CN108629719A - Public safety emergency command and control system based on multi-robot Cooperation and method - Google Patents
Public safety emergency command and control system based on multi-robot Cooperation and method Download PDFInfo
- Publication number
- CN108629719A CN108629719A CN201710171738.8A CN201710171738A CN108629719A CN 108629719 A CN108629719 A CN 108629719A CN 201710171738 A CN201710171738 A CN 201710171738A CN 108629719 A CN108629719 A CN 108629719A
- Authority
- CN
- China
- Prior art keywords
- robot
- information
- multirobot
- data
- command
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 8
- 238000004891 communication Methods 0.000 claims abstract description 40
- 230000007613 environmental effect Effects 0.000 claims abstract description 14
- 230000003993 interaction Effects 0.000 claims abstract description 6
- 238000013461 design Methods 0.000 claims abstract description 5
- 238000012544 monitoring process Methods 0.000 claims description 21
- 238000007726 management method Methods 0.000 claims description 19
- 230000009471 action Effects 0.000 claims description 16
- 230000008447 perception Effects 0.000 claims description 12
- 238000005516 engineering process Methods 0.000 claims description 10
- 238000007405 data analysis Methods 0.000 claims description 9
- 238000013439 planning Methods 0.000 claims description 9
- 230000010365 information processing Effects 0.000 claims description 7
- 238000013468 resource allocation Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000011161 development Methods 0.000 claims description 6
- 238000004458 analytical method Methods 0.000 claims description 4
- 230000008901 benefit Effects 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000004927 fusion Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001737 promoting effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
- G06Q50/26—Government or public services
- G06Q50/265—Personal security, identity or safety
Landscapes
- Business, Economics & Management (AREA)
- Tourism & Hospitality (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Marketing (AREA)
- Development Economics (AREA)
- Health & Medical Sciences (AREA)
- Economics (AREA)
- Computer Security & Cryptography (AREA)
- Human Resources & Organizations (AREA)
- Educational Administration (AREA)
- Primary Health Care (AREA)
- Strategic Management (AREA)
- Physics & Mathematics (AREA)
- General Business, Economics & Management (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Alarm Systems (AREA)
- Manipulator (AREA)
Abstract
The public safety emergency command and control system based on multi-robot Cooperation that the invention discloses a kind of, including Police Command Center, robot report control platform, communication network and multirobot terminal, the Police Command Center is sequentially connected robot report control platform, communication network and multirobot terminal, the present invention utilizes multirobot collaborative work feature, more comprehensive circumstances not known information is obtained, the uncertainty of Emergency decision is reduced；In conjunction with emergency command control system own characteristic and function, it is further processed and is merged multirobot multi-sensor information, promotes human-computer interaction, gives full play to effect of the robot in emergency environmental；Design communication network, establish domain type multirobot command and control system, realize stabilized communication with it is fast linked.
Description
Technical field
The present invention relates to emergency command fields, refer to more particularly to a kind of public safety emergency based on multi-robot Cooperation
Wave control system.
Background technology
Disaster environment is further severe in recent years, has many characteristics, such as that parameter is more, variation is fast, change information difficulty obtains, only with people
The power of class cannot be satisfied the demand of emergency management and rescue.Robot meets current emergency management and rescue as a kind of effective technological means
Complicated demand.With the progress of multisensor, remote sensing monitoring, multi-Agent coordination control technology, robot automtion is horizontal
It is continuously improved, further robot technology is pushed to be applied to public safety emergency field.
Currently, robot, which has realized, substitutes information collection or task execution that rescue personnel is engaged in accident danger zone
Work.But the emergent research of existing robot, it is still concentrated mainly on single or single type robot task and completes,
Not prominent multirobot cooperating in accident contingency procedure, also fails to fully incorporate multirobot information and answer
Anxious command process.Therefore, it is necessary to be improved.
Invention content
Problem to be solved by this invention is to provide a kind of public safety emergency command and control based on multi-robot Cooperation
System, by multirobot be applied to emergency command control system, this be conducive to for emergency command provide it is relatively reliable, real-time,
Comprehensive field data, while by fully merging multirobot information, promoting robot group with command system to event circle
Border situation forms more complete perception, and it is whole to improve the information obtaining ability of robot and task execution dynamics and system
Situation Awareness level and emergency capability.
In order to achieve the above objectives, the present invention solves above-mentioned technical problem the technical scheme adopted is that a kind of being based on multimachine
Device people cooperation public safety emergency command and control system, including Police Command Center, robot report control platform, communication network and
Multirobot terminal, the Police Command Center are sequentially connected robot report control platform, communication network and multirobot terminal；
The Police Command Center is integrated for field data convergence and comprehensive command centre, completes to put down with each remote control
The communication of platform and other information terminals, the situation information of the comprehensive all kinds of robot perceptions in the real-time display site of the accident, provides number
According to technical supports such as analysis, deducing manoeuvers, auxiliary commander quickly and effectively forms counte-rplan；
The robot report control platform is for robot control terminal and data transmission intermediate hub；
The communication network is broadly divided into multimachine device for realizing the communication interaction between each section in whole system framework
Between people and robot report control platform order control and information collection communicate, information sharing between all kinds of humanoid robot report control platforms
Information exchange between communication, robot report control platform and Police Command Center communicates；
The multirobot terminal is for information collection end and action actuating station.
Further, the Police Command Center includes event monitoring system, battle state display system, aid decision-making system, refers to
Scheduling system and data base management system are waved,
The event monitoring system includes the environment number of robot terminal acquisition for obtaining critical incident essential information
According to, video image and work state information, keep emergency information more complete, is laid the foundation for further information processing with merging；
The battle state display system is based on GIS platform and shows the whole situation of event development and rescuing robot strength situation,
It is related to location of incident, development trend, coverage and robot location's distribution etc.；
The aid decision-making system proposes to be based on multi-robot Cooperation by combining data analysis and deducing manoeuver technology
Action decision model, determine robot task demand, optimum path planning etc.；
The command dispatching system, for formulating the planning of multirobot cotasking, being related to robot resource allocation and appointing
Business scheduling is completed at the same time Police Command Center and leads to robot report control platform voice dialogue, video image, the real-time of task scheme
Letter；
The data base management system, for the data such as event, case, model to be carried out classification storage and safeguarded, simultaneously
Robot data library, the data such as space attribute, controlled attribute and task attribute of management service robot are set.
Further, multisensor, wireless network card, wireless image transmitter are additionally provided in the multirobot terminal, it is described
Multirobot terminal passes through wireless network card and wireless image transmitter and robot report control platform wireless connection.
Further, the multirobot terminal can be the other machines such as reconnaissance robot, search and rescue robot, flying robot
People.
A kind of public safety emergency command and control method based on multi-robot Cooperation, which is characterized in that including walking as follows
Suddenly,
A, multirobot terminal obtains rescue mesh for information collection end and action actuating station by itself multisensor
Mark, rescue environmental information and the behavior for completing escape from danger, acquisition information includes perception information and ontology information, when in face of complexity
Crisis Environment when, cooperate jointly using multirobot, give full play to each comfortable information Perception and the advantage on rescue action,
Then multirobot terminal data real-time Transmission is converged to corresponding robot report control platform by communication network；
B, robot report control platform acquires information data and Police Command Center mission bit stream by receiving robotic end, so
Afterwards according to Police Command Center decision scheme, order control robotic movement is sent in real time, and show machine by intelligent means
Device people's information, including parameter, displacement state and the site environment data of robot work；
C, Police Command Center, design data library management system provide the number such as multirobot information processing and model, case
According to support, the various ways such as comprehensive event monitoring, battle state display intuitively show multirobot information, while auxiliary data analysis,
The technologies such as deducing manoeuver improve science decision level, and multirobot resource allocation and task tune are formulated on the basis of decision scheme
Degree plan is realized fast linked with robot report control platform finally by stable communication network.
Further, include event monitoring system, battle state display system according to Police Command Center described in step c, assist determining
Plan system, command dispatching system and data base management system, are as follows,
I, event monitoring system receives robot and acquires information, and emphasis monitors video image, environmental data and robot certainly
The contents such as body state；
II battle state displays system is chased after based on the event information in event monitoring system in conjunction with GIS platform situation plotting, track
The comprehensive display robot of means and the event situation information such as amount calculation on track, figure；
III is the emergency environmental for making robot adapt to more sophisticated, aid decision-making system combination data analysis and emulation skill
Art specifically studies Fusion, robot periphery deducing manoeuver, robot distribution layout deduction, robotic movement
The contents such as path deduction, authentic communication and decision model are provided for planning robot's action scheme；
For IV according to situation information and decision information, command dispatching system decomposes robot mission requirements, inquiry robot money
Source Reserve State completes resource matched rear determining robot command scheduling plan, and relevant command information is fed back to robot
Report control platform is for controlling robotic movement；
During V entire emergency command controls, database by updating the data, historical information or model, be emergency command
The operation of each system in center provides data and supports.
Compared with prior art, technical scheme of the present invention has the following advantages that：1, the present invention is cooperateed with using multirobot
Work characteristics obtains more comprehensive circumstances not known information, reduces the uncertainty of Emergency decision；2, in conjunction with emergency command control
System own characteristic processed and function are further processed and merge multirobot multi-sensor information, promote human-computer interaction, fully send out
Wave effect of the robot in emergency environmental；3, communication network is designed, domain type multirobot command and control system is established, is realized
Stabilized communication with it is fast linked；4, multirobot is applied to emergency command control system, this is conducive to provide for emergency command
Relatively reliable, real-time, comprehensive field data, while by fully merging multirobot information, promoting robot group and referring to
It waves system and more complete perception is formed to event context situation, improve the information obtaining ability and task execution dynamics of robot
And the Situation Awareness level and emergency capability of system entirety；5, achievement in research of the invention can be applied to national defence, military affairs and
The key areas such as people's livelihood safety, push robot to play important value in public safety field.
Description of the drawings
Fig. 1 is the structural schematic diagram of the public safety emergency command and control system based on multi-robot Cooperation of the present invention；
Fig. 2 is that the multirobot of the present invention is applied to the embodiment schematic diagram of emergency command control system；
Fig. 3 is that the multirobot of the present invention is applied to the structural schematic diagram of emergency command control system multirobot terminal.
In figure：Police Command Center 1, robot report control platform 2, communication network 3, multirobot terminal 4, event monitoring system
It is system 5, battle state display system 6, aid decision-making system 7, command dispatching system 8, data base management system 9, multisensor 10, wireless
Network interface card 11, wireless image transmitter 12.
Specific implementation mode
With reference to the accompanying drawings and examples, the specific implementation mode of the present invention is described in further detail.Implement below
Example is not limited to the scope of the present invention for illustrating the present invention.
As shown in Figs. 1-3, a kind of public safety emergency commander's control based on multi-robot Cooperation that the present embodiment is provided
System processed, including Police Command Center 1, robot report control platform 2, communication network 3 and multirobot terminal 4, the emergent finger
It waves center 1 and is sequentially connected robot report control platform 2, communication network 3 and multirobot terminal 4；The Police Command Center 1 is used for
Field data convergence integrates and comprehensive command centre, the communication of completion and each remote control platform and other information terminals, Quan Fang
The situation information of all kinds of robot perceptions in the position real-time display site of the accident, provides the technical supports such as data analysis, deducing manoeuver, auxiliary
Commander is helped quickly and effectively to form counte-rplan；The robot report control platform 2 is in robot control terminal and data transmission
Between hinge；The communication network 3 is broadly divided into multimachine device for realizing the communication interaction between each section in whole system framework
Order control and information collection communicates between people and robot report control platform 2, information is total between all kinds of humanoid robot report control platforms 2
Enjoy communication, robot report control platform 2 is communicated with the information exchange between Police Command Center 1；The multirobot terminal 4 is used for
Information collection end and action actuating station, the Police Command Center 1 include event monitoring system 5, battle state display system 6, auxiliary
Decision system 7, command dispatching system 8 and data base management system 9；The event monitoring system 5 is for obtaining critical incident base
This information includes environmental data, video image and the work state information of robot terminal acquisition, emergency information is made more to add
It is whole, it is laid the foundation for further information processing with merging；The battle state display system 6 is based on GIS platform and shows that event development is whole
Figure's gesture and rescuing robot strength situation are related to location of incident, development trend, coverage and robot location's distribution etc.；
The aid decision-making system 7 proposes that the action based on multi-robot Cooperation is determined by combining data analysis and deducing manoeuver technology
Plan model determines robot task demand, optimum path planning etc.；The command dispatching system 8, for formulating multirobot association
Same mission planning is related to robot resource allocation and task scheduling, is completed at the same time Police Command Center 1 and robot report control platform
The real-time Communication for Power of 2 voice dialogues, video image, task scheme；The data base management system 9, for event, case, mould
The data such as type carry out classification storage and safeguard, while robot data library is arranged, the space attribute of management service robot, control
The data such as attribute and task attribute are additionally provided with multisensor 10, wireless network card 11, wireless image in the multirobot terminal 4
Transmitter 12, the multirobot terminal 4 pass through wireless network card 11 and wireless image transmitter 12 and 2 nothing of robot report control platform
It can be the other robots such as reconnaissance robot, search and rescue robot, flying robot that line, which connects the multirobot terminal 4,.
It specifically will be as shown in Figure 1, being the public safety emergency command and control system based on multi-robot Cooperation of the present invention
The structural schematic diagram of system.The system includes mainly：Multirobot terminal 4, robot report control platform 2, Police Command Center 1 and logical
Communication network 3, multirobot terminal 4 are related to multiple types robot, and common emergent robot has：Reconnaissance robot searches and rescues machine
People, flying robot or other robot.Robot obtains public safety according to type packet, by itself multisensor 10 and dashes forward
It is real-time to converge same type robot data by communication network for the site environment information and robot oneself state information of hair event
It is transmitted to corresponding robot report control platform 2；Robot report control platform 2 receives robotic end acquisition information data and emergency command
1 mission bit stream of center sends order control robotic movement, and by intelligence in real time according to 1 decision scheme of Police Command Center
Change means show robot information, including robot running parameter, displacement state and site environment data；In emergency command
The heart 1, design data database management module provide the data such as multirobot information processing and model, case and support, comprehensive event monitoring,
The various ways such as battle state display intuitively show multirobot information, while the technologies raising such as auxiliary data analysis, deducing manoeuver section
Level of decision-making is learned, multirobot resource allocation and task scheduling plan are formulated on the basis of decision scheme, finally by stabilization
Communication network 3, realize fast linked with robot report control platform 2.
As shown in Fig. 2, a kind of public safety emergency command and control based on multi-robot Cooperation that the present embodiment is provided
Method, which is characterized in that include the following steps,
A, multirobot terminal 4 is rescued for information collection end and action actuating station by the acquisition of itself multisensor 10
Help target, rescue environmental information and the behavior for completing escape from danger, acquisition information includes perception information and ontology information, when in face of
It when the Crisis Environment of complexity, cooperates, gives full play on each comfortable information Perception and rescue action jointly using multirobot
Then advantage converges 4 real-time data transmission of multirobot terminal to corresponding robot report control platform 2 by communication network；
B, robot report control platform 2 acquires information data and 1 mission bit stream of Police Command Center by receiving robotic end,
Then according to 1 decision scheme of Police Command Center, order control robotic movement is sent in real time, and show by intelligent means
Robot information, including parameter, displacement state and the site environment data of robot work；
C, Police Command Center 1, design data library management system 9 provide multirobot information processing and model, case etc.
Data support that the various ways such as comprehensive event monitoring, battle state display intuitively show multirobot information, while auxiliary data point
The technologies such as analysis, deducing manoeuver improve science decision level, and multirobot resource allocation is formulated on the basis of decision scheme and is appointed
It is engaged in operation plan, finally by stable communication network 3, realizes fast linked with robot report control platform 2；
Include event monitoring system 5, battle state display system 6, aid decision system according to Police Command Center 1 described in step c
System 7, command dispatching system 8 and data base management system 9, are as follows,
I, event monitoring system 5 receives robot and acquires information, and emphasis monitors video image, environmental data and robot certainly
The contents such as body state；
II battle state displays system 6 is based on the event information in event monitoring system 5, in conjunction with GIS platform situation plotting, track
The comprehensive display robot of means and the event situation information such as amount calculation in tracking, figure；
III is the emergency environmental for making robot adapt to more sophisticated, and aid decision-making system 7 combines data analysis and emulation skill
Art is specific to study 10 data fusion of multisensor, robot periphery deducing manoeuver, robot distribution layout deduction, robot row
The contents such as dynamic path deduction, authentic communication and decision model are provided for planning robot's action scheme；
For IV according to situation information and decision information, command dispatching system 8 decomposes robot mission requirements, inquiry robot money
Source Reserve State completes resource matched rear determining robot command scheduling plan, and relevant command information is fed back to robot
Report control platform 2 is for controlling robotic movement；
During V entire emergency command controls, database by updating the data, historical information or model, be emergency command
The operation of 1 each system of center provides data and supports.
The present invention utilizes multirobot collaborative work feature, obtains more comprehensive circumstances not known information, reduces emergent
The uncertainty of decision；In conjunction with emergency command control system own characteristic and function, it is further processed and to merge multirobot more
10 information of sensor promotes human-computer interaction, gives full play to effect of the robot in emergency environmental；Communication network 3 is designed, is established
Domain type multirobot command and control system, realize stabilized communication with it is fast linked；Multirobot is applied to emergency command control
System processed, this is conducive to provide relatively reliable, real-time, comprehensive field data for emergency command, while more by fully merging
Robot information promotes robot group to form more complete perception to event context situation with command system, improves machine
The information obtaining ability of people and the Situation Awareness of task execution dynamics and system entirety level and emergency capability；5, of the invention
Achievement in research can be applied to the key areas such as national defence, military affairs and people's livelihood safety, and robot is pushed to be played in public safety field
Important value.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of public safety emergency command and control system based on multi-robot Cooperation, which is characterized in that including emergency command
Center (1), robot report control platform (2), communication network (3) and multirobot terminal (4), the Police Command Center (1) according to
Secondary connection robot report control platform (2), communication network (3) and multirobot terminal (4)；
The Police Command Center (1) is integrated for field data convergence and comprehensive command centre, completes to put down with each remote control
The communication of platform and other information terminals, the situation information of the comprehensive all kinds of robot perceptions in the real-time display site of the accident, provides number
According to technical supports such as analysis, deducing manoeuvers, auxiliary commander quickly and effectively forms counte-rplan；
The robot report control platform (2) is for robot control terminal and data transmission intermediate hub；
The communication network (3) is broadly divided into multimachine device for realizing the communication interaction between each section in whole system framework
Order control and information collection communicate, believe between all kinds of humanoid robot report control platforms (2) between people and robot report control platform (2)
Breath shared communication, robot report control platform (2) are communicated with the information exchange between Police Command Center (1)；
The multirobot terminal (4) is for information collection end and action actuating station.
2. the public safety emergency command and control system according to claim 1 based on multi-robot Cooperation, feature exist
In the Police Command Center (1) includes event monitoring system (5), battle state display system (6), aid decision-making system (7), refers to
Scheduling system (8) and data base management system (9) are waved,
The event monitoring system (5) for obtaining critical incident essential information, including the environmental data of robot terminal acquisition,
Video image and work state information keep emergency information more complete, are laid the foundation for further information processing with merging；
The battle state display system (6) is based on GIS platform and shows the whole situation of event development and rescuing robot strength situation, relates to
And location of incident, development trend, coverage and robot location's distribution etc.；
The aid decision-making system (7) is proposed by combining data analysis and deducing manoeuver technology based on multi-robot Cooperation
Action decision model determines robot task demand, optimum path planning etc.；
The command dispatching system (8) is related to robot resource allocation and task for formulating the planning of multirobot cotasking
Scheduling is completed at the same time the reality of Police Command Center (1) and robot report control platform (2) voice dialogue, video image, task scheme
Shi Tongxin；
The data base management system (9) sets simultaneously for the data such as event, case, model to be carried out classification storage and safeguarded
Set robot data library, the data such as space attribute, controlled attribute and the task attribute of management service robot.
3. the public safety emergency command and control system according to claim 1 based on multi-robot Cooperation, feature exist
In being additionally provided with multisensor (10), wireless network card (11), wireless image transmitter (12), institute on the multirobot terminal (4)
It is wireless by wireless network card (11) and wireless image transmitter (12) and robot report control platform (2) to state multirobot terminal (4)
Connection.
4. the public safety emergency command and control system according to claim 3 based on multi-robot Cooperation, feature exist
In the multirobot terminal (4) can be the other robots such as reconnaissance robot, search and rescue robot, flying robot.
5. a kind of public safety emergency command and control method based on multi-robot Cooperation, which is characterized in that include the following steps,
A, multirobot terminal (4) is rescued for information collection end and action actuating station by itself multisensor (10) acquisition
Help target, rescue environmental information and the behavior for completing escape from danger, acquisition information includes perception information and ontology information, when in face of
It when the Crisis Environment of complexity, cooperates, gives full play on each comfortable information Perception and rescue action jointly using multirobot
Then advantage converges multirobot terminal (4) real-time data transmission to corresponding robot report control platform (2) by communication network；
B, robot report control platform (2) acquires information data and Police Command Center (1) mission bit stream by receiving robotic end,
Then according to Police Command Center (1) decision scheme, order control robotic movement is sent in real time, and aobvious by intelligent means
Show robot information, including parameter, displacement state and the site environment data of robot work；
C, Police Command Center (1), design data library management system (9) provide multirobot information processing and model, case etc.
Data support that the various ways such as comprehensive event monitoring, battle state display intuitively show multirobot information, while auxiliary data point
The technologies such as analysis, deducing manoeuver improve science decision level, and multirobot resource allocation is formulated on the basis of decision scheme and is appointed
Business operation plan is realized fast linked with robot report control platform (2) finally by stable communication network (3).
6. the public safety emergency command and control method according to claim 5 based on multi-robot Cooperation, feature exist
In including event monitoring system (5), battle state display system (6), aid decision system according to Police Command Center (1) described in step c
System (7), command dispatching system (8) and data base management system (9), are as follows,
I, event monitoring system (5) receives robot and acquires information, and emphasis monitors video image, environmental data and robot itself
The contents such as state；
II battle state displays system (6) is based on the event information in event monitoring system (5), in conjunction with GIS platform situation plotting, track
The comprehensive display robot of means and the event situation information such as amount calculation in tracking, figure；
III is the emergency environmental for making robot adapt to more sophisticated, and aid decision-making system (7) combines data analysis and emulation skill
Art specifically studies multisensor (10) data fusion, robot periphery deducing manoeuver, robot distribution layout deduction, robot
The contents such as action path deduction, authentic communication and decision model are provided for planning robot's action scheme；
For IV according to situation information and decision information, command dispatching system (8) decomposes robot mission requirements, inquiry robot resource
Reserve State completes resource matched rear determining robot command scheduling plan, and relevant command information is fed back to robot behaviour
Control platform (2) is for controlling robotic movement；
During V entire emergency command controls, database by updating the data, historical information or model, be Police Command Center
(1) operation of each system provides data and supports.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710171738.8A CN108629719A (en) | 2017-03-17 | 2017-03-17 | Public safety emergency command and control system based on multi-robot Cooperation and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710171738.8A CN108629719A (en) | 2017-03-17 | 2017-03-17 | Public safety emergency command and control system based on multi-robot Cooperation and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108629719A true CN108629719A (en) | 2018-10-09 |
Family
ID=63706552
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710171738.8A Pending CN108629719A (en) | 2017-03-17 | 2017-03-17 | Public safety emergency command and control system based on multi-robot Cooperation and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108629719A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176530A (en) * | 2018-10-23 | 2019-01-11 | 广州赛特智能科技有限公司 | A kind of colony dispatching method of hospital conveying robot |
| CN109408157A (en) * | 2018-11-01 | 2019-03-01 | 西北工业大学 | A kind of determination method and device of multirobot cotasking |
| CN110087220A (en) * | 2019-05-29 | 2019-08-02 | 上海驰盈机电自动化技术有限公司 | A kind of Communication of Muti-robot System and tele-control system |
| CN110442133A (en) * | 2019-07-29 | 2019-11-12 | 南京市晨枭软件技术有限公司 | A kind of method and system of multiple groups industrial robot work compound |
| CN110660311A (en) * | 2019-08-23 | 2020-01-07 | 北京农业信息技术研究中心 | Intelligent exhibit demonstration robot system |
| CN110883772A (en) * | 2019-10-23 | 2020-03-17 | 中国国家铁路集团有限公司 | Method and system for processing potential safety hazard of railway station by using robot |
| CN111447259A (en) * | 2020-03-12 | 2020-07-24 | 江西珉轩智能科技有限公司 | Self-adaptive data collaborative acquisition method and system |
| CN112288155A (en) * | 2020-10-23 | 2021-01-29 | 云南昆船设计研究院有限公司 | Security plan generation scheduling method and system based on machine learning and collaborative filtering |
| CN112405489A (en) * | 2020-10-16 | 2021-02-26 | 国网上海市电力公司 | Visual-auditory cooperative electric power emergency robot and operation method |
| CN113156955A (en) * | 2021-04-25 | 2021-07-23 | 山东新一代信息产业技术研究院有限公司 | Traffic emergency robot, emergency system and emergency management method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101382429A (en) * | 2008-10-17 | 2009-03-11 | 北京航空航天大学 | Earth-air special-shaped multi-robot searching and rescuing system |
| CN102340894A (en) * | 2011-08-26 | 2012-02-01 | 东北大学 | Wireless-sensor-network-based remote control rescue robot system and control method |
| CN105116785A (en) * | 2015-06-26 | 2015-12-02 | 北京航空航天大学 | Multi-platform remote robot general control system |
| CN105719011A (en) * | 2016-01-13 | 2016-06-29 | 天津中科智能识别产业技术研究院有限公司 | Escape path planning method and system based on mobile terminal |
| CN207008709U (en) * | 2017-03-17 | 2018-02-13 | 南京聚特机器人技术有限公司 | Public safety emergency command and control system based on multi-robot Cooperation |
-
2017
- 2017-03-17 CN CN201710171738.8A patent/CN108629719A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101382429A (en) * | 2008-10-17 | 2009-03-11 | 北京航空航天大学 | Earth-air special-shaped multi-robot searching and rescuing system |
| CN102340894A (en) * | 2011-08-26 | 2012-02-01 | 东北大学 | Wireless-sensor-network-based remote control rescue robot system and control method |
| CN105116785A (en) * | 2015-06-26 | 2015-12-02 | 北京航空航天大学 | Multi-platform remote robot general control system |
| CN105719011A (en) * | 2016-01-13 | 2016-06-29 | 天津中科智能识别产业技术研究院有限公司 | Escape path planning method and system based on mobile terminal |
| CN207008709U (en) * | 2017-03-17 | 2018-02-13 | 南京聚特机器人技术有限公司 | Public safety emergency command and control system based on multi-robot Cooperation |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109176530A (en) * | 2018-10-23 | 2019-01-11 | 广州赛特智能科技有限公司 | A kind of colony dispatching method of hospital conveying robot |
| CN109408157A (en) * | 2018-11-01 | 2019-03-01 | 西北工业大学 | A kind of determination method and device of multirobot cotasking |
| CN109408157B (en) * | 2018-11-01 | 2022-03-04 | 西北工业大学 | Method and device for determining multi-robot cooperative task |
| CN110087220A (en) * | 2019-05-29 | 2019-08-02 | 上海驰盈机电自动化技术有限公司 | A kind of Communication of Muti-robot System and tele-control system |
| CN110442133A (en) * | 2019-07-29 | 2019-11-12 | 南京市晨枭软件技术有限公司 | A kind of method and system of multiple groups industrial robot work compound |
| CN110660311B (en) * | 2019-08-23 | 2022-03-01 | 北京农业信息技术研究中心 | Intelligent exhibit demonstration robot system |
| CN110660311A (en) * | 2019-08-23 | 2020-01-07 | 北京农业信息技术研究中心 | Intelligent exhibit demonstration robot system |
| CN110883772A (en) * | 2019-10-23 | 2020-03-17 | 中国国家铁路集团有限公司 | Method and system for processing potential safety hazard of railway station by using robot |
| CN111447259A (en) * | 2020-03-12 | 2020-07-24 | 江西珉轩智能科技有限公司 | Self-adaptive data collaborative acquisition method and system |
| CN111447259B (en) * | 2020-03-12 | 2023-04-28 | 江西珉轩智能科技有限公司 | Self-adaptive data collaborative collection method and system |
| CN112405489A (en) * | 2020-10-16 | 2021-02-26 | 国网上海市电力公司 | Visual-auditory cooperative electric power emergency robot and operation method |
| CN112288155A (en) * | 2020-10-23 | 2021-01-29 | 云南昆船设计研究院有限公司 | Security plan generation scheduling method and system based on machine learning and collaborative filtering |
| CN112288155B (en) * | 2020-10-23 | 2022-12-09 | 云南昆船设计研究院有限公司 | Security plan generation scheduling method and system based on machine learning and collaborative filtering |
| CN113156955A (en) * | 2021-04-25 | 2021-07-23 | 山东新一代信息产业技术研究院有限公司 | Traffic emergency robot, emergency system and emergency management method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108629719A (en) | Public safety emergency command and control system based on multi-robot Cooperation and method | |
| CN104238552B (en) | Redundancy multi-robot forming system | |
| CN102437601B (en) | Autonomous charging system of cloud robot and method thereof | |
| DE112018003003T5 (en) | METHOD, DEVICE AND SYSTEM FOR AN ELECTRONIC DIGITAL ASSISTANT FOR DETECTING A USER STATE CHANGE BY MEANS OF NATURAL LANGUAGE AND FOR THE MODIFICATION OF A USER INTERFACE | |
| CN109669477A (en) | A kind of cooperative control system and control method towards unmanned plane cluster | |
| CN110087220A (en) | A kind of Communication of Muti-robot System and tele-control system | |
| CN102736627B (en) | Multi-agent target searching self-decision coordination control device and method | |
| CN106516175A (en) | Autonomous operation and control system of agile imaging satellite, and operation process of system | |
| CN207008709U (en) | Public safety emergency command and control system based on multi-robot Cooperation | |
| CN107510914B (en) | Intelligent fire-fighting remote monitoring system and method for park | |
| CN111638724A (en) | Novel cooperative intelligent control method for unmanned aerial vehicle group computer | |
| CN115392476B (en) | Intelligent twin body in unmanned cooperative combat system | |
| CN108490975A (en) | A kind of dispatching method and computer storage media of unmanned plane cluster | |
| CN106843113A (en) | Robot dispatching method, device and system | |
| CN108490976A (en) | A kind of scheduling system of unmanned plane cluster | |
| Grayson | Search & rescue using multi-robot systems | |
| CN106327854A (en) | Unmanned plane system and infrared remote control equipment for unmanned plane | |
| Cho et al. | Intelligent charging path planning for IoT network over blockchain-based edge architecture | |
| CN107222712A (en) | Police command dispatching system and dispatching method | |
| CN207354486U (en) | Police command dispatching system | |
| CN205721375U (en) | A kind of many rotor wing unmanned aerial vehicles communication and safety monitoring system | |
| CN110155326A (en) | A kind of gridding security protection intelligent patrol system and control method based on unmanned plane | |
| Zadeh et al. | A multiagent mission coordination system for continuous situational awareness of bushfires | |
| CN108145714A (en) | A kind of dcs for servicing humanoid robot | |
| CN114967761B (en) | Intelligent control method and system for operation of plant protection unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |