling space for the commercial traveling equipment according to the second space coefficient, the first space coefficient and the corresponding space matching table.

[0111] In an embodiment of the present application, the indoor model is frozen; the map interface corresponding to the indoor scene, the location of the indoor model, and the location of the commercial traveling equipment are associated, and the map interface corresponding to the indoor scene, the location of the indoor model, and the location of the commercial traveling equipment are controlled as a whole, thereby achieving multi-dimensional control of the map interface corresponding to the indoor scene, the location of the indoor model, and the location of the commercial traveling equipment.

[0112] Furthermore, the first spatial coefficient is defined based on the map interface corresponding to the indoor scene and the location of the indoor model, which is compatible with the map interface corresponding to the indoor scene and the location of the indoor model, realizes deep interaction between the map interface corresponding to the indoor scene and the location of the indoor model, and ensures the accuracy of the first spatial coefficient.

[0113] At the same time, the second space coefficient is defined based on the location of the commercial mobile equipment and the location of the indoor model, which is compatible with the location of the commercial mobile equipment and the location of the indoor model, realizes the deep interaction of the location of the commercial mobile equipment and the location of the indoor model, and ensures the accuracy of the second space coefficient.

[0114] Therefore, the second spatial coefficient, the first spatial coefficient and the corresponding spatial matching table are associated; the traveling space of the commercial traveling equipment is constructed according to the second spatial coefficient, the first spatial coefficient and the corresponding spatial matching table, thereby realizing multi-dimensional control of the second spatial coefficient, the first spatial coefficient and the corresponding spatial matching table, and ensuring the accuracy of the traveling space of the commercial traveling equipment.

[0115] refer to Figure 5 , S14: in the traveling space of the commercial traveling device, associating the indoor scene and the corresponding indoor model based on the user's creation signal, and determining the indoor distribution map according to the indoor scene and the corresponding indoor model;

[0116] In the specific implementation process of the present invention, the specific steps may be:

[0117] S141: Freeze the travel space of commercial traveling equipment;

[0118] S142: collecting a user's creation signal in the traveling space of the commercial traveling device;

[0119] S143: Associating the indoor scene and the corresponding indoor model based on the user's creation signal;

[0120] S144: Determine an indoor distribution map according to the indoor scene and the corresponding indoor model.

[0121] In an embodiment of the present invention, a corresponding indoor scene is defined according to the location of the commercial traveling equipment; the corresponding indoor model is matched according to the indoor scene and the indoor model database; a traveling space of the commercial traveling equipment is constructed according to a map interface corresponding to the indoor scene, the location of the indoor model and the location of the commercial traveling equipment; in the traveling space of the commercial traveling equipment, the indoor scene and the corresponding indoor model are associated based on the user's creation signal, and an indoor distribution map is determined according to the indoor scene and the corresponding indoor model, which is compatible with the overall consideration of the indoor scene and the corresponding indoor model, ensures the accuracy of the indoor distribution map, and realizes the modeling of the indoor model and the interaction of the indoor scene.

[0122] At this time, the traveling space of the commercial traveling equipment is frozen, the traveling space of the commercial traveling equipment is introduced, and the traveling space of the commercial traveling equipment is dynamically controlled.

[0123] At the same time, in the traveling space of the commercial traveling equipment, the user's creation signal is collected; the indoor scene and the corresponding indoor model are associated based on the user's creation signal; the indoor distribution map is determined according to the indoor scene and the corresponding indoor model, and the matching of the indoor scene and the corresponding indoor model is compatible, so as to facilitate the overall control of the indoor scene and the corresponding indoor model, and ensure the accuracy of the indoor distribution map.

[0124] refer to Figure 6 , S15: determining the travel path of the commercial traveling equipment based on the location of the commercial traveling equipment, the indoor distribution map and the target location, monitoring the position change of the indoor model in real time, and determining the optimized travel path according to the position change amount of the indoor model and the dynamic interaction of the travel path;

[0125] In the specific implementation process of the present invention, the specific steps may be:

[0126] S151: freeze frame indoor distribution map;

[0127] S152: Marking the location of the commercial traveling equipment and the target location based on the indoor distribution map;

[0128] S153: determining a travel path of the commercial traveling equipment according to the location of the commercial traveling equipment, the indoor distribution map, and the target location;

[0129] S154: traversing the travel path of the commercial traveling device, and determining a corresponding position detection point according to the travel path and the position of the indoor model;

[0130] S155: Real-time monitoring of each position detection point to monitor the position change of the indoor model in real time;

[0131] S156: Determine an optimized travel path according to the position change of the indoor model and the dynamic interaction of the travel path.

[0132] At this time, the indoor distribution map is frozen; the location of the commercial moving equipment and the target location are marked based on the indoor distribution map; the travel path of the commercial moving equipment is determined according to the location of the commercial moving equipment, the indoor distribution map and the target location, which is compatible with the overall consideration of the location of the commercial moving equipment, the indoor distribution map and the target location, and realizes multi-dimensional control of the location of the commercial moving equipment, the indoor distribution map and the target location, ensuring the accuracy of the travel path of the commercial moving equipment.

[0133] Therefore, the travel path of the commercial moving equipment is traversed, and the corresponding position detection points are determined according to the travel path and the location of the indoor model, so that each position detection point is monitored in real time to monitor the position changes of the indoor model in real time, thereby achieving precise control of the position changes of the indoor model.

[0134] Furthermore, the position change and travel path of the indoor model are introduced, and dynamic interaction is performed on the position change and travel path of the indoor model, so that the optimized travel path is determined based on the dynamic interaction of the position change and travel path of the indoor model, thereby achieving the optimization of the travel path and ensuring the accuracy of the optimized travel path.

[0135] refer to Figure 7 , S16: triggering the direction-changing path of the commercial traveling equipment according to the optimized traveling path and the front obstacle detected by the commercial traveling equipment, and determining the traveling control interface according to the direction-changing path, the optimized traveling path and the indoor distribution map. At this time, the dynamic movement of the commercial traveling equipment is presented on the traveling control interface;

[0136] In the specific implementation process of the present invention, the specific steps may be:

[0137] S161: freeze the optimized travel path;

[0138] S162: When the commercial traveling equipment is in a dynamic traveling state, monitoring the front image of the commercial traveling equipment in real time, and determining the front obstacle detected by the commercial traveling equipment according to the recognition of the front image;

[0139] S163: Associating the optimized travel path with the front obstacle detected by the commercial travel equipment, and triggering the change of direction path of the commercial travel equipment;

[0140] S164: triggering temporary avoidance of the commercial traveling equipment according to the direction-changing path of the commercial traveling equipment, and continuing to travel along the optimized traveling path after the avoidance;

[0141] S165: Determine a travel control interface according to the change-of-direction path, the optimized travel path, and the indoor distribution map. At this time, the dynamic movement of the commercial travel equipment is presented on the travel control interface.

[0142] In an embodiment of the present invention, the travel path of the commercial traveling equipment is determined based on the location of the commercial traveling equipment, the indoor distribution map and the target location, the position change of the indoor model is monitored in real time, and the optimized travel path is determined according to the position change of the indoor model and the dynamic interaction of the travel path; the turning path of the commercial traveling equipment is triggered according to the optimized travel path and the front obstacle detected by the commercial traveling equipment, and the travel control interface is determined according to the turning path, the optimized travel path and the indoor distribution map, thereby realizing multi-dimensional control of the turning path, the optimized travel path and the indoor distribution map, ensuring the accuracy of the travel control interface and the user's controllability, and realizing efficient application of commercial traveling equipment compatible with various unknown scenarios.

[0143] At this time, the optimized travel path is frozen; at the same time, when the commercial traveling equipment is in a dynamic traveling state, the front image of the commercial traveling equipment is monitored in real time, and the front obstacle detected by the commercial traveling equipment is determined based on the recognition of the front image.

[0144] Furthermore, the front obstacles detected by the commercial traveling equipment are introduced, so as to associate the optimized traveling path and the front obstacles detected by the commercial traveling equipment, and trigger the changing path of the commercial traveling equipment. It is compatible with the overall control of the optimized traveling path and the front obstacles detected by the commercial traveling equipment, and triggers the corresponding changing path. Through the changing path, the commercial traveling equipment can temporarily avoid the front obstacles, thereby improving the intelligent traveling effect of the commercial traveling equipment.

[0145] Therefore, the temporary avoidance of the commercial moving equipment is triggered according to the change of direction path of the commercial moving equipment, and the moving equipment continues to move along the optimized moving path after avoidance; the moving control interface is determined according to the change of direction path, the optimized moving path and the indoor distribution map. At this time, the dynamic movement of the commercial moving equipment is presented on the moving control interface.

[0146] Furthermore, multi-dimensional control of the change-of-direction path, optimized travel path and indoor distribution map is achieved, ensuring the accuracy of the travel control interface and the user's controllability, and realizing the efficient application of commercial travel equipment compatible with various unknown scenarios.

[0147] In an embodiment of the present invention, through the method in the embodiment of the present invention, a corresponding indoor scene is defined according to the location of the commercial traveling equipment; the corresponding indoor model is matched according to the indoor scene and the indoor model database; the traveling space of the commercial traveling equipment is constructed according to the map interface corresponding to the indoor scene, the location of the indoor model and the location of the commercial traveling equipment; in the traveling space of the commercial traveling equipment, the indoor scene and the corresponding indoor model are associated based on the user's creation signal, and the indoor distribution map is determined according to the indoor scene and the corresponding indoor model, which is compatible with the overall consideration of the indoor scene and the corresponding indoor model, and ensures the accuracy of the indoor distribution map, thereby realizing the modeling of the indoor model and the interaction of the indoor scene.

[0148] Furthermore, the travel path of the commercial traveling equipment is determined based on the location of the commercial traveling equipment, the indoor distribution map and the target location, the position changes of the indoor model are monitored in real time, and the optimized travel path is determined according to the position change of the indoor model and the dynamic interaction of the travel path; the turning path of the commercial traveling equipment is triggered according to the optimized travel path and the front obstacles detected by the commercial traveling equipment, and the travel control interface is determined according to the turning path, the optimized travel path and the indoor distribution map, thereby realizing multi-dimensional control of the turning path, the optimized travel path and the indoor distribution map, ensuring the accuracy of the travel control interface and the user's controllability, and realizing the efficient application of commercial traveling equipment compatible with various unknown scenarios.

[0149] See also Figure 8 , Figure 8 It is a schematic diagram of the structural composition of a travel control system of a commercial travel equipment in an embodiment of the present invention.

[0150] like Figure 8 As shown, a travel control system for commercial travel equipment, the travel control system for commercial travel equipment includes:

[0151] Indoor scene indoor model 21, used to define the corresponding indoor scene according to the location of the commercial mobile equipment;

[0152] Indoor model Indoor model 22, used to match the corresponding indoor model according to the indoor scene and the indoor model database;

[0153] The indoor model 23 of the traveling space is used to construct the traveling space of the commercial traveling equipment according to the map interface corresponding to the indoor scene, the location of the indoor model and the location of the commercial traveling equipment;

[0154] Indoor distribution map indoor model 24, used to associate indoor scenes and corresponding indoor models based on the user's creation signal in the traveling space of the commercial traveling device, and determine the indoor distribution map according to the indoor scenes and corresponding indoor models;

[0155] The indoor model 25 of the travel path is used to determine the travel path of the commercial travel device based on the location of the commercial travel device, the indoor distribution map and the target location, monitor the position change of the indoor model in real time, and determine the optimized travel path according to the position change amount of the indoor model and the dynamic interaction of the travel path;

[0156] The indoor model 26 of the travel control interface is used to trigger the turning path of the commercial travel equipment according to the optimized travel path and the front obstacles detected by the commercial travel equipment, and determine the travel control interface according to the turning path, the optimized travel path and the indoor distribution map. At this time, the dynamic movement of the commercial travel equipment is presented on the travel control interface.

[0157] See also Fig. 9 , refer to the following Fig. 9 The electronic device 40 according to this embodiment of the present invention will be described. Fig. 9 The electronic device 40 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0158] like Fig. 9 As shown, the electronic device 40 is in the form of a general computing device. The components of the electronic device 40 may include but are not limited to: at least one processing unit 41, at least one storage unit 42, and a bus 43 connecting different system components (including the storage unit 42 and the processing unit 41).

[0159] The storage unit stores program codes, which can be executed by the processing unit 41, so that the processing unit 41 executes the steps according to various exemplary embodiments of the present invention described in the above “Embodiment Method” section of this specification.

[0160] The storage unit 42 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 421 and / or a cache memory unit 422 , and may further include a read-only memory unit (ROM) 423 .

[0161] The storage unit 42 may also include a program / utility 424 having a set (at least one) of program modules 425, such program modules 425 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0162] Bus 43 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0163] The electronic device 40 may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 40, and / or any device that enables the electronic device 40 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 44. Furthermore, the electronic device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 45. Fig. 9 As shown, the network adapter 45 communicates with other modules of the electronic device 40 via the bus 43. It should be understood that although Fig. 9 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup planning systems.

[0164] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a multi-parameter sensor device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0165] Those skilled in the art can understand that all or some of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium can include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc. In addition, it stores computer program instructions, and when the computer program instructions are executed by a computer, the computer executes the above method.

[0166] In addition, the travel control method and system for commercial traveling equipment provided by the embodiments of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. For those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for controlling the travel of commercial traveling equipment, characterized in that: Applied to the travel control scenarios of commercial travel equipment; The traveling control method of the commercial traveling equipment comprises: Define the corresponding indoor scene according to the location of the commercial mobile equipment; Match the corresponding indoor model according to the indoor scene and the indoor model database; Constructing a travel space for commercial moving equipment according to a map interface corresponding to the indoor scene, the location of the indoor model, and the location of the commercial moving equipment; In the traveling space of the commercial traveling device, an indoor scene and a corresponding indoor model are associated based on a user's creation signal, and an indoor distribution map is determined according to the indoor scene and the corresponding indoor model; The travel path of the commercial travel equipment is determined based on the location of the commercial travel equipment, the indoor distribution map and the target location, the position change of the indoor model is monitored in real time, and the optimized travel path is determined according to the position change of the indoor model and the dynamic interaction of the travel path; According to the optimized travel path and the front obstacle detected by the commercial travel equipment, the changing path of the commercial travel equipment is triggered, and the travel control interface is determined according to the changing path, the optimized travel path and the indoor distribution map. At this time, the dynamic movement of the commercial travel equipment is presented on the travel control interface.

2. The traveling control method for commercial traveling equipment according to claim 1, characterized in that: Defining a corresponding indoor scene according to the location of the commercial mobile equipment includes: Collect positioning signals of commercial moving equipment; Determining the location of the commercial traveling equipment based on the analysis of the positioning signal of the commercial traveling equipment; Outputting a past travel path of the commercial traveling equipment based on the location tracing of the location of the commercial traveling equipment; An environment image passed by the commercial mobile device is defined according to a previous travel path, a corresponding indoor name set is defined according to the environment image, and a final indoor name is defined according to the indoor name set and a first position corresponding to a satellite signal of the commercial mobile device; The corresponding indoor scene is defined according to the final indoor name, the corresponding space planning map and the multiple environment images.

3. The traveling control method for commercial traveling equipment according to claim 2, characterized in that: The matching of the corresponding indoor model according to the indoor scene and the indoor model database includes: Freeze frame interior scenes; Associating indoor scenes and partitioning learning models; Determine multiple indoor spaces based on indoor scenes and partitioning learning models; Matching the same indoor model database based on multiple indoor spaces and past travel paths of commercial travel equipment; Associating multiple indoor spaces and indoor model databases; A plurality of indoor features are determined according to the plurality of indoor spaces and the indoor model database, and corresponding indoor models are matched according to the plurality of indoor features.

4. The traveling control method for commercial traveling equipment according to claim 3, characterized in that: The method of constructing a traveling space for the commercial traveling equipment according to the map interface corresponding to the indoor scene, the location of the indoor model, and the location of the commercial traveling equipment includes: Freeze the interior model; Associating the map interface corresponding to the indoor scene, the location of the indoor model, and the location of the commercial moving equipment; Define a first space coefficient based on a map interface corresponding to the indoor scene and a location of the indoor model; defining a second space coefficient based on a location where the commercial traveling equipment is located and a location where the indoor model is located; Associating the second spatial coefficient, the first spatial coefficient, and a corresponding spatial matching table; The traveling space of the commercial traveling equipment is constructed according to the second space coefficient, the first space coefficient and the corresponding space matching table.

5. The traveling control method for commercial traveling equipment according to claim 4, characterized in that: The method of associating an indoor scene and a corresponding indoor model based on a user's creation signal in the traveling space of the commercial traveling device, and determining an indoor distribution map according to the indoor scene and the corresponding indoor model, includes: Freeze the travel space of commercial traveling equipment; In the traveling space of the commercial traveling device, collecting a user's creation signal; Associating indoor scenes and corresponding indoor models based on user creation signals; The indoor distribution map is determined according to the indoor scene and the corresponding indoor model.

6. The traveling control method for commercial traveling equipment according to claim 5, characterized in that: The method determines the travel path of the commercial traveling device based on the location of the commercial traveling device, the indoor distribution map and the target location, monitors the position change of the indoor model in real time, and determines the optimized travel path according to the position change amount of the indoor model and the dynamic interaction of the travel path, including: Freeze indoor distribution map; Mark the location of commercial mobile equipment and the target location based on the indoor distribution map; The travel path of the commercial moving equipment is determined according to the location of the commercial moving equipment, the indoor distribution map and the target location.

7. The traveling control method for commercial traveling equipment according to claim 6, characterized in that: The method further comprises: determining the travel path of the commercial traveling device based on the location of the commercial traveling device, the indoor distribution map and the target location, monitoring the position change of the indoor model in real time, and determining the optimized travel path according to the position change amount of the indoor model and the dynamic interaction of the travel path. Traverse the travel path of the commercial moving equipment, and determine the corresponding position detection point according to the travel path and the location of the indoor model; Real-time monitoring of each location detection point to monitor the position changes of the indoor model in real time; The optimized travel path is determined according to the position change of the indoor model and the dynamic interaction of the travel path.

8. The traveling control method for commercial traveling equipment according to claim 7, characterized in that: The method triggers the direction-changing path of the commercial traveling equipment according to the optimized traveling path and the obstacle ahead detected by the commercial traveling equipment, and determines the traveling control interface according to the direction-changing path, the optimized traveling path and the indoor distribution map. At this time, the dynamic movement of the commercial traveling equipment is presented on the traveling control interface, including: Freeze the optimized travel path; When the commercial traveling equipment is in a dynamic traveling state, the front image of the commercial traveling equipment is monitored in real time, and the front obstacle detected by the commercial traveling equipment is determined according to the recognition of the front image; The optimized travel path and the front obstacle detected by the commercial travel equipment are associated, and the change of direction path of the commercial travel equipment is triggered.

9. The traveling control method for commercial traveling equipment according to claim 8, characterized in that: The method further includes triggering a direction-changing path of the commercial traveling equipment according to the optimized traveling path and the obstacle ahead detected by the commercial traveling equipment, determining a traveling control interface according to the direction-changing path, the optimized traveling path and the indoor distribution map, and presenting the dynamic movement of the commercial traveling equipment on the traveling control interface. Triggering temporary avoidance of the commercial traveling equipment according to the direction-changing path of the commercial traveling equipment, and continuing to travel along the optimized traveling path after avoiding; The travel control interface is determined according to the change-of-direction path, the optimized travel path and the indoor distribution map. At this time, the dynamic movement of the commercial travel equipment is presented on the travel control interface.

10. A travel control system for commercial travel equipment, characterized in that: The travel control system of the commercial travel equipment is applied to the travel control method of the commercial travel equipment as claimed in any one of claims 1 to 9, and the travel control system of the commercial travel equipment includes: Indoor scene indoor model, used to define the corresponding indoor scene according to the location of the commercial mobile equipment; Indoor model The indoor model is used to match the corresponding indoor model according to the indoor scene and the indoor model database; The indoor model of the traveling space is used to construct the traveling space of the commercial traveling equipment according to the map interface corresponding to the indoor scene, the location of the indoor model and the location of the commercial traveling equipment; An indoor distribution map indoor model is used to associate an indoor scene with a corresponding indoor model based on a user's creation signal in the traveling space of the commercial traveling device, and determine an indoor distribution map according to the indoor scene and the corresponding indoor model; The indoor model of the travel path is used to determine the travel path of the commercial travel equipment based on the location of the commercial travel equipment, the indoor distribution map and the target location, monitor the position change of the indoor model in real time, and determine the optimized travel path according to the position change of the indoor model and the dynamic interaction of the travel path; The indoor model of the travel control interface is used to trigger the changing path of the commercial travel equipment according to the optimized travel path and the front obstacles detected by the commercial travel equipment, and determine the travel control interface according to the changing path, the optimized travel path and the indoor distribution map. At this time, the dynamic movement of the commercial travel equipment is presented on the travel control interface.

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