Equipment control method and device, electronic equipment and storage medium

Abstract

The invention discloses an equipment control method and device, electronic equipment and a storage medium, and the method is applied to the technical field of computer application, and comprises the steps: responding to a control instruction, and determining the current position of mobile platform equipment according to a navigation map; determining a moving path of the mobile platform equipment according to the current position and a preset moving distance threshold value; and controlling the mobile platform equipment to move according to the moving path. According to the embodiment of the invention, the action planning of the mobile platform equipment can be realized, the action track can be reasonably planned based on the moving path, the obstacle collision risk of the mobile platform equipment in the running process is reduced, and the use experience of the equipment can be improved.

Description

Technical Field

[0001] This invention relates to the field of computer application technology, and more particularly to a device control method, apparatus, electronic device, and storage medium. Background Technology

[0002] With the development of intelligent cleaning technology, floor cleaning robots have been widely used in home and commercial settings. These robots achieve efficient floor cleaning through an integrated brushing and vacuuming design. However, in practical applications, floor cleaning robots often rely on path planning based on travel distance. For example, after completing a cleaning task, residual water may remain under the robot's chassis. Due to mechanical limitations, the robot cannot completely remove this residual water when stationary. To achieve effective cleaning, the robot's suction fan system must be activated, the suction device lowered, and the robot dragged forward a distance to thoroughly remove the residual water. However, the current lack of a systematic path planning strategy in such scenarios leads to poor environmental adaptability in the robot's path planning. For instance, the water collection path may not consider the impact of dynamic obstacles, increasing the risk of collisions. Summary of the Invention

[0003] This invention provides a device control method, apparatus, electronic device, and storage medium to realize action planning for mobile platform devices. It can rationally plan action trajectories based on movement paths, reduce the risk of obstacle collisions during operation of mobile platform devices, and improve the user experience of the devices.

[0004] According to one aspect of the present invention, a device control method is provided, wherein the method includes:

[0005] In response to control commands, the current location of the mobile platform device is determined based on the navigation map;

[0006] The movement path of the mobile platform device is determined based on the current location and a preset movement distance threshold.

[0007] The mobile platform device is controlled to move according to the stated movement path.

[0008] According to another aspect of the present invention, a device control apparatus is provided, wherein the apparatus comprises:

[0009] A location determination module is used to determine the current location of the mobile platform device based on a navigation map in response to control commands;

[0010] The path planning module is used to determine the movement path of the mobile platform device based on the current location and a preset movement distance threshold.

[0011] A mobility control module is used to control the movement of the mobile platform device according to the mobility path.

[0012] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0013] At least one processor; and

[0014] A memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the device control method according to any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the device control method according to any embodiment of the present invention.

[0017] The technical solution of this invention determines the current position of the mobile platform device within a navigation map upon receiving a control command, plans a movement path for the mobile platform device based on a preset movement distance threshold and the current position, and controls the mobile platform device to move according to the movement path. This invention, by planning a movement path based on a preset movement distance threshold, incorporates the environmental location of the device during the path generation process, avoiding the influence of obstacles on the movement of the mobile platform device, reducing the risk of obstacle collisions, and thus improving the user experience.

[0018] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a flowchart of a device control method provided according to Embodiment 1 of the present invention;

[0021] Figure 2This is a flowchart of another device control method provided according to Embodiment 2 of the present invention;

[0022] Figure 3 This is a flowchart of another device control method provided according to Embodiment 3 of the present invention;

[0023] Figure 4 This is a flowchart of another device control method provided according to Embodiment 4 of the present invention;

[0024] Figure 5 This is a flowchart of another device control method provided in Embodiment 5 of the present invention;

[0025] Figure 6 This is a flowchart of another device control method provided in Embodiment 5 of the present invention;

[0026] Figure 7 This is a schematic diagram of the structure of a device control apparatus according to Embodiment Six of the present invention;

[0027] Figure 8 This is a schematic diagram of the structure of an electronic device that implements the device control method of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] 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 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.

[0030] Example 1

[0031] Figure 1This is a flowchart of a device control method according to Embodiment 1 of the present invention. This embodiment is applicable to scenarios where path planning for a mobile platform device is performed based on the travel distance. The method can be executed by a device control device, which can be implemented in hardware and / or software. This device can be configured in the mobile platform device or its host computer, such as a server or control terminal. Figure 1 As shown, the method includes:

[0032] Step 110: In response to the control command, determine the current location of the mobile platform device based on the navigation map.

[0033] The control command can be an instruction that triggers the mobile platform device to control the device. When the mobile platform device receives the control command, it can trigger the method provided in this embodiment of the invention. The control command can be set according to existing communication protocols or a custom protocol. The navigation map can be a digital spatial model generated and constructed by the mobile platform device through its own sensors collecting environmental data and processing it with algorithms. The navigation map can structure information such as obstacle locations, area boundaries, cleaning paths, and cleaning areas. The mobile platform device can be a hardware device with mobility functions, including but not limited to robotic vacuum cleaners, robotic mops, household service robots, and intelligent lawnmowers.

[0034] In this embodiment of the invention, when a control command is received, the navigation map pre-generated by the mobile platform device can be read, and the current position when the control command is received can be determined according to the navigation gradient. It is understood that the control command can be issued by the user or triggered by the mobile platform device itself. For example, after the mobile platform device completes a specific cleaning task, it can automatically generate a control command to trigger the mobile platform device to determine the current position according to the navigation map. The current position may include numerical coordinates, semantic position, grid coordinates, etc.

[0035] Step 120: Determine the movement path of the mobile platform device based on the current location and the preset movement distance threshold.

[0036] The preset movement distance threshold can be a pre-configured maximum movement distance used for path planning. This threshold can be determined based on information such as the type of mobile platform equipment, the work scenario, and / or the work task. The movement path can be the planned path required for the mobile platform equipment to move, and it can be generated based on the preset movement distance threshold.

[0037] In this embodiment of the invention, a navigation path can be planned within the navigation map based on the current location and a preset moving distance threshold as the moving path of the mobile platform device. For example, the moving path can be determined based on the Dijkstra algorithm based on the current location and the preset moving distance threshold, or it can be determined based on a dynamic path planning algorithm based on the current location and the preset moving distance threshold. It is understood that the method of determining the moving path may include, but is not limited to, artificial potential field algorithm, genetic algorithm, probabilistic landmark map, fast expanding random tree, etc.

[0038] Step 130: Control the movement of the mobile platform device according to the movement path.

[0039] Specifically, the mobile platform device can be controlled according to a defined movement path, causing it to operate along that path. For example, a movement path can be sent to the mobile platform device, allowing it to move within space according to that path.

[0040] In this embodiment of the invention, upon receiving a control command, the current position of the mobile platform device is determined within a navigation map. A movement path is planned for the mobile platform device based on a preset movement distance threshold and the current position, and the device is then controlled to move according to this path. This embodiment of the invention, by planning the movement path based on the preset movement distance threshold, incorporates the device's environmental location during the path generation process, preventing obstacles from affecting the movement of the mobile platform device, reducing the risk of obstacle collisions, and thus improving the user experience.

[0041] Example 2

[0042] Figure 2 This is a flowchart of another device control method provided in Embodiment 2 of the present invention. The embodiments of the present invention further specify the above embodiments. See also... Figure 2 The method provided in this embodiment of the invention specifically includes the following steps:

[0043] Step 210: Receive control command and obtain the navigation map pre-created by the mobile platform device.

[0044] In this embodiment of the invention, when a control command is received, a navigation map of the mobile platform device can be obtained. The navigation map can be generated by the mobile platform device based on environmental data collected by its own sensors. The navigation map can be stored in the mobile platform device or in the host computer of the mobile platform device. When a control command is received, the navigation map can be read.

[0045] Step 220: Determine the current location of the mobile platform device according to the navigation map.

[0046] Specifically, the mobile platform device can be controlled to determine its current location according to the navigation map. For example, the mobile platform device can be controlled to acquire its own motion data and environmental observation data, and the acquired motion data and environmental observation data can be matched with the navigation map to determine the current location.

[0047] Step 230: Initialize the total moving distance and the current cumulative moving distance according to the preset moving distance threshold.

[0048] The total distance traveled can be the maximum distance the mobile platform device can travel, while the current cumulative distance traveled can be the current total distance traveled after each movement during the path planning process.

[0049] In this embodiment of the invention, the total moving distance and the current cumulative moving distance can be initialized according to a preset moving distance threshold. That is, the total moving distance can be set to the preset moving distance threshold, and the current cumulative moving distance can be set to 0.

[0050] Step 240: Determine the neighboring locations adjacent to the current location on the navigation map, and obtain the movement cost for the mobile platform device to move to the neighboring location.

[0051] The nearby location can be a location adjacent to the current location within the navigation map, and can include the locations of obstacles, communication areas, etc., within the navigation map. The movement cost can be the movement cost required for the mobile platform device to move to a nearby location, and this movement cost can include influencing factors such as walking costs and turning penalties.

[0052] In this embodiment of the invention, locations adjacent to the current location can be found within the navigation map and recorded as neighboring locations. The movement cost of moving from the current location to the neighboring location can be determined for each neighboring location. For example, the movement cost corresponding to each neighboring location can be calculated based on factors such as the distance between each neighboring location and the current location, whether a turn is required to reach the neighboring location from the current location, and the difference in ground material between the current location and the neighboring location.

[0053] Step 250: Determine the target neighboring location with the minimum movement cost within each neighboring location, update the current cumulative movement distance based on the location distance between the target neighboring location and the current location, and add the target neighboring location to the movement path.

[0054] Specifically, the movement costs of each neighboring location can be compared to determine the minimum movement cost. The neighboring location corresponding to the minimum movement cost can be determined as the target neighboring location. The location distance between the target neighboring location and the current location can be determined. The sum of the location distance and the current cumulative movement distance can be used as the updated current cumulative movement distance, and the target neighboring location can be added to the movement path.

[0055] Step 260: Determine whether the current cumulative movement distance is greater than or equal to the total movement distance. If yes, output the movement path. If no, set the current position as the target's neighboring position and return to determine the neighboring positions adjacent to the current position in the navigation map until the preset stopping condition is met.

[0056] Specifically, after adding the target proximity distance to the movement path, it can be determined whether the current cumulative movement distance is greater than or equal to the total movement distance. If so, the movement path planning is completed and the movement path is output. If not, the current position can be set as the target proximity position, and the corresponding target proximity position can be obtained for the updated current position. That is, when the current cumulative movement distance is less than the total movement distance, return to step 240. The above steps can be repeated once or multiple times until the preset stopping condition is met. The preset stopping condition can be a pre-configured condition for ending the movement path planning. The preset stopping condition can include, but is not limited to, calculation duration, calculation cost, whether the current cumulative movement distance is greater than or equal to the total movement distance, etc.

[0057] Step 270: Control the movement of the mobile platform device according to the movement path.

[0058] In this embodiment of the invention, upon receiving a control command, a navigation map corresponding to the mobile platform device is obtained. The current position of the mobile platform device is determined within the navigation map. The total movement distance and the current cumulative movement distance are initialized based on a preset movement distance threshold. Neighboring locations corresponding to the current position are determined according to the navigation map, and the movement cost corresponding to each neighboring location is determined. The neighboring location with the minimum movement cost is determined as the target neighboring location. The current cumulative movement distance is updated based on the distance between the target neighboring location and the current position, and the target neighboring location is added to the movement path. If the current cumulative movement distance is greater than or equal to the total movement distance, the movement path is output. Otherwise, the current position is updated to the target neighboring location, the target neighboring location is re-determined, and the target neighboring location is added to the movement path. This process is repeated until a preset stopping condition is met, and the mobile platform device is controlled to move according to the determined movement path. This embodiment of the invention plans the movement path of the mobile platform device based on a preset movement distance, which increases the difficulty of movement path planning, realizes the degree of autonomy of the mobile platform device's movement, and improves the equipment's operating efficiency.

[0059] Furthermore, based on the above embodiments of the invention, the neighboring locations adjacent to the current location within the navigation map are determined, and the movement cost for the mobile platform device to move to the neighboring location is obtained, including:

[0060] Based on preset movement constraints and the current location, determine nearby locations within the navigation map; obtain a pre-configured movement heuristic function, which includes at least a total movement distance heuristic and a current location heuristic; if the current location is the initial location corresponding to the control command, set the historical cost to 0; otherwise, obtain the historical cost corresponding to the current location; determine the movement cost function by weighting the movement heuristic function and the historical cost; substitute the location information of each nearby location into the movement cost function to determine the movement cost of each nearby location.

[0061] The preset movement restrictions can be conditions for mobile platform device movement configured according to the actual business scenario. These restrictions can be determined based on the operating characteristics of the mobile platform device; for example, they may include prohibiting backward movement, prohibiting U-turns, and prohibiting collisions with obstacles. The movement heuristic function can be a function that determines the optimal cost of reaching the target location from the current location based on spatial information in the navigation map. The inputs to the preset heuristic function can include the current state, the target state, and map information. The movement heuristic function can include a total movement distance heuristic and a current location heuristic, which can represent the movement costs incurred by the total movement distance and the current cumulative movement distance, respectively.

[0062] In this embodiment of the invention, locations meeting the requirements can be selected as neighboring locations within the navigation map based on preset movement restrictions for the current location. A pre-configured movement heuristic function can be obtained, which includes at least a total movement distance heuristic term and a current location heuristic term. The historical cost corresponding to the current location can be determined. This historical cost can be the minimum value of the cumulative sum of movement costs required to reach the current location from the initial location corresponding to the control command. The historical cost corresponding to the current location can be obtained, and the weighted sum of the historical cost and the movement heuristic function can be determined as the movement cost function. The location information of the mobile platform device corresponding to each neighboring location can be substituted into the movement cost function to determine the movement cost of each neighboring location. This location information can include the state parameters of the mobile platform device at the neighboring locations and the current location, such as orientation, location coordinates, task overhead, etc.

[0063] In some embodiments of the invention, the preset movement restriction conditions include at least one of the following: prohibiting backward movement; prohibiting obstacle collisions; and prohibiting movement within a preset area.

[0064] In this embodiment of the invention, preset movement restrictions may include prohibiting backward movement, prohibiting obstacle collisions, and prohibiting preset areas. When the preset movement restrictions include prohibiting backward movement, the nearest locations selected based on the navigation map and the preset movement restrictions are not located behind the moving platform device in the current position in the direction of movement. When the preset movement restrictions include prohibiting obstacle collisions, the nearest locations selected based on the navigation map and the preset movement restrictions are not located in the obstacle area of ​​the navigation map. When the preset movement restrictions include prohibiting preset areas, the nearest locations selected based on the navigation map and the preset movement restrictions are not located in the preset area of ​​the navigation map.

[0065] In some embodiments of the invention, the preset stopping condition includes at least one of the following: the calculation time of the movement path exceeds the preset search time; or the current cumulative movement distance is greater than or equal to the total movement distance.

[0066] In this embodiment of the invention, the preset stopping conditions for mobile path planning may include, but are not limited to, the calculation time of the mobile path exceeding the preset search time and / or whether the current cumulative movement distance is greater than or equal to the total movement distance. It is understood that when the mobile platform device encounters scenarios such as the calculation time exceeding the preset search time and / or whether the current cumulative movement distance is greater than or equal to the total movement distance during the mobile path calculation process, it will stop the search for the mobile path and can output the currently searched mobile path.

[0067] Example 3

[0068] Figure 3 This is a flowchart of another device control method provided in Embodiment 3 of the present invention. This embodiment of the present invention describes the motion control process of a mobile platform device. See [link to flowchart description]. Figure 3 The method provided in this embodiment of the invention specifically includes the following steps:

[0069] Step 310: In response to the control command, determine the current location of the mobile platform device based on the navigation map.

[0070] Step 320: Determine the movement path of the mobile platform device based on the current location and the preset movement distance threshold.

[0071] Step 330: Control the mobile platform device to move along the movement path and collect environmental information of the environment in which the mobile platform device is located.

[0072] Among them, environmental information can be information collected by the mobile platform device during the movement process. The environmental information can include spatial information of the environment in which the mobile platform device is located, and the environmental information can include, but is not limited to, one or more of spatial geometric information, obstacle feature information, environmental state information and semantic association information.

[0073] In this embodiment of the invention, the mobile platform device can be controlled to move according to a determined movement path, and during the movement of the mobile platform device, information such as spatial geometric information, obstacle feature information, environmental state information and semantic association information of its environment can be collected in a timely or untimely manner as environmental information.

[0074] Step 340: At a preset interval, determine whether the mobile platform device meets the straight-line condition based on the environmental information. If yes, replace the moving path with the straight-line path; otherwise, continue to control the mobile platform device to move according to the moving path.

[0075] Among them, the straight-line condition can be the condition for determining whether the mobile platform device can move in a straight line. The straight-line condition can be determined by environmental information. The straight-line path can be the path that controls the mobile platform device to move in a straight line. The length of the straight-line path can be less than or equal to a preset movement distance threshold.

[0076] Specifically, at preset intervals, it can be determined whether the currently collected environmental information meets the straight-line condition. If it does, the movement path is replaced with a straight-line path, and the mobile platform device is controlled to run in a straight line from the current position in the movement path. If it does not meet the condition, the mobile platform device continues to run according to the movement path.

[0077] In this embodiment of the invention, upon receiving a control command, the current position of the mobile platform device is determined according to a navigation map. Based on the current position and a preset travel distance threshold, a travel path for the mobile platform device is determined. The mobile platform device is then controlled to run along the travel path. Environmental information about the mobile platform device's environment is collected, and at preset time intervals, it is determined whether the environmental information meets the conditions for the mobile platform device to travel straight. If it does, the travel path is replaced with a straight path; otherwise, the mobile platform device continues to run according to the travel path. This embodiment of the invention reduces the computational overhead of path planning by periodically attempting purely straight paths, thus ensuring device performance.

[0078] Furthermore, based on the above embodiments of the invention, the straight-line condition includes at least the following: there are no obstacles in front of the mobile platform device at the current moment, and the environmental space in front of the mobile platform device is greater than or equal to the space occupied by the mobile platform device.

[0079] Based on the above embodiments of the invention, when it is determined that there are no obstacles in front of the mobile platform device at the current moment based on environmental information, and the environmental space in front of the mobile platform device is greater than or equal to the space occupied by the mobile platform device, it is determined that the mobile platform device can move in a straight line.

[0080] Example 4

[0081] Figure 4This is a flowchart of another device control method provided in Embodiment 4 of the present invention. This embodiment of the present invention is a concretization of the above embodiments, illustrating the process of multi-task collaborative work. See also... Figure 4 The method provided in this embodiment of the invention specifically includes the following steps:

[0082] Step 410: In response to the control command, determine the current location of the mobile platform device based on the navigation map.

[0083] Step 420: Determine the movement path of the mobile platform device based on the current location and the preset movement distance threshold.

[0084] Step 430: Control the movement of the mobile platform device according to the movement path.

[0085] Step 440: Determine that there is a work area for the mobile platform device, and generate a planned path based on the current location and the work area.

[0086] The area to be worked can be the area where the task is to be performed. The area to be worked can be located within the navigation map. The area to be worked can be pre-defined according to the instructions of the host computer or by the user.

[0087] In this embodiment of the invention, if a corresponding work area is determined for the mobile platform device, a planned path is constructed based on the current location of the mobile platform device and the work area. The method for determining this planned path may include, but is not limited to, Dijkstra's algorithm, artificial potential field method, etc. Algorithms, etc.

[0088] Step 450: Control the mobile platform device to move according to the planned path.

[0089] Specifically, it can control the mobile platform equipment to move according to a planned path determined based on the work area and the current location.

[0090] Furthermore, based on the above embodiments of the invention, controlling the mobile platform device to move according to the planned path includes:

[0091] Determine whether the planned route passes through a prohibited cleaning area within the navigation map;

[0092] If not, then control the mobile platform device to move according to the planned path; if yes, then control the mobile platform device to move according to the moving path.

[0093] Among them, the prohibited cleaning area can be a specific area that the mobile platform equipment needs to avoid during operation. Taking the mobile platform equipment as a sweeping robot as an example, the prohibited cleaning area can include sensitive areas such as carpets, speed bumps, turnstiles, and elevators.

[0094] In this embodiment of the invention, the planned path can be determined based on the navigation map to determine whether the planned path passes through the prohibited cleaning area in the navigation map. If not, the mobile platform device can move to the area to be cleaned by means of operation and can move according to the planned path. If yes, that is, the mobile platform device passes through the prohibited cleaning area, the operation is carried out according to the moving path to prevent contamination of the prohibited cleaning area.

[0095] Example 5

[0096] In this embodiment of the invention, taking a robotic vacuum cleaner as an example, after the robot completes its cleaning task, a large amount of water often remains under its chassis. Due to its mechanical structure, it is difficult to completely remove this residual water when the robot is stationary. To achieve effective cleaning, the robot's water suction fan system needs to be activated, the water suction device lowered, and the robot driven forward a certain distance to completely remove the residual water. To achieve the following objectives during the water collection process:

[0097] 1. Dynamic obstacle avoidance and safe path generation: Based on real-time sensor data, an environmental map is built to plan obstacle avoidance paths and ensure the safety of the towing process;

[0098] 2. Task area coordination optimization: Connect the residual water removal path with the next cleaning task area to reduce idle travel distance and improve robot operation efficiency;

[0099] 3. Intelligent avoidance of no-wash zones: The planned path automatically avoids areas such as carpets, speed bumps, turnstiles, and elevators, and triggers the lifting and water absorption device at the boundary of the no-wash zone.

[0100] This invention provides a device control method for a robotic vacuum cleaner to collect water. The method divides the water collection process into two stages based on the residual water removal path: independent water collection and navigation-based water collection. Independent water collection can be a mode where the robotic vacuum cleaner autonomously plans the optimal path to remove residual water within a single working area. The state space of the robotic vacuum cleaner can be modeled as (x, y, θ, length), where x and y represent planar coordinates, θ represents the heading angle, and length represents the cumulative water collection path length. The termination condition for the robotic vacuum cleaner's residual water removal path planning can be set to a condition where length is greater than or equal to the target water collection distance, indicating successful planning. See also... Figure 5 The process of planning residual water removal paths may include:

[0101] 1. Select the optimal node based on the current position of the robot vacuum cleaner and try a direct route. If the direct route is successful, output the direct route. The direct route can be a straight line starting from the optimal node.

[0102] 2. If the direct route is not successfully reached, the node will be expanded according to the motion node expansion strategy, and after a safety assessment of the node, it will be added to the queue.

[0103] 3. Determine whether the expanded node has reached the target. If so, the residual water removal path search is successful, and the node added to the queue can be output as the residual water removal path.

[0104] 4. Determine if the search time for the residual water removal path has expired. If so, force termination; otherwise, continue the above process until a complete path or the optimal partial solution of the complete path is found.

[0105] In this embodiment of the invention, the motion node expansion strategy may include the following:

[0106] (1) Set three motion elements: straight, spinning in place and straight turning.

[0107] (2) The heuristic function is set as: h(n) = Length - length, where Length represents the total target water collection distance, and length represents the current cumulative water collection distance. The remaining water collection distance from the current node to the target state can be dynamically estimated through the heuristic function, and nodes with smaller remaining distances are prioritized for expansion. Since the independent water collection process has no preset endpoint coordinates and only uses distance as the termination condition, this heuristic function can quantify the progress through the remaining distance, thereby replacing the traditional Euclidean distance heuristic.

[0108] (3) Set node cost: f(n)=g(n)+ηh(n), where g(n) represents the actual cost of the path already traveled, which may include turning penalty, and η represents the heuristic weight coefficient, which is set to 10.0 by default.

[0109] (4) Setting constraints: Constraint 1 prohibits backward movement. The water suction component of the sweeping robot is located at the tail of the robot, and backward movement will result in water stains remaining; Constraint 2 treats prohibited cleaning areas as obstacles, except for ordinary obstacles. These prohibited cleaning areas can be specific areas that the sweeping robot needs to avoid during operation, including sensitive areas such as carpets, speed bumps, turnstiles, and elevators. If the cleaning component comes into contact with the prohibited cleaning area, it may cause ground contamination (such as carpet water absorption contamination) or physical damage to the equipment (such as water tank rupture caused by impact with a speed bump).

[0110] A real-time optimization strategy is also introduced in the above embodiments of the invention, which may include the following two types:

[0111] Line-priority detection: Periodically attempt pure straight-line paths. If there are no obstacles ahead and the space is open, switch to straight-line water collection mode and collect water according to the direct path.

[0112] Suboptimal path output: When the space is narrow or the search timeout occurs, output the longest feasible path found so far.

[0113] In this embodiment of the invention, navigation water collection can be performed by simultaneously removing residual water during cross-task area movement, see [link to relevant documentation]. Figure 6 The process may include the following steps:

[0114] 1. When the robot vacuum cleaner finishes its current task, it determines whether there is a next task. If so, it will collect water according to the planned navigation path; otherwise, it will collect water through an independent water collection process.

[0115] 2. The process of generating the planned navigation path can be achieved using algorithms such as A* / Dijkstra / RRT*.

[0116] 3. Determine whether the generated planned navigation path passes through a prohibited cleaning area. If so, proceed with independent water collection. If not, proceed with the generated planned navigation path until the target is reached.

[0117] Example 6

[0118] Figure 7 This is a schematic diagram of the structure of a device control apparatus according to Embodiment Six of the present invention, as shown below. Figure 7 As shown, the device includes: a location determination module 510, a path planning module 520, and a movement control module 530.

[0119] The location determination module 510 is used to determine the current location of the mobile platform device based on the navigation map in response to control commands.

[0120] The path planning module 520 is used to determine the movement path of the mobile platform device based on the current location and a preset movement distance threshold.

[0121] The mobility control module 530 is used to control the movement of the mobile platform device according to the mobility path.

[0122] In this embodiment of the invention, when the location determination module receives a control command, it determines the current location of the mobile platform device within the navigation map. The path planning module plans a movement path for the mobile platform device based on a preset movement distance threshold and the current location. The movement control module then controls the mobile platform device to move according to the movement path. This embodiment of the invention plans a movement path for the mobile platform device based on a preset movement distance threshold. This allows the environmental location of the device to be incorporated into the path generation process, avoiding the influence of obstacles on the movement of the mobile platform device, reducing the risk of obstacle collisions, and thus improving the user experience.

[0123] Based on the above embodiments of the invention, the position determination module 510 includes:

[0124] The map acquisition unit is used to receive control commands and acquire navigation maps pre-created by the mobile platform device.

[0125] The location determination unit is used to determine the current location of the mobile platform device according to the navigation map.

[0126] Based on the above embodiments of the invention, the path planning module 520 includes:

[0127] The initialization unit is used to initialize the total movement distance and the current cumulative movement distance according to a preset movement distance threshold.

[0128] The cost determination unit is used to determine the neighboring locations adjacent to the current location within the navigation map and to obtain the movement cost of the mobile platform device moving to the neighboring location.

[0129] The path update unit is used to determine the target neighboring location with the minimum movement cost among each neighboring location, update the current cumulative movement distance based on the location distance between the target neighboring location and the current location, and add the target neighboring location to the movement path.

[0130] The planning termination unit is used to determine whether the current cumulative movement distance is greater than or equal to the total movement distance. If so, the movement path is output; otherwise, the current position is set as the target's neighboring position, and the process returns to determine the neighboring positions adjacent to the current position in the navigation map until the preset stopping condition is met.

[0131] Based on the above embodiments of the invention, the cost determination unit is specifically used for: determining nearby locations within the navigation map according to preset movement constraints and the current location; obtaining a pre-configured movement heuristic function, wherein the movement heuristic function includes at least a total movement distance heuristic term and a current location heuristic term; if the current location is the initial location corresponding to the control command, then setting the historical cost to 0; otherwise, obtaining the historical cost corresponding to the current location; determining the movement cost function as a weighted sum of the movement heuristic function and the historical cost; and substituting the location information of each nearby location into the movement cost function to determine the movement cost of each nearby location.

[0132] In some embodiments of the invention, the preset movement restriction conditions include at least one of the following:

[0133] No back navigation allowed;

[0134] No collisions with obstacles are allowed;

[0135] Preset areas are prohibited.

[0136] In some embodiments of the invention, the preset stop condition includes at least one of the following:

[0137] The calculation time for the movement path exceeds the preset search time;

[0138] Is the current cumulative distance traveled greater than or equal to the total distance traveled?

[0139] Based on the above embodiments of the invention, the motion control module 530 includes:

[0140] The information acquisition unit is used to control the mobile platform device to move along the movement path and to collect environmental information of the environment in which the mobile platform device is located.

[0141] The straight-line judgment unit is used to determine whether the mobile platform device meets the straight-line condition based on the environmental information at preset intervals. If it does, the mobile path is replaced with a straight-line path; otherwise, the mobile platform device continues to move according to the mobile path.

[0142] Based on the above embodiments of the invention, the straight-line condition includes at least the following: there are no obstacles in front of the mobile platform device at the current moment, and the environmental space in front of the mobile platform device is greater than or equal to the space occupied by the mobile platform device.

[0143] In some embodiments of the invention, it further includes: a cross-regional operation module, used to determine that there is a work area to be done on the mobile platform device, generate a planned path based on the current location and the work area to be done, and control the mobile platform device to move according to the planned path.

[0144] Based on the above embodiments of the invention, the cross-regional operation module controls the mobile platform equipment to move according to the planned path, including:

[0145] Determine whether the planned route passes through prohibited cleaning areas on the navigation map;

[0146] If not, control the mobile platform device to move according to the planned path; if yes, control the mobile platform device to move according to the moving path.

[0147] The device control apparatus provided in the embodiments of the present invention can execute the device control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method.

[0148] Example 7

[0149] Figure 8This is a schematic diagram of the structure of an electronic device implementing the device control method of the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0150] like Figure 8 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0151] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0152] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as device control methods.

[0153] In some embodiments, the device control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the device control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the device control method by any other suitable means (e.g., by means of firmware).

[0154] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0155] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0156] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0157] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0158] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0159] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0160] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0161] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A device control method, characterized in that, Applied to mobile platform devices, the method includes: In response to control commands, the current location of the mobile platform device is determined based on the navigation map; The movement path of the mobile platform device is determined based on the current location and a preset movement distance threshold. The mobile platform device is controlled to move according to the stated movement path.

2. The method according to claim 1, characterized in that, The step of responding to a control command and determining the current location of the mobile platform device based on a navigation map includes: Upon receiving the control command, the navigation map pre-created by the mobile platform device is obtained; The current location of the mobile platform device is determined according to the navigation map.

3. The method according to claim 1, characterized in that, Determining the movement path of the mobile platform device based on the current location and a preset movement distance threshold includes: Initialize the total movement distance and the current cumulative movement distance according to the preset movement distance threshold; Determine the neighboring locations adjacent to the current location within the navigation map, and obtain the movement cost for the mobile platform device to move to the neighboring location; Within each of the said neighboring locations, a target neighboring location with the minimum said movement cost is determined; the current cumulative movement distance is updated based on the location distance between the target neighboring location and the current location; and the target neighboring location is added to the movement path. Determine whether the current cumulative movement distance is greater than or equal to the total movement distance. If yes, output the movement path. If no, set the current position as the target's neighboring position and return to determine the neighboring positions adjacent to the current position in the navigation map until a preset stopping condition is met.

4. The method according to claim 3, characterized in that, The step of determining the neighboring locations adjacent to the current location within the navigation map and obtaining the movement cost for the mobile platform device to move to the neighboring location includes: The nearby location is determined in the navigation map according to preset movement restrictions and the current location; Obtain a pre-configured movement heuristic function, wherein the movement heuristic function includes at least a total movement distance heuristic and a current position heuristic; If the current position is the initial position corresponding to the control command, then the historical cost is set to 0; otherwise, the historical cost corresponding to the current position is obtained. The weighted sum of the mobility heuristic function and the historical cost is determined as the mobility cost function; The location information of each of the neighboring locations is substituted into the movement cost function to determine the movement cost of each of the neighboring locations.

5. The method according to claim 4, characterized in that, The preset movement restriction conditions include at least one of the following: No back navigation allowed; No collisions with obstacles are allowed; Preset areas are prohibited.

6. The method according to claim 3 or 4, characterized in that, The preset stop condition includes at least one of the following: The calculation time for the movement path exceeds the preset search time; Whether the current cumulative distance traveled is greater than or equal to the total distance traveled.

7. The method according to claim 1, characterized in that, The step of controlling the movement of the mobile platform device according to the movement path includes: Control the mobile platform device to move along the movement path and collect environmental information of the environment in which the mobile platform device is located; At preset intervals, the system determines whether the mobile platform device meets the straight-ahead condition based on the environmental information. If it does, the mobile path is replaced with a straight-ahead path; otherwise, the system continues to control the mobile platform device to move according to the mobile path.

8. The method according to claim 7, characterized in that, The straight-line condition includes at least the following: there are no obstacles in front of the mobile platform device at the current moment, and the ambient space in front of the mobile platform device is greater than or equal to the space occupied by the mobile platform device.

9. The method according to claim 1, characterized in that, Also includes: The mobile platform device is determined to have a work area, and a planned path is generated based on the current location and the work area. Control the mobile platform device to move according to the planned path.

10. The method according to claim 9, characterized in that, Controlling the mobile platform device to move according to the planned path includes: Determine whether the planned route passes through a prohibited cleaning area within the navigation map; If not, then control the mobile platform device to move according to the planned path; if yes, then control the mobile platform device to move according to the moving path.

11. A device control apparatus, characterized in that, Applied to mobile platform devices, the device includes: A location determination module is used to determine the current location of the mobile platform device based on a navigation map in response to control commands; The path planning module is used to determine the movement path of the mobile platform device based on the current location and a preset movement distance threshold. A mobility control module is used to control the movement of the mobile platform device according to the mobility path.

12. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the device control method according to any one of claims 1-10.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the device control method according to any one of claims 1-10.

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