CN-116935205-B - Operation control method and device of equipment, storage medium and electronic device

CN116935205BCN 116935205 BCN116935205 BCN 116935205BCN-116935205-B

Abstract

The application provides an operation control method and device of equipment, a storage medium and an electronic device, wherein the method comprises the steps of acquiring an image of an area to be cleaned through an image acquisition component on cleaning equipment to obtain a target ground image; object identification is carried out on the target ground image to obtain object parameters of a group of target objects to be cleaned in the area to be cleaned, wherein the object parameters of the group of target objects comprise object types of the group of target objects and aggregation parameters of the group of target objects, the aggregation parameters of the group of target objects are used for representing the aggregation degree of the group of target objects in the area to be cleaned, the target operation parameters of the cleaning equipment are determined according to the object types of the group of target objects and the aggregation parameters of the group of target objects, and the cleaning equipment is controlled to clean the group of target objects according to the target operation parameters. The application solves the problem of low cleaning efficiency caused by incomplete cleaning easily occurring in the operation control method of the equipment in the related technology.

Inventors

Yu Shunchang
LIANG HEMING
WANG WENGUANG

Assignees

追觅创新科技(苏州)有限公司

Dates

Publication Date: 20260505
Application Date: 20220401

Claims (8)

1. A method of controlling operation of an apparatus, comprising: the method comprises the steps of acquiring an image of an area to be cleaned through an image acquisition component on cleaning equipment to obtain a target ground image, wherein the cleaning equipment is provided with a light supplementing component, the light supplementing component is an angle-adjustable light supplementing component, so that light supplementing is carried out on the area to be cleaned in different directions, and in the process of supplementing light for the area to be cleaned through the light supplementing component, the cleaning equipment records the light supplementing angle of the light supplementing component; Object identification is carried out on the target ground image, and object parameters of a group of target objects to be cleaned in the area to be cleaned are obtained, wherein the object parameters of the group of target objects comprise object types of the group of target objects and aggregation parameters of the group of target objects, and the aggregation parameters of the group of target objects are used for representing the aggregation degree of the group of target objects in the area to be cleaned; Determining target operating parameters of the cleaning device according to the object class of the set of target objects and the aggregation parameters of the set of target objects; Controlling the cleaning equipment to clean the group of target objects according to the target operation parameters; The object recognition is performed on the target ground image to obtain object parameters of a group of target objects to be cleaned in the region to be cleaned, including: identifying object shadows of each candidate object in a group of candidate objects contained in the target ground image to obtain the object size of each candidate object; Screening the group of target objects from the group of candidate objects according to the object size of each candidate object to obtain object parameters of the group of target objects, wherein the object size of each target object in the group of target objects is smaller than or equal to a first size threshold; the identifying the object shadow of each candidate object in the group of candidate objects contained in the target ground image to obtain the object size of each candidate object includes: determining the shadow area of the object shadow of each candidate object in the target ground image, and obtaining the shadow area of each candidate object; converting the shadow area of each candidate object into the object size of each candidate object according to the projection angle of each candidate object; The projection angle of each candidate object is determined according to the light supplementing angle of the light supplementing component, and the process of converting the shadow area of each candidate object into the object size of each candidate object is to determine the quotient of the shadow area and the cosine value of the projection angle of the candidate object as the object size of the candidate object.
2. The method of claim 1, wherein the image capturing of the area to be cleaned by the image capturing component on the cleaning apparatus to obtain the target floor image comprises: starting a light supplementing component on the cleaning equipment, wherein the started light supplementing component is used for supplementing light to the area to be cleaned; and carrying out image acquisition on the region to be cleaned through the image acquisition component to obtain the target ground image.
3. The method of claim 1, wherein said screening said set of target objects from said set of candidate objects according to the object size of each candidate object to obtain the object parameters of said set of target objects comprises: determining a candidate object with an object size smaller than or equal to a second size threshold value in the group of candidate objects as a first target object, wherein the first target object belongs to the group of target objects; Determining object parameters of the first target object according to the aggregation degree of the first target object in the to-be-cleaned area, wherein the object category of the first target object is set to be a preset category; identifying object categories of other candidate objects except the first target object in the group of candidate objects to obtain object categories of the other candidate objects; determining a candidate object with an object class belonging to a class to be cleaned in the other candidate objects as a second target object, wherein the second target object belongs to the group of target objects; And determining object parameters of the second target object according to the object category of the second target object and the aggregation degree of the second target object in the area to be cleaned.
4. The method of claim 1, wherein the determining the target operating parameters of the cleaning device based on the object class of the set of target objects and the aggregate parameters of the set of target objects comprises: Determining an operation parameter corresponding to each target object according to the object class of each target object in the plurality of target objects and the aggregation parameter of each target object under the condition that the group of target objects comprises the plurality of target objects; And executing fusion operation on the operation parameters corresponding to each target object to obtain the target operation parameters of the cleaning equipment.
5. The method according to any one of claims 1 to 4, wherein the object parameters of the set of target objects further comprise position information indicating an object position of the set of target objects, and wherein prior to said controlling the cleaning device to clean the set of target objects in accordance with the target operating parameters, the method further comprises: And controlling the cleaning device to move towards the object positions of the group of target objects until the distance between the cleaning piece of the cleaning device and the group of target objects is smaller than or equal to a target distance threshold.
6. An operation control device of an apparatus, comprising: The cleaning device comprises an acquisition unit, a light supplementing component and a light supplementing unit, wherein the acquisition unit is used for acquiring an image of an area to be cleaned through an image acquisition component on the cleaning device to obtain a target ground image, the light supplementing component is arranged on the cleaning device and is an angle-adjustable light supplementing component so as to supplement light to the area to be cleaned in different directions, and the cleaning device records the light supplementing angle of the light supplementing component in the process of supplementing light to the area to be cleaned through the light supplementing component; The identification unit is used for carrying out object identification on the target ground image to obtain object parameters of a group of target objects to be cleaned in the area to be cleaned, wherein the object parameters of the group of target objects comprise object categories of the group of target objects and aggregation parameters of the group of target objects, and the aggregation parameters of the group of target objects are used for representing the aggregation degree of the group of target objects in the area to be cleaned; the object recognition is carried out on the target ground image to obtain object parameters of a group of target objects to be cleaned in the area to be cleaned, the object parameters comprise object shadow of each candidate object in the group of candidate objects contained in the target ground image to obtain the object size of each candidate object, the group of target objects are screened out of the group of candidate objects according to the object size of each candidate object to obtain the object parameters of the group of target objects, the object size of each target object in the group of target objects is smaller than or equal to a first size threshold value, the object shadow of each candidate object in the group of candidate objects contained in the target ground image is recognized to obtain the object size of each candidate object, the shadow area of each candidate object in the target ground image is determined, the shadow area of each candidate object is obtained, the shadow area of each candidate object is converted into the object shadow area of each candidate object according to the projection angle of each candidate object, the object shadow area is converted into the object shadow area of each candidate object, and the target ground image is acquired when the target ground image is attached to the target ground image, the projection angle of each candidate object is determined according to the light supplementing angle of the light supplementing component, and the process of converting the shadow area of each candidate object into the object size of each candidate object is that the quotient of the shadow area and the cosine value of the projection angle of the candidate object is determined as the object size of the candidate object; a determining unit, configured to determine a target operation parameter of the cleaning apparatus according to an object class of the set of target objects and an aggregation parameter of the set of target objects; And the first control unit is used for controlling the cleaning equipment to clean the group of target objects according to the target operation parameters.
7. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program when run performs the method of any one of claims 1 to 5.
8. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, the processor being arranged to perform the method of any of claims 1 to 5 by means of the computer program.

Description

Operation control method and device of equipment, storage medium and electronic device [ Field of technology ] The application relates to the field of intelligent home, in particular to an operation control method and device of equipment, a storage medium and an electronic device. [ Background Art ] Currently, in controlling a cleaning apparatus to perform area cleaning, an area to be cleaned is generally cleaned according to set operation parameters. However, by adopting the operation control mode of the equipment, the actual states of different areas are not identical, and the area is cleaned according to the set operation parameters, so that the condition of incomplete cleaning is easy to occur, multiple times of cleaning are required, and the cleaning efficiency is lower. As can be seen from the above, the operation control method of the related art apparatus has a problem in that cleaning efficiency is low due to the easiness of incomplete cleaning. [ Invention ] The application aims to provide an operation control method and device of equipment, a storage medium and an electronic device, so as to at least solve the problem that the operation control method of equipment in the related art is low in cleaning efficiency due to incomplete cleaning. The application aims at realizing the following technical scheme: According to one aspect of the embodiment of the application, an operation control method of equipment is provided, which comprises the steps of acquiring an image of an area to be cleaned through an image acquisition component on the cleaning equipment to obtain a target ground image, carrying out object identification on the target ground image to obtain object parameters of a group of target objects to be cleaned in the area to be cleaned, wherein the object parameters of the group of target objects comprise object types of the group of target objects and aggregation parameters of the group of target objects, the aggregation parameters of the group of target objects are used for representing the aggregation degree of the group of target objects in the area to be cleaned, determining the target operation parameters of the cleaning equipment according to the object types of the group of target objects and the aggregation parameters of the group of target objects, and controlling the cleaning equipment to clean the group of target objects according to the target operation parameters. In an exemplary embodiment, the image acquisition of the area to be cleaned through the image acquisition component on the cleaning device to obtain the target ground image comprises the steps of starting the light supplementing component on the cleaning device, wherein the light supplementing component after starting is used for supplementing light to the area to be cleaned, and the image acquisition of the area to be cleaned through the image acquisition component to obtain the target ground image. In an exemplary embodiment, the object recognition on the target ground image to obtain object parameters of a set of target objects to be cleaned in the area to be cleaned includes recognizing object shadows of each candidate object in a set of candidate objects contained in the target ground image to obtain an object size of each candidate object, and screening the set of target objects from the set of candidate objects according to the object size of each candidate object to obtain the object parameters of the set of target objects, wherein the object size of each target object in the set of target objects is smaller than or equal to a first size threshold. In an exemplary embodiment, the identifying the object shadow of each candidate object in the set of candidate objects contained in the target ground image to obtain the object size of each candidate object includes determining a shadow area of the object shadow of each candidate object in the target ground image to obtain a shadow area of each candidate object, and converting the shadow area of each candidate object into the object size of each candidate object according to the projection angle of each candidate object. In an exemplary embodiment, the screening the set of target objects from the set of candidate objects according to the object size of each candidate object to obtain object parameters of the set of target objects includes determining candidate objects with object sizes smaller than or equal to a second size threshold in the set of candidate objects as first target objects, wherein the first target objects belong to the set of target objects, determining object parameters of the first target objects according to the aggregation degree of the first target objects in the to-be-cleaned area, wherein the object categories of the first target objects are set to be preset categories, identifying object categories of other candidate objects except the first target objects in the set of candidate objects to obtain object categories of the other candidate ob