Object control method and device

Abstract

The invention discloses an object control method and device, and relates to the technical field of automatic control. The method comprises the following steps: acquiring an initial position, an inspection position and a final position of an inspection task executed by a target object in a target area; determining a target path of the target object from the initial position to the final position through the inspection position; in the process of controlling the target object to execute the inspection task according to the target path, obtaining position information of the target object; target path position information matched with the position information is determined from the target path, and the target path position information is used for representing the path position in the target path; and adjusting the target path based on distance information between the position information and the target path position information to obtain an adjusted target path, and controlling the target object to execute an inspection task according to the adjusted target path. The technical problem that the accuracy of object control is low is solved.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to a method and device for controlling an object. Background Art

[0002] At present, inspection robots have been widely used in explosive warehouses that store explosives instead of manual inspections. Compared with manual inspections, inspection robots can regularly perform safety inspections to check equipment, facilities and pipeline systems inside the warehouse, as well as possible leaks, fires or other safety hazards, and have advantages in safety and efficiency that manual inspections cannot match.

[0003] Compared with patrol robots in general places, the storage locations of goods in explosive warehouses are fixed and low-density, and no accidental collisions are allowed. For this scenario, in related technologies, pre-planned paths and closed-loop control are usually used to control the patrol of robots. However, both methods require the use of the Global Positioning System (GPS), but indoor GPS signals are subject to greater interference, resulting in a technical problem of low accuracy in controlling objects.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present application provide a method and device for controlling an object, so as to at least solve the technical problem of low accuracy in controlling the object.

[0006] According to one aspect of an embodiment of the present application, a method for controlling an object is provided. The method may include: obtaining a starting position, an inspection position, and an end position of a target object in a target area for performing an inspection task, wherein the inspection position is used to indicate the position passed by the target object in the process of performing the inspection task; determining a target path of the target object from the starting position, through the inspection position, to the end position; in the process of controlling the target object to perform the inspection task according to the target path, obtaining the position information of the target object; determining the target path position information matching the position information from the target path, wherein the target path position information is used to indicate the path position in the target path; adjusting the target path based on the distance information between the position information and the target path position information to obtain the adjusted target path, and controlling the target object to perform the inspection task according to the adjusted target path.

[0007] Optionally, determining target path location information matching the location information from the target path includes: discretizing the target path to obtain a plurality of path location information; and determining the target path location information matching the location information from the plurality of path location information.

[0008] Optionally, the target path is discretized to obtain multiple path position information, including: dividing the target path into multiple first sections based on speed information of the target object; judging the first section based on the path curvature of the first section to obtain a judgment result; in response to the judgment result that the first section is a straight section, dividing the first section into multiple second sections according to an interval threshold, wherein the length of the second section is less than the length of the first section; and generating multiple path position information between the starting position and the end position of the second section.

[0009] Optionally, the target path is discretized to obtain multiple path location information, including: in response to a judgment result that the first section is a non-straight section, dividing the first section into multiple third sections according to the path curvature, wherein the length of the third section is less than the length of the first section; and generating multiple path location information between the starting position and the end position of the third section.

[0010] Optionally, in the process of controlling the target object to perform the inspection task along the target path, the location information of the target object is obtained, including: obtaining signal strength information of multiple Bluetooth beacons in the target area; determining the location information of the target object based on multiple signal strength information and the position relationship between multiple Bluetooth beacons.

[0011] Optionally, based on multiple signal strength information and the positional relationship between multiple Bluetooth beacons, the location information of the target object is determined, including: fusing multiple signal strength information to obtain fused signal strength information; based on the fused signal strength information and the positional relationship between multiple Bluetooth beacons, the location information of the target object is determined.

[0012] Optionally, determining a target path of the target object from a starting position, passing through inspection positions, and reaching an end position includes: traversing different paths of the target object from a starting position, passing through different inspection positions, and reaching an end position to obtain multiple paths; and determining the target path from the multiple paths.

[0013] Optionally, based on the distance information between the location information and the location information of the target path, adjusting the target path to obtain the adjusted target path includes: in response to the distance information being greater than a distance threshold, adjusting the target path to obtain the adjusted target path.

[0014] Optionally, obtaining the starting position, inspection position and end position of the target object performing the inspection task in the target area includes: obtaining environmental map information of the target area; establishing an environmental model of the target area based on the environmental map information; and determining the starting position, inspection node and end position on the environmental model.

[0015] According to another aspect of the embodiment of the present application, a control device for an object is also provided. The device may include: a first acquisition unit, used to acquire the starting position, inspection position and end position of the target object in the target area to perform the inspection task, wherein the inspection position is used to indicate the position passed by the target object in the process of performing the inspection task; a first determination unit, used to determine the target path of the target object from the starting position, through the inspection position to the end position; a second acquisition unit, used to acquire the position information of the target object in the process of controlling the target object to perform the inspection task according to the target path; a second determination unit, used to determine the target path position information matching the position information from the target path, wherein the target path position information is used to indicate the path position in the target path; a control unit, used to adjust the target path based on the distance information between the position information and the target path position information, obtain the adjusted target path, and control the target object to perform the inspection task according to the adjusted target path.

[0016] According to another aspect of an embodiment of the present application, a non-volatile storage medium is further provided, including: the storage medium includes a stored program, wherein when the program is running, the device where the storage medium is located is controlled to execute a control method of any object.

[0017] According to another aspect of an embodiment of the present invention, a processor is further provided. The processor is used to run a program, wherein the control method of an object in an embodiment of the present invention is executed when the program is run.

[0018] According to another aspect of an embodiment of the present application, there is further provided an electronic device, comprising: a processor; and a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement a control method for any object.

[0019] According to another aspect of the embodiment of the present application, a computer program product is further provided. The computer program product may include a computer program, wherein the computer program is configured to execute any of the above-mentioned control methods for an object when running.

[0020] According to another aspect of the embodiment of the present application, a computer program product is also provided. The computer program product may include a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and the computer program is configured to execute any of the above-mentioned control methods of the object when running.

[0021] According to another aspect of the embodiment of the present application, a computer program is further provided, wherein the computer program is configured to execute any one of the above-mentioned control methods for an object when it is run.

[0022] In an embodiment of the present application, a starting position, an inspection position, and an end position of a target object performing an inspection task in a target area are obtained, wherein the inspection position is used to indicate the position passed by the target object in the process of performing the inspection task; a target path of the target object from the starting position, through the inspection position, to the end position is determined; in the process of controlling the target object to perform the inspection task according to the target path, the position information of the target object is obtained; from the target path, target path position information matching the position information is determined, wherein the target path position information is used to indicate the path position in the target path; based on the distance information between the position information and the target path position information, the target path is adjusted to obtain an adjusted target path, and the target object is controlled to perform the inspection task according to the adjusted target path, thereby achieving the technical effect of improving the accuracy of controlling the object, thereby solving the technical problem of low accuracy in controlling the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0024] Figure 1 is a flow chart of a method for controlling an object according to an embodiment of the present application;

[0025] Figure 2 It is a flowchart of a patrol control method of a patrol robot in an explosive warehouse according to an embodiment of the present application;

[0026] Figure 3 is a schematic diagram of the structure of a control device for an object according to an embodiment of the present application;

[0027] Figure 4 is a schematic block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the solution of the present application, 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 only 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 creative work should fall within the scope of protection of the present application.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] According to an embodiment of the present application, a method embodiment of a method for controlling an object is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0031] Figure 1 is a flow chart of a control method of an object according to an embodiment of the present application, such as Figure 1 As shown, the method may include the following steps:

[0032] Step S102, obtaining the starting position, inspection position and end position of the target object in the target area when performing the inspection task, wherein the inspection position is used to indicate the position passed by the target object in the process of performing the inspection task.

[0033] In the technical solution provided in the above step S102, the starting position, inspection position and end position of the target object in the target area for performing the inspection task can be obtained. The target object can be an inspection robot, and the target area can be an explosives warehouse. This is only an example, and the types of the target object and the target area are not specifically limited.

[0034] In this embodiment, the starting position may be the starting point of the target object, may be located at the entrance or designated location of the target area, and may be referred to as the starting point. The inspection position may be an inspection node that needs to be inspected according to the requirements of the inspection task and the characteristics of the environment. The inspection node may be a location that requires regular inspection and monitoring, such as equipment facilities, storage areas, safety passages, and safety equipment, and may be referred to as an inspection node. The end position may be the end point of the inspection task, may be an area that requires special attention or inspection, and may be referred to as the target end point.

[0035] Optionally, based on a preset environmental map, environmental modeling is performed on the target area to obtain an environmental model, on which the starting point, inspection nodes and target end point of the inspection task can be determined and marked.

[0036] Step S104, determining a target path of the target object from the starting position, through the inspection position, to the end position.

[0037] In the technical solution provided in the above step S104, after obtaining the starting position, inspection position and end position of the target object performing the inspection task in the target area, the target path of the target object from the starting position, through the inspection position to the end position can be determined. The target path can be the optimal path of the target object from the starting position, through the inspection position to the end position.

[0038] Optionally, after obtaining the starting position, inspection position and end position of the target object performing the inspection task in the target area, based on the path planning algorithm, the optimal path for the target object to reach the target point from the starting point through the inspection node can be searched in the environment model.

[0039] Step S106, in the process of controlling the target object to perform the inspection task along the target path, obtaining the position information of the target object.

[0040] In the technical solution provided in the above step S106, after determining the target path of the target object from the starting position, through the inspection position and to the end position, the target object can be controlled to perform the inspection task according to the target path. Further, in the process of controlling the target object to perform the inspection task according to the target path, the position information of the target object can be obtained. The position information can be the current position information of the target object in the target area.

[0041] For example, the optimal path generated above can be output to the robot control system to guide the robot to move along the pre-planned path during the inspection process. In the process of controlling the robot to move, the current position information of the inspection robot in the warehouse can be obtained in real time based on the Bluetooth beacon.

[0042] Step S108: determining target path location information matching the location information from the target path, wherein the target path location information is used to indicate the path location in the target path.

[0043] In the technical solution provided in the above step S108, after obtaining the location information of the target object, the target path location information matching the location information can be determined from the target path. The target path location information can be used to represent the path position in the target path, which can be called a target path point.

[0044] Optionally, the optimal path is discretized to obtain a plurality of path points on the optimal path, and a target path point matching the position information can be determined from the obtained plurality of path points.

[0045] Step S110, based on the distance information between the position information and the target path position information, the target path is adjusted to obtain an adjusted target path, and the target object is controlled to perform the inspection task according to the adjusted target path.

[0046] In the technical solution provided in the above step S110, after determining the target path location information that matches the location information, the target path can be adjusted based on the distance information between the location information and the target path location information to obtain the adjusted target path. The target object can be further controlled to perform the inspection task according to the adjusted target path. The distance information can be the minimum distance between the location information and the target path location information.

[0047] Optionally, after determining the target path location information that matches the location information, the distance information between the location information and the target path location information can be determined. That is, by calculating the distance between the point corresponding to the current location information of the target object and the path point, the minimum distance can be determined. Further, the coordinates of the point corresponding to the minimum distance can be determined to judge the minimum distance and the preset threshold. When the minimum distance is greater than the preset threshold, the inspection robot is controlled to move toward the point corresponding to the minimum distance, thereby realizing the deviation correction control of the inspection robot's patrol route.

[0048] This embodiment takes into account that the explosive warehouse is a fixed closed place, its internal environment map is fixed and the GPS signal may be interfered with, so environmental modeling is performed according to the preset environment map to obtain the optimal path. Secondly, the Bluetooth indoor positioning method is used to accurately locate the inspection robot. After obtaining the precise position of the inspection robot, by calculating the distance between the inspection robot's position and the optimal path, it is determined whether the inspection robot's patrol route is within the tolerance range during the inspection task, and then the inspection robot's patrol route is corrected and controlled.

[0049] In an embodiment of the present application, a starting position, an inspection position, and an end position of a target object performing an inspection task in a target area are obtained, wherein the inspection position is used to indicate the position passed by the target object in the process of performing the inspection task; a target path of the target object from the starting position, through the inspection position, to the end position is determined; in the process of controlling the target object to perform the inspection task according to the target path, the position information of the target object is obtained; from the target path, target path position information matching the position information is determined, wherein the target path position information is used to indicate the path position in the target path; based on the distance information between the position information and the target path position information, the target path is adjusted to obtain an adjusted target path, and the target object is controlled to perform the inspection task according to the adjusted target path, thereby achieving the technical effect of improving the accuracy of controlling the object, thereby solving the technical problem of low accuracy in controlling the object.

[0050] The above embodiments of the present application are further described below.

[0051] In some embodiments of the present application, step S108, determining target path location information that matches the location information from the target path, includes: discretizing the target path to obtain multiple path location information; and determining target path location information that matches the location information from the multiple path location information.

[0052] In this embodiment, after obtaining the location information of the target object, the target path can be discretized to obtain multiple path location information. Further, from the obtained multiple path location information, the target path location information matching the location information can be determined. The multiple path location information can be multiple path points on the target path.

[0053] Optionally, after obtaining the location information of the target object, the optimal path can be discretized to obtain multiple path location information on the optimal path, that is, multiple path points. Further, the target path point that matches the current location information of the target object can be determined from the multiple path points.

[0054] In some embodiments of the present application, a target path is discretized to obtain a plurality of path position information, including: dividing the target path into a plurality of first sections based on speed information of the target object; judging the first section based on the path curvature of the first section to obtain a judgment result; in response to the judgment result that the first section is a straight section, dividing the first section into a plurality of second sections according to an interval threshold, wherein the length of the second section is less than the length of the first section; and generating a plurality of path position information between the starting position and the end position of the second section.

[0055] In this embodiment, based on the speed information of the target object, the target path can be divided into multiple first sections. After the target path is divided into multiple first sections, the path curvature of the first section can be determined, and based on the determined path curvature of the first section, the first section is judged to obtain a judgment result. When the judgment result is that the first section is a straight section, the first section is divided into multiple second sections according to the interval threshold. Further, multiple path position information can be generated between the starting position and the end position of the second section. Among them, the speed information can be used to represent the travel speed of the target object. The interval threshold can be a distance interval set according to actual conditions. The length of the second section is less than the length of the first section.

[0056] Optionally, the continuous optimal path is divided into a plurality of first sections according to the travel speed requirement of the inspection robot. The path curvatures of the plurality of first sections are calculated, and it is determined whether the first section is a straight section. When the first section is determined to be a straight section, the first section is divided into a plurality of second sections at fixed distance intervals. A series of discrete path points are generated between the starting point and the end point of each second path section, and these path points can be the end points of the straight section or can be generated by interpolation according to the path curve.

[0057] In some embodiments of the present application, the target path is discretized to obtain multiple path location information, including: in response to a judgment result that the first section is a non-straight section, dividing the first section into multiple third sections according to the path curvature, wherein the length of the third section is less than the length of the first section; and generating multiple path location information between the starting position and the end position of the third section.

[0058] In this embodiment, after the first section is judged and the judgment result is obtained, when the judgment result is that the first section is a non-straight section, the first section is divided into a plurality of third sections according to the path curvature. Further, a plurality of path position information is generated between the starting position and the end position of the third section. The length of the third section is less than the length of the first section.

[0059] Optionally, when the first section is determined to be a non-straight section, the non-straight first section is divided into a plurality of third sections according to the path curvature, and a series of discrete path points are further generated between the starting point and the end point of each third path section, and these path points can be the end points of the straight section or can be generated by interpolation according to the path curve.

[0060] In some embodiments of the present application, step S106, in the process of controlling the target object to perform the inspection task along the target path, obtains the location information of the target object, including: obtaining the signal strength information of multiple Bluetooth beacons in the target area; based on the multiple signal strength information and the positional relationship between the multiple Bluetooth beacons, determines the location information of the target object.

[0061] In this embodiment, after determining the target path of the target object, the signal strength information of multiple Bluetooth beacons in the target area can be obtained. Further based on the obtained multiple signal strength information and the position relationship between the multiple Bluetooth beacons, the position information of the target object can be determined.

[0062] Optionally, this embodiment arranges Bluetooth beacons at appropriate locations in the warehouse, such as the four corners of the warehouse. These Bluetooth beacons can be devices fixed to the wall, ceiling or roof, or portable devices. Each Bluetooth beacon is configured, including setting parameters such as a universally unique identifier (UUID), initial signal transmission strength, etc. Ensure that each beacon can work normally with the same initial parameters and can be detected by the Bluetooth module of the inspection robot.

[0063] Optionally, when starting positioning, the Bluetooth module of the inspection robot starts scanning the surrounding Bluetooth beacons. By detecting the signals emitted by the Bluetooth beacons and recording the strength and identifier of the Bluetooth signals, the inspection robot can obtain information about the surrounding Bluetooth beacons. The inspection robot measures the signal strength emitted by each Bluetooth beacon. Based on the signal strength, the distance between the inspection robot and each beacon is estimated, thereby obtaining the location information of the target object.

[0064] In some embodiments of the present application, the location information of the target object is determined based on multiple signal strength information and the positional relationship between multiple Bluetooth beacons, including: fusing multiple signal strength information to obtain fused signal strength information; determining the location information of the target object based on the fused signal strength information and the positional relationship between multiple Bluetooth beacons.

[0065] In this embodiment, after acquiring the signal strength information of multiple Bluetooth beacons in the target area, the acquired multiple signal strength information can be fused to obtain fused signal strength information. Further based on the fused signal strength information and the positional relationship between the multiple Bluetooth beacons, the position information of the target object can be determined.

[0066] Optionally, the signal strength of the scanned Bluetooth beacons is processed and analyzed, and the estimated position of the inspection robot is calculated according to the signal strength of multiple Bluetooth beacons and the positional relationship between the multiple Bluetooth beacons based on a weighted nearest neighbor algorithm or a triangulation positioning method.

[0067] Optionally, in the above positioning process, since the Bluetooth signal of the Bluetooth beacon may be affected by attenuation, interference and multipath effects, the Bluetooth signal is corrected before the signal strength of the Bluetooth beacon is processed and analyzed. The positioning results of multiple Bluetooth beacons can be fused and integrated, and then the weighted average or probability fusion method is adopted to comprehensively consider the positioning information of different Bluetooth beacons to improve the accuracy and reliability of the target object.

[0068] In some embodiments of the present application, step S104, determining the target path of the target object from the starting position, passing through the inspection position and arriving at the end position, includes: traversing different paths of the target object from the starting position, passing through different inspection positions and arriving at the end position to obtain multiple paths; determining the target path from the multiple paths.

[0069] In this embodiment, after determining the starting position, inspection position, and end position of the target object, the target path can be determined based on a path planning algorithm. Optionally, path planning is performed based on a path planning algorithm (e.g., Dijkstra algorithm, A* algorithm, Rapidly-exploring Random Tree (RRT) algorithm), or a deep learning method.

[0070] This embodiment adopts the A* algorithm, firstly, the starting node is added to the open list, and the starting node is set as the current node, and an empty closed list is initialized at the same time. Then a loop search is performed, and in each loop, a node is selected from the open list as the current node, usually the node with the smallest estimated total cost (which can be represented by the f value). The estimated total cost refers to the sum of the actual cost from the starting node to the current node (which can be represented by the g value) and the estimated cost from the current node to the target node (which can be represented by the h value).

[0071] Furthermore, check whether the current node is the target node. If the current node is the target node, the path has been found, and the path can be constructed by backtracking the closed list and the algorithm ends. If the current node is not the target node, the adjacent nodes of the current node are traversed, and the cost value (g value) and estimated cost value (h value) of each adjacent node are calculated, and the total cost (f value) of the adjacent nodes is calculated based on the above values.

[0072] Optionally, for each adjacent node, if the adjacent node is not in the open list, add the adjacent node to the open list and update its parent node and cost value. If the adjacent node is already in the open list, compare the new cost value with the current cost value. If the new cost value is smaller, update its parent node and cost value. Continue to search in a loop until the target node is found or the open list is empty (indicating that there is no feasible path). If the target node is found, build a path from the target node to the starting node by backtracking the closed list. Finally, output the found path, which is the optimal path from the starting node to the target node.

[0073] In some embodiments of the present application, step S110, based on the distance information between the location information and the target path location information, adjusts the target path to obtain the adjusted target path, including: in response to the distance information being greater than a distance threshold, adjusting the target path to obtain the adjusted target path.

[0074] In this embodiment, after determining the distance information between the position information of the target object and the position information of the target path, when the determined distance information is greater than a distance threshold, the target path is adjusted to obtain an adjusted target path.

[0075] Optionally, by calculating the distance between the point corresponding to the current position information and the path point, the coordinates of the point corresponding to the minimum distance are determined, and when it is judged that the minimum distance is greater than a preset threshold, the inspection robot is controlled to move toward the point corresponding to the minimum distance, that is, the target path of the target object is adjusted to achieve the purpose of correcting the patrol route of the inspection robot.

[0076] In some embodiments of the present application, step S102, obtaining the starting position, inspection position and end position of the target object performing the inspection task in the target area, includes: obtaining environmental map information of the target area; establishing an environmental model of the target area based on the environmental map information; and determining the starting position, inspection node and end position on the environmental model.

[0077] In this embodiment, the environmental map information of the target area can be obtained. After the environmental map information of the target area is obtained, an environmental model of the target area can be established based on the obtained environmental map information. Further, the starting position, inspection node and end position can be determined on the environmental model. Among them, the environmental map information can be used to characterize a preset environmental map.

[0078] Optionally, an environmental map is collected in advance by laser scanners, cameras, etc. The environmental map can be a two-dimensional map or a three-dimensional model, which can at least include information such as the layout, walls, shelves, equipment, and channels of the warehouse. At the beginning of the task, the environmental map can be loaded according to the specific information of the task, and then the framework of the environmental map can be established through professional map editing tools to determine the coordinate system, range, resolution and other parameters of the map. After the environmental model is built, the starting point and target end point of the inspection task can be determined on the environmental model.

[0079] In an embodiment of the present application, a starting position, an inspection position, and an end position of a target object performing an inspection task in a target area are obtained, wherein the inspection position is used to indicate the position passed by the target object in the process of performing the inspection task; a target path of the target object from the starting position, through the inspection position, to the end position is determined; in the process of controlling the target object to perform the inspection task according to the target path, the position information of the target object is obtained; from the target path, target path position information matching the position information is determined, wherein the target path position information is used to indicate the path position in the target path; based on the distance information between the position information and the target path position information, the target path is adjusted to obtain an adjusted target path, and the target object is controlled to perform the inspection task according to the adjusted target path, thereby achieving the technical effect of improving the accuracy of controlling the object, thereby solving the technical problem of low accuracy in controlling the object.

[0080] In order to facilitate those skilled in the art to better understand the technical solution of the present application, a specific embodiment is now described.

[0081] At present, inspection robots are robot systems that can autonomously perform inspection tasks. The main function of inspection robots is to autonomously inspect, detect and monitor in various environments to perform specific tasks, such as equipment fault detection, safety inspection, environmental monitoring, etc. Inspection robots are usually equipped with various sensors, actuators and control systems to achieve functions such as autonomous navigation, environmental perception and task execution. When inspection robots perform the above inspection tasks, patrol control plays a vital role in the task execution of inspection robots. Good patrol control can help robots plan the optimal inspection path, thereby covering more areas in a limited time and improving the efficiency of inspection.

[0082] Common patrol control methods may include pre-planned paths, real-time path planning, closed-loop control, obstacle avoidance strategies, task scheduling and collaboration, etc. Pre-planned paths are to map the inspection area and pre-plan the robot's inspection path before the inspection task begins. Path planning can be based on graph theory algorithms (e.g., Dijkstra, A*, etc.) or machine learning algorithms (e.g., deep reinforcement learning). Pre-planned paths can save time and energy during the inspection process and ensure that the robot moves along the optimal path. Real-time path planning is used in situations where the environment in the inspection area changes frequently or there are obstacles moving. Real-time path planning methods can be used. During the inspection process, the robot updates the path in real time based on environmental information to adapt to dynamically changing scenarios.

[0083] Closed-loop control means that during the actual inspection process, the robot may be affected by external interference or sensor errors, causing it to deviate from the predetermined path. The closed-loop control method can use the robot's own positioning and navigation system to feedback and adjust its position to return it to the predetermined path. The obstacle avoidance strategy means that during the inspection process, the robot may encounter obstacles or dangerous areas and need to avoid them in time. The obstacle avoidance strategy can take different actions based on environmental information (for example, the location, shape, and size of the obstacle), such as detouring and stopping. Task scheduling and collaboration are applied to situations where there are multiple inspection robots, and inspection efficiency can be optimized through task scheduling and collaboration. The task scheduling algorithm can allocate inspection tasks based on the robot's location and capabilities to achieve the global optimal inspection plan.

[0084] In explosive warehouses where explosives are stored, inspection robots have been used to replace manual inspections and have been widely used. Compared with manual inspections, inspection robots can regularly perform safety inspection tasks, check the equipment, facilities and pipeline systems inside the warehouse, as well as possible leaks, fires or other safety hazards, and have advantages in safety and efficiency that cannot be matched by manual inspections. However, compared with inspection robots in general places, in explosive warehouses, the storage locations of goods are fixed and the density is low, but no accidental collisions are allowed. Therefore, for explosive warehouses, the patrol control of inspection robots has more important practical significance. For this scenario, the existing technology mostly adopts pre-planned paths and closed-loop control. However, both methods require the use of GPS positioning to achieve, but the indoor GPS signal is subject to greater interference, resulting in low patrol control accuracy during indoor inspections and easy path errors.

[0085] In order to solve the above problems, the present application proposes a patrol control method for a patrol robot in an explosive warehouse. Figure 2 FIG. 1 is a flow chart of a patrol control method of a patrol robot in an explosive warehouse according to an embodiment of the present application, such as Figure 2 As shown, the process of the patrol control method of the patrol robot in the explosive warehouse may at least include the following steps:

[0086] Step S202, based on a preset environment map, environmental modeling is performed on the explosive warehouse to obtain an environment model, and the starting point, inspection nodes and target end point of the inspection task are determined and marked on the environment model.

[0087] In the above steps, the environmental map can be collected in advance by laser scanners, cameras, etc. The environmental map can be a two-dimensional map or a three-dimensional model, which can at least include the layout, walls, shelves, equipment, channels and other information of the warehouse. At the beginning of the task, the environmental map can be loaded according to the specific information of the task, and then the framework of the environmental map can be established through professional map editing tools to determine the coordinate system, range and resolution of the map and other parameters. After the environmental model is built, the starting point and target end point of the inspection task are determined on the environmental model. The starting point is usually the starting point of the robot, which can be located at the entrance of the warehouse or a designated location. The target end point is the end point of the inspection task, which can be an area that needs special attention or inspection. According to the requirements of the inspection task and the characteristics of the environment, the inspection nodes that need to be inspected are identified. The inspection nodes can be equipment facilities, storage areas, safety passages, safety equipment, etc., which need to be inspected and monitored regularly.

[0088] Step S204, based on the path planning algorithm, searching in the environment model for the optimal path from the starting point of the inspection robot, through the inspection nodes to the target point.

[0089] In the above steps, path planning is performed based on a path planning algorithm or a deep learning method. This embodiment adopts an A* algorithm. First, the starting node is added to an open list (open list) and set as the current node. At the same time, an empty closed list (closed list) is initialized. Then a cyclic search is performed. In each cycle, a node is selected from the open list as the current node, usually a node with the smallest estimated total cost (f value) is selected. The estimated total cost refers to the sum of the actual cost (g value) from the starting node to the current node and the estimated cost (h value) from the current node to the target node. Then check whether the current node is the target node. If it is the target node, the path has been found, and the path can be constructed by backtracking the closed list and the algorithm ends. Otherwise, the adjacent nodes of the current node are traversed, and the cost value (g value) and the estimated cost value (h value) of each adjacent node are calculated. The total cost (f value) of the adjacent nodes is calculated according to these values. For each adjacent node, if it is not in the open list, it is added to the open list, and its parent node and cost value are updated. If it is already in the open list, compare the new cost value with the current cost value. If the new cost value is smaller, update its parent node and cost value. Continue to search in a loop until the target node is found or the open list is empty (indicating that there is no feasible path). If the target node is found, build a path from the target node to the start node by backtracking the closed list. Finally, output the found path, which is the optimal path from the start node to the target node.

[0090] Step S206, output the generated optimal path to the robot control system to guide the robot to move along the pre-planned path during the inspection process, and during the movement of the robot, obtain the current position information of the inspection robot in the warehouse in real time based on the Bluetooth beacon.

[0091] In the above steps, firstly, Bluetooth beacons are arranged at appropriate locations in the warehouse, for example, at the four corners of the warehouse. These Bluetooth beacons can be devices fixed on the wall, ceiling or on the ground, or they can be portable devices. Each Bluetooth beacon is configured, including setting parameters such as a unique UUID and the initial signal emission strength. Ensure that each beacon can work normally with the same initial parameters and can be detected by the Bluetooth module of the inspection robot. At the beginning of positioning, the Bluetooth module of the inspection robot starts to scan the surrounding Bluetooth beacons. By detecting the signals emitted by the Bluetooth beacons and recording the strength and identifier of the Bluetooth signals, the inspection robot can obtain information about the surrounding Bluetooth beacons. The inspection robot measures the signal strength emitted by each Bluetooth beacon. According to the signal strength, the distance between the inspection robot and each beacon is estimated. The signal strength of the scanned Bluetooth beacons is processed and analyzed, and the estimated position of the inspection robot is calculated according to the signal strength of multiple Bluetooth beacons and the positional relationship between multiple Bluetooth beacons based on the weighted nearest neighbor algorithm or the triangulation positioning method.

[0092] In the above positioning process, since the Bluetooth signal of the Bluetooth beacon may be affected by attenuation, interference and multipath effects, it is best to calibrate the Bluetooth signal before processing and analyzing the signal strength of the Bluetooth beacon. In the present invention, it is possible to consider fusing and integrating the positioning results of multiple Bluetooth beacons, and then adopt a weighted average or probability fusion method to comprehensively consider the positioning information of different Bluetooth beacons to improve the accuracy and reliability of controlling the robot.

[0093] Step S208, discretize the optimal path to obtain multiple path points on the optimal path, calculate the distance between the point corresponding to the current position information and the path point, determine the point coordinates corresponding to the minimum distance and judge whether the minimum distance is greater than a preset threshold, so as to control the inspection robot to move toward the point corresponding to the minimum distance.

[0094] In the above steps, the continuous optimal path is divided into a plurality of first sections according to the travel speed requirements of the inspection robot. The path curvatures of the plurality of first sections are calculated to determine whether the path is a straight path. If so, the first section determined to be a straight path is divided into a plurality of second sections at fixed distance intervals, and the non-straight first section is divided into a plurality of third sections according to the path curvature. A series of discrete path points are generated between the starting point and the end point of each second path section and each third path section. These path points can be the end points of the straight line segment, or can be generated by interpolation according to the path curve.

[0095] This embodiment takes into account that the explosive warehouse is a fixed enclosed place, its internal environment map is fixed and the GPS signal may be interfered with, so environmental modeling is performed according to the preset environment map to obtain the optimal path. Secondly, the patrol robot is accurately positioned by using Bluetooth indoor positioning. After obtaining the precise position of the patrol robot, by calculating the distance between the location of the patrol robot and the optimal path, it is determined whether the patrol route of the patrol robot is within the tolerance range during the execution of the patrol task, and then the patrol route of the patrol robot is corrected and controlled.

[0096] This embodiment has highly accurate positioning calibration, and can relatively accurately obtain the position of the inspection robot indoors through Bluetooth beacons, and determine whether there is a deviation by comparing it with the optimal path, thereby performing intelligent intervention on the inspection path of the inspection robot.

[0097] In an embodiment of the present application, a starting position, an inspection position, and an end position of a target object performing an inspection task in a target area are obtained, wherein the inspection position is used to indicate the position passed by the target object in the process of performing the inspection task; a target path of the target object from the starting position, through the inspection position, to the end position is determined; in the process of controlling the target object to perform the inspection task according to the target path, the position information of the target object is obtained; from the target path, target path position information matching the position information is determined, wherein the target path position information is used to indicate the path position in the target path; based on the distance information between the position information and the target path position information, the target path is adjusted to obtain an adjusted target path, and the target object is controlled to perform the inspection task according to the adjusted target path, thereby achieving the technical effect of improving the accuracy of controlling the object, thereby solving the technical problem of low accuracy in controlling the object.

[0098] The present application also provides a device for controlling an object. It should be noted that the device for controlling an object in the present application can be used to execute the method for controlling an object in the present application.

[0099] Figure 3 is a schematic diagram of a control device for an object according to an embodiment of the present application, such as Figure 3 As shown, the control device 300 of the object may include: a first acquisition unit 302 , a first determination unit 304 , a second acquisition unit 306 , a second determination unit 308 and a control unit 310 .

[0100] The first acquisition unit 302 is used to acquire the starting position, the inspection position and the end position of the target object in the target area when performing the inspection task, wherein the inspection position is used to indicate the position passed by the target object in the process of performing the inspection task.

[0101] The first determining unit 304 is used to determine a target path of the target object from a starting position, through an inspection position, to an end position.

[0102] The second acquisition unit 306 is used to acquire the position information of the target object in the process of controlling the target object to perform the inspection task along the target path.

[0103] The second determining unit 308 is configured to determine target path location information that matches the location information from the target path, wherein the target path location information is used to indicate the path location in the target path.

[0104] The control unit 310 is used to adjust the target path based on the distance information between the position information and the target path position information to obtain an adjusted target path, and control the target object to perform the inspection task according to the adjusted target path.

[0105] Optionally, the second determination unit 308 includes: a processing module, configured to discretize the target path to obtain a plurality of path location information; and a first determination module, configured to determine the target path location information matching the location information from the plurality of path location information.

[0106] Optionally, the processing module includes: a first division submodule, used to divide the target path into multiple first sections based on speed information of the target object; a judgment submodule, used to judge the first section based on the path curvature of the first section to obtain a judgment result; a second division submodule, used to divide the first section into multiple second sections according to an interval threshold in response to the judgment result that the first section is a straight section, wherein the length of the second section is less than the length of the first section; a first generation submodule, used to generate multiple path position information between the starting position and the end position of the second section.

[0107] Optionally, the processing module includes: a third division sub-module, used to divide the first section into multiple third sections according to the path curvature in response to the judgment result that the first section is a non-straight section, wherein the length of the third section is less than the length of the first section; and a second generation sub-module, used to generate multiple path position information between the starting position and the end position of the third section.

[0108] Optionally, the second acquisition unit 306 includes: a first acquisition module, used to acquire signal strength information of multiple Bluetooth beacons in the target area; and a second determination module, used to determine the location information of the target object based on the multiple signal strength information and the position relationship between the multiple Bluetooth beacons.

[0109] Optionally, the second determination module includes: a fusion submodule, used to fuse multiple signal strength information to obtain fused signal strength information; a determination submodule, used to determine the location information of the target object based on the fused signal strength information and the position relationship between multiple Bluetooth beacons.

[0110] Optionally, the first determination unit 304 includes: a traversal module, used to traverse different paths of the target object from a starting position, through different inspection positions, to an end position to obtain multiple paths; and a third determination module, used to determine a target path from the multiple paths.

[0111] Optionally, the control unit 310 is used to adjust the target path based on the distance information between the location information and the target path location information to obtain the adjusted target path, including: an adjustment module, used to adjust the target path in response to the distance information being greater than a distance threshold to obtain the adjusted target path.

[0112] Optionally, the first acquisition unit 302 includes: a second acquisition module, used to acquire environmental map information of the target area; a building module, used to build an environmental model of the target area based on the environmental map information; and a fourth determination module, used to determine the starting position, inspection node and end position on the environmental model.

[0113] In the device, the first acquisition unit 302 is used to acquire the starting position, inspection position and end position of the target object in the target area for performing the inspection task, wherein the inspection position is used to indicate the position passed by the target object in the process of performing the inspection task. The first determination unit 304 is used to determine the target path of the target object from the starting position, through the inspection position to the end position. The second acquisition unit 306 is used to acquire the position information of the target object in the process of controlling the target object to perform the inspection task according to the target path. The second determination unit 308 is used to determine the target path position information matching the position information from the target path, wherein the target path position information is used to indicate the path position in the target path. The control unit 310 is used to adjust the target path based on the distance information between the position information and the target path position information to obtain the adjusted target path, and the target object is controlled to perform the inspection task according to the adjusted target path, thereby achieving the technical effect of improving the accuracy of controlling the object, thereby solving the technical problem of low accuracy of controlling the object.

[0114] According to another aspect of an embodiment of the present application, a non-volatile storage medium is further provided, the non-volatile storage medium including a stored program, wherein when the program is running, a device where the non-volatile storage medium is located is controlled to execute a control method of any object.

[0115] Specifically, the above storage medium is used to store program instructions for the following functions to implement the following functions:

[0116] Obtain the starting position, inspection position and end position of the target object performing the inspection task in the target area, wherein the inspection position is used to indicate the position passed by the target object in the process of performing the inspection task; determine the target path of the target object from the starting position, through the inspection position and to the end position; in the process of controlling the target object to perform the inspection task according to the target path, obtain the position information of the target object; from the target path, determine the target path position information that matches the position information, wherein the target path position information is used to indicate the path position in the target path; based on the distance information between the position information and the target path position information, adjust the target path to obtain the adjusted target path, and control the target object to perform the inspection task according to the adjusted target path.

[0117] Optionally, in this embodiment, the above-mentioned storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the above-mentioned contents. More specific examples of the above-mentioned storage medium may include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above-mentioned contents.

[0118] According to another aspect of an embodiment of the present invention, a processor is further provided. The processor is used to run a program, wherein the control method of the direct current power supply system in the embodiment of the present invention is executed when the program is run.

[0119] Optionally, the following steps may be implemented when the program is executed at runtime:

[0120] Obtain the starting position, inspection position and end position of the target object performing the inspection task in the target area, wherein the inspection position is used to indicate the position passed by the target object in the process of performing the inspection task; determine the target path of the target object from the starting position, through the inspection position and to the end position; in the process of controlling the target object to perform the inspection task according to the target path, obtain the position information of the target object; from the target path, determine the target path position information that matches the position information, wherein the target path position information is used to indicate the path position in the target path; based on the distance information between the position information and the target path position information, adjust the target path to obtain the adjusted target path, and control the target object to perform the inspection task according to the adjusted target path.

[0121] In an exemplary embodiment of the present application, a computer program product is further provided, including a computer program, and when the computer program is executed by a processor, the computer program implements any of the control methods of the above objects.

[0122] Optionally, the computer program may implement the following steps when executed by a processor:

[0123] Obtain the starting position, inspection position and end position of the target object performing the inspection task in the target area, wherein the inspection position is used to indicate the position passed by the target object in the process of performing the inspection task; determine the target path of the target object from the starting position, through the inspection position and to the end position; in the process of controlling the target object to perform the inspection task according to the target path, obtain the position information of the target object; from the target path, determine the target path position information that matches the position information, wherein the target path position information is used to indicate the path position in the target path; based on the distance information between the position information and the target path position information, adjust the target path to obtain the adjusted target path, and control the target object to perform the inspection task according to the adjusted target path.

[0124] In an exemplary embodiment of the present application, a computer program product is also provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and the computer program is configured to execute any of the control methods of the above objects when running.

[0125] Optionally, the computer program may implement the following steps when executed by a processor:

[0126] Obtain the starting position, inspection position and end position of the target object performing the inspection task in the target area, wherein the inspection position is used to indicate the position passed by the target object in the process of performing the inspection task; determine the target path of the target object from the starting position, through the inspection position and to the end position; in the process of controlling the target object to perform the inspection task according to the target path, obtain the position information of the target object; from the target path, determine the target path position information that matches the position information, wherein the target path position information is used to indicate the path position in the target path; based on the distance information between the position information and the target path position information, adjust the target path to obtain the adjusted target path, and control the target object to perform the inspection task according to the adjusted target path.

[0127] In an exemplary embodiment of the present application, a computer program is further provided. The computer program is configured to execute the steps in any of the above method embodiments when running.

[0128] Optionally, the computer program may implement the following steps when executed by a processor:

[0129] Obtain the starting position, inspection position and end position of the target object performing the inspection task in the target area, wherein the inspection position is used to indicate the position passed by the target object in the process of performing the inspection task; determine the target path of the target object from the starting position, through the inspection position and to the end position; in the process of controlling the target object to perform the inspection task according to the target path, obtain the position information of the target object; from the target path, determine the target path position information that matches the position information, wherein the target path position information is used to indicate the path position in the target path; based on the distance information between the position information and the target path position information, adjust the target path to obtain the adjusted target path, and control the target object to perform the inspection task according to the adjusted target path.

[0130] According to an embodiment of the present application, an electronic device is provided, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the control method of any of the above-mentioned objects.

[0131] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0132] Figure 4 is a schematic block diagram of an electronic device according to an embodiment of the present application. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0133] like Figure 4 As shown, the device 400 includes a computing unit 401, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 402 or a computer program loaded from a storage unit 408 into a random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the device 400 can also be stored. The computing unit 401, the ROM 402, and the RAM 403 are connected to each other via a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0134] A number of components in the device 400 are connected to the I / O interface 405, including: an input unit 406, such as a keyboard, a mouse, etc.; an output unit 407, such as various types of displays, speakers, etc.; a storage unit 408, such as a disk, an optical disk, etc.; and a communication unit 409, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 409 allows the device 400 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0135] The computing unit 401 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 401 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 401 performs the various methods and processes described above, such as the control method of the object. For example, in some embodiments, the control method of the object may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 408. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 400 via ROM 402 and / or communication unit 409. When the computer program is loaded into RAM 403 and executed by the computing unit 401, one or more steps of the control method of the object described above may be performed. Alternatively, in other embodiments, the computing unit 401 may be configured to execute the control method of the object by any other appropriate means (e.g., by means of firmware).

[0136] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0137] The program code for implementing the method of the present application can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, implements the functions / operations specified in the flow chart and / or block diagram. The program code can be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0138] In the context of the present application, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0139] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0140] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0141] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0142] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0143] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0144] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0145] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0146] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0147] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0148] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for controlling an object, characterized in that: include: Obtaining the starting position, inspection position and end position of the target object in the target area for performing the inspection task, wherein the inspection position is used to represent the position passed by the target object in the process of performing the inspection task; Determine a target path of the target object from the starting position, through the inspection position, to the end position; In the process of controlling the target object to perform the inspection task along the target path, obtaining the position information of the target object; Determining, from the target path, target path location information that matches the location information, wherein the target path location information is used to indicate a path location in the target path; Based on the distance information between the position information and the target path position information, the target path is adjusted to obtain the adjusted target path, and the target object is controlled to perform the inspection task according to the adjusted target path.

2. The method according to claim 1, characterized in that Determining, from the target path, target path location information that matches the location information, including: Discretizing the target path to obtain multiple path location information; The target path location information matching the location information is determined from the plurality of path location information.

3. The method according to claim 2, characterized in that Discretize the target path to obtain multiple path location information, including: Based on the speed information of the target object, dividing the target path into a plurality of first sections; Based on the path curvature of the first road section, judging the first road section to obtain a judgment result; In response to the judgment result that the first road section is a straight section, the first road section is divided into multiple second road sections according to an interval threshold, wherein the length of the second road section is smaller than the length of the first road section; and multiple path location information is generated between the starting position and the end position of the second road section.

4. The method according to claim 3, characterized in that Discretize the target path to obtain multiple path location information, including: In response to the judgment result that the first section is a non-straight section, dividing the first section into a plurality of third sections according to the path curvature, wherein the length of the third section is less than the length of the first section; A plurality of path location information is generated between the starting position and the ending position of the third road segment.

5. The method according to claim 1, characterized in that In the process of controlling the target object to perform the inspection task according to the target path, obtaining the position information of the target object includes: Acquire signal strength information of multiple Bluetooth beacons in the target area; The location information of the target object is determined based on the plurality of signal strength information and the position relationship between the plurality of Bluetooth beacons.

6. The method according to claim 5, characterized in that Determining the location information of the target object based on the plurality of signal strength information and the position relationship between the plurality of Bluetooth beacons includes: Performing fusion processing on the plurality of signal strength information to obtain fused signal strength information; Based on the fused signal strength information and the positional relationship between the multiple Bluetooth beacons, the position information of the target object is determined.

7. The method according to claim 1, characterized in that Determining a target path of the target object from the starting position, through the inspection position, to the end position includes: Traversing different paths of the target object from the starting position through different inspection positions to the end position to obtain multiple paths; The target path is determined from the plurality of paths.

8. The method according to claim 1, characterized in that Adjusting the target path based on distance information between the location information and the target path location information to obtain the adjusted target path includes: In response to the distance information being greater than a distance threshold, the target path is adjusted to obtain the adjusted target path.

9. The method according to claim 1, characterized in that: Get the starting position, inspection position, and end position of the target object in the target area, including: Acquiring environmental map information of the target area; Based on the environmental map information, establishing an environmental model of the target area; The starting position, the inspection node and the end position are determined on the environment model.

10. A control device for an object, characterized in that: include: A first acquisition unit is used to acquire a starting position, an inspection position, and an end position of a target object in a target area when performing an inspection task, wherein the inspection position is used to represent a position passed by the target object in the process of performing the inspection task; A first determining unit is used to determine a target path of the target object from the starting position, through the inspection position, to the end position; A second acquisition unit, configured to acquire the position information of the target object in the process of controlling the target object to perform the inspection task along the target path; A second determining unit, configured to determine, from the target path, target path location information matching the location information, wherein the target path location information is used to indicate a path location in the target path; A control unit is used to adjust the target path based on the distance information between the position information and the target path position information to obtain the adjusted target path, and control the target object to perform the inspection task according to the adjusted target path.

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