Ground material identification method and device, storage medium and electronic device

Abstract

The embodiment of the invention provides a ground material identification method and device, a storage medium and an electronic device. The method comprises the following steps: acquiring attitude information of target equipment in a moving process in a to-be-detected area; according to the vertical distance and a preset distance interval, determining the credibility of the target device for identifying the ground material in the to-be-detected area; the identification result of the ground material in the to-be-detected area is determined according to the credibility, when the credibility is a third credibility, the target equipment is indicated to stop working, prompt information is sent out, and the target equipment is quitted from the current area, and the prompt information is used for prompting that the movement of the target equipment is abnormal. According to the invention, when the credibility of target equipment identification is low, identification of the current area is stopped and prompting is carried out, so that the problem of false detection in ground material identification is avoided.

Description

[0001] This application is a divisional application of application number 202210441624.1, filed on April 25, 2022, entitled "Method and apparatus for identifying ground material, storage medium, electronic device". Technical Field

[0002] The embodiments of the present invention relate to the field of robotics technology, and more specifically, to a method and apparatus for identifying ground materials, a storage medium, and an electronic device. Background Technology

[0003] In existing technologies, a single device is typically used to identify the material composition. For example, ultrasonic or infrared signals or artificial intelligence (AI) signals installed in the target device (e.g., a robotic vacuum cleaner) are used to identify the material information of the floor.

[0004] However, when the target device's posture is abnormal or the material is uneven, the identification of the ground material is prone to false detection. Summary of the Invention

[0005] This invention provides a method and apparatus for identifying ground materials, a storage medium, and an electronic device, to at least solve the problem of inaccurate identification of ground materials in related technologies.

[0006] According to an embodiment of the present invention, a method for identifying ground material is provided, comprising: acquiring attitude information of a target device during movement in a test area; determining the confidence level of the target device in identifying ground material in the test area based on the attitude information; and determining the identification result of ground material in the test area based on the confidence level.

[0007] According to another embodiment of the present invention, a ground material identification device is provided, comprising: a first acquisition module for acquiring attitude information of a target device moving in a test area; a first determination module for determining the credibility of the target device identifying the ground material in the test area based on the attitude information; and a second determination module for determining the identification result of the ground material in the test area based on the credibility.

[0008] In an exemplary embodiment, the first acquisition module includes a first acquisition unit, configured to acquire the vertical distance from the target device to the surface of the area to be measured, provided that the attitude information includes distance information.

[0009] In an exemplary embodiment, the first acquisition unit includes: a first determining subunit, configured to determine the center point of the target device; and a first calculating subunit, configured to calculate the vertical distance from the target device to the surface of the area to be measured based on the center point.

[0010] In an exemplary embodiment, the first acquisition unit includes: a second determining subunit for determining a plurality of measurement points in the target device; a second calculation subunit for calculating the vertical distance from each measurement point to the surface of the area to be measured, thereby obtaining a plurality of vertical distances; and a third determining subunit for determining the average value of the plurality of vertical distances as the vertical distance from the target device to the surface of the area to be measured.

[0011] In an exemplary embodiment, the first determining module includes: a first determining unit, configured to determine the reliability of the target device in identifying the ground material in the area to be tested based on the vertical distance and a preset distance range.

[0012] In an exemplary embodiment, the first determining unit includes: a fourth determining subunit, configured to determine the confidence level as a first confidence level when the vertical distance is not greater than a first preset threshold; a fifth determining subunit, configured to determine the confidence level as a second confidence level when the vertical distance is greater than the first preset threshold and less than a second preset threshold; and a sixth determining subunit, configured to determine the confidence level as a third confidence level when the vertical distance is not less than the second preset threshold; wherein the first confidence level is greater than the second confidence level, and the second confidence level is greater than the third confidence level.

[0013] In an exemplary embodiment, the second determining module includes: a second determining unit, configured to determine the identification result as the first target identification result of the ground material when the confidence level is the first confidence level; a second acquiring unit, configured to acquire the second target identification result of the ground material according to a preset strategy when the confidence level is the second confidence level; and a first indicating unit, configured to instruct the target device to stop working and issue a prompt message when the confidence level is the third confidence level, wherein the prompt message is used to indicate that the movement of the target device is abnormal.

[0014] In an exemplary embodiment, the second acquisition unit includes: a seventh determining subunit, configured to determine the distance information of the target device within a preset time period; an eighth determining subunit, configured to determine N identification results within the preset time period when the distance information continuously satisfies the second confidence level, wherein N is a natural number greater than 1; and a ninth determining subunit, configured to determine the second target identification result from the N identification results.

[0015] In an exemplary embodiment, the ninth determining subunit is further configured to perform one of the following: determining M result sets according to the different result types among the N recognition results, wherein recognition result sets with the same result type are in the same result set, a recognition result is an element in the result set, and M is a natural number greater than or equal to 1; determining the result type corresponding to the result set with the largest number of elements among the M result sets as the second target recognition result.

[0016] In an exemplary embodiment, the above-mentioned device further includes: a first instruction module, configured to determine M result sets according to the different result types among the N identification results, and when the number of elements in each result set is less than a preset number, instruct the target device to stop working and issue the above-mentioned prompt information.

[0017] In an exemplary embodiment, the first determining module includes: a third determining unit, configured to determine the tilt angle between the target device and the surface of the area to be measured; a fourth determining unit, configured to determine the confidence level as a second confidence level when the vertical distance is greater than a first preset threshold and less than a second preset threshold, and the tilt angle is less than a third preset threshold; and a fifth determining unit, configured to determine the confidence level as a third confidence level when the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the tilt angle is not less than the third preset threshold; wherein the second confidence level is greater than the third confidence level.

[0018] According to yet another embodiment of the present invention, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0019] According to yet another embodiment of the present invention, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0020] This invention utilizes the attitude information of the target device during its movement within a test area to determine the reliability of the target device's identification of the ground material in that area; and then determines the identification result of the ground material based on the reliability. This allows for further verification of the reliability of the identification result through attitude information after the target device identifies the ground material, thereby further verifying the accuracy of the ground material identification. Therefore, it solves the problem of inaccurate ground material identification in related technologies, achieving the effect of improving the accuracy of ground material identification. Attached Figure Description

[0021] Figure 1 This is a hardware structure block diagram of a mobile terminal for a ground material identification method according to an embodiment of the present invention. Figure 2 This is a flowchart of a method for identifying ground material according to an embodiment of the present invention; Figure 3 This is a structural block diagram of a ground material identification device according to an embodiment of the present invention. Detailed Implementation

[0022] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings and examples.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0024] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a ground material identification method according to an embodiment of the present invention. For example... Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0025] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the ground material identification method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0026] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0027] This embodiment provides a method for identifying ground materials. Figure 2 This is a flowchart of a method for identifying ground material according to an embodiment of the present invention, such as... Figure 2 As shown, the process includes the following steps: Step S202: Obtain the attitude information of the target device during its movement in the area to be tested; In this embodiment, the target device includes, but is not limited to, home appliances, such as robotic vacuum cleaners and vacuum cleaners. The area to be tested includes, but is not limited to, areas where the target material is applied, such as floors covered with tiles or wood flooring.

[0028] In this embodiment, the posture information includes the distance and angle information between the target device and the ground during the movement of the target device in the area to be measured. For example, when the target device is a robot vacuum cleaner, the robot vacuum cleaner is in a parallel posture to the ground during the movement of the tiled floor, and the distance between the target device and the ground can be obtained; or, when the robot vacuum cleaner is crossing a threshold, it is in an inclined posture, and the tilt angle between the target device and the ground can be obtained.

[0029] Step S204: Determine the reliability of the target device in identifying the ground material in the area to be tested based on the attitude information; In this embodiment, the distance between the target device and the ground is calculated based on the different posture information of the target device. For example, if the robot vacuum cleaner maintains a parallel state to the ground while moving, the distance between the chassis of the target device and the ground can be detected, and the reliability of the ground material identification can be determined based on the distance.

[0030] Step S206: Determine the identification result of the ground material in the area to be tested based on the confidence level.

[0031] In this embodiment, the identification result includes the material information of the ground. For example, it is detected that the floor is made of wood or stone.

[0032] The entity performing the above steps may be a terminal, a server, a specific processor set in the terminal or server, or a processor or processing device set up relatively independently of the terminal or server, but is not limited to these.

[0033] Through the above steps, the credibility of the target device's identification of the ground material in the test area is determined by acquiring the attitude information of the target device during its movement within the test area. Based on this credibility, the identification result of the ground material in the test area is determined. The distance between the target device and the target area is detected based on the target device's attitude information in the target area, and the target distance is determined. The identification result of the target device for the target material is then verified according to the target distance. This allows for further verification of the credibility of the identification result through the attitude information and target distance after the target device identifies the ground material, thereby improving the accuracy of the ground material identification. Therefore, this solves the problem of inaccurate ground material identification in related technologies, achieving the effect of improving the accuracy of ground material identification.

[0034] In an exemplary embodiment, when the attitude information includes distance information, acquiring the attitude information of the target device during its movement in the area to be measured includes: S21, Obtain the vertical distance from the target device to the surface of the area to be measured.

[0035] This embodiment applies to scenarios where the target device remains parallel to the ground. For example, in a scenario where the device is moving normally on a flat surface.

[0036] In this embodiment, the vertical distance from the target device to the surface of the area to be measured is the distance in the vertical direction from the target device to the surface of the area to be measured. For example, the vertical distance between the center point of the chassis of the robotic vacuum cleaner and the ground; or, the average distance of multiple distances between the center point of the chassis of the robotic vacuum cleaner and the ground.

[0037] In this embodiment, the vertical distance from the target device to the surface of the area to be measured can be obtained using a sensor. The sensor can be located on the chassis of the target device or at other locations on the target device. The sensor can be an ultrasonic sensor or an infrared sensor. For example, taking a robotic vacuum cleaner as an example, the sensor is located on the chassis of the robotic vacuum cleaner, detecting the distance between the chassis and the ground as the robotic vacuum cleaner moves. It should be noted that the robotic vacuum cleaner can identify the ground material while moving or when stationary. The ground material can be identified directly using a sensor (e.g., an ultrasonic sensor or an infrared sensor); alternatively, the ground material can be identified through other methods, such as uploading the acquired characteristics of the target material to a processor for identification.

[0038] Furthermore, in this embodiment, the target distance is obtained after the robot vacuum cleaner identifies the material of the target material placed on the ground.

[0039] In one exemplary embodiment, obtaining the vertical distance from the target device to the surface of the area to be measured includes: S31, Determine the center point of the target device; S32, based on the center point, calculate the vertical distance from the target device to the surface of the area to be measured.

[0040] In this embodiment, the vertical distance from the center point of the target device to the ground is the vertical distance. For example, the vertical distance between the center point of the robot vacuum cleaner's chassis and the ground is measured by sensors.

[0041] In one exemplary embodiment, obtaining the vertical distance from the target device to the surface of the area to be measured includes: S41, determine multiple measurement points in the target device; S42, calculate the vertical distance from each measurement point to the surface of the area to be measured, and obtain multiple vertical distances; S43, the average of multiple vertical distances is determined as the vertical distance from the target device to the surface of the area to be measured.

[0042] In this embodiment, the vertical distance from multiple measurement points on the target device to the ground is the vertical distance. These multiple measurement points can be at different locations on the target device's chassis, such as multiple locations evenly distributed on the chassis. For example, by measuring the vertical distance between multiple measurement points on the chassis of a robotic vacuum cleaner and the floor using sensors, multiple vertical distances are obtained (e.g., 2.5cm, 3.5cm, 3cm), and the average of these multiple vertical distances is determined as the vertical distance (e.g., 3cm).

[0043] In one exemplary embodiment, determining the confidence level of the target device in identifying the ground material in the area to be measured based on attitude information includes: S51, based on the vertical distance and the preset distance range, determine the reliability of the target device in identifying the ground material in the area to be tested.

[0044] In this embodiment, the preset distance range can be determined based on the distance threshold that the sensor measuring vertical distance can identify. This means that the reliability of the target device's identification of ground materials varies within different distance ranges. A lower distance range indicates that the target device is closer to the ground, resulting in higher identification reliability. Conversely, a larger vertical distance means the target device is farther from the ground, leading to lower reliability in identifying ground materials. Furthermore, a larger vertical distance also indicates that the target device's chassis is far from the ground, such as being in a high, suspended state, which could affect the safety of the target device. For example, if the sensor's detection threshold is 10cm, the preset distance can be set to a value less than 8cm.

[0045] In one exemplary embodiment, determining the reliability of the target device in identifying the ground material in the area to be measured, based on the vertical distance and a preset distance range, includes: S61, when the vertical distance is not greater than the first preset threshold, the confidence level is determined as the first confidence level; S62, when the vertical distance is greater than the first preset threshold and less than the second preset threshold, the confidence level is determined as the second confidence level; S63, when the vertical distance is not less than the second preset threshold, the confidence level is determined as the third confidence level; Among them, the first level of credibility is greater than the second level of credibility, and the second level of credibility is greater than the third level of credibility.

[0046] In this embodiment, both the first preset threshold and the second preset threshold are included within a preset distance range. For example, the first preset threshold can be set to a value less than 3cm; the second preset threshold can be set to a value greater than or equal to 3cm and less than 6cm.

[0047] In this embodiment, the smaller the vertical distance, the greater the confidence level of the ground material, and vice versa. For example, if the ground material is identified as wood and the vertical distance is 1cm, the probability that the ground material is wood is greater than 90%. If the ground material is identified as wood and the vertical distance is 5cm, the probability that the ground material is wood is less than 50%, and further determination of the ground material is needed. If the ground material is identified as wood and the vertical distance is 9cm, the probability that the ground material is wood is extremely low. In this case, the target device may be tilted, and it is necessary to exit the current area and terminate the identification of the ground material.

[0048] It should be noted that the ranges for determining the first, second, and third credibility can be designed according to actual conditions. For example, different preset distance intervals can be set according to the model of different target devices. Of course, in some other embodiments, only two preset distance intervals can be set, and correspondingly, only two credibility levels can be determined. Furthermore, multiple credibility levels can be determined by multiple regional distance intervals. The number of credibility levels is not limited in the embodiments of this specification.

[0049] In one exemplary embodiment, determining the identification result of the ground material in the area to be tested based on confidence level includes, S71, when the confidence level is the first confidence level, the identification result is determined as the first target identification result of the ground material; S72, when the confidence level is the second confidence level, obtain the second target recognition result of the ground material according to the preset strategy; S73, when the confidence level is third confidence level, instruct the target device to stop working and issue a prompt message, wherein the prompt message is used to indicate that the movement of the target device is abnormal.

[0050] In this embodiment, the first confidence level, the second confidence level, and the third confidence level are used to represent the probability that the ground material is a real material.

[0051] In an exemplary embodiment, when the confidence level is a second confidence level, the second target identification result of the ground material is obtained according to a preset strategy, including: S81, determine the distance information of the target device within a preset time period; S82, when the distance information continuously meets the second confidence level, determine N recognition results within a preset time period, where N is a natural number greater than 1; S83, determine the second target recognition result from N recognition results.

[0052] In this embodiment, the distance information includes the vertical distance between the target device and the ground. If the distance information continuously meets the second confidence level, the target device may be in a tilted state. For example, a robotic vacuum cleaner may be tilted while crossing a threshold, in which case the identified ground material may not be accurate.

[0053] In this embodiment, the second target identification result is determined from the N identification results, including one of the following: Based on the different result types among the N recognition results, determine M result sets, where recognition result sets with the same result type are in the same result set, and a recognition result is an element in the result set, where M is a natural number greater than or equal to 1; The result type corresponding to the result set with the largest number of elements among the M result sets is determined as the second target identification result.

[0054] In this embodiment, the values ​​of M and N can be flexibly set based on the actual application scenario or recognition requirements. For example, the ground material to be identified within 10 minutes includes 10 recognition results. Several recognition results with smaller distances can be selected from these 10 results, and the result with the highest consistency can be chosen as the target recognition result. For example, if there are 4 results A, 3 results B, 2 results C, and 1 result D among the 10 recognition results, then result A can be used as the second target recognition result.

[0055] In this embodiment, after determining M result sets according to the different result types among the N recognition results, the method further includes: when the number of elements in each result set is less than a preset number, instructing the target device to stop working and issuing the prompt message. For example, if there are 4 results of type A out of 10 recognition results, and the preset number is 5, the target device may have malfunctioned and will issue a prompt message. At this time, the target device terminates the recognition of the ground material. By limiting the preset number, the reliability of material recognition at high distances can be improved.

[0056] In one exemplary embodiment, determining the reliability of the target device's identification of the ground material in the area to be measured, based on attitude information, includes: S91, Determine the tilt angle between the target device and the surface of the area to be measured; S92, when the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the tilt angle is less than the third preset threshold, the confidence level is determined to be the second confidence level. S93, when the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the tilt angle is not less than the third preset threshold, the confidence level is determined to be the third confidence level. The second level of credibility is greater than the third level of credibility.

[0057] This embodiment can be applied to scenarios where the target device is not parallel to the ground. For example, a scenario where a robot vacuum cleaner is tilted when crossing a threshold.

[0058] In this embodiment, the tilt angle between the target device and the surface of the area to be measured can be determined using a sensor. The sensor can be mounted on the chassis of the target device or at other locations on the target device. The sensor can be an ultrasonic sensor or an infrared sensor. For example, taking the measurement of the tilt angle of a robotic vacuum cleaner using an infrared sensor as an example, if the tilt angle of the robotic vacuum cleaner's chassis detected by the infrared sensor is 10 degrees, which is less than a third preset threshold (e.g., 20 degrees), and the identification result is wood material, then the probability that the ground material is wood is greater than 90%. The value of the third preset threshold can be set based on actual usage conditions; for example, the third preset threshold can be a value less than 20. For example, if the tilt angle is 30 degrees, which is greater than the third preset threshold, and the identification result is wood material, then the probability that the ground material is wood is extremely low. It is necessary to exit the current area and terminate the identification of the target material.

[0059] In this embodiment, if the confidence level is determined to be third confidence level, the target device is instructed to terminate the identification of the ground material. After the target device terminates the identification of the ground material, the change in the distance between the target device and the ground within a preset time period can be determined. Different change rates correspond to different calculation methods for the identification results. For example, if the change rate is large, the target device is considered to be in an unsafe state. If the change rate is small, the identification result with the highest consistency is selected as the target identification result.

[0060] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0061] This embodiment also provides a ground material identification device, which is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0062] Figure 3 This is a structural block diagram of a ground material identification device according to an embodiment of the present invention, such as... Figure 3 As shown, the device includes: The first acquisition module 32 is used to acquire the attitude information of the target device during its movement in the area to be tested; The first determining module 34 is used to determine the credibility of the target device in identifying the ground material in the area to be tested based on the above attitude information; The second determining module 36 is used to determine the identification result of the ground material in the area to be tested based on the aforementioned confidence level.

[0063] In one exemplary embodiment, the first acquisition module described above includes: The first acquisition unit is used to acquire the vertical distance from the target device to the surface of the area to be measured, provided that the attitude information includes distance information.

[0064] In one exemplary embodiment, the first acquisition unit includes: The first determining subunit is used to determine the center point of the aforementioned target device; The first calculation subunit is used to calculate the vertical distance from the target device to the surface of the area to be measured based on the center point.

[0065] In one exemplary embodiment, the first acquisition unit includes: The second determining subunit is used to determine multiple measurement points in the aforementioned target device; The second calculation subunit is used to calculate the vertical distance from each measurement point to the surface of the area to be measured, and obtain multiple vertical distances; The third determining subunit is used to determine the average value of the above-mentioned multiple vertical distances as the vertical distance from the target device to the surface of the area to be measured.

[0066] In one exemplary embodiment, the first determining module described above includes: The first determining unit is used to determine the reliability of the target device in identifying the ground material in the area to be tested based on the vertical distance and the preset distance range.

[0067] In one exemplary embodiment, the first determining unit includes: The fourth determining subunit is used to determine the above confidence level as the first confidence level when the above vertical distance is not greater than the first preset threshold. The fifth determining subunit is used to determine the confidence level as the second confidence level when the vertical distance is greater than the first preset threshold and less than the second preset threshold. The sixth determining subunit is used to determine the confidence level as the third confidence level when the vertical distance is not less than the second preset threshold. Among them, the first level of credibility is greater than the second level of credibility, and the second level of credibility is greater than the third level of credibility.

[0068] In one exemplary embodiment, the second determining module described above includes, The second determining unit is used to determine the identification result as the first target identification result of the ground material when the confidence level is the first confidence level. The second acquisition unit is used to acquire the second target recognition result of the ground material according to a preset strategy when the confidence level is the second confidence level. The first instruction unit is used to instruct the target device to stop working and issue a prompt message when the confidence level is the third confidence level, wherein the prompt message is used to indicate that the movement of the target device is abnormal.

[0069] In one exemplary embodiment, the second acquisition unit includes: The seventh determining subunit is used to determine the distance information of the aforementioned target device within a preset time period; The eighth determining subunit is used to determine N recognition results within the preset time period when the distance information continuously meets the second confidence level, wherein N is a natural number greater than 1; The ninth determining subunit is used to determine the second target identification result from the above N identification results.

[0070] In an exemplary embodiment, the ninth determining subunit is further configured to perform one of the following: determining M result sets according to the different result types among the N identification results, wherein identification result sets with the same result type are in the same result set, an identification result is an element in the result set, and M is a natural number greater than or equal to 1; The result type corresponding to the result set with the largest number of elements among the above M result sets is determined as the second target identification result.

[0071] In one exemplary embodiment, the above-described apparatus further includes: The first instruction module is used to determine M result sets according to the different result types among the above N identification results. When the number of elements in each result set is less than the preset number, the module instructs the target device to stop working and issues the above prompt information.

[0072] In one exemplary embodiment, the first determining module described above includes: The third determining unit is used to determine the tilt angle between the target device and the surface of the area to be measured. The fourth determining unit is used to determine the confidence level as the second confidence level when the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the tilt angle is less than the third preset threshold. The fifth determining unit is used to determine the confidence level as the third confidence level when the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the tilt angle is not less than the third preset threshold. The second level of credibility is greater than the third level of credibility.

[0073] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0074] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0075] In this embodiment, the computer-readable storage medium described above may be configured to store a computer program for performing the above steps.

[0076] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0077] Embodiments of the present invention also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0078] In one exemplary embodiment, 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.

[0079] In one exemplary embodiment, the processor described above may be configured to perform the above steps via a computer program.

[0080] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0081] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0082] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for identifying ground material, characterized in that, include: Acquire the attitude information of the target device during its movement in the test area; The confidence level of the target device in identifying the ground material in the area to be tested is determined based on the attitude information. The identification result of the ground material in the test area is determined based on the confidence level. When the attitude information includes distance information, acquiring the attitude information of the target device during its movement in the area to be measured includes: Obtain the vertical distance from the target device to the surface of the area to be measured. Determining the reliability of the target device's identification of the ground material in the test area based on the attitude information includes: determining the reliability of the target device's identification of the ground material in the test area based on the vertical distance and a preset distance range. Based on the vertical distance and a preset distance range, the reliability of the target device in identifying the ground material in the area to be tested is determined, including: when the vertical distance is not less than a second preset threshold, the reliability is determined as a third reliability. The step of determining the identification result of the ground material in the area to be tested based on the confidence level includes: when the confidence level is the third confidence level, instructing the target device to stop working and issuing a prompt message, wherein the prompt message is used to indicate that the movement of the target device is abnormal. The method further includes: when the credibility is the third credibility, exiting the current area.

2. The method according to claim 1, characterized in that, The method further includes: When the confidence level is the third confidence level, after the target device stops working, the change range of the distance between the target device and the ground detected in the subsequent preset time is determined. Different change ranges correspond to different recognition result calculation methods.

3. The method according to claim 1, characterized in that, The step of obtaining the vertical distance from the target device to the surface of the area to be measured includes: Determine the center point of the target device; Based on the center point, the vertical distance from the target device to the surface of the area to be measured is calculated.

4. The method according to claim 1, characterized in that, The step of obtaining the vertical distance from the target device to the surface of the area to be measured includes: Identify multiple measurement points in the target device; Calculate the vertical distance from each measurement point to the surface of the area to be measured, and obtain multiple vertical distances; The average value of the plurality of vertical distances is determined as the vertical distance from the target device to the surface of the area to be measured.

5. The method according to claim 1, characterized in that, The step of determining the reliability of the target device in identifying the ground material in the area to be tested based on the vertical distance and the preset distance range further includes: When the vertical distance is not greater than the first preset threshold, the confidence level is determined as the first confidence level; When the vertical distance is greater than the first preset threshold and less than the second preset threshold, the confidence level is determined as the second confidence level. Wherein, the first level of credibility is greater than the second level of credibility, and the second level of credibility is greater than the third level of credibility.

6. The method according to claim 5, characterized in that, The step of determining the identification result of the ground material in the area to be tested based on the confidence level also includes, When the confidence level is the first confidence level, the recognition result is determined as the first target recognition result of the ground material; When the confidence level is the second confidence level, the second target recognition result of the ground material is obtained according to the preset strategy.

7. The method according to claim 6, characterized in that, When the confidence level is the second confidence level, the second target recognition result of the ground material is obtained according to a preset strategy, including: Determine the distance information of the target device within a preset time period; When the distance information continuously satisfies the second confidence level, N recognition results are determined within the preset time period, where N is a natural number greater than 1; The second target identification result is determined from the N identification results.

8. The method according to claim 7, characterized in that, The second target identification result is determined from the N identification results, including one of the following: According to the different result types in the N recognition results, M result sets are determined, wherein recognition result sets with the same result type are in the same result set, a recognition result is an element in the result set, and M is a natural number greater than or equal to 1; The result type corresponding to the result set with the largest number of elements among the M result sets is determined as the second target identification result.

9. The method according to claim 8, characterized in that, After determining M result sets according to the different result types among the N recognition results, the method further includes: When the number of elements in each result set is less than the preset number, the target device is instructed to stop working and the prompt message is issued.

10. The method according to claim 3, characterized in that, Based on the attitude information, determining the reliability of the target device in identifying the ground material in the area to be tested includes: Determine the tilt angle between the target device and the surface of the area to be measured; When the vertical distance is greater than a first preset threshold and less than a second preset threshold, and the tilt angle is less than a third preset threshold, the confidence level is determined to be the second confidence level. When the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the tilt angle is not less than the third preset threshold, the confidence level is determined as the third confidence level. The second level of credibility is greater than the third level of credibility.

11. A ground material identification device, characterized in that, include: The first acquisition module is used to acquire the attitude information of the target device during its movement in the area to be tested; The first determining module is used to determine the confidence level of the target device in identifying the ground material in the area to be tested based on the attitude information; The second determining module is used to determine the identification result of the ground material in the area to be tested based on the confidence level. When the attitude information includes distance information, acquiring the attitude information of the target device during its movement in the area to be measured includes: Obtain the vertical distance from the target device to the surface of the area to be measured. Determining the reliability of the target device's identification of the ground material in the test area based on the attitude information includes: determining the reliability of the target device's identification of the ground material in the test area based on the vertical distance and a preset distance range. Based on the vertical distance and a preset distance range, the reliability of the target device in identifying the ground material in the area to be tested is determined, including: when the vertical distance is not less than a second preset threshold, the reliability is determined as a third reliability. The step of determining the identification result of the ground material in the area to be tested based on the confidence level includes: when the confidence level is the third confidence level, instructing the target device to stop working and issuing a prompt message, wherein the prompt message is used to indicate that the movement of the target device is abnormal. The second determining module is also used to exit the current region when the credibility is the third credibility.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein the computer program is configured to perform the method described in any one of claims 1 to 10 when executed.

13. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the method as described in any one of claims 1 to 10.

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