Query method and device of self-moving equipment, storage medium and electronic device

Abstract

The invention discloses a query method and device of a self-moving device, a storage medium and an electronic device, and the method comprises the steps: receiving a voice query instruction sent by a target object, determining the to-be-queried content of the voice query instruction, and determining a query result corresponding to the to-be-queried content; converting the data content corresponding to the query result into feedback voice, and playing the feedback voice to the target object; receiving a voice check instruction sent by the target object for the feedback voice; acquiring operation information of other voice equipment associated with the self-moving equipment under the condition of determining that the target object does not receive the query result based on the voice check instruction; and selecting other voice equipment in a working state according to the operation information to send a query result, and instructing the other voice equipment to perform voice interaction with the target object. By adopting the technical scheme, the query result can be ensured to be timely and reliably received by the user through the linkage of other associated equipment under the scene that the voice interaction of the self-moving equipment is invalid.

Description

[0001] This application is a divisional application of Chinese invention patent application filed by the applicant on October 20, 2022, entitled "Search Method and Apparatus for Self-Moving Equipment, Storage Medium and Electronic Device", application number 202211290382.7. [Technical Field] This invention relates to the field of communications, and more specifically, to a query method and apparatus for self-moving devices, a storage medium, and an electronic device. [Background Technology] With the development of technology, more and more people are starting to use robot vacuum cleaners in their daily lives. These robot vacuum cleaners can autonomously identify the area they are in in order to perform cleaning tasks in different areas.

[0002] While robot vacuums bring numerous conveniences to our lives, self-moving devices can also suffer from a lack of intelligence during use. For example: Currently, robot vacuums rely on a mobile app to send commands to the main unit for various consumable item inquiries and the machine's current task status. The main unit then returns consumable item information and task status to the app. This operation is inconvenient, resulting in robot vacuums being unable to respond promptly to user inquiries about consumable items and tasks.

[0003] Therefore, no effective solution has yet been proposed for the problem that robotic vacuum cleaners cannot respond promptly to user inquiries about consumables and tasks. [Summary of the Invention] This invention provides a query method and apparatus for self-moving devices, a storage medium, and an electronic device to at least solve the problem in the prior art that sweeping robots cannot respond in a timely manner to user queries for consumables and tasks.

[0004] According to one embodiment of the present invention, a query method for a self-moving device is provided, comprising: upon receiving a voice query instruction sent by a target object, stopping the current working task of the self-moving device; determining the content to be queried in the voice query instruction, wherein the content to be queried includes at least one of the following: the wear and tear status of all consumables of the self-moving device, the wear and tear status of a target consumable of the self-moving device, and the task progress of the current working task; and determining a query result corresponding to the content to be queried.

[0005] In an exemplary embodiment, determining the query result corresponding to the content to be queried includes: when the content to be queried is to obtain the wear and tear status of all consumables of the self-mobile device, determining the types of consumables carried by the self-mobile device and obtaining the quantity of each type of consumable; calculating the consumption quantity of each type of consumable based on the historical operation records of the self-mobile device; calculating the loss rate of each type of consumable based on the quantity carried and the quantity consumed; and determining the first query result corresponding to the wear and tear status of all consumables of the self-mobile device based on the loss rate.

[0006] In an exemplary embodiment, determining the query result corresponding to the content to be queried includes: if the content to be queried is to obtain the wear and tear status of the target consumable of the self-mobile device, determining whether the self-mobile device carries the target consumable; if the self-mobile device carries the target consumable, obtaining the quantity of the target consumable carried by the self-mobile device, and calculating the consumption quantity of the target consumable based on the historical operation record of the self-mobile device; calculating the loss rate of the target consumable through the quantity carried and the consumption quantity, and determining the second query result corresponding to the wear and tear status of the target consumable of the self-mobile device based on the loss rate.

[0007] In an exemplary embodiment, determining the query result corresponding to the content to be queried includes: when the content to be queried is obtaining the task progress of the current work task, determining that the current work task of the self-mobile device corresponds to a first work content; determining, based on the historical operation records of the self-mobile device, a second work content that has been executed by the current work task; deleting the second work content from the first work content to obtain a third work content to be continuously executed; calculating the proportion of the third work content in the first work content; and determining the third query result corresponding to the task progress of the current work task based on the proportion.

[0008] In an exemplary embodiment, before stopping the current task of the self-mobile device after receiving a voice query command sent by the target object, the method further includes: if it is determined that the self-mobile device is activated for the first time, sending a wake-up voice message to the target object in the target area through the self-mobile device, wherein the target area is an area centered on the self-mobile device and having a radius of a preset length; acquiring response voice data emitted by the target object within a preset duration; performing semantic parsing on the response voice data, and determining whether there is an interactive target object in the target area based on the result of the semantic parsing.

[0009] In an exemplary embodiment, after obtaining the response voice data emitted by the target object within a preset time period, the method further includes: performing voiceprint recognition on the response voice to obtain target voiceprint features; matching the target voiceprint features with a pre-configured voiceprint database in the self-moving device, wherein the pre-configured voiceprint database contains multiple sets of association relationships between voiceprint features and device permissions; and adding device control permissions to the target object according to the matching result.

[0010] In an exemplary embodiment, after determining the query result corresponding to the content to be queried, the method further includes: converting the data content corresponding to the query result into feedback voice; if it is determined that the feedback voice corresponding to the voice query instruction has been generated, starting the current work task in the self-mobile device; if it is determined that the self-mobile device continues to execute the current work task, sending the feedback voice to the voice component; and playing the query result corresponding to the voice query instruction to the target object through the voice component.

[0011] In an exemplary embodiment, after playing the query result corresponding to the voice query instruction to the target object through the voice component, the method further includes: receiving a voice query instruction issued by the target object in response to the query result; and calculating the volume value of the voice query instruction to determine whether the target object has received the query result.

[0012] In one exemplary embodiment, calculating the volume value of the voice query command to determine whether the target object has received the query result includes: if the volume value is greater than or equal to a preset volume value, determining that the target object is within the range of voice playback influence; if the volume value is less than the preset volume value, determining that the target object is outside the range of voice playback influence.

[0013] In an exemplary embodiment, after determining that the target object is outside the influence range of voice playback when the volume value is less than a preset volume value, the method further includes: obtaining the operating information of other voice devices associated with the self-mobile device; selecting other voice devices in working state according to the operating information to send the query results one by one, and instructing the other voice devices to perform voice interaction with the target object.

[0014] In an exemplary embodiment, after determining the query result corresponding to the content to be queried, the method further includes: estimating the consumption efficiency of the self-mobile device for each type of consumable based on the query result; determining the allowed usage time for each type of consumable based on the consumption efficiency, the types of consumables carried by the self-mobile device, and the quantity of each type of consumable; if the allowed usage time is less than or equal to a preset alarm duration, the self-mobile device sends a first prompt message to a target object in the target area, wherein the first prompt message is used to instruct the target object to install the consumable corresponding to the currently alarmed consumable type on the self-mobile device; if the allowed usage time is greater than the preset alarm duration, the self-mobile device sends a second prompt message to the target object in the target area, wherein the second prompt message is used to instruct the self-mobile device to continue performing the corresponding work task.

[0015] In one exemplary embodiment, obtaining the carrying quantity of each type of consumable includes: acquiring target image information of the installation location of each type of consumable through an image acquisition component; and determining the carrying quantity of each type of consumable by the self-moving device based on the target image information.

[0016] According to another aspect of the present invention, a query device for a self-moving device is also provided, comprising: a receiving module, configured to stop running the current working task of the self-moving device upon receiving a voice query instruction sent by a target object; a first determining module, configured to determine the query content to be queried by the voice query instruction, wherein the query content includes at least one of the following: the wear and tear status of all consumables of the self-moving device, the wear and tear status of a target consumable of the self-moving device, and the task progress of the current working task; and a second determining module, configured to determine the query result corresponding to the query content.

[0017] According to yet another embodiment of the present invention, a storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to execute the query method of the self-moving device described in any of the preceding claims when running.

[0018] According to another aspect of the present invention, an electronic device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the query method of the self-moving device described in any of the preceding embodiments through the computer program.

[0019] This invention addresses the problem in existing technologies where, upon receiving a voice query command from a target object, the current task of the self-moving device is stopped; the content to be queried in the voice query command is determined, wherein the content to be queried includes at least one of the following: the wear and tear status of all consumables of the self-moving device, the wear and tear status of the target consumable of the self-moving device, and the task progress of the current task; and the query result corresponding to the content to be queried is determined. In other words, the self-moving device can parse and execute the voice query command issued by the target object and provide feedback to the target object. By adopting the above technical solution, the problem of the robot vacuum cleaner's inability to respond promptly to user queries regarding consumables and tasks is solved. [Attached Image Description] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and, together with the description thereof, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a hardware structure block diagram of a self-moving device for an optional self-moving device query method according to an embodiment of the present invention. Figure 2 This is a flowchart of an optional self-moving device query method according to an embodiment of the present invention; Figure 3 This is a flowchart illustrating an optional self-moving device query method according to an embodiment of the present invention; Figure 4 This is a structural block diagram of an optional self-moving device query device in an embodiment of the present invention; Figure 5 This is a structural block diagram of another optional self-moving device query device in an embodiment of the present invention.

Detailed Implementation Methods

[0020] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0021] The method embodiments provided in these inventions can be executed in self-moving devices or similar computing devices. Taking running on a self-moving device as an example... Figure 1 This is a hardware structure block diagram of a self-moving device, representing an optional self-moving device query method according to an embodiment of the present invention. For example... Figure 1 As shown, a self-moving device may include one or more ( Figure 1 Only one is shown in the image. A processor 102 (which may include, but is not limited to, a microprocessor unit (MPU) or a programmable logic device (PLD)) and a memory 104 for storing data are also shown. In one exemplary embodiment, the self-moving device 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 switching device described above. For example, the self-moving device may also include a... Figure 1 The more or fewer components shown, or having the same Figure 1 Equivalent functions or ratios shown Figure 1 The functions shown have more different configurations.

[0022] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the query method of the self-moving device 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 self-moving device 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.

[0023] 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 communication provider of the switching device. 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.

[0024] This embodiment provides a query method for self-moving devices, which is applied to the aforementioned self-moving devices. Figure 2 This is a flowchart of a query method for a self-moving device according to an embodiment of the present invention, the process including the following steps: Step S202: Upon receiving a voice query command from the target object, stop running the current working task of the self-moving device; It should be noted that the aforementioned voice query command can be a voice query command issued by the target object obtained by the corresponding voice acquisition device on the self-moving device during the device's movement, or it can be a voice query command corresponding to the target object obtained by the self-moving device from other devices that have an interactive relationship with the self-moving device. That is, after obtaining the voice query command corresponding to the target object, the self-moving device can execute the relevant query process. This embodiment of the invention does not limit this. The aforementioned work task can be understood as the device function that the self-moving device is currently performing. For example, if the self-moving device is a robot vacuum cleaner, then the work task can refer to the dust removal task of the entire home area.

[0025] Step S204: Determine the content to be queried for the voice query command, wherein the content to be queried includes at least one of the following: the wear and tear status of all consumables of the self-moving device, the wear and tear status of the target consumable of the self-moving device, and the task progress of the current work task; It should be noted that the above-mentioned query content can also be a query for other information in the self-mobile device. The permissions of the query content can be flexibly controlled. They need to be set at the factory or controlled by after-sales personnel, or they can be set by the target object on the application interface bound to the self-mobile device.

[0026] Step S206: Determine the query results corresponding to the content to be queried.

[0027] Through the above steps, upon receiving a voice query command from the target object, the current task of the self-moving device is stopped; the content to be queried in the voice query command is determined, wherein the content to be queried includes at least one of the following: the wear and tear status of all consumables of the self-moving device, the wear and tear status of the target consumable of the self-moving device, and the task progress of the current task; the query result corresponding to the content to be queried is determined; that is, the self-moving device can parse and execute the voice query command issued by the target object and provide feedback to the target object. By adopting the above technical solution, the problem that in the prior art, the sweeping robot cannot respond in a timely manner to the user's consumable query and task query is solved.

[0028] In this embodiment of the invention, step S206 can be implemented in various ways. In one optional embodiment, it can be implemented as follows: when the content to be queried is to obtain the wear and tear of all consumables of the self-mobile device, determine the types of consumables carried by the self-mobile device and obtain the quantity of each type of consumable; calculate the consumption quantity of each type of consumable based on the historical operation records of the self-mobile device; calculate the loss rate of each type of consumable based on the quantity carried and the quantity consumed; and determine the first query result corresponding to the wear and tear of all consumables of the self-mobile device based on the loss rate.

[0029] Understandably, in practical solutions, when a self-moving device determines the query results corresponding to the content to be queried, in order to accurately and comprehensively provide feedback to the target audience, it determines the specific information of the content to be queried. If the content to be queried is to obtain the consumption status of all consumables of the self-moving device, it will determine the types of consumables carried by the self-moving device, generate a corresponding consumable type carrying list, and mark the quantity of each type of consumable in the consumable type carrying list. Then, based on the self-moving device's record of the current consumption quantity of each type of consumable, it will finally determine the consumption status of all consumables of the self-moving device, and convert the consumption status into voice feedback to the target audience.

[0030] For example, the target device can issue a voice query command for all consumables, such as "consumables query," to query the current status of all consumables, and the mobile device can then broadcast the status of all consumables.

[0031] This invention also provides a method for determining the wear and tear of a target consumable on a self-moving device. Specifically: when the query content is to obtain the wear and tear of the target consumable on the self-moving device, determine whether the self-moving device carries the target consumable; if the self-moving device carries the target consumable, obtain the quantity of the target consumable carried by the self-moving device, and calculate the consumption quantity of the target consumable based on the historical operation record of the self-moving device; calculate the wear rate of the target consumable using the quantity carried and the quantity consumed, and determine a second query result corresponding to the wear and tear of the target consumable on the self-moving device based on the wear rate.

[0032] For example, the target device can issue specific consumable query commands via voice, such as "main brush remaining query", "side brush remaining query", "mop remaining query", etc., and will broadcast the corresponding consumable status query. In actual application, the self-moving device will broadcast to the target device via voice: Hello, the main brush currently has 50% remaining to be used; or, Hello, the mop has been used for 20 minutes, with 10 minutes remaining, and needs to be cleaned and replaced in time.

[0033] There are multiple ways to implement step S206. In one optional embodiment, when the content to be queried is to obtain the task progress of the current work task, the first work content corresponding to the current work task of the self-mobile device is determined; the second work content that has been executed by the current work task is determined based on the historical operation record of the self-mobile device; the second work content is deleted from the first work content to obtain the third work content to be continuously executed; the proportion of the third work content in the first work content is calculated; and the third query result corresponding to the task progress of the current work task is determined according to the proportion.

[0034] In this embodiment of the invention, when the content to be queried is the task progress image of the current work task, in order to ensure the accuracy of the acquisition, the self-moving device needs to pause the work task and mark the content that has been executed and the content to be executed in the work task. For example, the current task of the self-moving device is to clean the master bedroom area, where the master bedroom has wooden floors, which requires cleaning with the main brush and side brushes, and then cleaning with a mop. At this time, the self-moving device has executed the mop process. When acquiring the corresponding task progress, since the overall task is divided into two parts, cleaning and wiping; the cleaning process has been completed, and only the wiping process remains, the task progress corresponding to cleaning the master bedroom area is 50%. It should be noted that the percentage of each content in the task can be flexibly set. For example, the task progress corresponding to the completion of the above-mentioned cleaning can be set to 75% of the overall task; the task progress corresponding to the completion of the above-mentioned wiping can be set to 25% of the overall task; this application does not impose too many limitations on this.

[0035] To reduce the occurrence of misidentification, after determining that the current task of the self-moving device corresponds to a first task content, and based on the historical operation records of the self-moving device, determining that the current task has been executed as a second task content, the following steps are also required: Step 1: Delete the second work content from the first work content to obtain the third work content to be continuously executed; Step 2: Calculate the proportion of the third work content in the first work content; Step 3: Determine the third query result corresponding to the task progress of the current work task based on the percentage.

[0036] To reduce the occurrence of misidentification, the following steps need to be performed before stopping the current task of the self-moving device upon receiving a voice query command from the target object: Step 1: When it is determined that the self-mobile device is activated for the first time, a wake-up voice is sent to the target object in the target area through the self-mobile device, wherein the target area is an area centered on the self-mobile device and with a preset length as the radius; Step 2: Obtain the response voice data emitted by the target object within a preset time period; Step 3: Perform semantic parsing on the response voice data, and determine whether there is a target object in the target area that allows interaction based on the result of the semantic parsing.

[0037] In other words, when it is determined that the self-mobile device is activated for the first time, a wake-up voice is sent to the target object in the target area through the self-mobile device. The target area is an area centered on the self-mobile device with a radius of a preset length. The response voice data emitted by the target object within a preset time period is acquired. The response voice data is semantically parsed, and the existence of an interactive target object in the target area is determined based on the result of the semantic parsing. This reduces the occurrence of misidentification and achieves the technical effect of improving the recognition of voice query commands corresponding to target objects.

[0038] For example, taking a self-moving device like a robot vacuum cleaner as an example. When the robot vacuum cleaner is activated for the first time, it sends a wake-up voice message to a radius of 5-8 meters centered on itself, such as, "Hello, robot vacuum cleaner Xiao Yi is activated. Please confirm whether to enable the voice function." After receiving a response message from the target object within 5 seconds, indicating that there is a target object for voice interaction with the robot vacuum cleaner, it is confirmed that there is a target object.

[0039] It should be noted that if no response voice is received within 5 seconds, the self-device can move a certain distance to try voice wake-up again. If no response voice is received after 3 voice wake-ups, the self-device will directly enter standby mode and will need to be activated again by pressing the activation button on the self-device to continue running.

[0040] To ensure the target object's control over the self-moving device, after acquiring the response voice data emitted by the target object within a preset time period, the following steps also need to be performed: Step 1: Perform voiceprint recognition on the response speech to obtain the target voiceprint features; Step 2: Match the target voiceprint feature with a pre-configured voiceprint database in the self-device, wherein the pre-configured voiceprint database contains multiple sets of associations between voiceprint features and device permissions; Step 3: Add device control permissions to the target object based on the matching results.

[0041] In other words, by identifying the voiceprint features corresponding to the target object's response to speech, and comparing them with the voiceprint features already loaded into the voiceprint database of the self-moving device, and combining the association relationships between multiple sets of voiceprint features and device permissions contained in the voiceprint database, device control permissions are configured for the current target object. This reduces the occurrence of inconvenient operation problems and achieves the technical effect of improving the ease of operation for the target object.

[0042] To reduce the occurrence of delayed query result feedback, after determining the query results corresponding to the content to be queried, the following steps also need to be performed: Step 1: Convert the data content corresponding to the query results into feedback voice; Step 2: If it is confirmed that the feedback voice corresponding to the voice query command has been generated, start running the current working task in the self-moving device; Step 3: If it is determined that the self-moving device is continuously performing the current task, send the feedback voice to the voice component; Step 4: Play the query results corresponding to the voice query command to the target object through the voice component.

[0043] In other words, after determining the query result corresponding to the voice command to be queried, the corresponding query result is converted into a feedback voice and played to the target. Furthermore, to avoid excessive time wasted on the query, the mobile device resumes execution of the current task while generating the feedback voice. This reduces the occurrence of untimely query result feedback and achieves the technical effect of improving query feedback efficiency.

[0044] In an exemplary embodiment, after playing the query result corresponding to the voice query instruction to the target object through the voice component, the method further includes: receiving a voice query instruction issued by the target object in response to the query result; and calculating the volume value of the voice query instruction to determine whether the target object has received the query result.

[0045] Optionally, calculating the volume value of the voice query command to determine whether the target object has received the query result includes: if the volume value is greater than or equal to a preset volume value, determining that the target object is within the range of voice playback influence; if the volume value is less than the preset volume value, determining that the target object is outside the range of voice playback influence.

[0046] Understandably, in order to ensure that the query results can be successfully received by the target object, the volume value of the voice query command issued by the target object in response to the query results is calculated to determine whether the target object has received the query results. For example, when the corresponding volume value is lower than the preset volume value, it means that although the mobile device has responded to the query results, the target object may have left the voice influence area for some reason.

[0047] In an exemplary embodiment, a method for voice interaction when the target object is outside the influence range of voice playback is provided, specifically as follows: obtaining the operating information of other voice devices associated with the self-mobile device; selecting other voice devices in working state according to the operating information and sending the query results one by one, and instructing the other voice devices to perform voice interaction with the target object.

[0048] This means that by controlling the linkage between devices, the query results are sent to other voice devices in the same Internet of Things or network as the self-moving device, and the other voice devices are used to interact with the target object, making the interaction with the target object more diverse and ensuring that the query results are fed back to the target object in a timely manner.

[0049] In an exemplary embodiment, after determining the query result corresponding to the content to be queried, the method further includes: estimating the consumption efficiency of the self-mobile device for each type of consumable based on the query result; determining the allowed usage time for each type of consumable based on the consumption efficiency, the types of consumables carried by the self-mobile device, and the quantity of each type of consumable; if the allowed usage time is less than or equal to a preset alarm duration, the self-mobile device sends a first prompt message to a target object in the target area, wherein the first prompt message is used to instruct the target object to install the consumable corresponding to the currently alarmed consumable type on the self-mobile device; if the allowed usage time is greater than the preset alarm duration, the self-mobile device sends a second prompt message to the target object in the target area, wherein the second prompt message is used to instruct the current self-mobile device to continue performing the corresponding work task.

[0050] In one exemplary embodiment, obtaining the carrying quantity of each type of consumable includes: acquiring target image information of the installation location of each type of consumable through an image acquisition component; and determining the carrying quantity of each type of consumable by the self-moving device based on the target image information.

[0051] Obviously, the embodiments described above are only some embodiments of the present invention, and not all embodiments. In order to better understand the above query method of the self-mobile device, the above process will be described in conjunction with optional embodiments below, but it is not intended to limit the technical solution of the embodiments of the present invention.

[0052] This embodiment provides a method for querying self-moving devices, which is a flowchart illustrating an optional self-moving device query method according to an embodiment of the present invention. Figure 3 As shown, the specific steps are as follows: Step S301: The user (equivalent to the target object in the above embodiment) issues a consumables query command and real-time task status using intelligent voice commands; intelligent voice technology is used to realize consumables query and real-time task status. Step S302: Confirm whether it is a query command for all consumables. For example, issue a voice command to query all consumables, such as "consumable query", to query the current status of all consumables and announce the status of all consumables. Step S303: Confirm whether it is a specific consumable query command. For example, if a specific consumable query command is issued by voice, such as "main brush remaining query", "side brush remaining query", "mop remaining query", etc., the corresponding consumable status will be broadcast respectively. Step S304: Confirm whether it is a current task status query command. For example, if a current task status query command is issued via voice, such as "What are you doing?", the host will broadcast the current task status. Step S305: After executing the corresponding query command and determining the query result, the machine will continue the previous work task.

[0053] Through the above embodiments, upon receiving a voice query command from a user, the current task of the robotic vacuum cleaner is stopped; the content to be queried in the voice query command is determined, wherein the content to be queried includes at least one of the following: the wear status of all consumables of the robotic vacuum cleaner, the wear status of the target consumable of the robotic vacuum cleaner, and the task progress of the current task; the query result corresponding to the content to be queried is determined; that is, the robotic vacuum cleaner can parse and execute the voice query command issued by the user and provide feedback to the user. By adopting the above technical solution, the problem that in the prior art, the robotic vacuum cleaner cannot respond in a timely manner to the user's consumables query and task query is solved.

[0054] 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.

[0055] This embodiment also provides a query device for a self-moving 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 be a combination of software and / or hardware that implements 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.

[0056] Figure 4 This is a structural block diagram of an optional self-moving device query apparatus according to an embodiment of the present invention. The apparatus includes: The receiving module 42 is used to stop running the current working task of the self-moving device when it receives a voice query command sent by the target object; The first determining module 44 is used to determine the content to be queried in the voice query command, wherein the content to be queried includes at least one of the following: the wear and tear status of all consumables of the self-moving device, the wear and tear status of the target consumable of the self-moving device, and the task progress of the current work task. The second determining module 46 is used to determine the query result corresponding to the content to be queried.

[0057] With the aforementioned device, upon receiving a voice query command from a target object, the current task of the self-moving device is stopped; the content to be queried in the voice query command is determined, wherein the content to be queried includes at least one of the following: the wear and tear status of all consumables of the self-moving device, the wear and tear status of the target consumable of the self-moving device, and the task progress of the current task; the query result corresponding to the content to be queried is determined, that is, the self-moving device can parse and execute the voice query command issued by the target object and provide feedback to the target object. By adopting the above technical solution, the problem that in the prior art, the sweeping robot cannot respond in a timely manner to the user's consumable query and task query is solved.

[0058] In an exemplary embodiment, the second determining module 46 is further configured to, when the query content is to obtain the wear and tear status of all consumables of the self-mobile device, determine the types of consumables carried by the self-mobile device and obtain the quantity of each type of consumable; calculate the consumption quantity of each type of consumable based on the historical operation records of the self-mobile device; calculate the loss rate of each type of consumable based on the quantity carried and the quantity consumed; and determine the first query result corresponding to the wear and tear status of all consumables of the self-mobile device based on the loss rate.

[0059] In an exemplary embodiment, the second determining module 46 is further configured to: determine whether the self-mobile device carries the target consumable when the query content is to obtain the wear and tear status of the target consumable of the self-mobile device; if the self-mobile device carries the target consumable, obtain the quantity of the target consumable carried by the self-mobile device, and calculate the consumption quantity of the target consumable based on the historical operation record of the self-mobile device; calculate the loss rate of the target consumable based on the quantity carried and the consumption quantity, and determine the second query result corresponding to the wear and tear status of the target consumable of the self-mobile device based on the loss rate.

[0060] In an exemplary embodiment, the second determining module 46 is further configured to: determine a first work content corresponding to the current work task of the self-mobile device when the content to be queried is to obtain the task progress of the current work task; determine a second work content that has been executed by the current work task based on the historical operation record of the self-mobile device; delete the second work content from the first work content to obtain a third work content to be continuously executed; calculate the proportion of the third work content in the first work content; and determine a third query result corresponding to the task progress of the current work task based on the proportion.

[0061] Figure 5 This is a structural block diagram of another optional self-moving device query device in an embodiment of the present invention, in addition to the above. Figure 4 In the case of all the modules included, it also includes: wake-up module 40; voice module 48; prediction module 50; In an exemplary embodiment, the above-described apparatus further includes: a wake-up module 40, configured to, upon determining that the self-mobile device is activated for the first time, send a wake-up voice message to the target object within a target area via the self-mobile device, wherein the target area is an area centered on the self-mobile device and having a radius of a preset length; acquire response voice data emitted by the target object within a preset duration; perform semantic parsing on the response voice data; and determine, based on the result of the semantic parsing, whether there is an interactive target object in the target area.

[0062] In an exemplary embodiment, the wake-up module further includes: a voiceprint unit, configured to perform voiceprint recognition on the response speech to obtain target voiceprint features; match the target voiceprint features with a pre-configured voiceprint database in the self-moving device, wherein the pre-configured voiceprint database contains multiple sets of association relationships between voiceprint features and device permissions; and add device control permissions to the target object according to the matching result.

[0063] In one exemplary embodiment, the above-described apparatus further includes: a voice module 48, configured to convert the data content corresponding to the query result into feedback voice; to start running the current work task in the self-mobile device when it is determined that the feedback voice corresponding to the voice query instruction has been generated; to send the feedback voice to the voice component when it is determined that the self-mobile device continues to execute the current work task; and to play the query result corresponding to the voice query instruction to the target object through the voice component.

[0064] In one exemplary embodiment, the voice module 48 further includes: a volume unit, configured to receive a voice query instruction issued by the target object in response to the query result; and calculate the volume value of the voice query instruction to determine whether the target object has received the query result.

[0065] In an exemplary embodiment, the volume unit is further configured to determine that the target object is within the range of voice playback influence when the volume value is greater than or equal to a preset volume value; and to determine that the target object is outside the range of voice playback influence when the volume value is less than the preset volume value.

[0066] In an exemplary embodiment, the volume unit is further configured to acquire operating information of other voice devices associated with the self-mobile device; select other voice devices in working state according to the operating information and send the query results one by one, and instruct the other voice devices to perform voice interaction with the target object.

[0067] In an exemplary embodiment, the above-described apparatus further includes: an estimation module 50, configured to estimate the consumption efficiency of the self-mobile device for each type of consumable based on the query result; determine the allowed usage time for each type of consumable based on the consumption efficiency, the types of consumables carried by the self-mobile device, and the quantity of each type of consumable; if the allowed usage time is less than or equal to a preset alarm duration, the self-mobile device sends a first prompt message to a target object in the target area, wherein the first prompt message is used to instruct the target object to install the consumable corresponding to the currently alarmed consumable type on the self-mobile device; if the allowed usage time is greater than the preset alarm duration, the self-mobile device sends a second prompt message to the target object in the target area, wherein the second prompt message is used to instruct the self-mobile device to continue performing the corresponding work task.

[0068] In one exemplary embodiment, obtaining the carrying quantity of each type of consumable includes: acquiring target image information of the installation location of each type of consumable through an image acquisition component; and determining the carrying quantity of each type of consumable by the self-moving device based on the target image information.

[0069] 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.

[0070] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps: S1, upon receiving a voice query command from the target object, stop running the current working task of the self-moving device; S2, determine the content to be queried in the voice query command, wherein the content to be queried includes at least one of the following: the wear and tear status of all consumables of the self-moving device, the wear and tear status of the target consumable of the self-moving device, and the task progress of the current work task; S3, determine the query results corresponding to the content to be queried.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program: S1, upon receiving a voice query command from the target object, stop running the current working task of the self-moving device; S2, determine the content to be queried in the voice query command, wherein the content to be queried includes at least one of the following: the wear and tear status of all consumables of the self-moving device, the wear and tear status of the target consumable of the self-moving device, and the task progress of the current work task; S3, determine the query results corresponding to the content to be queried.

[0075] 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.

[0076] 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.

[0077] 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 query method of a self-moving device, characterized by, The method comprises the steps of: In the case of receiving a voice query instruction sent by a target object, determining the content to be queried of the voice query instruction, and determining the query result corresponding to the content to be queried; Converting the data content corresponding to the query result into feedback voice, and playing the feedback voice to the target object; Receiving a voice check instruction issued by the target object for the feedback voice; In the case of determining that the target object does not receive the query result based on the voice check instruction, obtaining the running information of other voice devices associated with the self-moving device; According to the running information, the other voice devices in the working state are selected to send the query result, and the other voice devices are instructed to interact with the target object through voice. 2.The method of Claim 1, wherein, The other voice devices include devices in the same Internet of Things as the self-moving device. 3.The method of Claim 1, wherein, The other voice devices include devices accessing the same network as the self-moving device. 4.The method according to any one of claims 1 to 3, wherein, The method further comprises: Calculating the volume value of the voice check instruction; According to the volume value, it is determined whether the target object receives the query result. 5.The method of Claim 4, wherein, According to the volume value, it is determined whether the target object receives the query result, comprising: In the case that the volume value is greater than or equal to a preset volume value, it is determined that the target object is within the voice playing influence range; In the case that the volume value is less than the preset volume value, it is determined that the target object is outside the voice playing influence range. 6.The method of claim 1 to 3, wherein, According to the running information, the other voice devices in the working state are selected to send the query result, comprising: According to the running information, the other voice devices in the working state are selected to send the query result one by one. 7.The method of claim 1 to 3, wherein, After receiving the voice query instruction sent by the target object, the method further comprises: In the case of determining that the self-moving device is activated for the first time, the self-moving device sends a wake-up voice to the target object in a target area, wherein the target area is an area with the self-moving device as the center and a preset length as the radius; Obtaining response voice data issued by the target object within a preset time length; Performing semantic analysis on the response voice data, and determining whether there is a target object allowed to interact in the target area according to the result of the semantic analysis. 8.The method of Claim 7, wherein, After obtaining the response voice data issued by the target object within a preset time length, the method further comprises: Performing voiceprint recognition on the response voice to obtain target voiceprint features; Matching the target voiceprint features with a pre-configured voiceprint database in the self-moving device, wherein the pre-configured voiceprint database contains the association relationship between multiple groups of voiceprint features and device permissions; According to the matching result, the device control permission is added for the target object. 9.A query apparatus of a self-moving device, characterized by comprising: The method comprises the steps of: A determination module is configured to determine the content to be queried of the voice query instruction in the case of receiving a voice query instruction sent by a target object, and determine the query result corresponding to the content to be queried; The voice module is configured to convert the data content corresponding to the query result into feedback voice, and play the feedback voice to the target object; receive a voice check instruction issued by the target object in response to the feedback voice; in a case where it is determined that the target object has not received the query result based on the voice check instruction, acquire operation information of other voice devices associated with the self-moving device; and send the query result to other voice devices in an operating state according to the operation information, and instruct the other voice devices to interact with the target object in voice.

10. A computer readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is configured to execute the method in any one of claims 1 to 8 when running. 11.An electronic device comprising a memory and a processor, the electronic device characterized by, The memory stores a computer program, and the processor is configured to execute the computer program to execute the method in any one of claims 1 to 8.

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