Water area object capturing method and device and computer readable storage medium

Abstract

The invention provides a water area article capturing method and device and a computer readable storage medium, belongs to the technical field of article capturing, and can give consideration to the safety and capturing efficiency of a robot under the condition that articles are distributed on the shoreside of a water area. The method comprises the following steps: acquiring multiple pieces of information; the multiple pieces of information comprise definition of a first parameter, definition of a second parameter, a first number, the moving speed of the robot, first mass and a first distance; the first number is the total article number of multiple articles in a target area of the water area, the first distance is the distance between the target article and the shoreside, the first mass is the mass of the robot, the first parameter is used for indicating the cleanliness degree of the target area, and the second parameter is used for indicating the collision probability of the robot and the shoreside; inputting the plurality of pieces of information into an NSGA algorithm to obtain a plurality of parameter sets; the parameter set comprises a first parameter and a second parameter; and determining a target parameter set in the plurality of parameter sets, and controlling the robot to capture the object in the target area based on the target parameter set.

Description

Technical Field

[0001] This application relates to the technical field of item capture, and particularly to a method and device for capturing items in water areas and a computer-readable storage medium. Background Art

[0002] In order to capture items (such as garbage) in water areas (such as rivers, lakes, ponds), existing solutions usually capture items through robots that can walk on the water surface and capture items.

[0003] Due to the instability of water areas, the robots will collide with the banks of the water areas, which may cause damage to the robots. Therefore, how to capture items in water areas has become an urgent problem to be solved. Summary of the Invention

[0004] This application provides a method and device for capturing items in water areas and a computer-readable storage medium, which can balance the safety of the robot and the capture efficiency when items are distributed on the banks of water areas.

[0005] To achieve the above object, this application adopts the following technical solutions:

[0006] In a first aspect, a method for capturing items in water areas is provided. The method includes: obtaining a plurality of pieces of information; the plurality of pieces of information includes the definition of a first parameter, the definition of a second parameter, a first quantity, the moving speed of a robot, a first mass, and a first distance; the first quantity is the total quantity of a plurality of items in a target area of a water area, the first distance is the distance between a target item and the bank, the target item is the item closest to the bank among the plurality of items, the robot is used to capture items in the target area, the first mass is the mass of the robot, the first parameter is used to indicate the cleanliness of the target area, and the second parameter is used to indicate the collision probability between the robot and the bank; inputting the plurality of pieces of information into the NSGA algorithm to obtain a plurality of parameter sets; the parameter sets include the first parameter and the second parameter; determining a target parameter set among the plurality of parameter sets, and controlling the robot to capture items in the target area based on the target parameter set.

[0007] In combination with the first aspect, in some embodiments of the first aspect, the plurality of pieces of information further includes a first constraint condition, and the first constraint condition is used to constrain the minimum value of the first parameter.

[0008] In combination with the first aspect, in some embodiments of the first aspect, the plurality of pieces of information further includes a second constraint condition, and the second constraint condition is used to constrain the minimum value of the second parameter.

[0009] In combination with the first aspect, in some embodiments of the first aspect, the definition of the first parameter is:

[0010]

[0011] Among them, F 1 represents the first parameter, and R = W 1 ·V + W 2 ·m + W 3 ·L 1 , R represents the second quantity, the second quantity is the quantity of the first item, the first item is the item captured by the robot among multiple items, T represents the first quantity, V represents the moving speed, m represents the first mass, and L 1 represents the second distance, and W 1 is the first preset coefficient, and W 2 is the second preset coefficient, and W 3 is the third preset coefficient.

[0012] Combined with the first aspect, in some embodiments of the first aspect, the definition of the second parameter is:

[0013]

[0014] Among them, F 2 represents the second parameter, k represents the fourth preset parameter, d represents the second distance, and the second distance is the minimum distance from the shore during the process of the robot capturing the item in the target area.

[0015] Combined with the first aspect, in some embodiments of the first aspect, determining the target parameter set among multiple parameter sets includes: for multiple parameter sets, determining the excitation value of each parameter set according to a preset excitation function; determining the parameter set with the largest excitation value among the multiple parameter sets as the target parameter set.

[0016] Combined with the first aspect, in some embodiments of the first aspect, the robot includes a water spraying device, and the method further includes: obtaining a third distance, a fourth distance, and a second mass; the third distance is the minimum distance between the water spraying device of the current robot and the shore, the fourth distance is the distance between the water spraying device of the robot and a second item in a first direction, the first direction is perpendicular to a second direction, the second direction is the direction corresponding to the minimum distance, the second item is an item other than the first item among multiple items, the first item is the item captured by the robot among multiple items, and the second mass is the mass of the second item; determining a target spraying angle and a target spraying speed according to the third distance, the fourth distance, and the second mass; controlling the water spraying device to spray water towards the shore at the target spraying angle and the target spraying speed so that the second item moves away from the shore.

[0017] In a second aspect, a water area item capture device is provided for implementing the water area item capture method in the first aspect above. The water area item capture device includes corresponding modules, units, or means for implementing the above method. The modules, units, or means can be implemented by hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions.

[0018] In combination with the second aspect, in certain embodiments of the second aspect, the device includes: an acquisition module and a processing module; the acquisition module is configured to acquire a plurality of pieces of information; the plurality of pieces of information includes the definition of a first parameter, the definition of a second parameter, a first quantity, the moving speed of the robot, a first mass, and a first distance; the first quantity is the total quantity of a plurality of items in the target area of the water area, the first distance is the distance between the target item and the shore, the target item is the item closest to the shore among the plurality of items, the robot is used to capture the items in the target area, the first mass is the mass of the robot, the first parameter is used to indicate the cleanliness of the target area, and the second parameter is used to indicate the collision probability between the robot and the shore; the processing module is configured to input the plurality of pieces of information into the NSGA algorithm to obtain a plurality of parameter sets; the parameter sets include the first parameter and the second parameter; the processing module is further configured to determine the target parameter set among the plurality of parameter sets and control the robot to capture the items in the target area based on the target parameter set.

[0019] In combination with the second aspect, in certain embodiments of the second aspect, the plurality of pieces of information further includes a first constraint condition, and the first constraint condition is used to constrain the minimum value of the first parameter.

[0020] In combination with the second aspect, in certain embodiments of the second aspect, the plurality of pieces of information further includes a second constraint condition, and the second constraint condition is used to constrain the minimum value of the second parameter.

[0021] In combination with the second aspect, in certain embodiments of the second aspect, the definition of the first parameter is:

[0022]

[0023] wherein, F 1 represents the first parameter, R = W 1 ·V + W 2 ·m + W 3 ·L 1 , R represents a second quantity, the second quantity is the quantity of the first item, the first item is the item captured by the robot among the plurality of items, T represents the first quantity, V represents the moving speed, m represents the first mass, L 1 represents a second distance, W 1 is a first preset coefficient, W 2 is a second preset coefficient, W3 is the third preset coefficient.

[0024] In combination with the second aspect, in some embodiments of the second aspect, the definition of the second parameter is:

[0025]

[0026] Where F 2 represents the second parameter, k represents the fourth preset parameter, d represents the second distance, and the second distance is the minimum distance from the shore during the process of the robot capturing the item in the target area.

[0027] In combination with the second aspect, in some embodiments of the second aspect, determining the target parameter set among multiple parameter sets includes: for multiple parameter sets, determining the excitation value of each parameter set according to a preset excitation function; determining the parameter set with the largest excitation value among the multiple parameter sets as the target parameter set.

[0028] In combination with the second aspect, in some embodiments of the second aspect, the robot includes a water spraying device, and the method further includes: obtaining a third distance, a fourth distance, and a second mass; the third distance is the minimum distance between the water spraying device of the current robot and the shore, the fourth distance is the distance between the water spraying device of the robot and the second item in the first direction, the first direction is perpendicular to the second direction, the second direction is the direction corresponding to the lowest distance, the second item is the item other than the first item among multiple items, the first item is the item captured by the robot among multiple items, and the second mass is the mass of the second item; determining a target spraying angle and a target spraying speed according to the third distance, the fourth distance, and the second mass; controlling the water spraying device to spray water towards the shore at the target spraying angle and the target spraying speed so that the second item moves away from the shore.

[0029] In a third aspect, a water area item capturing device is provided, including: at least one processor and a memory for storing instructions executable by the processor; wherein, the processor is configured to execute the instructions to implement the method provided in the first aspect and any one of its possible embodiments.

[0030] In a fourth aspect, a computer-readable storage medium is provided. When the instructions in the computer-readable storage medium are executed by the processor of the water area item capturing device, the water area item capturing device can execute the method provided in the first aspect and any one of its possible embodiments.

[0031] In a fifth aspect, a computer program product containing instructions is provided. When it runs on a computer, the computer can execute the method provided in the above-mentioned first aspect and any one of its possible embodiments.

[0032] Among them, for the technical effects brought by any one of the second to fifth aspects, reference can be made to the technical effects brought by different embodiments of the first aspect above, which will not be elaborated here.

[0033] Based on the water area item capture method provided in this application, by obtaining a plurality of information including the definition of the first parameter, the definition of the second parameter, the first quantity, the moving speed of the robot, the first mass, and the first distance, since the first quantity is the total quantity of multiple items in the target area of the water area, the first distance is the distance between the target item and the shore, the target item is the item closest to the shore among the multiple items, the robot is used to capture the items in the target area, the first mass is the mass of the robot, the first parameter is used to indicate the cleanliness of the target area, and the second parameter is used to indicate the collision probability between the robot and the shore. Subsequently, the multiple information can be input into the NSGA algorithm to obtain a plurality of parameter sets including the first parameter and the second parameter. Then, determine the target parameter set among the multiple parameter sets, and control the robot to capture the items in the target area based on the target parameter set, so as to be able to take into account the safety and capture efficiency of the robot when the items are distributed on the shore of the water area. Brief Description of the Drawings

[0034] Figure 1 A water area item capture system provided by this application;

[0035] Figure 2 A schematic flowchart of a water area item capture method provided by this application;

[0036] Figure 3 A schematic flowchart of another water area item capture method provided by this application;

[0037] Figure 4 A schematic structural diagram of a water area item capture device provided by this application;

[0038] Figure 5 A schematic structural diagram of another water area item capture device provided by this application. Detailed Embodiments

[0039] In the description of this application, unless otherwise specified, "a plurality" means two or more than two. "At least one (piece)" or its similar expression refers to any combination of these items, including any combination of single item (piece) or multiple items (pieces). For example, at least one (piece) of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, c can be single or multiple.

[0040] In addition, for the convenience of clearly describing the technical solutions of the embodiments of the present application, in the embodiments of the present application, terms such as "first" and "second" are used to distinguish identical or similar items with basically the same functions and roles. Those skilled in the art can understand that terms such as "first" and "second" do not limit the quantity and execution order, and "first", "second", etc. do not necessarily mean different.

[0041] Meanwhile, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary" or "for example" is intended to present relevant concepts in a specific way for easy understanding.

[0042] It can be understood that the "embodiments" mentioned throughout the specification mean that specific features, structures or characteristics related to the embodiments are included in at least one embodiment of the present application. Therefore, the various embodiments mentioned throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It can be understood that in the various embodiments of the present application, the magnitude of the sequence numbers of the various processes does not mean the order of execution, and the execution order of the various processes should be determined according to their functions and internal logics, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0043] It can be understood that in the present application, "when", "if", and "in case" all refer to corresponding processing under certain objective circumstances, not limited to time, and do not require a judgment action when implemented, nor do they mean other limitations.

[0044] It can be understood that some optional features in the embodiments of the present application can, in some scenarios, be implemented independently without relying on other features, such as the current solution they are based on, to solve the corresponding technical problems and achieve the corresponding effects. In some scenarios, they can also be combined with other features according to requirements. Correspondingly, the devices given in the embodiments of the present application can also implement these features or functions accordingly, which will not be elaborated here.

[0045] In this application, unless otherwise specified, the same or similar parts between various embodiments can be referred to each other. In various embodiments of this application and each implementation method in the embodiments, if there is no special specification and logical conflict, the terms and / or descriptions between different embodiments and between each implementation method in the embodiments are consistent and can be cited mutually. The technical features in different embodiments and each implementation method in the embodiments can be combined according to their internal logical relationships to form new embodiments, implementation manners, implementation methods, or implementation approaches. The following implementation manners of this application do not limit the protection scope of this application.

[0046] To capture items (such as garbage) in a water area (such as a river, lake, or pond), existing solutions usually capture the items through a robot that can walk on the water surface and capture items.

[0047] Due to the instability of the water area, the robot will collide with the shore of the water area, which may cause damage to the robot. Therefore, how to capture items in the water area has become an urgent problem to be solved.

[0048] To solve the above problems, this application provides a method for capturing water area items, which can be applied to a water area item capture system. Figure 1 The following is a schematic architecture diagram of a water area item capture system provided by this application, as Figure 1 shown, the water area item capture system 10 includes a water area item capture device 11 and a robot 12.

[0049] Among them, the water area item capture device 11 is directly or indirectly connected to the robot 12. In this connection relationship, a wired connection or a wireless connection can be used. This application embodiment does not limit this.

[0050] Data interaction can be carried out between the water area item capture device 11 and the robot 12.

[0051] The robot 12 can capture items in the water area.

[0052] The robot 12 can have a power device, a cleaning device, a visual recognition device, and a water spraying device.

[0053] The power device can provide power for the robot.

[0054] A binocular camera can be deployed on the cleaning device.

[0055] The visual recognition device can recognize items and the shore.

[0056] The water spraying device can spray water.

[0057] It should be noted that the water area item capture device 11 and the robot 12 can be independent devices or integrated into the same device. This application does not make specific limitations on this.

[0058] When the water area item capture device 11 and the robot 12 are integrated into the same device, the communication method between the water area item capture device 11 and the robot 12 is the communication between internal modules of this device. In this case, the communication process between the two is the same as the "communication process between the water area item capture device 11 and the robot 12 when they are independent of each other".

[0059] In the following embodiments provided by this application, this application takes the water area item capture device 11 and the robot 12 being independently arranged as an example for description.

[0060] In practical applications, the water area item capture method provided by the embodiments of this application can be applied to the water area item capture device 11 or to the devices included in the water area item capture device 11.

[0061] Next, in combination with the drawings, taking the water area item capture method being applied to the water area item capture device 11 as an example, the water area item capture method provided by the embodiments of this application will be described.

[0062] Figure 2 It is a schematic flowchart of a water area item capture method provided by this application. As Figure 2 shown, this method includes the following steps:

[0063] S201. The water area item capture device acquires multiple pieces of information.

[0064] Among them, the multiple pieces of information include the definition of the first parameter, the definition of the second parameter, the first quantity, the moving speed of the robot, the first mass, and the first distance; the first quantity is the total number of items in the target area of the water area, the first distance is the distance between the target item and the shore, the target item is the item closest to the shore among the multiple items, the robot is used to capture the items in the target area, the first mass is the mass of the robot, the first parameter is used to indicate the cleanliness degree of the target area, and the second parameter is used to indicate the collision probability between the robot and the shore.

[0065] It should be noted that the definition of the first parameter is:

[0066]

[0067] Among them, F 1 represents the first parameter, R = W 1 ·V + W 2 ·m + W 3 ·L 1, R represents the second quantity, the second quantity is the quantity of the first item, the first item is the item captured by the robot among multiple items, T represents the first quantity, V represents the moving speed, m represents the first mass, L 1 represents the second distance, W 1 is the first preset coefficient, W 2 is the second preset coefficient, W 3 is the third preset coefficient.

[0068] The value range of the first preset coefficient, the second preset coefficient or the third preset coefficient can be positive real numbers.

[0069] In the case where the item is garbage, the first parameter can also be called the cleanliness. The larger the value of the first parameter, the more garbage the robot captures in the target area, and the higher the cleanliness of the target area; the smaller the value of the first parameter, the less garbage the robot captures in the target area, and the lower the cleanliness of the target area.

[0070] As shown in the above relationship, when the first quantity is constant, as the quantity of the first item captured by the robot increases, the cleanliness of the target area becomes higher.

[0071] The definition of the second parameter is:

[0072]

[0073] where, F 2 represents the second parameter, k represents the fourth preset parameter, d represents the second distance, and the second distance is the minimum distance from the shore during the process of the robot capturing the item in the target area.

[0074] The value range of the fourth preset parameter can be [0, 1].

[0075] The second parameter can also be called the collision probability. The larger the value of the second parameter, the easier it is for the robot to collide with the shore, and the more dangerous the robot is; the smaller the value of the second parameter, the less likely the robot is to collide with the shore, and the safer the robot is.

[0076] As shown in the above relationship, as the minimum distance from the shore during the process of the robot capturing the item in the target area increases, the collision probability of the robot becomes smaller, the robot is less likely to collide with the shore, and the safer the robot is.

[0077] The multiple pieces of information also include a first constraint condition, and the first constraint condition is used to constrain the minimum value of the first parameter.

[0078] The multiple pieces of information also include a second constraint condition, and the second constraint condition is used to constrain the minimum value of the second parameter.

[0079] As a possible implementation, in combination with Figure 1 , the water area item capture device sends an instruction to the robot to obtain multiple pieces of information. Correspondingly, the robot receives this instruction from the water area item.

[0080] The robot determines the first quantity and the first distance through the binocular camera on the cleaning device, combines with the YOLOv8 target detection algorithm, encapsulates the definitions of the first parameter, the second parameter, the first quantity, the moving speed of the robot, the first mass, and the first distance into data, and sends the data to the water area item capture device.

[0081] Correspondingly, the water area item capture device receives the data from the robot and obtains multiple pieces of information from this data.

[0082] S202. The water area item capture device inputs the multiple pieces of information into the Non-dominated Sorting Genetic Algorithm (NSGA) algorithm to obtain multiple parameter sets.

[0083] Among them, the parameter set includes the first parameter and the second parameter.

[0084] It should be noted that the maximum number of generations can be a preset number of generations. For example, 200, 300, or Pareto front convergence can be used as the termination condition of the NSGA algorithm.

[0085] For the specific description of the NSAG algorithm, reference can be made to existing solutions, and this application will not elaborate on it here.

[0086] S203. The water area item capture device determines the target parameter set among the multiple parameter sets, and controls the robot to capture the items in the target area based on the target parameter set.

[0087] As a possible implementation, for the multiple parameter sets, the water area item capture device determines the excitation value of each parameter set according to the preset excitation function. Subsequently, the parameter set with the largest excitation value among the multiple parameter sets is determined as the target parameter set.

[0088] Subsequently, the water area item capture device controls the robot to capture the items in the target area based on the second quantity and the second distance corresponding to the first parameter in the target parameter set.

[0089] Exemplarily, the preset excitation function can be Y = aF 1 + bF 2 . Y represents the excitation value, a represents the fifth preset parameter, and b represents the sixth preset parameter.

[0090] The value range of the fifth preset parameter or the sixth preset parameter is [0, 1].

[0091] As an example, the water area item capturing device takes the first parameter and the second parameter in the first parameter set into a preset excitation function to obtain the excitation value of the first parameter set; takes the first parameter and the second parameter in the second parameter set into the preset excitation function to obtain the excitation value of the second parameter set; takes the first parameter and the second parameter in the third parameter set into the preset excitation function to obtain the excitation value of the thirteenth parameter set; takes the first parameter and the second parameter in the fourth parameter set into the preset excitation function to obtain the excitation value of the fourth parameter set, and so on. The water area item capturing device determines the excitation value of each parameter.

[0092] After that, the water area item capturing device determines the parameter set with the largest excitation value among the multiple parameter sets as the target parameter set.

[0093] After that, the water area item capturing device controls the robot to capture the items in the target area based on the second quantity and the second distance corresponding to the first parameter in the target parameter set.

[0094] Based on S201 - S203, by obtaining multiple information including the definition of the first parameter, the definition of the second parameter, the first quantity, the moving speed of the robot, the first mass, and the first distance, since the first quantity is the total number of items in the target area of the water area, the first distance is the distance between the target item and the shore, the target item is the item closest to the shore among the multiple items, the robot is used to capture the items in the target area, the first mass is the mass of the robot, the first parameter is used to indicate the cleanliness of the target area, and the second parameter is used to indicate the collision probability between the robot and the shore. After that, the multiple information can be input into the NSGA algorithm to obtain multiple parameter sets including the first parameter and the second parameter. After that, the target parameter set among the multiple parameter sets is determined, and the robot is controlled to capture the items in the target area based on the target parameter set, so as to be able to take into account the safety and capture efficiency of the robot when the items are distributed on the shore of the water area.

[0095] The above is a general description of the water area item capturing device provided by this application. Next, the water area item capturing device provided by this application will be further described with reference to the accompanying drawings.

[0096] In one design, the robot includes a water spraying device. After S203, Figure 3 is a schematic flowchart of another water area item capturing method provided by this application. As Figure 3 shown, the water area item capturing method provided by this application may further include the following multiple steps:

[0097] S301. The water area item capturing device obtains the third distance, the fourth distance, and the second mass.

[0098] Wherein, the third distance is the minimum distance between the water spraying device of the current robot and the shore, the fourth distance is the distance between the water spraying device of the robot and the second item in the first direction, the first direction is perpendicular to the second direction, the second direction is the direction corresponding to the lowest distance, the second item is an item other than the first item among multiple items, the first item is the item captured by the robot among multiple items, and the second mass is the mass of the second item.

[0099] As a possible implementation, in combination with Figure 1 , the water area item capturing device sends an instruction to the robot to obtain the third distance, the fourth distance, and the second mass. Correspondingly, the robot receives this instruction from the water area item.

[0100] The robot uses the binocular camera on the cleaning device and combines the YOLOv8 object detection algorithm to determine the third distance, the fourth distance, the type of the second item, and the volume of the second item. According to the corresponding relationship between the item type and the density, and in combination with the volume of the second item, the second mass is determined. The third distance, the fourth distance, and the second mass are encapsulated as data and sent to the water area item capturing device.

[0101] Correspondingly, the water area item capturing device receives the data from the robot and obtains the third distance, the fourth distance, and the second mass from this data.

[0102] S302. The water area item capturing device determines the target water spraying angle and the target water spraying speed according to the third distance, the fourth distance, and the second mass.

[0103] As a possible implementation, the water area item capturing device determines the target water spraying angle as:

[0104]

[0105] Wherein, θ represents the target water spraying angle, L 4 represents the third distance, and L 5 represents the fourth distance.

[0106] After that, the water area item capturing device determines the target water spraying speed according to the second mass in combination with hydrodynamic analysis.

[0107] It should be noted that the specific description of how the water area item capturing device determines the target water spraying speed according to the second mass in combination with hydrodynamic analysis can refer to existing solutions, and this application will not elaborate on it here.

[0108] S303. The water area item capturing device controls the water spraying device to spray water towards the shore at the target water spraying angle and the target water spraying speed, so that the second item moves away from the shore.

[0109] Based on S301 - S303, for the second item among multiple items that the robot cannot capture, by obtaining a third distance, a fourth distance, and a second mass; the third distance is the distance between the current robot and the shore, the fourth distance is the distance between the robot and the second item, the second item is an item other than the first item among the multiple items, the first item is the item captured by the robot among the multiple items, and the second mass is the mass of the second item; then, determine the target water spraying angle and the target water spraying speed according to the third distance, the fourth distance, and the second mass; then, control the water spraying device to spray water towards the shore at the target water spraying angle and the target water spraying speed, which can make the second item move away from the shore, so that the robot can capture the second item when capturing items in the target area next time, or so that the next robot can capture the second item when capturing items in the target area, improving the efficiency of capturing items in the water area.

[0110] The above mainly introduces the solution provided by the embodiments of the present application from the perspective of the water area item capture device executing the water area item capture method. To implement the above functions, the water area item capture device includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, combining the units and algorithm steps of each example described in the embodiments disclosed herein, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the way of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0111] The embodiments of the present application can divide the functional modules of the water area item capture device according to the above method examples. For example, each functional module can be divided corresponding to each function, or two or more functions can be integrated into one processing module. The above - integrated module can be implemented in the form of hardware or in the form of a software functional module. Optionally, the division of modules in the embodiments of the present application is illustrative, only a logical functional division, and there can be other division methods in actual implementation. In addition, the "module" here can refer to a specific application - specific integrated circuit (ASIC), a circuit, a processor and a memory that execute one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions.

[0112] In the case of adopting functional module division, Figure 4 shows a schematic structural diagram of a water area item capture device. As Figure 4 shown, the water area item capture device 40 includes an acquisition module 401 and a processing module 402.

[0113] In some embodiments, the water area item capturing device 40 may further include a storage module ( Figure 4 not shown in the figure) for storing program instructions and data.

[0114] Among them, the acquisition module 401 is used to acquire multiple pieces of information; the multiple pieces of information include the definition of the first parameter, the definition of the second parameter, the first quantity, the moving speed of the robot, the first mass, and the first distance; the first quantity is the total quantity of multiple items in the target area of the water area, the first distance is the distance between the target item and the shore, the target item is the item closest to the shore among the multiple items, the robot is used to capture the items in the target area, the first mass is the mass of the robot, the first parameter is used to indicate the cleanliness of the target area, and the second parameter is used to indicate the collision probability between the robot and the shore; the processing module 402 is used to input the multiple pieces of information into the NSGA algorithm to obtain multiple parameter sets; the parameter sets include the first parameter and the second parameter; the processing module 402 is further used to determine the target parameter set among the multiple parameter sets and control the robot to capture the items in the target area based on the target parameter set.

[0115] Optionally, the multiple pieces of information further include a first constraint condition for constraining the minimum value of the first parameter.

[0116] Optionally, the multiple pieces of information further include a second constraint condition for constraining the minimum value of the second parameter.

[0117] Optionally, the definition of the first parameter is:

[0118]

[0119] Among them, F 1 represents the first parameter, R = W 1 ·V + W 2 ·m + W 3 ·L 1 , R represents the second quantity, the second quantity is the quantity of the first item, the first item is the item captured by the robot among the multiple items, T represents the first quantity, V represents the moving speed, m represents the first mass, L 1 represents the second distance, W 1 is the first preset coefficient, W 2 is the second preset coefficient, W 3 is the third preset coefficient.

[0120] Optionally, the definition of the second parameter is:

[0121]

[0122] Among them, F 2represents a second parameter, k represents a fourth preset parameter, and d represents a second distance, where the second distance is the minimum distance from the shore during the process of the robot capturing an item in the target area.

[0123] Optionally, determining a target parameter set from multiple parameter sets includes: for multiple parameter sets, determining the excitation value of each parameter set according to a preset excitation function; and determining the parameter set with the largest excitation value among the multiple parameter sets as the target parameter set.

[0124] Optionally, the robot includes a water spraying device, and the method further includes: obtaining a third distance, a fourth distance, and a second mass; the third distance is the minimum distance between the current water spraying device of the robot and the shore, the fourth distance is the distance between the water spraying device of the robot and a second item in a first direction, the first direction is perpendicular to a second direction, the second direction is the direction corresponding to the lowest distance, the second item is an item other than the first item among multiple items, the first item is the item captured by the robot among multiple items, and the second mass is the mass of the second item; determining a target spraying angle and a target spraying speed according to the third distance, the fourth distance, and the second mass; and controlling the water spraying device to spray water towards the shore at the target spraying angle and the target spraying speed so that the second item moves away from the shore.

[0125] All relevant content of each step involved in the above method embodiments can be cited in the function descriptions of the corresponding functional modules, and will not be elaborated here.

[0126] In the case of implementing the functions of the above functional modules in the form of hardware, Figure 5 shows a schematic structural diagram of another water area item capturing device. As Figure 5 shown, the water area item capturing device 50 includes a processor 501, a memory 502, and a bus 503. The processor 501 and the memory 502 can be connected through the bus 503.

[0127] The processor 501 is the control center of the water area item capturing device 50, and can be a single processor or a collective term for multiple processing elements. For example, the processor 501 can be a general-purpose central processing unit (CPU), or other general-purpose processors. Among them, the general-purpose processor can be a microprocessor or any conventional processor, etc.

[0128] As an embodiment, the processor 501 can include one or more CPUs, such as Figure 5 the CPU 0 and CPU 1 shown in

[0129] The memory 502 can be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a magnetic disk storage medium, or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0130] As a possible implementation, the memory 502 can exist independently of the processor 501. The memory 502 can be connected to the processor 501 through the bus 503 for storing instructions or program code. When the processor 501 calls and executes the instructions or program code stored in the memory 502, the water item capture method provided by the embodiments of the present application can be implemented.

[0131] In another possible implementation, the memory 502 can also be integrated with the processor 501.

[0132] The bus 503 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, etc. This bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity of representation, Figure 5 only a thick line is shown here, but it does not mean that there is only one bus or one type of bus.

[0133] It should be noted that Figure 5 the structure shown does not constitute a limitation on the water item capture device 50. In addition to Figure 5 the components shown, the water item capture device 50 can include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0134] As an example, in combination with Figure 4 , the functions implemented by the acquisition module 401 and the processing module 402 in the water item capture device 40 are the same as those of Figure 5 the processor 501 in

[0135] Optionally, as Figure 5 shown, the water area article capturing device 50 provided by an embodiment of the present application may further include a communication interface 504.

[0136] The communication interface 504 is used to connect to other devices through a communication network. The communication network may be an Ethernet, a radio access network, a wireless local area network (WLAN), etc. The communication interface 504 may include a receiving unit for receiving data and a sending unit for sending data.

[0137] In a possible implementation manner, in the water area article capturing device 50 provided by an embodiment of the present application, the communication interface 504 may also be integrated in the processor 501, and the embodiment of the present application does not make specific limitations thereto.

[0138] As a possible product form, the water area article capturing device of the embodiment of the present application may also be implemented by using the following: one or more field programmable gate arrays (FPGAs), programmable logic devices (PLDs), controllers, state machines, gate logics, discrete hardware components, any other suitable circuits, or any combination of circuits capable of performing various functions described throughout the present application.

[0139] Through the description of the above embodiments, those skilled in the art can clearly understand that for the convenience and conciseness of description, only the above division of each functional unit is used as an example for illustration. In practical applications, the above functions may be allocated to different functional units according to needs, that is, the internal structure of the device is divided into different functional units to complete all or part of the functions described above. The specific working processes of the systems, devices, and units described above may refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0140] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program or instruction is stored. When the computer program or instruction is executed, the computer executes each step in the method flow shown in the foregoing method embodiment.

[0141] The embodiment of the present application provides a computer program product containing instructions. When the instructions run on a computer, the computer executes each step in the method flow shown in the foregoing method embodiment.

[0142] An embodiment of the present application provides a chip system, including: a processor and an interface circuit; the interface circuit is configured to receive a computer program or instruction and transmit it to the processor; the processor is configured to execute the computer program or instruction so that the chip system executes each step in the method flow shown in the above method embodiment.

[0143] Among them, a computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer disk, a hard disk. Random Access Memory (RAM), Read-Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM), registers, hard disks, optical fibers, portable Compact Disc Read-Only Memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above, or any other form of computer-readable storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in a specific-purpose ASIC. In the embodiment of the present application, a computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.

[0144] Since the water area article capturing device, computer-readable storage medium, and computer program product provided in this embodiment can be applied to the water area article capturing method provided in the above, therefore, the technical effects that can be obtained can also refer to the above method embodiment, and the embodiments of the present application will not be elaborated here.

[0145] Although the present application has been described in conjunction with various embodiments herein, however, in the process of implementing the claimed present application, those skilled in the art can understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure content, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit can implement several functions recited in the claims. Certain measures are recited in mutually different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0146] Although the present application has been described in connection with specific features and their embodiments, it will be apparent that various modifications and combinations can be made without departing from the spirit and scope of the present application. Accordingly, the present specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of the present application. Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these changes and modifications.

Claims

1. A method for capturing objects in waters, characterized in that: The method comprises: Acquire multiple information; the multiple information includes a definition of a first parameter, a definition of a second parameter, a first quantity, a moving speed of the robot, a first mass, and a first distance; the first quantity is the total number of multiple objects in a target area of ​​the water area, the first distance is the distance between the target object and the shore, the target object is the object closest to the shore among the multiple objects, the robot is used to capture the objects in the target area, the first mass is the mass of the robot, the first parameter is used to indicate the cleanliness of the target area, and the second parameter is used to indicate the probability of collision between the robot and the shore; Inputting the multiple information into the NSGA algorithm to obtain multiple parameter sets; the parameter sets include a first parameter and a second parameter; A target parameter set among the plurality of parameter sets is determined, and the robot is controlled to capture objects in the target area based on the target parameter set.

2. The method according to claim 1, characterized in that The plurality of information further includes a first constraint condition, where the first constraint condition is used to constrain a minimum value of the first parameter.

3. The method according to claim 1, characterized in that The plurality of information further includes a second constraint condition, where the second constraint condition is used to constrain a minimum value of the second parameter.

4. The method according to claim 1, characterized in that: The first parameter is defined as: Among them, F1 represents the first parameter, R=W1·V+W2·m+W3·L1, R represents the second quantity, the second quantity is the number of first objects, the first objects are the objects captured by the robot among the multiple objects, T represents the first quantity, V represents the moving speed, m represents the first mass, L1 represents the second distance, W1 is the first preset coefficient, W2 is the second preset coefficient, and W3 is the third preset coefficient.

5. The method according to claim 1, characterized in that The second parameter is defined as: Among them, F2 represents the second parameter, k represents the fourth preset parameter, and d represents the second distance, and the second distance is the minimum distance between the robot and the shore during the process of the robot capturing objects in the target area.

6. The method according to claim 1, characterized in that The determining a target parameter set from the plurality of parameter sets comprises: For the plurality of parameter sets, determining an excitation value of each parameter set according to a preset excitation function; A parameter set with the largest incentive value among the multiple parameter sets is determined as the target parameter set.

7. The method according to any one of claims 1 to 5, characterized in that: The robot includes a water spray device, and the method further includes: Acquire a third distance, a fourth distance, and a second mass; the third distance is the current minimum distance between the water spray device of the robot and the shore, the fourth distance is the distance between the water spray device of the robot and the second object in a first direction, the first direction is perpendicular to the second direction, the second direction is the direction corresponding to the lowest distance, the second object is an object other than the first object among the multiple objects, the first object is an object captured by the robot among the multiple objects, and the second mass is the mass of the second object; Determine a target water spray angle and a target water spray speed according to the third distance, the fourth distance and the second mass; The water spraying device is controlled to spray water toward the shore at the target water spraying angle and the target water spraying speed, so as to keep the second object away from the shore.

8. A device for capturing objects in waters, characterized in that: The device comprises: an acquisition module and a processing module; The acquisition module is used to acquire multiple information; the multiple information includes a definition of a first parameter, a definition of a second parameter, a first quantity, a moving speed of the robot, a first mass and a first distance; the first quantity is the total number of multiple objects in a target area of ​​the water area, the first distance is the distance between the target object and the shore, the target object is the object closest to the shore among the multiple objects, the robot is used to capture the objects in the target area, the first mass is the mass of the robot, the first parameter is used to indicate the cleanliness of the target area, and the second parameter is used to indicate the probability of collision between the robot and the shore; The processing module is used to input the multiple information into the NSGA algorithm to obtain multiple parameter sets; the parameter sets include a first parameter and a second parameter; The processing module is further used to determine a target parameter set among the multiple parameter sets, and control the robot to capture objects in the target area based on the target parameter set.

9. A device for capturing objects in waters, characterized in that: The water area object capturing device comprises: a processor, the processor is coupled to a memory, the memory is used to store programs or instructions, when the programs or instructions are executed by the processor, the device executes the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instructions are executed, the computer is caused to perform the method according to any one of claims 1 to 7.

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