WO2019223159A1 - Method and apparatus for controlling live broadcast of unmanned device, computer device, and storage medium - Google Patents

Abstract

Disclosed are a method and apparatus for controlling live broadcast of an unmanned device, a computer device, and a storage medium. The method comprises: the unmanned device obtains a first state instruction to be executed, the first state instruction being used for controlling the movement trajectory of the unmanned device; the unmanned device moves on a preset path according to the movement trajectory, and obtains space video information of the unmanned device in the traveling direction during the traveling process by means of an image sensor thereon; the unmanned device sends the space video information to a server by means of flow pushing. The method and apparatus for controlling live broadcast of an unmanned device in the present application can be applied to an automatic house viewing scenario. Any user can automatically control the apparatus for controlling live broadcast of an unmanned device, and make the apparatus travel in the predetermined path according to the preference thereof and capture related images so as to achieve the function of remotely operating a device to view a house freely. The user does not need to be trained professionally. The apparatus is simple in the control mode, and can be controlled more flexible.

Description

Method, device, computer equipment and storage medium for controlling live broadcast of unmanned equipment

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office on May 23, 2018, with application number 201810502117.8, and the invention name is "Method, Device, Computer Equipment, and Storage Medium for Controlling Unmanned Live Broadcasting", all of which The contents are incorporated herein by reference.

Technical field

The present application relates to the field of remote control technology, and in particular, the present application relates to a method, an apparatus, a computer device, and a storage medium for controlling live broadcast of an unmanned device.

Background technique

With the improvement of people's living standards, there is a great demand for people to buy a house, and for large cities, there are many people renting a house. Before buying or renting a house, in order to ensure that they can buy or rent a suitable house, they will go to the house to see the house in person, and then make a decision after experiencing it.

In order to make it easier for people to understand the status of houses in the prior art, many house transaction service providers in the prior art will use online house viewing methods to first provide picture information of relevant houses on the Internet, and are satisfied with the information of relevant houses on the Internet The supply and demand sides of the house agree on the viewing time first, and then accompany the viewing through the service personnel provided by the offline service provider, such as taking the viewing through the housing agent. Disadvantages such as high time and labor costs make the efficiency of house viewing relatively low. In addition, the keys for unlocking are currently diverse, and there is no unified management, which will also increase labor maintenance costs.

In the prior art, in order to satisfy the customer's dynamic viewing, online video viewing technology has appeared, but this online video viewing technology is all performed by staff members holding video capture devices and moving in the room. The wireless network sends the data stream to the server, and the client accesses the server to obtain live data, which completes the idea of viewing a house online. In the prior art, a method for automatic robot house viewing is also provided. The robot carries video equipment, and the user remotely controls the movement of the robot to realize the function of video house viewing. The inventor found that due to the complex environment inside the house, untrained users cannot drive unmanned equipment in complex environments, and hastily operating could easily cause damage to the robot.

Summary of the Invention

The purpose of this application is to solve at least one of the above-mentioned technical defects, in particular to a method, device, computer equipment, and storage medium capable of freely controlling unmanned equipment live broadcast, so as to achieve free control of the terminal and view the environment in which the terminal is located. image.

The present application provides a method for controlling live broadcast of an unmanned device, including: the unmanned device obtains a first status instruction to be executed, where the first status instruction is used to control a movement track of the unmanned device; and the unmanned device Move on a preset path according to the movement trajectory, and obtain spatial video information in the direction of travel of the unmanned device during the traveling process through an image sensor on the unmanned device; the unmanned device moves the space The video information is streamed to the server.

The present application also discloses an apparatus for controlling live broadcasting of an unmanned device, including: an acquisition module: for acquiring a first status instruction to be executed, the first status instruction for controlling a movement track of the unmanned device; a processing module : It is used for the unmanned device to move on a preset path according to the movement trajectory, and acquire spatial video information of the unmanned device in the traveling direction through the image sensor on the unmanned device; execute Module: used for the unmanned device to push the spatial video information to the server.

This application also discloses a computer device including a memory and a processor. The memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the processor causes a processor to execute a control mode. The following steps of the method for live broadcasting by a human device: an unmanned device obtains a first state instruction to be executed, the first state instruction is used to control a movement track of the unmanned device; and the unmanned device is based on the movement track Move on a preset path, and acquire the spatial video information in the direction of travel of the unmanned device during the traveling process through an image sensor on the unmanned device; the unmanned device pushes the spatial video information to a stream To the server.

The present application also discloses a non-volatile storage medium storing computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the one or more processors execute a method for controlling an unmanned device. The live broadcast method has the following steps: an unmanned device obtains a first state instruction to be executed, the first state instruction is used to control a movement trajectory of the unmanned device; It is assumed that the user moves on the path and acquires the spatial video information of the unmanned device in the traveling direction through the image sensor on the unmanned device; the unmanned device sends the spatial video information to the server by streaming end.

The method and device for controlling live broadcast of unmanned devices disclosed in the present application can realize that in the scene of automatic house viewing, any user can automatically control the device for controlling live broadcast of unmanned devices, so that the device can preset Walking on the route and taking relevant images to realize the function of remotely controlling the device to perform autonomous remote house viewing. Users can operate the device without professional control training. The method is simple and the entire method of controlling the live broadcast of unmanned devices is controlled. Simple, more flexible control.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a flowchart of a method for controlling live broadcast of an unmanned device in this application;

FIG. 2 is a flowchart of a method for obtaining a distance by an unmanned device in this application;

3 is a flowchart of a method for obtaining a distance by using a ranging light spot on an unmanned device of this application;

FIG. 4 is a flowchart of a first implementation manner of a precondition for executing a first state instruction in this application;

5 is a flowchart of a second implementation manner of executing a precondition of a first state instruction of the present application;

FIG. 6 is a schematic diagram of a device module for controlling live broadcast of an unmanned device in this application; and

FIG. 7 is a block diagram of a basic structure of a computer device of the present application.

Detailed ways

In order to allow any person to remotely control the device for traveling and perform a shooting function to achieve the purpose of real-time viewing of the captured image, the present application provides a method for controlling live broadcast of an unmanned device. When the method is used at a remote location, In the application scenario of house viewing, the method for controlling live broadcast of unmanned equipment includes at least two terminals, one is a remote terminal, which is used by a user to view images and control status, and a remote terminal that sends control instructions. The remote terminal It may be a computer, a notebook, a mobile phone, or other terminals, and the unmanned device may be a robot or an unmanned aerial vehicle, an unmanned vehicle such as a remote control car. The other is an unmanned device that is controlled to move and can perform related shooting actions. The remote communication between the two, the unmanned device analyzes and judges the relevant instructions sent according to its own motion state, and executes or prohibits the first state instruction, thereby achieving the purpose of remotely controlling the house inspection, and the unmanned device has automatic obstacle avoidance. Function, high degree of intelligence, and simple control method.

Specifically, referring to FIG. 1, a method for controlling live broadcast of an unmanned device based on a remote terminal and an unmanned device includes the following steps:

S100. The unmanned device obtains a first status instruction to be executed, where the first status instruction is used to control a movement track of the unmanned device;

The first instruction is used to control a movement trajectory of the unmanned device, that is, to control the unmanned device to move in a specified direction. Further, a direction input unit is provided on the remote terminal, and the unmanned device can be controlled to move through the direction input unit or by setting related direction parameters. The user can send any direction instruction that allows the unmanned device to move, and controls the unmanned device to move according to the user's wishes.

S200. The unmanned device moves on a preset path according to the movement trajectory, and acquires spatial video information in the traveling direction of the unmanned device during the traveling process through an image sensor on the unmanned device;

There are various types of spatial video information, including: a ranging light spot image projected in the traveling direction or an image of the surrounding environment at the current position. This spatial video information is obtained through an image sensor on the drone.

In the present application, the ranging light spot image projected in the traveling direction is mainly used to monitor the distance between the unmanned device and an obstacle in the traveling direction to avoid a collision. The image of the surrounding environment at the current location is for the convenience of the user to understand the environment around the location of the unmanned device.

Spatial video information in both cases can be obtained at the same time, or can be obtained in different periods. The situation obtained at the same time is that two different camera devices are used to obtain the above-mentioned ranging spot image and the image of the surrounding environment at the current position. The situation obtained in different periods is usually that a camera device is used. During the travel process, a ranging light spot image is first acquired to measure the distance between the unmanned device and the obstacle in front. The surrounding environment where the unmanned device is located is taken to obtain a corresponding image.

In the present application, the first instruction includes instruction information for controlling a moving direction. The unmanned device moves automatically according to the first state instruction, so there should be a necessary obstacle avoidance mechanism for obstacle avoidance. Obtaining a ranging spot image is actually a way to avoid obstacles. In the present application, a distance measurement spot image is used to determine the distance between the unmanned device and an obstacle in front.

S300. The unmanned device pushes the spatial video information to a server.

Because there are many kinds of spatial video information, including: a ranging spot image projected in the direction of travel or an image of the surrounding environment at the current position, after obtaining the relevant spatial video information, it is directly transmitted to the server.

Further, referring to FIG. 2, when the unmanned device moves on a preset path according to the moving track, the method further includes:

S210. Obtain a first parameter value with the obstacle;

An obstacle refers to an object blocked in the direction of travel of the unmanned device. The first parameter value is a relationship between the unmanned device and the obstacle, such as a distance relationship.

S220. Determine whether the first parameter value meets a first preset condition;

The first preset condition is a condition of the first parameter value and, for example, when the first parameter value is the distance relationship between the unmanned device and the obstacle, in order to better let the unmanned device in the direction of travel When a specified action is performed on the device, a first threshold value for distance can be set. When the first parameter value is smaller than the first threshold value, it indicates that the distance between the unmanned device and the obstacle is relatively short. The first preset condition is the relationship between the first parameter value and the first threshold. For example, the first parameter value is greater than the first threshold value, or the first parameter value is less than the first threshold value, or other relationships are met according to the corresponding application scenario. set.

S230. When the first parameter value meets a first preset condition, execute a preset second state instruction.

Further, in the present application, the second state instruction includes any one of the instruction information of a stop travel instruction, a decrease speed instruction, or a reverse travel instruction. The above three steps are described in a specific embodiment.

For example, when the distance between the obstacle and the unmanned device is acquired in an ultrasonic manner, the first threshold value is assumed to be 1 meter, and the first preset condition is that the first parameter value is smaller than the first threshold value. When the first parameter value obtained by the ultrasonic wave is 0.8 meters, the first parameter value is less than the first threshold value, and the first preset condition is satisfied. In this way, the unmanned device executes the second state instruction and immediately stops or reduces the traveling speed. Or go in reverse.

In this application, there are many ways to obtain and obtain the first parameter value between obstacles, and it may also be laser ranging, visible ranging, or other methods. In the present application, a method for performing ranging using a ranging light spot is also disclosed, that is, the obtained first parameter value is a parameter value related to the ranging light spot.

Please refer to FIG. 3 further, the specific steps of obtaining the first parameter value and executing the second preset condition by using the ranging light spot include:

S211. Acquire a frame picture image of the spatial video information.

What needs to be explained before the execution of this step is that this step is applicable when the spatial video information refers to a ranging spot image, and the purpose of obtaining the frame image of the spatial video information is to measure the unmanned device and The distance between obstacles. For the specific ranging method, refer to step S212.

S212: Calculate a view ratio of the light spot image in the frame picture image;

Generally, the device that sends the light beam is directly installed on the unmanned device, and the camera that captures the spatial image with the full light spot in front is also set on the unmanned device. A preferred method is that the camera and the light emitting device The devices should be as close as possible, arranged side by side, up and down, or back and forth to reduce the inclination angle of the spatial image with a complete light spot. In this embodiment, the device that sends the light beam is a light spot projector. The light spot projector and the camera that captures the image with the light spot are sequentially stacked to form a distance measuring device. The distance measuring method of the distance measuring device always points in the direction of travel. The laser transmitter The light spot is projected on the obstacle, and the camera collects the image in the area where the light spot is located in real time or periodically.

After collecting the image information with a complete light spot, the complete light spot area can be obtained through image processing technology. Since the camera is fixed and the area of the entire captured picture is fixed, the light spot can be obtained by a fixed algorithm Percentage of the entire image area. In this embodiment, the shape of the light spot projected by the light spot projector is fixed, but the area of the light spot projected on the obstacle will be different due to the distance. It can be understood that when the unmanned device approaches the obstacle The spot area projected by the spot projector on the unmanned device is small. When the spot projector is far away from the obstacle, the area of the spot projected by the obstacle is large. In this way, it can be easily provided that the projection direction is certain. Get a function value about the projection area and distance of the light spot. Correspondingly, under the premise of fixed camera position and shooting angle, the size of the picture taken by the camera is fixed, and it can also be displayed in the picture taken according to the existing technology. The relationship between the ratio of the spot size to the picture area and the distance between the shooting location and the obstacle, so you can get the ratio by determining the ratio of the area of the spot area in the image to the entire image. The distance between the drone and the obstacle.

Further, in another embodiment, the measurement of the distance between the unmanned device and the obstacle may also be the emission of visible light. This method is the same as the above-mentioned spot ranging, and the other is using laser ranging, that is, using a pulse valve or Phase method to calculate the distance between the position of the laser emitting device and the obstacle. The above are just a few of the ranging methods disclosed in this application, but this application is not limited to the above one ranging method, and may also be other methods.

S213. When the view ratio is greater than the first threshold, execute a preset second state instruction.

In this embodiment, the first threshold value is a critical value of a view ratio of the flare image in the frame picture image in the foregoing step S212. It can be seen from step S212 that in the frame picture, the distance between the current unmanned device and the obstacle in front can be determined from the proportion of the spot image. When taking an image of the surrounding environment at the current position at the same time, if the unmanned device is closer to the obstacle, it will not only block the turning and moving of the unmanned device, but the obstacle may block a part of the perspective, which is not good for Shoot the surrounding environment, so you need to set an optimal distance between the unmanned device and the obstacle, which can not only take a good picture of the surrounding environment, but also ensure that the unmanned device does not collide with the obstacle,

Through the above step S212, the view ratio of the light spot image in the frame image can be obtained, that is, the distance between the current position of the unmanned device and the obstacle in front, and the light spot corresponding to the critical distance between the unmanned device and the obstacle can be obtained. The view ratio of the image in the frame picture image is the above-mentioned first threshold. Assuming that the total area of the frame picture image is S1, and the area of the spot image in the frame picture image is S2, the actual distance L between the current unmanned device and the obstacle is about the spot image area S2 and the total area of the frame picture image The mapping of the proportional value of S1 to the corresponding distance function relationship f (n), that is, L = (S2 / S1) * f (n). From this relationship, it can be concluded that the functional relationship of f (n) is fixed, the variable is S2 / S1, and S2 / S1 and L are an inverse relationship, that is, when the distance L is small, the proportional relationship between S2 / S1 is large, When the distance L is large, the proportional relationship of S2 / S1 is small, so when the proportional relationship of S2 / S1 is greater than the first threshold, the corresponding distance L is too small. At this time, a preset second state instruction is executed.

In an embodiment, the second state instruction includes any one of instruction information of stopping the travel, reducing the travel speed, or traveling in the reverse direction. For example, in one embodiment, when the above-mentioned proportional relationship is greater than the first threshold, a second state instruction for stopping travel is executed to avoid collision between the unmanned device and an obstacle.

Further, in another embodiment, when the above-mentioned proportional relationship is greater than the first threshold value, the traveling speed is reduced to make it approach the obstacle more slowly. In this embodiment, a second threshold value may be further set so that The human device slowly moves to a position corresponding to the second threshold, and then performs other actions such as stopping or turning. It should be noted that the distance between the unmanned device and the obstacle may be obtained in real time, or may be obtained according to a certain frequency. When the acquisition is performed at a certain frequency, due to the time interval, when the distance between the unmanned device and the obstacle in front is detected, it is likely that the distance will be less than the preset value, so a first A threshold value, when it is greater than a first threshold value, reducing the traveling speed, controlling the unmanned device to adjust a distance value between the unmanned device and an obstacle according to a smaller moving unit and a distance detection frequency, so that the unmanned device The unmanned device reaches the position corresponding to the second threshold more accurately.

Further, in another embodiment, when the above-mentioned proportional relationship is greater than the first threshold value, the second state instruction of the reverse travel is executed, so that the unmanned device moves in the opposite direction, and the S2 / S1 is also continuously monitored at the same time. Until the S2 / S1 is equal to or smaller than the first threshold, stop the unmanned device or perform other actions. The distance corresponding to the first threshold may be the safest distance, such as this distance is suitable for turning by unmanned equipment, or this distance is not prone to collision, etc., or the distance of the first threshold may be the distance that is most suitable for shooting surrounding space images. Because when the distance between the unmanned device and the obstacle is too close, it is easy to affect the shooting of the spatial image due to the obstruction of the obstacle, so the distance value of the first threshold is set. At the same time, when the unmanned device and the obstacle are blocked, When the distance is less than the first threshold value, the unmanned device is controlled to retreat at the same time, so that the distance between the unmanned device and the obstacle is greater than or equal to the critical value of the distance, so as to achieve the optimal shooting distance range and make the unmanned device Able to capture surrounding images more fully. Allows users to observe the most comprehensive spatial image at the current distance.

Further, the second status instruction further includes: sending warning information. When S2 / S1 is greater than the preset first threshold, it indicates that the unmanned device is in danger of colliding with an obstacle in front or is not conducive to the execution of the next action, so it can send a warning message to the remote terminal or to Relevant server to give alarm prompts, remind users or managers to check, or take relevant measures to adjust. Warning information can be control alarm alarm, emergency phone dialing, emergency mail sending, etc.

In the present application, please refer to FIG. 4. Before the step of obtaining spatial video information in a view range in the direction of travel according to the first state instruction, the method further includes:

S110. Obtain a preset travel path and real-time position information.

This step can be specifically applied in some scenarios, for example, in an automatic house viewing system, by remotely controlling an unmanned device, shooting the surrounding environment where the unmanned device is located for autonomous house viewing. Because there are a lot of objects in the room, the automatic walking shooting is completely performed by unmanned equipment, which is prone to collisions. And this kind of automatic walking unmanned equipment usually travels according to the designated route. Different customers have different preferences and observation habits. You can't just let your customers see any scene in their current environment. Therefore, the method for controlling unmanned equipment to control unmanned equipment live broadcast in this application can solve this problem. However, in the room, due to the limitation of the layout and decoration, the unmanned device cannot be moved at will. For example, when the unmanned device runs to a balcony without a glass or a fence with a gap, due to the small size of the unmanned device, It is easy to fall from the gap between the balconies of the balcony, it is not suitable to go to the edge of the balcony, or a squat toilet is installed, which may cause the unmanned equipment to fall, or in the duplex room, located on the next level of stairs, it is easy to cause Unmanned equipment slipped off the stairs and so on. In the room, there are always some unsafe places that are not suitable for the unmanned equipment to travel, so in this embodiment, a travel path adapted to the current environment can be further formulated to ensure that the unmanned equipment can be safe To move around and to take a complete picture of the surroundings of the current environment.

S120. Determine whether the real-time position information is in the travel path;

S130. When the real-time location information is not in the travel path, prohibit execution of the first state instruction.

The travel path of the unmanned device at the current location is not exactly the same. In order to adapt to different types of rooms, a travel path can be set for each room. When the unmanned device starts to work, the real-time The position matches the travel path of the corresponding room according to the position of the unmanned device. When receiving the first state instruction, it is preferred to determine whether the current unmanned device is in the travel path. If so, follow the first state instruction. Move in the direction of, if not, it means that the current location of the unmanned device is an illegal area, that is, an unsafe area, and the first state instruction is not executed. Further, the unmanned device can be controlled to send an alarm signal to remind the current position as an illegal position, and to prompt the staff or remote operator to move the unmanned device to leave the illegal area.

Further, referring to FIG. 5, in this application, another way to restrict the unmanned device from executing the first state instruction is:

S140. Obtain a preset travel path and real-time position information.

S150. Prejudge whether the end position represented by the first state instruction is in the travel path according to a boundary distance between the real-time position information and the travel path;

S160. When the end position is not in the travel path, execution of the first state instruction is prohibited.

This method is similar to the above method, and it is also necessary to preset a travel path and obtain the current position information of the unmanned device to match the corresponding travel path. The difference is that the unmanned device needs to determine whether the current position of the unmanned device and the end point of the upcoming travel fall within the boundary of the travel path according to the direction pointed by the first state instruction. For example, when the first When the state command is moved forward at a speed of 10cm / s for 10 seconds, since the distance of 10 seconds is 100cm, when the first state command is executed, the current unmanned device is predicted to move forward 100cm Whether the end position is within the preset travel path range above. Only when the end point of the travel is also within the travel path, the first state command is executed. If the unmanned device executes the first state command, If there is a deviation from the travel path, the execution of the first state instruction is prohibited, so as to prevent the unmanned device from running after the first state instruction is executed.

Further, the travel path mentioned in the above two schemes is a preset electronic path, which can be sent to the device performing the movement through data transmission. However, in this application, the preset travel path is not limited to The above-mentioned electronic path may also be an electromagnetic track installed in a house. A hall sensor for detecting the electromagnetic track is provided on the unmanned device performing the movement, and the Hall sensor is used to detect whether the unmanned device is on the electromagnetic track. Determine whether to execute the first state instruction. Specifically, when the unmanned device is a drone, Hall sensors are provided on both sides of the drone. When the Hall sensor on one side cannot detect the electromagnetic field or the detected electromagnetic field is too small, the unmanned robot reports to the The other side of the Hall sensor shifts until the electromagnetic field signal is received, which makes viewing the house more convenient and intelligent by means of automatic driving.

This application also discloses a device for controlling live broadcast of an unmanned device. Please refer to FIG. 6, including:

The obtaining module 100 is configured to obtain a first status instruction to be executed, where the first status instruction is used to control a movement trajectory of the unmanned device;

Processing module 200: used for the unmanned device to move on a preset path according to the movement trajectory, and to obtain a spatial video of the unmanned device in the traveling direction through an image sensor on the unmanned device information;

The execution module 300 is used for the unmanned device to push the spatial video information to a server.

The first instruction includes instruction information for controlling a moving direction. That is, the unmanned device is controlled to move in a specified direction. Further, a direction input unit is provided on the remote terminal, and the unmanned device can be controlled to move through the direction input unit or by setting related direction parameters. The user can send any direction instruction that allows the unmanned device to move, and controls the unmanned device to move according to the user's wishes.

There are various types of spatial video information, including: a ranging light spot image projected in the traveling direction or an image of the surrounding environment at the current position. When the processing module 200 receives the first status instruction, it can obtain the above-mentioned ranging spot image and the image of the surrounding environment at the current position, or obtain the ranging spot image first, and then obtain the surrounding environment of the current location under certain conditions. Image. The simultaneous acquisition situation is usually that the imaging device used to capture the ranging spot image and the imaging device used to image the surrounding environment at the current location are two different devices, so that the two take different images with complementary effects. The case where two types of images are acquired separately may be the case where one camera device is shared. In this case, obtain the ranging spot image first to measure the distance between the current position and the obstacle to ensure that the unmanned device is operating within a safe distance range. When the unmanned device is stopped or the current direction of travel is safe , And then take a picture of the surroundings of the current location.

Any of the captured image information can be sent to the server for storage in a streaming manner through the execution module 300, or sent to a remote client for real-time viewing through the server.

Further, the automatic traveling device further includes:

A first acquisition module: configured to acquire a first parameter value with an obstacle;

A first processing module: configured to determine whether the first parameter value meets a first preset condition;

First execution module: when the first parameter value meets a first preset condition, execute a preset second state instruction.

Further, the spatial video information includes: a light spot image of a ranging light spot projected in a traveling direction by a light spot projector on the unmanned device, and the step of obtaining a first parameter value between the obstacle and the obstacle specifically includes:

Acquiring a frame picture image of the spatial video information;

Calculate a view ratio of the light spot image in the frame picture image.

In combination with the above steps, it can be obtained that the first acquisition module is used to acquire a frame picture image of the spatial video information; the first processing module is used to calculate a view ratio of the flare image in the frame picture image A first execution module: configured to execute a preset second state instruction when the view ratio is greater than the first threshold.

The above-mentioned first acquisition module, first processing module, and first execution module are mainly used to measure the distance between the unmanned device and the obstacle according to the spot image of the ranging spot in the above-mentioned spatial video information.

The device for projecting a ranging spot is installed on an unmanned device, and the device for shooting a spot image with a complete spot is also installed on an unmanned device. The closer the unmanned device is to the obstacle in front, the more the complete spot is in the shooting zone. The larger the ratio of the spot image in the frame picture image, so according to this relationship, a first threshold value of the area ratio of the complete spot in the frame picture image to the entire frame picture can be set to obtain the unmanned device and the obstacle. A distance threshold. The unmanned device is controlled to execute the second state instruction through the entire first distance threshold.

The second state instruction includes any one of a stop travel instruction, a decrease speed instruction, or a reverse travel instruction. It can be applied to different occasions according to the situation. The application occasion and control method are the same as those in the method for controlling live broadcast of an unmanned device.

Further, the second status instruction further includes: sending warning information. When S2 / S1 is greater than the preset first threshold, it indicates that the unmanned device is in danger of colliding with an obstacle in front or is not conducive to the execution of the next action, so it can send a warning message to the remote terminal or to Relevant server to give alarm prompts, remind users or managers to check, or take relevant measures to adjust. The warning information can be controlled by the alarm, emergency phone dialing, emergency mail sending, etc. to improve security.

Further, the automatic traveling device further includes:

A second acquisition module: used to acquire a preset travel path and real-time position information;

A second processing module: used to determine whether the real-time location information is in the travel path;

The second execution module is configured to prohibit execution of the first state instruction when the real-time location information is not in the travel path.

If the automatic traveling device moves arbitrarily at the current position, it is not suitable for the automatic traveling device to move due to the pattern of the moving site and the terrain, so it is necessary to set a traveling path according to each different site pattern and terrain. For example, in order to adapt to different types of rooms, a travel path can be set for each room. When the unmanned device starts to work, the real-time position of the unmanned device is obtained, and the travel path of the corresponding room is matched according to the position of the unmanned device. When receiving the first state instruction, it is preferred to determine whether the current unmanned device is in the travel path. If so, move in the direction indicated by the first state instruction. If not, it means that the current unmanned device is located. The location is an illegal area, that is, an unsafe area, and the first state instruction is not executed. Further, the unmanned device can be controlled to send an alarm signal to remind the current position as an illegal position, and to prompt the staff or remote operator to move the unmanned device to leave the illegal area.

Further, this application also includes another structure that restricts the unmanned device from executing the first state instruction, including:

A third acquisition module: acquiring a preset travel path and real-time position information;

A third processing module: judging whether an end position represented by the first state instruction is in the travel path according to a boundary distance between the real-time position information and the travel path;

The third execution module: when the end position is not in the travel path, execution of the first state instruction is prohibited.

This method is similar to the above method, and it is also necessary to preset a travel path and obtain the current position information of the unmanned device to match the corresponding travel path. The difference is that the unmanned device needs to determine whether the current position of the unmanned device and the end point of the upcoming end of the path fall within the boundary of the travel path according to the direction pointed by the first state of the Sosearch. The first state instruction is executed only when the distance also falls within the travel path. If the unmanned device executes the first state instruction and it is out of the travel path, it is prohibited to execute the first state instruction to avoid After the human device executes the first state instruction, there is a running risk.

The present application also discloses a computer device including a memory and a processor. The memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the processor causes the processor to execute any one of the foregoing. The method for controlling live broadcast of unmanned equipment.

Please refer to FIG. 7 for a block diagram of a basic structure of a computer device provided in an embodiment of the present application.

The computer device includes a processor, a non-volatile storage medium, a memory, and a network interface connected through a system bus. The non-volatile storage medium of the computer device stores an operating system, a database, and computer-readable instructions. The database may store control information sequences. When the computer-readable instructions are executed by the processor, the processor may implement a A User Behavior Association Prompt Method. The processor of the computer equipment is used to provide computing and control capabilities to support the operation of the entire computer equipment. The memory of the computer device may store computer-readable instructions, and when the computer-readable instructions are executed by the processor, the processor may cause the processor to execute a method for prompting user behavior association. The network interface of the computer equipment is used to connect and communicate with the terminal. Those skilled in the art can understand that the structure shown in FIG. 7 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the application is applied. Include more or fewer parts than shown in the figure, or combine certain parts, or have a different arrangement of parts.

The computer device receives status information of the prompting behavior sent by the associated client, that is, whether the associated terminal turns on the prompt and whether the user closes the prompt task. By verifying whether the above-mentioned task conditions are met, and then sending a corresponding preset instruction to the associated terminal, so that the associated terminal can perform a corresponding operation according to the preset instruction, thereby achieving effective supervision of the associated terminal. At the same time, when the status of the prompt information is different from the preset status instruction, the server controls the associated terminal to continue to ring to prevent the problem that the prompt task of the associated terminal is automatically terminated after being executed for a period of time.

The present application also provides a storage medium storing computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the one or more processors execute the control of an unmanned person according to any one of the foregoing embodiments. Method of device live broadcast.

A person of ordinary skill in the art can understand that all or part of the processes in the methods of the foregoing embodiments can be implemented by using a computer program to instruct related hardware. The computer program can be stored in a computer-readable storage medium. When executed, the processes of the embodiments of the methods described above may be included. The foregoing storage medium may be a non-volatile storage medium such as a magnetic disk, an optical disc, a read-only memory (ROM), or a random access memory (Random Access Memory, RAM).

Claims (20)

1. A method for controlling unmanned equipment live broadcast, including:

   The unmanned device acquires a first state instruction to be executed, where the first state instruction is used to control a movement trajectory of the unmanned device;

   The unmanned device moves on a preset path according to the movement trajectory, and acquires spatial video information in the traveling direction of the unmanned device during the traveling process through an image sensor on the unmanned device;

   The unmanned device pushes the spatial video information to a server.
2. The method for controlling live broadcast of an unmanned device according to claim 1, when the unmanned device moves on a preset path according to the movement trajectory, the method further comprises:

   Obtaining a first parameter value with an obstacle;

   Determining whether the first parameter value meets a first preset condition;

   When the first parameter value meets a first preset condition, a preset second state instruction is executed.
3. The method for controlling live broadcast of an unmanned device according to claim 2, wherein the spatial video information comprises: a spot image of a ranging spot projected in a traveling direction by a spot projector on the unmanned device; obtaining and an obstacle The steps between the first parameter values include:

   Acquiring a frame picture image of the spatial video information;

   Calculate a view ratio of the light spot image in the frame picture image.
4. The method for controlling live broadcasting of an unmanned device according to claim 2 or 3, wherein the second state instruction comprises any one of a stop travel instruction, a decrease travel speed instruction, or a reverse travel instruction.
5. The method for controlling live broadcast of an unmanned device according to claim 1, before executing the first state instruction, the method further comprises:

   Get preset travel paths and real-time location information;

   Determining whether the real-time location information is in the travel path;

   When the real-time position information is not in the travel path, execution of the first state instruction is prohibited.
6. The method for controlling live broadcast of an unmanned device according to claim 1, before executing the first state instruction, the method further comprises:

   Get preset travel paths and real-time location information;

   Determining whether the end position represented by the first state instruction is in the travel path according to a boundary distance between the real-time position information and the travel path;

   When the end position is not in the travel path, execution of the first state instruction is prohibited.
7. A device for controlling live broadcast of unmanned equipment includes:

   An acquisition module: configured to acquire a first status instruction to be executed, where the first status instruction is used to control a movement trajectory of the unmanned device;

   Processing module: used for the unmanned device to move on a preset path according to the movement trajectory, and to obtain spatial video information in the direction of travel of the unmanned device through the image sensor on the unmanned device ;

   Execution module: used for the unmanned device to send the spatial video information to the server.
8. The apparatus for controlling live broadcast of an unmanned device according to claim 7, further comprising:

   A first acquisition module: configured to acquire a first parameter value with an obstacle;

   A first processing module: configured to determine whether the first parameter value meets a first preset condition;

   First execution module: when the first parameter value meets a first preset condition, execute a preset second state instruction.
9. A computer device includes a memory and a processor. The memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the processor causes the processor to execute a method for controlling live broadcast of an unmanned device. The following steps of the method:

   The unmanned device acquires a first state instruction to be executed, where the first state instruction is used to control a movement trajectory of the unmanned device;

   The unmanned device moves on a preset path according to the movement trajectory, and acquires spatial video information in the traveling direction of the unmanned device during the traveling process through an image sensor on the unmanned device;

   The unmanned device pushes the spatial video information to a server.
10. The computer device according to claim 9, when the unmanned device moves on a preset path according to the movement trajectory, further comprising:

    Obtaining a first parameter value with an obstacle;

    Determining whether the first parameter value meets a first preset condition;

    When the first parameter value meets a first preset condition, a preset second state instruction is executed.
11. The computer device according to claim 10, wherein the spatial video information comprises: a spot image of a ranging spot projected in a traveling direction by a spot projector on the unmanned device; and acquiring a first distance from an obstacle The parameter value steps include:

    Acquiring a frame picture image of the spatial video information;

    Calculate a view ratio of the light spot image in the frame picture image.
12. The computer device according to claim 10 or 11, wherein the second state instruction comprises any one of a stop travel instruction, a decrease travel speed instruction, or a reverse travel instruction.
13. The computer device according to claim 9, before executing the first state instruction, further comprising:

    Get preset travel paths and real-time location information;

    Determining whether the real-time location information is in the travel path;

    When the real-time position information is not in the travel path, execution of the first state instruction is prohibited.
14. The computer device according to claim 9, before executing the first state instruction, further comprising:

    Get preset travel paths and real-time location information;

    Determining whether the end position represented by the first state instruction is in the travel path according to a boundary distance between the real-time position information and the travel path;

    When the end position is not in the travel path, execution of the first state instruction is prohibited.
15. A non-volatile storage medium storing computer-readable instructions, when the computer-readable instructions are executed by one or more processors, cause the one or more processors to execute a method for controlling live broadcast of an unmanned device The following steps:

    The unmanned device acquires a first state instruction to be executed, where the first state instruction is used to control a movement trajectory of the unmanned device;

    The unmanned device moves on a preset path according to the movement trajectory, and acquires spatial video information in the traveling direction of the unmanned device during the traveling process through an image sensor on the unmanned device;

    The unmanned device pushes the spatial video information to a server.
16. The non-volatile storage medium according to claim 15, when the unmanned device moves on a preset path according to the movement trajectory, further comprising:

    Obtaining a first parameter value with an obstacle;

    Determining whether the first parameter value meets a first preset condition;

    When the first parameter value meets a first preset condition, a preset second state instruction is executed.
17. The non-volatile storage medium according to claim 16, wherein the spatial video information comprises: a spot image of a ranging spot projected in a traveling direction by a spot projector on the unmanned device; The steps of the first parameter value include:

    Acquiring a frame picture image of the spatial video information;

    Calculate a view ratio of the light spot image in the frame picture image.
18. The non-volatile storage medium according to claim 16 or 17, wherein the second state instruction comprises any one of a stop travel instruction, a decrease speed instruction, or a reverse travel instruction.
19. The non-volatile storage medium according to claim 15, before executing the first state instruction, further comprising:

    Get preset travel paths and real-time location information;

    Determining whether the real-time location information is in the travel path;

    When the real-time position information is not in the travel path, execution of the first state instruction is prohibited.
20. The non-volatile storage medium according to claim 15, before executing the first state instruction, further comprising:

    Get preset travel paths and real-time location information;

    Determining whether the end position represented by the first state instruction is in the travel path according to a boundary distance between the real-time position information and the travel path;

    When the end position is not in the travel path, execution of the first state instruction is prohibited.

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