Ground material recognition method and apparatus, storage medium and electronic device

Abstract

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

Description

(19) State Intellectual Property Office (12) Invention Patent Application (10) Application Publication Number (43) Application Publication Date (21) Application Number 202511529525.9 (22) Application Date 2022.04.25 (62) Divisional Application Data 202210441624.1 2022.04.25 (71) Applicant: Chase Innovation Technology (Suzhou) Co., Ltd. Address: Units 1, 2, and 3, Building 8, No. 1688, Songwei Road, Guoxiang Street, Wuzhong Economic Development Zone, Suzhou City, Jiangsu Province, 215000 (72) Inventors: Sun Jiajia, Wang Ruilin, Guan Ao (74) Patent Agency: Beijing Runping Intellectual Property Agency Co., Ltd. 11283 Patent Attorney Consultant (51) Int.Cl. G06V 10 / 25 (2022.01) G06V 20 / 80 (2022.01) (54) Invention Title: Method and Apparatus for Identifying Ground Material, Storage Medium, and Electronic Device (57) Abstract: This invention provides a method and apparatus for identifying ground material, a storage medium, and an electronic device. The method includes: acquiring attitude information of a target device during its movement in a test area; determining the reliability of the target device's identification of ground material in the test area based on a vertical distance and a preset distance range; determining the identification result of the ground material in the test area based on the reliability; and, when the reliability is the third reliability, instructing the target device to stop working, issuing a prompt message, and exiting the current area, wherein the prompt message is used to indicate that the movement of the target device is abnormal. Through this invention, when the reliability of the target device's identification is low, the identification of the current area is stopped and a prompt is issued, avoiding the problem of false detection in ground material identification. Claims (3 pages), Description (10 pages), Drawings (2 pages), CN 121564310 A, 2026.02.24, CN 1 21 56 43 10 A. 1. A method for identifying ground material, characterized in that it includes: acquiring attitude information of a target device during movement in a test area; determining the credibility of the target device identifying the ground material in the test area based on the attitude information; determining the identification result of the ground material in the test area based on the credibility; wherein, when the attitude information includes distance information, acquiring the attitude information of the target device during movement in the test area includes: acquiring the vertical distance from the target device to the surface of the test area; determining the credibility of the target device identifying the ground material in the test area based on the attitude information includes: determining the credibility of the target device identifying the ground material in the test area based on the vertical distance and a preset distance interval; determining the credibility of the target device identifying the ground material in the test area based on the vertical distance and the preset distance interval.The credibility of the method includes: when the vertical distance is not less than a second preset threshold, determining the credibility as a third credibility; determining the identification result of the ground material in the area to be tested based on the credibility includes: when the credibility is the third credibility, instructing the target device to stop working and issuing a prompt message, wherein the prompt message is used to indicate that the movement of the target device is abnormal; the method further includes: when the credibility is the third credibility, exiting the currently located area. 2. The method according to claim 1, wherein the method further includes: when the credibility is the third credibility, after the target device stops working, determining the change range of the distance between the target device and the ground detected in a subsequent preset time period, different change ranges correspond to different identification result calculation methods. 3. The method according to claim 1, wherein obtaining the vertical distance from the target device to the surface of the area to be tested includes: determining the center point of the target device; calculating the vertical distance from the target device to the surface of the area to be tested based on the center point. 4. The method according to claim 1, wherein obtaining the vertical distance from the target device to the surface of the area to be measured comprises: determining a plurality of measurement points in the target device; calculating the vertical distance from each measurement point to the surface of the area to be measured, thereby obtaining a plurality of vertical distances; and determining the average value of the plurality of vertical distances as the vertical distance from the target device to the surface of the area to be measured. 5. The method according to claim 1, wherein determining the reliability of the target device in identifying the ground material in the area to be measured based on the vertical distance and a preset distance interval further comprises: determining the reliability as a first reliability when the vertical distance is not greater than a first preset threshold; determining the reliability as a second reliability when the vertical distance is greater than the first preset threshold and less than a second preset threshold; wherein the first reliability is greater than the second reliability, and the second reliability is greater than the third reliability. 6. The method according to claim 5, wherein determining the identification result of the ground material in the area to be tested based on the confidence level further includes: when the confidence level is the first confidence level, determining the identification result as the first target identification result of the ground material; and when the confidence level is the second confidence level, obtaining the second target identification result of the ground material according to a preset strategy. 7. The method according to claim 6, wherein obtaining the second target identification result of the ground material according to a preset strategy when the confidence level is the second confidence level includes: determining the distance information of the target device within a preset time period;When the distance information continuously satisfies the second confidence level, N recognition results are determined within the preset time period, where N is a natural number greater than 1; the second target recognition result is determined from the N recognition results. 8. The method according to claim 7, wherein determining the second target recognition result from the N recognition results includes one of the following: determining M result sets according to different result types in the N recognition results, wherein recognition result sets with the same result type are in the same result set, a recognition result is an element in the result set, and M is a natural number greater than or equal to 1; determining the result type corresponding to the result set with the largest number of elements in the M result sets as the second target recognition result. 9. The method according to claim 8, wherein after determining M result sets according to different result types in the N recognition results, the method further includes: when the number of elements in each result set is less than a preset number, instructing the target device to stop working and issuing the prompt information. 10. The method according to claim 3, characterized in that, determining the confidence level of the target device in identifying the ground material in the area to be tested based on the attitude information includes: determining the tilt angle between the target device and the surface of the area to be tested; determining the confidence level as a second confidence level when the vertical distance is greater than a first preset threshold and less than a second preset threshold, and the tilt angle is less than a third preset threshold; determining the confidence level as a third confidence level when the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the tilt angle is not less than the third preset threshold; wherein, the second confidence level is greater than the third confidence level. 11. A ground material identification device, characterized in that it comprises: a first acquisition module, configured to acquire attitude information of a target device moving in a test area; a first determination module, configured to determine the credibility of the target device identifying the ground material in the test area based on the attitude information; a second determination module, configured to determine the identification result of the ground material in the test area based on the credibility, wherein, when the attitude information includes distance information, acquiring the attitude information of the target device moving in the test area comprises: acquiring the vertical distance from the target device to the surface of the test area; determining the credibility of the target device identifying the ground material in the test area based on the attitude information comprises: determining the credibility of the target device identifying the ground material in the test area based on the vertical distance and a preset distance interval; (Claims 2 / 3, page 3, CN 121564310 A)The credibility includes: when the vertical distance is not less than a second preset threshold, determining the credibility as a third credibility; the step of determining the identification result of the ground material in the test area based on the credibility includes: when the credibility is the third credibility, instructing the target device to stop working and issuing a prompt message, wherein the prompt message is used to indicate that the movement of the target device is abnormal; the second determining module is also used to exit the currently located area when the credibility is the third credibility. 12. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, wherein the computer program is configured to execute the method described in any one of claims 1 to 10 when running. 13. An electronic device, comprising a memory and a processor, characterized in that the memory stores a computer program, and the processor is configured to run the computer program to execute the method described in any one of claims 1 to 10. Claims 3 / 3 Page 4 CN 121564310 A Method and apparatus for identifying floor material, storage medium, electronic device

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

[0002] The embodiments of the present invention relate to the field of robot technology, specifically, to a method and apparatus for identifying floor material, storage medium, and electronic device. Background Art

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

[0004] However, when the posture of the target device is abnormal or the material is uneven, the identification of the floor material is prone to false detection.

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

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

[0007] According to another embodiment of the present invention, a ground material identification apparatus is provided, comprising: a first acquisition module for acquiring posture information of a target device during movement in a test area; a first determination module for determining the recognition result of the target device in identifying ground materials in the test area based on the posture information.The attitude information determines the credibility of the target device in identifying the ground material in the area to be tested; the second determination module is used to determine the identification result of the ground material in the area to be tested based on the credibility.

[0008] In an exemplary embodiment, the first acquisition module includes: a first acquisition unit, used to acquire the vertical distance from the target device to the surface of the area to be tested when the attitude information includes distance information.

[0009] In an exemplary embodiment, the first acquisition unit includes: a first determination subunit, used to determine the center point of the target device; a first calculation subunit, used to calculate the vertical distance from the target device to the surface of the area to be tested based on the center point.

[0010] In an exemplary embodiment, the first acquisition unit includes: a second determination subunit, used to determine a plurality of measurement points in the target device; a second calculation subunit, used to calculate the vertical distance from each measurement point to the surface of the area to be tested, obtaining a plurality of vertical distances; a third determination subunit, used to determine the average value of the plurality of vertical distances as the vertical distance from the target device to the surface of the area to be tested.

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

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

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

[0014] In an exemplary embodiment, the second acquiring unit includes: a seventh determining subunit, configured to determine the ground material as the first target identification result of the ground material when the confidence level is the first confidence level; a second acquiring unit, configured to determine the ground material as the first target identification result of the ground material when the confidence level is the second confidence level; and a first indicating unit, configured to instruct the target device to stop working and issue a prompt message when the confidence level is the third confidence level, wherein the prompt message is used to indicate that the movement of the target device is abnormal.The distance information of the target device within a preset time period; the eighth determining subunit, used to determine N identification results within the preset time period when the distance information continuously meets the second confidence level, wherein N is a natural number greater than 1; the ninth determining subunit, used to determine the second target identification result from the N identification results.

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

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

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

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

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

[0020] Through this invention, the credibility of the target device's identification of the ground material in the test area is determined by acquiring the attitude information of the target device during its movement in the test area; and the identification result of the ground material in the test area is determined based on the credibility. This allows the credibility of the identification result to be further verified through attitude information after the target device identifies the ground material, thus further verifying the accuracy of the ground material identification. Therefore, it can solve the problem of ground material identification in related technologies. (Page 2 / 10 of the specification)6 CN 121564310 A This invention addresses the problem of inaccurate identification, thereby improving the accuracy of ground material identification. Brief Description of the Drawings

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

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

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

[0024] The method embodiments provided in this application can be executed in a mobile terminal, computer terminal, or similar computing device. Taking a mobile terminal as an example, Figure 1 is a hardware structure block diagram of a mobile terminal for a ground material identification method according to an embodiment of the present invention. As shown in Figure 1, a mobile terminal may include one or more (only one is shown in Figure 1) processors 102 (processors 102 may include, but are not limited to, processing devices such as microprocessors (MCUs) or programmable logic devices (FPGAs)) and a memory 104 for storing data. The mobile terminal may also include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that the structure shown in Figure 1 is merely illustrative and does not limit the structure of the mobile terminal. For example, a mobile terminal may include more or fewer components than shown in Figure 1, or have a different configuration than shown in Figure 1.

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

[0026] Transmission device 106 is used to receive or transmit data via a network. Specific examples of such networks may include wireless networks provided by the mobile terminal's communication provider. In one instance, transmission device 106 includes a network adapter (Network Interface Card).A Controller (NIC) can connect to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 can be a Radio Frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0027] This embodiment provides a method for identifying ground materials. Figure 2 is a flowchart of the method for identifying ground materials according to an embodiment of the present invention. As shown in Figure 2, the process includes the following steps: Step S202, obtaining the attitude information of the target device during its movement in the test area; In this embodiment, the target device includes, but is not limited to, home appliances, such as a robot vacuum cleaner, a vacuum cleaner, etc. The test area includes, but is not limited to, an area with the target material, such as a floor covered with tiles or wood flooring.

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

[0029] Step S204: Determine the credibility of the target device in identifying the ground material in the test area based on the posture information; In this embodiment, the distance between the target device and the ground is calculated according to different posture information of the target device. For example, if the robot vacuum cleaner is in a parallel state to the ground during the movement, the distance between the chassis of the target device and the ground can be detected, and the credibility of the ground material identification can be detected according to the distance.

[0030] Step S206: Determine the identification result of the ground material in the test area according to the credibility.

[0031] In this embodiment, the identification result includes the material information of the ground, for example, detecting that the flooring is made of wood or stone.

[0032] The execution subject of the above steps can be a terminal, a server, a specific processor set in the terminal or server, or a processor or processing device set relatively independently of the terminal or server, but is not limited thereto.

[0033] Through the above steps, by obtaining the attitude information of the target device during its movement in the test area, the credibility of the target device's identification of the ground material in the test area is determined; and the identification result of the ground material in the test area is determined according to the credibility. Based on the attitude information of the target device in the target area, the distance between the target device and the target area is detected, the target distance is determined, and the identification result of the target device for the target material is verified according to the target distance. This allows the target device to identify the material of the target material.After identifying the ground material of the target material, the credibility of the identification result is further verified by the target distance of the posture information, thereby improving the accuracy of the ground material identification of the target material. Therefore, the problem of inaccurate identification of the ground material of the material in related technologies can be solved, and the effect of improving the accuracy of identifying the ground material can be achieved.

[0034] In an exemplary embodiment, when the posture information includes distance information, the posture information of the target device during the movement of the target device in the test area is obtained, including: S21, obtaining the vertical distance from the target device to the surface of the test area.

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

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

[0037] In this embodiment, the vertical distance from the target device to the surface of the test area can be obtained by a sensor. The sensor can be set on the chassis of the target device or at other locations on the target device. The sensor can be an ultrasonic sensor or an infrared sensor. For example, taking a robot vacuum cleaner as an example, the sensor is set on the chassis of the robot vacuum cleaner to detect the distance between the chassis and the ground during the robot vacuum cleaner's movement. It should be noted that the robot vacuum cleaner can identify the ground material during movement or when stationary. The ground material can be identified directly by a sensor (e.g., an ultrasonic sensor or an infrared sensor); or it can be identified by other means, such as uploading the characteristics of the target material to a processor and having the processor identify the ground material.

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

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

[0040] In this embodiment, the vertical distance from the center point of the target device to the ground is the vertical distance. For example, the vertical distance between the center point of the chassis of the sweeping robot and the ground is measured by a sensor on page 4 / 10 of the instruction manual (CN 121564310 A).

[0041] In an exemplary embodiment, obtaining the vertical distance from the target device to the surface of the area to be measured includes: S41, determining multiple measurement points in the target device; S42, calculating the vertical distance from each measurement point to the surface of the area to be measured, thereby obtaining multiple vertical distances;S43, the average value of multiple vertical distances is determined as the vertical distance from the target device to the surface of the area to be measured.

[0042] In this embodiment, the vertical distance from multiple measurement points in the target device to the ground is the vertical distance. The multiple measurement points can be different positions on the chassis of the target device, such as multiple positions evenly distributed on the chassis of the target device. For example, by measuring the vertical distance between multiple measurement points on the chassis of the sweeping robot and the floor through sensors, multiple vertical distances (e.g., 2.5cm, 3.5cm, 3cm) are obtained, and the average value of the multiple vertical distances is determined as the vertical distance (e.g., 3cm).

[0043] In an exemplary embodiment, determining the credibility of the target device in identifying the ground material in the area to be measured based on the posture information includes: S51, determining the credibility of the target device in identifying the ground material in the area to be measured based on the vertical distance and a preset distance range.

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

[0045] In an exemplary embodiment, determining the credibility of the target device in identifying the ground material in the test area based on the vertical distance and a preset distance range includes: S61, when the vertical distance is not greater than a first preset threshold, determining the credibility as a first credibility; S62, when the vertical distance is greater than the first preset threshold and less than a second preset threshold, determining the credibility as a second credibility; S63, when the vertical distance is not less than the second preset threshold, determining the credibility as a third credibility; wherein, the first credibility is greater than the second credibility, and the second credibility is greater than the third credibility.

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

[0047] In this embodiment, the smaller the vertical distance, the greater the credibility of the ground material, and vice versa. For example, if the ground material is identified as wood and the vertical distance is 1cm, then the probability that the ground material is wood is greater than 90%; if the ground material is identified as wood and the vertical distance is 5cm, then the probability that the ground material is wood is greater than 90%.The probability that the material is wood is less than 50%, and further determination of the ground material is required. If the ground material is identified as wood and the vertical distance is 9cm, it indicates that the probability of the ground material being wood is extremely small. In this case, the target device may be tilted and needs to exit the current area to terminate the identification of the ground material.

[0048] It should be noted that the determination range of the first confidence level, the second confidence level and the third confidence level can be designed according to the actual situation. For example, different preset distance intervals can be set according to different target device models. Of course, in some other embodiments, only two preset distance intervals can be set, and correspondingly, only two confidence levels can be determined. Furthermore, multiple confidence levels can be determined by multiple area distance intervals. The number of confidence levels is not limited in the embodiments of this specification.

[0049] In an exemplary embodiment, determining the identification result of the ground material in the test area based on the confidence level includes: S71, when the confidence level is a first confidence level, determining the identification result as a first target identification result of the ground material; S72, when the confidence level is a second confidence level, obtaining a second target identification result of the ground material according to a preset strategy; S73, when the confidence level is a third confidence level, instructing the target device to stop working and issuing a prompt message, wherein the prompt message is used to indicate that the movement of the target device is abnormal.

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

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

[0052] In this embodiment, the distance information includes the vertical distance between the target device and the ground. When the distance information continuously meets the second confidence level, the target device may be in a tilted state. For example, a robot vacuum cleaner is in a tilted state when crossing a threshold, and the identified ground material is not accurate at this time.

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

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

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

[0056] In an exemplary embodiment, the confidence level of the target device in identifying the ground material in the test area is determined based on posture information, including: S91, determining the tilt angle between the target device and the surface of the test area; S92, when the vertical distance is greater than a first preset threshold and less than a second preset threshold, and the tilt angle is less than a third preset threshold, the confidence level is determined as the second confidence level; S93, when the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the tilt angle is not less than the third preset threshold, the confidence level is determined as the third confidence level; wherein, the second confidence level is greater than the third confidence level.

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

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

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

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

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

[0062] FIG3 is a structural block diagram of a ground material identification device according to an embodiment of the present invention. As shown in FIG3, the device includes: a first acquisition module 32, used to acquire attitude information of a target device during movement in a test area; a first determination module 34, used to determine the credibility of the target device in identifying the ground material in the test area based on the attitude information; and a second determination module 36, used to determine the identification result of the ground material in the test area based on the credibility.

[0063] In an exemplary embodiment, the first acquisition module includes: a first acquisition unit, used to acquire the vertical distance from the target device to the surface of the test area when the attitude information includes distance information.

[0064] In an exemplary embodiment, the first acquisition unit includes: a first determination subunit, used to determine the center point of the target device; and a first calculation subunit, used to calculate the vertical distance from the target device to the surface of the test area based on the center point.

[0065] In an exemplary embodiment, the first acquisition unit includes: a second determining subunit, configured to determine a plurality of measurement points in the target device; a second calculation subunit, configured to calculate the vertical distance from each measurement point to the surface of the area to be measured, thereby obtaining a plurality of vertical distances; and a third determining subunit, configured to determine the average value of the plurality of vertical distances as the vertical distance from the target device to the surface of the area to be measured.

[0066] In an exemplary embodiment, the first determining module includes: a first determining unit, configured to determine the reliability of the target device in identifying the ground material in the area to be measured based on the vertical distance and a preset distance interval.

[0067] In an exemplary embodiment, the first determining unit includes: a fourth determining subunit, configured to determine the confidence level as a first confidence level when the vertical distance is not greater than a first preset threshold; a fifth determining subunit, configured to determine the confidence level as a second confidence level when the vertical distance is greater than the first preset threshold and less than a second preset threshold; and a sixth determining subunit, configured to determine the confidence level as a third confidence level when the vertical distance is not less than the second preset threshold; wherein the first confidence level is greater than the second confidence level, and the second confidence level is greater than the third confidence level.

[0068] In an exemplary embodiment, the second determining module includes: a second determining unit, configured to determine the identification result as the first target identification result of the ground material when the confidence level is the first confidence level; a second acquiring unit, configured to acquire the second target identification result of the ground material according to a preset strategy when the confidence level is the second confidence level; and a first indicating unit, configured to instruct the target device to stop working and issue a prompt message when the confidence level is the third confidence level, wherein the prompt message is used to indicate that the movement of the target device is abnormal.

[0069] In an exemplary embodiment, the second acquiring unit includes: a seventh determining subunit, configured to determine the distance information of the target device within a preset time period; an eighth determining subunit, configured to determine N identification results within the preset time period when the distance information continuously satisfies the second confidence level, wherein N is a natural number greater than 1; and a ninth determining subunit, configured to determine the second target identification result from the N identification results.

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

[0071] In an exemplary embodiment, the above device further includes: a first indication module, configured to, after determining M result sets according to different result types among the above N identification results, instruct the target device to stop working and issue the above prompt information when the number of elements in each result set is less than a preset number.

[0072] In an exemplary embodiment, the above first determination module includes: a third determination unit, configured to determine the tilt angle between the target device and the surface of the area to be measured; a fourth determination unit, configured to determine the confidence level as a second confidence level when the vertical distance is greater than a first preset threshold and less than a second preset threshold, and the tilt angle is less than a third preset threshold; a fifth determination unit, configured to determine the confidence level as a third confidence level when the vertical distance is greater than the first preset threshold and less than the second preset threshold, and the tilt angle is not less than the third preset threshold; wherein the second confidence level is greater than the third confidence level.

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

[0074] An embodiment of the present invention also provides a computer-readable storage medium storing a computer program, wherein the computer program is configured to execute the steps in any of the above method embodiments when running.

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

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

[0077] An embodiment of the present invention also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the steps in any of the above method embodiments.

[0078] In one exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

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

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

[0081] Obviously, those skilled in the art should understand 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 on a network of multiple computing devices. They can be implemented using program code executable by a computing device, and thus, they can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be executed in a different order than that shown here, or they can be made into separate integrated circuit modules, or multiple modules or steps can be made into a single integrated circuit module. Thus, the present invention is not limited to any specific hardware and software combination.

[0082] The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the principles of the present invention should be included within the protection scope of the present invention. Instruction Manual 10 / 10 Page 14 CN 121564310 A Figure 1 Figure 2 Instruction Drawing 1 / 2 Page 15 CN 121564310 A Figure 3 Instruction Drawing 2 / 2 Page 16 CN 121564310 A GROUND MATERIAL RECOGNITION METHOD AND APPARATUS, STORAGE MEDIUM AND ELECTRONIC DEVICE Abstract Embodiments of the The invention provides a ground material recognition method and apparatus, a storage medium, and an electronic device. The method includes: acquiring posture information of a target device during movement in a to-be-tested area; determining a credibility for the target device to recognize the ground material in the to-be-tested area according toto a vertical distance and a preset distance interval; and determining a recognition result of the ground material in the to-be-tested area based on the credibility. When the credibility is a third-level credibility, the target device is instructed to stop working, send prompt information and exit the current area, where the prompt information is used to prompt that an abnormality occurs in the movement of the target device. With the present invention, when the recognition credibility of the target device is low, the recognition of the current area is stopped and a prompt is issued, thereby avoiding false detection in ground material recognition.

Claims

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

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

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

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

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

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

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

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

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

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

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

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

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

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