Intelligent locomotion device control method based on charging pile and related device

Abstract

An intelligent locomotion device control method based on a charging pile and a related device. The method is applied to an intelligent locomotion device, and comprises: receiving a return instruction, wherein the return instruction is used for controlling the intelligent locomotion device to navigate to a target charging pile; in response to the return instruction, acquiring a target position image of the target charging pile in the process of the intelligent locomotion device navigating to the target charging pile; performing feature comparison on the target position image and a pre-stored historical position image of the target charging pile to obtain a comparison result; on the basis of the comparison result, detecting whether the target charging pile is moved; and when it is detected that the target charging pile is moved, prompting a user to update the position of the target charging pile on a map to obtain a first position. Thus, accurate and efficient return to a charging pile is ensured indoors or in places with poor RTK signals by detecting whether the charging pile is moved.

Description

Intelligent walking device control method based on charging pile and related equipment

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on November 3, 2023, with application number 202311465455.6, and invention name “Intelligent walking device control method and related equipment based on charging pile”, all contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of communication technology or image processing technology, and specifically to a method for controlling an intelligent walking device based on a charging pile and related equipment. Background Art

[0003] At present, intelligent walking devices (such as lawn mowers) use real-time kinematic (RTK) positioning to continue autonomous navigation. Charging piles are usually set up in locations with good RTK signals on the lawn to facilitate charging of intelligent walking devices.

[0004] In practical applications, charging piles cannot be set up indoors or in places with good RTK signals, such as garages, because high-accuracy charging cannot be guaranteed in these places. Therefore, the problem of how to ensure accurate and efficient charging indoors or in places with poor RTK signals needs to be solved urgently.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a control method and related equipment for an intelligent walking device based on a charging pile, which can detect movement problems of the charging pile indoors or in places with poor RTK signals to ensure accurate and efficient return to the pile.

[0007] In a first aspect, an embodiment of the present application provides a method for controlling an intelligent walking device based on a charging pile, which is applied to an intelligent walking device, and the method includes:

[0008] receiving a return instruction, wherein the return instruction is used to control the intelligent walking device to navigate to a target charging pile;

[0009] In response to the regression instruction, during the process of the intelligent walking device navigating to the target charging pile, collecting a target position image of the target charging pile;

[0010] Performing feature comparison on the target location image and the pre-stored historical location image of the target charging pile to obtain a comparison result;

[0011] Detecting whether the target charging pile has been moved according to the comparison result;

[0012] When it is detected that the target charging pile is moved, the user is prompted to update the position of the target charging pile on the map to obtain a first position.

[0013] In a second aspect, an embodiment of the present application provides a control device for an intelligent walking device based on a charging pile, which is applied to an intelligent walking device. The device includes: a receiving unit, a collection unit, a comparison unit, a detection unit, and an update unit, wherein:

[0014] The receiving unit is configured to receive a return instruction, wherein the return instruction is configured to control the intelligent walking device to navigate to a target charging pile;

[0015] The acquisition unit is configured to respond to the regression instruction and acquire a target position image of the target charging pile during the process of the intelligent walking device navigating to the target charging pile;

[0016] The comparison unit is configured to perform feature comparison between the target location image and a pre-stored historical location image of the target charging pile to obtain a comparison result;

[0017] The detection unit is configured to detect whether the target charging pile has been moved according to the comparison result;

[0018] The updating unit is configured to update the position of the target charging pile on the map to obtain a first position when detecting that the target charging pile has been moved.

[0019] In a third aspect, an embodiment of the present application provides an intelligent walking device, comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in the first aspect of the embodiment of the present application.

[0020] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the above-mentioned computer-readable storage medium stores a computer program for electronic data exchange, wherein the above-mentioned computer program enables a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application.

[0021] In a fifth aspect, embodiments of the present application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a computer to perform some or all of the steps described in the first aspect of the embodiments of the present application. The computer program product may be a software installation package.

[0022] The implementation of the embodiments of this application has the following beneficial effects:

[0023] The control method and related equipment of the intelligent walking device based on the charging pile described in the present application are applied to the intelligent walking device, receive a regression instruction, and the regression instruction is used to control the intelligent walking device to navigate to the target charging pile. In the process of the intelligent walking device navigating to the target charging pile, the target position image of the target charging pile is collected, and the target position image is compared with the pre-stored historical position image of the target charging pile to obtain a comparison result. According to the comparison result, it is detected whether the target charging pile has been moved. When it is detected that the target charging pile has been moved, the position of the target charging pile is updated on the map to obtain the first position. In this way, the intelligent walking device can be efficiently recharged in an environment with weak RTK signals and whether the position of the charging pile has changed can be identified, thereby improving the efficiency of the next recharging. In the process of this return to the pile, if the charging pile is moved, the position of the charging pile is updated in time, and accurate return to the pile is also guaranteed. Furthermore, by detecting the movement problem of the charging pile indoors or in places with poor RTK signals, accurate and efficient return to the pile can be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] FIG1 is a flow chart of a method for controlling an intelligent walking device based on a charging pile provided in an embodiment of the present application;

[0026] FIG2 is a flow chart of another method for controlling an intelligent walking device based on a charging pile provided in an embodiment of the present application;

[0027] FIG3 is a schematic structural diagram of an intelligent walking device provided in an embodiment of the present application;

[0028] FIG4 is a block diagram showing the composition of functional units of a charging pile-based intelligent walking device control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0031] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0032] The electronic devices described in the embodiments of the present application may include smart phones (such as Android phones, iOS phones, Windows Phone phones, etc.), tablet computers, PDAs, driving recorders, servers, laptops, mobile Internet devices (MIDs) or wearable devices (such as smart watches, Bluetooth headsets), etc. The above are only examples and not exhaustive, including but not limited to the above electronic devices. The electronic device may also be a server, and the server may be an outsourced server, a cloud server, an edge server, an intelligent robot, etc., which are not limited here. The intelligent robot may include any robot. For example, the intelligent robot may include a lawn mower, and the lawn mower may also be called a lawn mowing robot.

[0033] In the embodiment of the present application, the intelligent walking device can be understood as a device with walking function. The intelligent walking device may include at least one of the following: a lawn mower robot, a smart car, a sweeping robot, an intelligent service robot, an intelligent toy tank, an intelligent crawler, an intelligent robot dog, etc., which are not limited here.

[0034] The following is a detailed introduction to the embodiments of the present application.

[0035] Please refer to FIG1 , which is a flow chart of a method for controlling an intelligent walking device based on a charging pile provided in an embodiment of the present application. The method is applied to an intelligent walking device. As shown in the figure, the method for controlling an intelligent walking device based on a charging pile includes:

[0036] 101. Receive a return instruction, where the return instruction is used to control the intelligent walking device to navigate to a target charging pile.

[0037] In the embodiment of the present application, the electronic device can send a return instruction to the intelligent walking device, and the return instruction is used to control the intelligent walking device to navigate to the target charging pile. When the intelligent walking device completes the return to the pile, it can be charged through the target charging pile.

[0038] The target charging pile may be pre-set or set by the system by default, that is, the target charging pile may be pre-specified.

[0039] In the specific implementation, based on the previous experience of returning to the charging pile, the location of the target charging pile can be pre-marked on the map. Then, based on the current location of the smart walking device and the location of the previously marked target charging pile, a corresponding navigation route can be generated, and the smart walking device can be controlled to move along the navigation route.

[0040] 102. In response to the return instruction, while the intelligent walking device is navigating to the target charging pile, a target position image of the target charging pile is collected.

[0041] In an embodiment of the present application, in response to a regression instruction, a target position image of the target charging pile can be collected by a visual device during the process of the intelligent walking device navigating to the target charging pile. Then, based on the target position image, it can be detected whether the target charging pile has been moved, so that the navigation route can be planned in time to ensure the accuracy and efficiency of returning to the pile.

[0042] In the embodiment of the present application, the visual device may include at least one of the following: a camera, a radar, an ultrasonic sensor, etc., which is not limited here.

[0043] 103. Perform feature comparison between the target location image and pre-stored historical location images of the target charging pile to obtain a comparison result.

[0044] In the embodiment of the present application, the historical location image can be pre-stored in the intelligent walking device, and the historical location image can be one or more images. The target location image can be understood as a captured image, or it can also be understood as feature information after the captured image is processed. The feature information can include at least one of the following: feature values, feature vectors, feature points, feature patterns, etc., which are not limited here.

[0045] The features of the target location image may include at least one of the following: feature points, feature patterns, feature values, feature vectors, etc., without limitation. The features of the historical location image may also include at least one of the following: feature points, feature patterns, feature values, feature vectors, etc., without limitation.

[0046] In a specific implementation, the target position image can be feature-matched with the pre-stored historical position image of the target charging pile to obtain a comparison result. The comparison result can be a comparison value, for example, a comparison value obtained by comparing the feature points corresponding to the target position image with the feature points corresponding to the historical position image.

[0047] In an embodiment of the present application, when comparing feature points with internally stored historical image information, the captured image (i.e., the target position image) can be processed to extract feature points in the image, and then the currently extracted feature points can be compared with the feature points of the historical image information to determine whether a position offset has occurred, and then deduce whether the position of the charging pile has changed.

[0048] Furthermore, there may be multiple groups of feature point data for historical image information. For example, multiple groups of data values ​​can be recorded so that when the environment changes suddenly in a single acquisition and the amount of comparison data is insufficient, the extracted feature points of the current acquired image can also be stored and used as feature points of historical image information.

[0049] In a specific implementation, the captured images can be processed to identify feature points of fixed reference objects, such as firefighting facilities, wall corners, and load-bearing columns. These can be classified using deep learning. Fixed reference objects are located around the charging piles.

[0050] In an embodiment of the present application, the feature points of multiple reference objects can be identified by processing the captured image, compared with the feature points of historical captured images, and the credibility of the reference objects corresponding to different feature points can be analyzed and prioritized. In an embodiment of the present application, the extracted feature points of the current captured image can also be stored and used as feature points of historical image information. For example, they can be stored before being compared with the feature points of historical image information.

[0051] In the embodiment of the present application, the feature points of the historical image information may be stored as data collected by the visual device within a period of time or within a fixed number of times the intelligent walking device is recharged.

[0052] 104. Detect whether the target charging pile has been moved according to the comparison result.

[0053] In the embodiment of the present application, whether the target charging pile has been moved can be detected based on the comparison result. For example, if the comparison result is within a preset range, it indicates that the target charging pile has been moved. Conversely, if the comparison result is not within the preset range, it indicates that the charging pile has not been moved. The preset range can be pre-set or system default.

[0054] 105. When it is detected that the target charging pile is moved, update the position of the target charging pile on the map to obtain a first position.

[0055] In an embodiment of the present application, when the target charging pile is detected to have been moved, the user may be prompted to update the location of the target charging pile on the map. The user may then re-mark the location of the target charging pile on the map to obtain the first location. Of course, when the target charging pile is detected to have been moved, indoor positioning may also be performed using the target charging pile to obtain the location of the target charging pile, and the location of the target charging pile may be updated on the map to obtain the first location.

[0056] To give an example, in an embodiment of the present application, the intelligent walking device receives a regression instruction, and based on the regression instruction, controls the intelligent walking device to navigate to the charging pile, collects a location image of the charging pile, compares the location image with the internal storage image of the intelligent walking device for feature points, and obtains a comparison result. The comparison result is used to determine whether the charging pile has been moved. If the charging pile has been moved, the user is prompted and the map position is updated on the map.

[0057] Optionally, the following steps may also be included:

[0058] A1. Detect whether a target signal from the target charging pile is received, where the target signal includes a broadcast signal or a charging signal;

[0059] A2. When the target signal is received, executing the step of acquiring the target position image of the target charging pile.

[0060] Among them, the broadcast signal may include at least one of the following: infrared signal, Bluetooth signal, ultraviolet signal, mobile communication signal (such as 2G, 3G, 4G, 5G, 6G, etc.), Ultra Wide Band (UWB) signal, Near Field Communication (NFC) signal, millimeter wave signal, Wireless Fidelity (WIFI) signal, etc., without limitation here.

[0061] In an embodiment of the present application, when the distance between the intelligent walking device and the target charging pile is less than a preset distance, a target signal from the target charging pile can be received. The target signal may include at least one of the following: infrared signal, charging signal, pressure spring induction signal, etc., which is not limited here.

[0062] In a specific implementation, it is possible to detect whether the target signal of the target charging pile is received. When the target signal is received, it means that the distance between the intelligent walking device and the target charging pile is close, or the target charging pile is near the intelligent walking device. Then the step of collecting the target position image of the target charging pile is executed. Therefore, the accuracy and efficiency of returning to the pile can be guaranteed.

[0063] For example, when the smart walking device receives an infrared signal or a charging signal from a charging pile, it means that the distance between the smart walking device and the target charging pile is close, or the target charging pile is near the smart walking device, and the charging pile location image is collected.

[0064] Further, optionally, when the target signal includes the broadcast signal, the above step 102 of acquiring the target position image of the target charging pile may include the following steps:

[0065] A21. Obtain a first current position of the intelligent walking device;

[0066] A22. Determine the relative position relationship between the first current position and the position of the target charging pile;

[0067] A23. Collect image information around the target charging pile according to the relative position relationship, and determine the target position image according to the image information.

[0068] In an embodiment of the present application, when the target signal includes a broadcast signal, it means that the intelligent walking device has entered the broadcast signal range of the target charging pile, and the first current position of the intelligent walking device can be obtained. The relative position relationship between the first current position and the position of the target charging pile can also be determined. The relative position relationship may include at least one of the following: distance relationship, angle relationship, etc., which are not limited here. Then, image information around the target charging pile can be collected based on the relative position relationship, and the target position image can be determined based on the image information. Specifically, corresponding shooting parameters can be determined based on different relative position relationships. Specifically, corresponding shooting parameters can be determined based on distance and angle, or corresponding shooting parameters can be determined based on distance, angle, light, etc. The shooting parameters may include at least one of the following: sensitivity, exposure time, shooting mode, focal length, etc., which are not limited here. The shooting mode may include at least one of the following: panoramic mode, portrait mode, night scene mode, video mode, etc., which are not limited here.

[0069] Furthermore, image information around the target charging pile is collected according to the shooting parameters, and the image information is used as the target position image. Since the broadcast signal is received, the intelligent walking device enters the broadcast signal range of the target charging pile, and the visual device can be controlled to shoot the target charging pile, or the angle between the visual device and the target charging pile can be controlled to be within a preset angle range for shooting. The preset angle range can be pre-set or system default, so that relevant image information of the target charging pile can be obtained, and the relevant image information can be used to identify whether the target charging pile has been moved.

[0070] To illustrate, taking infrared signals as an example, when the intelligent walking device receives the infrared signal of the charging pile and determines the relative position relationship between the current position of the intelligent walking device and the charging pile (for example, distance and angle), it can collect image information around the charging pile, for example, directly collect the background image of the charging pile, or, for example, rotate 90 degrees to collect the image, etc., which is conducive to finding more reliable reference features.

[0071] Further, optionally, when the target signal includes the charging signal, the above step 102 of acquiring the target position image of the target charging pile may include the following steps:

[0072] controlling a visual device to capture a first current image, and determining the target position image according to the first current image;

[0073] In an embodiment of the present application, when the target signal includes a charging signal, the visual device can be controlled to capture a first current image, and the target position image can be determined based on the first current image, which is conducive to accurately capturing images to accurately determine changes in the charging pile position. Alternatively, the intelligent walking device can be controlled to move to a specified position of the target charging pile, wherein the specified position can be pre-set or system default, for example, the specified position can be a certain position in the front area of ​​the target charging pile. The visual device is controlled to capture a second current image at the specified position, and the target position image is determined based on the second current image, thereby more accurately capturing images at the specified position to accurately determine changes in the charging pile position.

[0074] In actual applications, when the target signal includes a charging signal, it means that the distance between the intelligent walking device and the target charging pile is less than the preset distance, that is, the distance between the intelligent walking device and the target charging pile is closer at this time. For example, the intelligent walking device is close to or directly contacts the target charging pile. The preset distance can be preset or the system defaults. When the intelligent walking device is close to but not in contact with the target charging pile, the target charging pile can wirelessly charge the intelligent walking device. When the target charging pile contacts the target charging pile, the target charging pile can charge the intelligent walking device by wireless charging or wired charging. In a specific implementation, when the target signal includes a charging signal, since the distance between the intelligent walking device and the target charging pile is close, it is difficult to shoot the front of the target charging pile. Therefore, the camera angle of the visual device can also be adjusted to shoot with the back facing the target charging pile, so that more features of the background image near the target charging pile can be obtained.

[0075] For example, when the intelligent walking device receives a charging signal, the intelligent walking device controls the visual device to capture the current image, or, further, when the intelligent walking device receives a charging signal, the intelligent walking device moves to the front of the charging pile, controls the visual device to face away from the charging pile to capture the current image, and determines the target position image based on the current image.

[0076] Optionally, the following steps may also be included:

[0077] B1. When the intelligent walking device is detected in a strong RTK signal area, controlling the intelligent walking device to move along the navigation path;

[0078] B2. When it is detected that the intelligent walking device enters a weak RTK signal area, navigation is performed according to the RTK positioning information and / or the image information collected by the visual device.

[0079] In the embodiment of the present application, when the RTK signal strength value is greater than the preset signal strength value, the area can be understood as a strong RTK signal area. Conversely, when the RTK signal strength value is less than or equal to the preset signal strength value, the area can be understood as a weak RTK signal area. The preset signal strength value can be pre-set or system default.

[0080] In a specific implementation, when the intelligent walking device is in an area with a strong RTK signal, the intelligent walking device is controlled to move along the navigation path, which can ensure that the intelligent walking device navigates to the location of the target charging pile according to the established navigation route, helping to ensure the accuracy and efficiency of returning to the pile. When the intelligent walking device enters an area with a weak RTK signal, navigation is performed based on RTK positioning information and / or image information collected by the visual device. The visual device can be used to assist navigation, ensuring that the intelligent walking device navigates to the location of the target charging pile according to the established navigation route, helping to ensure the accuracy and efficiency of returning to the pile.

[0081] Furthermore, during the continued navigation process, if the visual device extracts the feature point of the charging pile position from the image captured by the visual device, the feature point can be the charging pile itself or the QR code attached to the charging pile, or it can be a feature object related to the charging pile and the fixed position, then the intelligent walking device can be controlled to update the continued navigation path, and the intelligent walking device will continue according to the path until it receives the charging pile infrared signal or charging signal.

[0082] For example, when in an area with good RTK signals, the intelligent walking device can move on the navigation path based on RTK positioning. When entering an area with weak RTK signals, it can conduct extended exploration based on the RTK positioning information and continue navigation by referring to the image information collected by the visual device. Alternatively, it can switch to the visual device to collect image information to continue navigation.

[0083] Optionally, after prompting the user to update the location of the target charging pile on the map and obtaining the first location, the following steps may be further included:

[0084] The credibility of the feature of the historical location image is reduced, or the image feature information of the historical location image is deleted.

[0085] The image feature information may include at least one of the following: the image itself, feature points of the image, feature values ​​of the image, feature textures of the image, feature vectors of the image, etc., which are not limited here.

[0086] In the embodiment of the present application, since the position of the target charging pile has changed, the credibility of the historical position image is reduced. Furthermore, taking the feature points as an example, the credibility of the feature points of the historical position image can be reduced, or the image feature information of the historical position image can be deleted, that is, the target position image can be saved and used as the new historical position image, thereby ensuring the accuracy and efficiency of returning to the pile.

[0087] To illustrate, in a specific implementation, if the charging pile is moved, the credibility of the feature points of the historical image information can be reduced, or the image feature information of the historical records can be directly deleted, thereby reducing memory overhead and improving the efficiency of detecting whether the charging pile has been moved.

[0088] Optionally, after updating the location of the target charging pile on the map to obtain the first location, the following steps may be further included:

[0089] C1. Obtaining a second current position of the intelligent walking device;

[0090] C2. generating a navigation route between the second current location and the first location;

[0091] C3. Control the intelligent walking device to navigate to the target charging pile according to the navigation route.

[0092] In an embodiment of the present application, the second current position of the intelligent walking device can be obtained, and a navigation route between the second current position and the first position can be generated. According to the navigation route, the intelligent walking device is controlled to navigate to the target charging pile. Then, after the target charging pile is moved, the navigation route is updated in time to ensure that the intelligent walking device returns to the pile smoothly, which helps to ensure that the return to the pile is accurate and efficient.

[0093] The control method of an intelligent walking device based on a charging pile described in the present application is applied to an intelligent walking device, receives a regression instruction, and the regression instruction is used to control the intelligent walking device to navigate to a target charging pile. In response to the regression instruction, during the process of the intelligent walking device navigating to the target charging pile, a target position image of the target charging pile is collected, and a feature comparison is performed between the target position image and a pre-stored historical position image of the target charging pile to obtain a comparison result. Based on the comparison result, whether the target charging pile has been moved is detected. When it is detected that the target charging pile has been moved, the position of the target charging pile is updated on the map to obtain a first position. Thus, efficient recharging of the intelligent walking device can be achieved in an environment with a weak RTK signal, and whether the position of the charging pile has changed can be identified, thereby improving the efficiency of the next recharging. Moreover, during this recharging process, if the charging pile is moved, the position of the charging pile is updated in time, thereby ensuring accurate recharging. Furthermore, accurate and efficient recharging can be ensured by detecting the movement of the charging pile indoors or in places with poor RTK signals.

[0094] Please refer to FIG2 , which is a flow chart of a method for controlling an intelligent walking device based on a charging pile provided in an embodiment of the present application. As shown in the figure, the method for controlling an intelligent walking device based on a charging pile includes:

[0095] 201. Receive a return instruction, where the return instruction is used to control the intelligent walking device to navigate to the target charging pile.

[0096] 202. In response to the regression instruction, while the intelligent walking device is navigating to the target charging pile, a target position image of the target charging pile is collected.

[0097] 203 : Perform feature comparison between the target location image and pre-stored historical location images of the target charging pile to obtain a comparison result.

[0098] 204. Detect whether the target charging pile is moved according to the comparison result.

[0099] 205. When it is detected that the target charging pile is moved, update the position of the target charging pile on the map to obtain a first position.

[0100] 206. Obtain a second current position of the intelligent walking device.

[0101] 207. Generate a navigation route between the second current location and the first location.

[0102] 208. Control the intelligent walking device to navigate to the target charging pile according to the navigation route.

[0103] The detailed description of the above steps 201 to 208 can refer to the corresponding steps of the method for controlling an intelligent walking device based on a charging pile described in FIG1 , and will not be repeated here.

[0104] The charging pile-based intelligent walking device control method described in this application is applied to the intelligent walking device. The method receives a regression instruction, which is used to control the intelligent walking device to navigate to a target charging pile. In response to the regression instruction, during the process of navigating to the target charging pile, the intelligent walking device collects a target position image of the target charging pile, performs a feature comparison on the target position image with a pre-stored historical position image of the target charging pile, and obtains a comparison result. Based on the comparison result, it is detected whether the target charging pile has been moved. When the target charging pile is detected to have been moved, the position of the target charging pile is updated on the map to obtain a first position. The second current position of the intelligent walking device is obtained, and a navigation route between the second current position and the first position is generated. Based on the navigation route, the intelligent walking device is controlled to navigate to the target charging pile. In this way, the intelligent walking device can achieve efficient charging in an environment with weak RTK signals and identify whether the charging pile position has changed, thereby improving the efficiency of the next charging. During the current charging pile return process, if the charging pile is moved, the charging pile position is updated in a timely manner. That is, the navigation route is updated in a timely manner after the charging pile position changes. Furthermore, by detecting charging pile movement problems indoors or in areas with poor RTK signals, accurate and efficient charging can be ensured.

[0105] Consistent with the above embodiment, please refer to Figure 3, which is a structural diagram of an intelligent walking device provided in an embodiment of the present application. As shown in the figure, the intelligent walking device includes a processor, a memory, a communication interface, and one or more programs. The one or more programs are stored in the memory and are configured to be executed by the processor. In the embodiment of the present application, the program includes instructions for performing the following steps:

[0106] receiving a return instruction, wherein the return instruction is used to control the intelligent walking device to navigate to the target charging pile;

[0107] In response to the regression instruction, during the process of the intelligent walking device navigating to the target charging pile, collecting a target position image of the target charging pile;

[0108] Performing feature comparison on the target location image and the pre-stored historical location image of the target charging pile to obtain a comparison result;

[0109] Detecting whether the target charging pile has been moved according to the comparison result;

[0110] When it is detected that the target charging pile is moved, the position of the target charging pile is updated on the map to obtain a first position.

[0111] Optionally, the program further includes instructions for executing the following steps:

[0112] Detecting whether a target signal of the target charging pile is received, the target signal including a broadcast signal or a charging signal;

[0113] When the target signal is received, the step of acquiring the target position image of the target charging pile is performed.

[0114] Further, optionally, when the target signal includes the broadcast signal, in terms of acquiring the target location image of the target charging pile, the program includes instructions for performing the following steps:

[0115] Obtaining a first current position of the intelligent walking device;

[0116] Determining a relative position relationship between the first current position and the position of the target charging pile;

[0117] Image information around the target charging pile is collected according to the relative position relationship, and the target position image is determined according to the image information.

[0118] Further, optionally, when the target signal includes the charging signal, in terms of acquiring the target position image of the target charging pile, the program includes instructions for executing the following steps:

[0119] The visual device is controlled to collect a first current image, and the target position image is determined according to the first current image.

[0120] Optionally, the program further includes instructions for executing the following steps:

[0121] When the intelligent walking device is detected to be in a strong RTK signal area, controlling the intelligent walking device to move on the navigation path;

[0122] When it is detected that the intelligent walking device enters a weak RTK signal area, navigation is performed based on RTK positioning information and / or image information collected by the visual device.

[0123] Optionally, after updating the location of the target charging pile on the map to obtain the first location, the program further includes instructions for executing the following steps:

[0124] The credibility of the feature of the historical location image is reduced, or the image feature information of the historical location image is deleted.

[0125] Optionally, after updating the location of the target charging pile on the map to obtain the first location, the program further includes instructions for executing the following steps:

[0126] Obtaining a second current position of the intelligent walking device;

[0127] generating a navigation route between the second current location and the first location;

[0128] According to the navigation route, the intelligent walking device is controlled to navigate to the target charging pile.

[0129] The intelligent walking device described in the present application receives a regression instruction, which is used to control the intelligent walking device to navigate to the target charging pile and respond to the regression instruction. During the process of the intelligent walking device navigating to the target charging pile, the target position image of the target charging pile is collected, and the target position image is compared with the pre-stored historical position image of the target charging pile to obtain a comparison result. According to the comparison result, it is detected whether the target charging pile has been moved. When it is detected that the target charging pile has been moved, the position of the target charging pile is updated on the map to obtain the first position. Thus, the intelligent walking device can be efficiently recharged in an environment with weak RTK signals and whether the position of the charging pile has changed can be identified, thereby improving the efficiency of the next recharging. In addition, during this return process, if the charging pile is moved, the position of the charging pile is updated in time, which also ensures accurate return. Furthermore, by detecting the movement of the charging pile indoors or in places with poor RTK signals, accurate and efficient return can be ensured.

[0130] Figure 4 is a functional unit block diagram of a charging pile-based intelligent walking device control device 400 involved in an embodiment of the present application. The charging pile-based intelligent walking device control device 400 is applied to an intelligent walking device, and the device 400 includes: a receiving unit 401, a collection unit 402, a comparison unit 403, a detection unit 404 and an update unit 405, wherein,

[0131] The receiving unit 401 is configured to receive a return instruction, where the return instruction is used to control the intelligent walking device to navigate to the target charging pile;

[0132] The acquisition unit 402 is configured to respond to the regression instruction and acquire a target position image of the target charging pile during the process of the intelligent walking device navigating to the target charging pile;

[0133] The comparison unit 403 is configured to perform feature comparison between the target location image and a pre-stored historical location image of the target charging pile to obtain a comparison result;

[0134] The detection unit 404 is configured to detect whether the target charging pile has been moved according to the comparison result;

[0135] The updating unit 405 is configured to update the position of the target charging pile on the map to obtain a first position when detecting that the target charging pile has been moved.

[0136] Optionally, the device 400 is further specifically configured to:

[0137] Detecting whether a target signal of the target charging pile is received, the target signal including a broadcast signal or a charging signal;

[0138] When the target signal is received, the step of acquiring the target position image of the target charging pile is performed.

[0139] Optionally, when the target signal includes the broadcast signal, in acquiring the target location image of the target charging pile, the acquisition unit 402 is specifically configured to:

[0140] Obtaining a first current position of the intelligent walking device;

[0141] Determining a relative position relationship between the first current position and the position of the target charging pile;

[0142] Image information around the target charging pile is collected according to the relative position relationship, and the target position image is determined according to the image information.

[0143] Optionally, when the target signal includes the charging signal, in acquiring the target position image of the target charging pile, the acquisition unit 402 is specifically configured to:

[0144] controlling a visual device to capture a first current image, and determining the target position image according to the first current image;

[0145] or,

[0146] The intelligent walking device is controlled to move to a designated position of the target charging pile, the visual device is controlled to capture a second current image at the designated position, and the target position image is determined according to the second current image.

[0147] Optionally, the device 400 is further specifically configured to:

[0148] When the intelligent walking device is detected to be in a strong RTK signal area, controlling the intelligent walking device to move on the navigation path;

[0149] When it is detected that the intelligent walking device enters a weak RTK signal area, navigation is performed based on RTK positioning information and / or image information collected by the visual device.

[0150] Optionally, after updating the position of the target charging pile on the map to obtain the first position, the apparatus 400 is further specifically configured to:

[0151] The feature credibility of the historical location image is reduced, or the image feature information of the historical location image is deleted.

[0152] Optionally, after updating the position of the target charging pile on the map to obtain the first position, the apparatus 400 is further specifically configured to:

[0153] Obtaining a second current position of the intelligent walking device;

[0154] generating a navigation route between the second current location and the first location;

[0155] According to the navigation route, the intelligent walking device is controlled to navigate to the target charging pile.

[0156] The intelligent walking device device based on the charging pile described in the present application is applied to the intelligent walking device, receives a regression instruction, and the regression instruction is used to control the intelligent walking device to navigate to the target charging pile. In response to the regression instruction, during the process of the intelligent walking device navigating to the target charging pile, the target position image of the target charging pile is collected, and the target position image is compared with the pre-stored historical position image of the target charging pile to obtain a comparison result. According to the comparison result, it is detected whether the target charging pile has been moved. When it is detected that the target charging pile has been moved, the position of the target charging pile is updated on the map to obtain the first position. In this way, the intelligent walking device can be efficiently recharged in an environment with weak RTK signals and whether the position of the charging pile has changed can be identified, thereby improving the efficiency of the next recharging. In addition, during this return process, if the charging pile is moved, the position of the charging pile is updated in time, which also ensures accurate return to the pile. Furthermore, by detecting the movement problem of the charging pile indoors or in places with poor RTK signals, accurate and efficient return to the pile can be ensured.

[0157] It can be understood that the functions of each program module of the charging pile-based intelligent walking equipment control device of this embodiment can be specifically implemented according to the method in the above method embodiment. The specific implementation process can refer to the relevant description of the above method embodiment, which will not be repeated here.

[0158] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiments, and the above computer includes an electronic device.

[0159] The present application also provides a computer program product comprising a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments. The computer program product may be a software installation package, and the computer may comprise an electronic device.

[0160] An embodiment of the present application also provides a three-dimensional cloud map expansion system, which includes an electronic device and a server, and is used to execute any of the above methods.

[0161] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0162] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0163] In the several embodiments provided in this application, it should be understood that the disclosed system can be implemented in other ways. For example, the system embodiments described above are merely illustrative. For example, the division of the above-mentioned units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the system or unit can be electrical or other forms.

[0164] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0165] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0166] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes a number of instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the above-mentioned methods of each embodiment of the present application. The aforementioned memory includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0167] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program. The program can be stored in a computer-readable memory, and the memory can include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0168] The above is a detailed introduction to the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for those skilled in the art, according to the idea of ​​the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A control method for an intelligent walking device based on a charging pile, wherein: Applied to an intelligent walking device, the method comprises: Receiving a return instruction, wherein the return instruction is used to control the intelligent walking device to navigate to a target charging pile; In response to the regression instruction, during the process of the intelligent walking device navigating to the target charging pile, a target position image of the target charging pile is collected; Performing feature comparison between the target location image and a pre-stored historical location image of the target charging pile to obtain a comparison result; Detecting whether the target charging pile is moved according to the comparison result; When it is detected that the target charging pile is moved, the position of the target charging pile is updated on the map to obtain a first position.

2. The method according to claim 1, wherein: The method further comprises: Detecting whether a target signal of the target charging pile is received, where the target signal includes a broadcast signal or a charging signal; When the target signal is received, the target position image of the target charging pile is collected.

3. The method according to claim 2, wherein: When the target signal includes the broadcast signal, the acquiring the target position image of the target charging pile includes: Obtaining a first current position of the intelligent walking device; Determining a relative position relationship between the first current position and the position of the target charging pile; Image information around the target charging pile is collected according to the relative position relationship, and the target position image is determined according to the image information.

4. The method according to claim 2, wherein: When the target signal includes the charging signal, the acquiring the target position image of the target charging pile includes: The visual device is controlled to collect a first current image, and the target position image is determined according to the first current image.

5. The method according to claim 4, wherein: The method further comprises: When the intelligent walking device is detected to be in a strong RTK signal area, controlling the intelligent walking device to move on the navigation path; When it is detected that the intelligent walking device enters a weak RTK signal area, navigation is performed according to RTK positioning information and / or image information collected by the visual device.

6. The method according to any one of claims 1 to 5, wherein: After updating the position of the target charging pile on the map to obtain the first position, the method further includes: The credibility of the feature of the historical location image is reduced, or the image feature information of the historical location image is deleted.

7. The method according to any one of claims 1 to 5, wherein: After updating the position of the target charging pile on the map to obtain the first position, the method further includes: Acquire a second current position of the intelligent walking device; generating a navigation route between the second current location and the first location; According to the navigation route, the intelligent walking device is controlled to navigate to the target charging pile.

8. The method according to claim 3, wherein: The relative position relationship includes at least one of the following: a distance relationship, an angle relationship, and further includes the steps of: Determine corresponding shooting parameters according to different relative position relationships; Image information around the target charging pile is collected according to the shooting parameters, and the image information is used as the target position image.

9. A method for controlling an intelligent walking device based on a charging pile, wherein: Applied to an intelligent walking device, the method comprises: In response to the regression instruction, during the process of the intelligent walking device navigating to the target charging pile, a target position image of the target charging pile is collected; Performing feature comparison between the target location image and a pre-stored historical location image of the target charging pile to obtain a comparison result; Whether the target charging pile is moved is detected according to the comparison result.

10. The method according to any one of claims 1 to 9, wherein: Also includes the steps: Processing the acquired target position image to identify feature points of fixed reference object types; The feature points of the fixed reference object type are compared with the feature points of the historical position image to obtain the credibility of the reference objects corresponding to different feature points.

11. The method according to any one of claims 10, wherein: Also includes the steps: The feature points of the fixed reference object type are stored.

12. A control device for an intelligent walking device based on a charging pile, wherein: Applied to intelligent walking equipment, the device includes: a receiving unit, a collection unit, a comparison unit, a detection unit and an update unit, wherein: The receiving unit is used to receive a return instruction, and the return instruction is used to control the intelligent walking device to navigate to a target charging pile; The acquisition unit is used to respond to the regression instruction and acquire a target position image of the target charging pile during the process of the intelligent walking device navigating to the target charging pile; The comparison unit is used to perform feature comparison between the target location image and a pre-stored historical location image of the target charging pile to obtain a comparison result; The detection unit is used to detect whether the target charging pile is moved according to the comparison result; The updating unit is used to update the position of the target charging pile on the map to obtain a first position when it is detected that the target charging pile is moved.

13. An intelligent walking device, wherein: The intelligent walking device includes a processor and a memory, wherein the memory is used to store one or more programs and is configured to be executed by the processor, and the program includes instructions for executing the steps in the method according to any one of claims 1 to 11.

14. A computer-readable storage medium, wherein: A computer program for electronic data exchange is stored, wherein the computer program causes a computer to execute the method according to any one of claims 1 to 11.

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