CN108789420A - It is a kind of when causing danger for evacuating the robot and storage medium that guide - Google Patents
It is a kind of when causing danger for evacuating the robot and storage medium that guide Download PDFInfo
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- CN108789420A CN108789420A CN201810927721.5A CN201810927721A CN108789420A CN 108789420 A CN108789420 A CN 108789420A CN 201810927721 A CN201810927721 A CN 201810927721A CN 108789420 A CN108789420 A CN 108789420A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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Abstract
The present invention provides the robots and storage medium for evacuating guide when a kind of cause danger, wherein, the robot includes memory and processor, and memory executes following steps for storing executable program code and data, the executable program code that processor is used to that memory to be called to store：Obtain danger sources information；Obtain peripheral map；Evacuation route is generated according to the danger sources information and the peripheral map；Personnel are guided based on the evacuation route.Using the present invention, evacuation guide, the personal safety of support personnel can be carried out to personnel on danger source periphery.
Description
Technical field
The present invention relates to artificial intelligence, and in particular to a kind of to be situated between for evacuating the robot guided and storage when causing danger
Matter.
Background technology
It being continuously increased with the application demand of robot, artificial intelligence the relevant technologies are constantly progressive, the growth of hardware performance,
Service robot starts to move towards factory from laboratory in recent years, and develops from simple function to multifunctional personal robot.It carries
To robot, a word often referred to recently is artificial intelligence.Artificial intelligence is to realize the intelligence similar to people with computer
One subject of energy behavior.Robot itself is one of ultimate application target for artificial intelligence.
Traditional artificial intelligence originates from the Dartmouth meeting of the 1950s, passed through later as a subject
It rises and fall sharply and quickly several times, abundant achievement is had accumulated in basic theory and method.From the Symbolic Computation System of early stage, it is to expert
System, then to the machine learning that the nineties grows up, big data analysis can be the scope of artificial intelligence.In image, language
The fields such as sound, search, data mining, social computing, and derived some relevant application studies.Wherein contacted with robot
More include closely computer vision, voice and natural language processing, also intelligent body (Agent) etc..
It can consider following perception, cognition according to the progress of previous robot field and to the preliminary analysis of application
Technology will realize application.
1, three-dimensional navigation location technology.Regardless of robot, as long as removable, that is, need in family or other environment
Carry out navigator fix.Wherein SLAM (Simultaneous Localization and Ming) technology can be carried out at the same time positioning and
Figure is built, there are many technological accumulation in terms of academic research.But for real system, due to real-time low cost (such as nothing
Method uses more expensive radar equipment) requirement and home environment dynamic change (putting for article), thus it is fixed to navigating
Position technology proposes requirements at the higher level, still needs to further research and develop.
2, visual perception technology.Wherein include recognition of face, gesture identification, object identification skill related to Emotion identification etc.
Art.Visual perception technology is a very important technology of robot and people's interaction.
3, language interaction technique.Wherein include speech recognition, speech production, natural language understanding and Intelligent dialogue system
Deng.
4, character recognition technology.There are many text informations in life, such as the label information of books and newspapers and object, this also requires machine
Device people can carry out Text region by camera.With after traditional scanning identify word compared with, can by camera come
Carry out the identification of word.
5, cognitive techniques.Robot needs that the cognitive functions such as planning, reasoning, memory, study and prediction are done step-by-step, to
Become more intelligent.
In terms of current present Research, the key technology that service robot faces has rapid progress, but also has suitable
More problems will solve.
Invention content
An embodiment of the present invention provides a kind of evacuation guidance method and robot, storage mediums, can be on danger source periphery
Evacuation guide, the personal safety of support personnel are carried out to personnel.
The purpose of the embodiment of the present invention is achieved through the following technical solutions：
A kind of evacuation guidance method, including：
Obtain danger sources information；
Obtain peripheral map；
Evacuation route is generated according to the danger sources information and the peripheral map；
Personnel are guided based on the evacuation route.
Optionally, the danger source is scene of fire；The acquisition danger sources information includes：
The image of the scene of fire is obtained using imaging sensor；
The smog of the scene of fire is incuded based on smoke sensor device；
The temperature of current location is obtained based on temperature sensor.
Optionally, the danger source is scene of fire；The acquisition danger sources information includes：
The danger sources information that cooperation robot is sent is received, the danger sources information includes：The image of the scene of fire,
The temperature of the smog of the scene of fire and the cooperation robot position.
Optionally, the method further includes：
The evacuation route is sent to cooperation robot, so that the cooperation robot is based on the evacuation route pair
Personnel guide.
Optionally, the acquisition peripheral map includes：
The peripheral map is obtained from map server；Or
Surrounding terrain is scanned based on imaging sensor, to generate the peripheral map.
It is a kind of when causing danger for evacuating the robot guided, including：
Information acquisition unit, for obtaining danger sources information；
Map acquiring unit, for obtaining peripheral map；
Route Generation unit, danger sources information and the map for being obtained according to described information acquiring unit obtain single
The peripheral map that member obtains generates evacuation route；
Unit, the evacuation route for being generated based on the Route Generation unit is guided to guide personnel.
Optionally, the danger source is scene of fire；Described information acquiring unit is specifically used for：
The image of the scene of fire is obtained using imaging sensor；
The smog of the scene of fire is incuded based on smoke sensor device；
The temperature of current location is obtained based on temperature sensor.
Optionally, the danger source is scene of fire；Described information acquiring unit is specifically used for：
The danger sources information that cooperation robot is sent is received, the danger sources information includes：The image of the scene of fire,
The temperature of the smog of the scene of fire and the cooperation robot position.
Optionally, the robot further includes：
Transmission unit, the evacuation route for generating the Route Generation unit are sent to cooperation robot, so that
The cooperation robot guides personnel based on the evacuation route.
Optionally, the map acquiring unit is specifically used for：
The peripheral map is obtained from map server；Or
Surrounding terrain is scanned based on imaging sensor, to generate the peripheral map.
A kind of computer readable storage medium, the storage medium are stored with computer program, the computer program quilt
Processor realizes following steps when executing：
Obtain danger sources information；
Obtain peripheral map；
Evacuation route is generated according to the danger sources information and the peripheral map；
Personnel are guided based on the evacuation route.
Optionally, the danger source is scene of fire；The mode that the processor obtains danger sources information includes：
The image of the scene of fire is obtained using imaging sensor；
The smog of the scene of fire is incuded based on smoke sensor device；
The temperature of current location is obtained based on temperature sensor.
Optionally, the danger source is scene of fire；The mode that the processor obtains danger sources information includes：
The danger sources information that cooperation robot is sent is received, the danger sources information includes：The image of the scene of fire,
The temperature of the smog of the scene of fire and the cooperation robot position.
Optionally, following steps are also realized when the computer program is executed by the processor：
The evacuation route is sent to cooperation robot, so that the cooperation robot is based on the evacuation route pair
Personnel guide.
Optionally, the mode of the processor acquisition peripheral map includes：
The peripheral map is obtained from map server；Or
Surrounding terrain is scanned based on imaging sensor, to generate the peripheral map.
It is a kind of when causing danger for evacuating the robot guided, including：Memory and processor, wherein the storage
Device is used to call the executable program generation of the memory storage for storing executable program code and data, the processor
Code executes following steps：
Obtain danger sources information；
Obtain peripheral map；
Evacuation route is generated according to the danger sources information and the peripheral map；
Personnel are guided based on the evacuation route.
Optionally, the robot further includes imaging sensor, smoke sensor device and temperature sensor, and the danger source is
Scene of fire；The mode that the processor obtains danger sources information includes：
The image of the scene of fire is obtained using described image sensor；
The smog of the scene of fire is incuded based on the smoke sensor device；
The temperature of current location is obtained based on the temperature sensor.
Optionally, the robot further includes signal receiving device, and the danger source is scene of fire；The processor obtains
The mode of danger sources information is taken to include：
It controls the signal receiving device and receives the danger sources information that cooperation robot is sent, the danger sources information packet
It includes：The image of the scene of fire, the temperature of the smog of the scene of fire and the cooperation robot position.
Optionally, the robot further includes sender unit, and the processor is additionally operable to that the memory is called to deposit
The executable program code of storage executes following steps：
It controls the sender unit and the evacuation route is sent to cooperation robot, so that the cooperation machine
People guides personnel based on the evacuation route.
Optionally, the mode of the processor acquisition peripheral map includes：
The peripheral map is obtained from map server；Or
Surrounding terrain is scanned based on imaging sensor, to generate the peripheral map.
From the above it can be seen that danger sources information and circumferentially can be obtained when danger occurs using robot provided by the invention
Then figure generates evacuation route according to the danger sources information and the peripheral map, to be based on the evacuation route to people
Member is guided；Since evacuation route has considered danger sources information and peripheral map, to which the evacuation route can
Safely personnel are guided, have fully ensured the personal safety of personnel.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without having to pay creative labor, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the flow chart of evacuation guidance method provided by one embodiment of the present invention；
Structure chart when Fig. 2 is provided by one embodiment of the present invention causes danger for evacuating the robot guided；
Fig. 3 is structure chart when causing danger for evacuating the robot guided that another embodiment of the present invention provides.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
Evacuation guidance method provided in an embodiment of the present invention is first introduced, Fig. 1 describes provided by one embodiment of the present invention
Evacuate the flow of guidance method.Wherein, this method can be applied to robot.As shown in Figure 1, this method may include：
101, danger sources information is obtained.
Wherein, danger source can be scene of fire, and floods scene, landslide scene, typhoon is live, earthquake field, and dilapidated house is existing
, mud-rock flow scene, dangerous material scene etc. can be to natural calamity scene that personal safety causes damages and non-natural disaster
Scene.
The mode that robot obtains danger sources information can be the sensor based on itself, such as imaging sensor, and smog passes
Sensor, temperature sensor etc. sensor are obtained；It can also be based on cooperation robot or other server apparatus are transmitted across
It is obtained in the information come.Wherein, according to the difference of danger source, the danger sources information obtained is needed to have difference.
For example, when danger source is scene of fire, the danger sources information can be scene of fire image, smog feelings
Condition, temperature of current location etc..At this point, the acquisition danger sources information may include：
The image of the scene of fire is obtained using imaging sensor；
The smog of the scene of fire is incuded based on smoke sensor device；
The temperature of current location is obtained based on temperature sensor.
In another embodiment, the acquisition danger sources information may include：Receive what cooperation robot was sent
Danger sources information, the danger sources information include：The image of the scene of fire, the smog of the scene of fire and the association
Make the temperature of robot position.
It is assisted it is understood that robot can receive while oneself obtains danger sources information by self-sensor device
Make the danger sources information that robot or server are sent, so as to the comprehensive danger sources information got by sensor and connects
The danger sources information of receipts is handled.
In one embodiment, robot can only acquire an image, also may be used when obtaining the image of scene of fire
To carry out Image Acquisition to the scene of fire from multiple angles, to obtain the multiple of the scene of fire with different angle
Image.Wherein, can more accurately the case where scene of fire be judged by obtaining multiple images.
102, peripheral map is obtained.
Wherein, in order to carrying out evacuation guide to personnel, it is desirable to be able to the peripheral map for obtaining current location, so as to
Enough routes that evacuation is determined based on peripheral map.
In one embodiment, the acquisition peripheral map may include：Described in map server acquisition
Peripheral map.The map server can be the map server of profession, such as baidu map servers, Google Maps
Server etc., naturally it is also possible to be privately owned map server, such as do the map server of operator etc. to navigate.Such as
Fruit is that indoors, the map server can be the server for storing building blueprint.
It is understood that robot oneself can also generate the peripheral map, at this point, the acquisition is circumferentially
Figure may include：Surrounding terrain is scanned based on imaging sensor, to generate the peripheral map.Wherein, described
Scanning oneself can carry out, and can also jointly be completed by multiple cooperation robots.Generate the side that three-dimensional modeling may be used in map
Formula, wherein also needing to use image recognition technology.
103, evacuation route is generated according to the danger sources information and the peripheral map.
Wherein, when generating evacuation route, pre-set algorithm may be used and carry out.Wherein, it needs in view of danger
Source information and peripheral map, for example, when danger source is scene of fire, when evacuation route described first, needs to guide personnel
To the separate scene of fire, next needs to consider wind direction, avoids the evacuation route that from blowing to evacuating personnel to smog
Place.
Wherein, the algorithm can be generated by way of artificial intelligence.Algorithm provided in an embodiment of the present invention can be with
It is to be realized based on neural network model, such as can is convolutional neural networks (CNN：Convolutional Neural
Network) model or Recognition with Recurrent Neural Network (RNN：Recurrent Neural Networks) model, or can also be
Deep neural network (DNN：Deep Neural Networks) model.
103, personnel are guided based on the evacuation route.
Wherein, guiding personnel can be by sound, light, and gesture etc. mode carries out.
In one embodiment, the guide can also be carried out by the robot that cooperates, at this point, the robot
The evacuation route can also be sent to cooperation robot, so that the cooperation robot is based on the evacuation route to people
Member is guided.
From the above it can be seen that using evacuation guidance method provided by the invention, robot can obtain danger sources information and periphery
Then map generates evacuation route according to the danger sources information and the peripheral map, to be based on the evacuation route pair
Personnel guide；Since evacuation route has considered danger sources information and peripheral map, to the evacuation route energy
It is enough that safely personnel are guided, fully ensure the personal safety of personnel.
In one embodiment of the invention, for the algorithm in neural network, neural network can be by multiple god
It is formed through member.By taking danger source is scene of fire as an example, in the neural network, the algorithm of the generation evacuation route can be with
It is expressed as the calculating formula：
M=f (p+ λ)=f ((Ap1+Bp2+Cp3)+Dλ)
Wherein, m indicates that the evacuation route generated, p indicate the danger sources information obtained, wherein p1Indicate danger sources information
In image information, p2Indicate the smog information in danger sources information, p3Indicate the temperature information in danger sources information；λ expressions obtain
The peripheral map taken, what f () was indicated is the corresponding activation primitive of neuron, and A, B, C and D are the corresponding module ginsengs of activation primitive
Number.In one embodiment, activation primitive f () can be specifically sigmoid functions, i.e., the shape that f () can be expressed as
Formula：
Wherein, the module parameter of activation primitive f () is trained in advance, and module parameter A has in one embodiment
Body can be by training function training to obtain as follows：
Wherein, M is the parameter of trained function, and N is danger sources information and the corresponding quantity of peripheral map in training set, pn
It is danger sources information in training set, λnIt is the peripheral map in training set.
Fig. 2 describes a kind of knot when causing danger for evacuating the robot guided provided by one embodiment of the present invention
Structure, wherein the robot can be used to implement the evacuation guidance method of previous embodiment offer.As shown in Fig. 2, the robot can
To include：
Information acquisition unit 201, for obtaining danger sources information.
Wherein, danger source can be scene of fire, and floods scene, landslide scene, typhoon is live, earthquake field, and dilapidated house is existing
, mud-rock flow scene, dangerous material scene etc. can be to natural calamity scene that personal safety causes damages and non-natural disaster
Scene.
The mode that robot obtains danger sources information can be the sensor based on itself, such as imaging sensor, and smog passes
Sensor, temperature sensor etc. sensor are obtained；It can also be based on cooperation robot or other server apparatus are transmitted across
It is obtained in the information come.Wherein, according to the difference of danger source, the danger sources information obtained is needed to have difference.
For example, when danger source is scene of fire, the danger sources information can be scene of fire image, smog feelings
Condition, temperature of current location etc..At this point, the acquisition danger sources information may include：
The image of the scene of fire is obtained using imaging sensor；
The smog of the scene of fire is incuded based on smoke sensor device；
The temperature of current location is obtained based on temperature sensor.
In another embodiment, the acquisition danger sources information may include：Receive what cooperation robot was sent
Danger sources information, the danger sources information include：The image of the scene of fire, the smog of the scene of fire and the association
Make the temperature of robot position.
It is assisted it is understood that robot can receive while oneself obtains danger sources information by self-sensor device
Make the danger sources information that robot or server are sent, so as to the comprehensive danger sources information got by sensor and connects
The danger sources information of receipts is handled.
In one embodiment, robot can only acquire an image, also may be used when obtaining the image of scene of fire
To carry out Image Acquisition to the scene of fire from multiple angles, to obtain the multiple of the scene of fire with different angle
Image.Wherein, can more accurately the case where scene of fire be judged by obtaining multiple images.
Map acquiring unit 202, for obtaining peripheral map.
Wherein, in order to carrying out evacuation guide to personnel, it is desirable to be able to the peripheral map for obtaining current location, so as to
Enough routes that evacuation is determined based on peripheral map.
In one embodiment, the acquisition peripheral map may include：Described in map server acquisition
Peripheral map.The map server can be the map server of profession, such as baidu map servers, Google Maps
Server etc., naturally it is also possible to be privately owned map server, such as do the map server of operator etc. to navigate.Such as
Fruit is that indoors, the map server can be the server for storing building blueprint.
It is understood that robot oneself can also generate the peripheral map, at this point, the acquisition is circumferentially
Figure may include：Surrounding terrain is scanned based on imaging sensor, to generate the peripheral map.Wherein, described
Scanning oneself can carry out, and can also jointly be completed by multiple cooperation robots.Generate the side that three-dimensional modeling may be used in map
Formula, wherein also needing to use image recognition technology.
Route Generation unit 203, the danger sources information for being obtained according to described information acquiring unit 201 and the map
The peripheral map that acquiring unit 202 obtains generates evacuation route.
Wherein, when generating evacuation route, pre-set algorithm may be used and carry out.Wherein, it needs in view of danger
Source information and peripheral map, for example, when danger source is scene of fire, when evacuation route described first, needs to guide personnel
To the separate scene of fire, next needs to consider wind direction, avoids the evacuation route that from blowing to evacuating personnel to smog
Place.
Wherein, the algorithm can be generated by way of artificial intelligence.Algorithm provided in an embodiment of the present invention can be with
It is to be realized based on neural network model, such as can is convolutional neural networks (CNN：Convolutional Neural
Network) model or Recognition with Recurrent Neural Network (RNN：Recurrent Neural Networks) model, or can also be
Deep neural network (DNN：Deep Neural Networks) model.
Unit 204, the evacuation route for being generated based on the Route Generation unit 203 is guided to guide personnel.
Wherein, guiding personnel can be by sound, light, and gesture etc. mode carries out.
In one embodiment, the guide can also be carried out by the robot that cooperates, at this point, the robot
The evacuation route can also be sent to cooperation robot, so that the cooperation robot is based on the evacuation route to people
Member is guided.
From the above it can be seen that danger sources information and peripheral map can be obtained using robot provided by the invention, then basis
The danger sources information and the peripheral map generate evacuation route, to be guided personnel based on the evacuation route；
Since evacuation route has considered danger sources information and peripheral map, to which the evacuation route can be safely to personnel
It is guided, has fully ensured the personal safety of personnel.
Therefore, in one embodiment of the invention, if the danger source is scene of fire；Described information acquiring unit
201 can be specifically used for：
The image of the scene of fire is obtained using imaging sensor；
The smog of the scene of fire is incuded based on smoke sensor device；
The temperature of current location is obtained based on temperature sensor.
In one embodiment of the invention, the robot can also include：
Transmission unit, the evacuation route for generating the Route Generation unit 203 are sent to cooperation robot, so that
The cooperation robot is obtained to guide personnel based on the evacuation route.
In one embodiment of the invention, the danger source is scene of fire；Described information acquiring unit 201 can have
Body is used for：
The danger sources information that cooperation robot is sent is received, the danger sources information includes：The image of the scene of fire,
The temperature of the smog of the scene of fire and the cooperation robot position.
In one embodiment of the invention, the map acquiring unit 202 can be specifically used for：
The peripheral map is obtained from map server；Or
Surrounding terrain is scanned based on imaging sensor, to generate the peripheral map.
The embodiment of the present invention additionally provides a kind of robot when causing danger for evacuating guide, before can be used for execution
The evacuation guidance method of embodiment offer is provided.As shown in figure 3, the robot at least may include：Memory 10 and at least one
Processor 20, such as CPU (Central Processing Unit, central processing unit), wherein memory 10 and processor 20
It can be communicatively coupled by bus.It will be understood by those skilled in the art that the structure of robot shown in Fig. 3 not structure
The restriction of the pairs of embodiment of the present invention, it, either busbar network, can also be hub-and-spoke configuration, can also include than diagram
More or fewer components either combine certain components or different components arrangement.
Wherein, memory 10 can be high-speed RAM memory, can also be non-labile memory (non-
Volatile memory), a for example, at least magnetic disk storage.Memory 10 optionally can also be at least one and be located at far
Storage device from aforementioned processor 20.Memory 10 can be used for storing executable program code and data, and the present invention is implemented
Example is not construed as limiting.
In robot shown in Fig. 3, the executable program code that processor 20 can be used for that memory 10 is called to store,
Execute following steps：
Obtain danger sources information；
Obtain peripheral map；
Evacuation route is generated according to the danger sources information and the peripheral map；
Personnel are guided based on the evacuation route.
Optionally, which (can not also show including imaging sensor, smoke sensor device and temperature sensor in figure
Go out), which is scene of fire；Processor 20 obtain danger sources information mode may include：
The image of scene of fire is obtained using imaging sensor；
The smog of scene of fire is incuded based on smoke sensor device；
The temperature of current location is obtained based on temperature sensor.
Optionally, which can also include signal receiving device (not shown), which is scene of fire；
Processor 20 obtain danger sources information mode may include：
It controls the signal receiving device and receives the danger sources information that cooperation robot is sent, which can wrap
It includes：The temperature of the image of scene of fire, the smog of scene of fire, and cooperation robot position.
Optionally, which can also include sender unit (not shown), and processor 20 can be also used for
The executable program code for calling memory 10 to store executes following steps：
It controls the sender unit and the evacuation route is sent to cooperation robot, so that cooperation robot is based on being somebody's turn to do
Evacuation route guides personnel.
Optionally, the mode of the acquisition of processor 20 peripheral map may include：
The peripheral map is obtained from map server；Or
Surrounding terrain is scanned based on imaging sensor, to generate the peripheral map.
Robot shown in implementing Fig. 3 can obtain danger sources information and peripheral map, then basis when danger occurs
The danger sources information and the peripheral map generate evacuation route, to be guided personnel based on the evacuation route；
Since evacuation route has considered danger sources information and peripheral map, to which the evacuation route can be safely to personnel
It is guided, has fully ensured the personal safety of personnel.
Above-mentioned robot includes the contents such as information exchange, implementation procedure between interior each unit module, due to this hair
Bright embodiment of the method is based on same design, and particular content can be found in the narration in the method for the present invention embodiment, and details are not described herein again.
The embodiment of the present invention additionally provides a kind of computer readable storage medium, which has
Following steps may be implemented when being executed by processor in computer program, the computer program：
Obtain danger sources information；
Obtain peripheral map；
Evacuation route is generated according to the danger sources information and the peripheral map；
Personnel are guided based on the evacuation route.
Optionally, which is scene of fire；Processor obtain danger sources information mode may include：
The image of scene of fire is obtained using imaging sensor；
The smog of scene of fire is incuded based on smoke sensor device；
The temperature of current location is obtained based on temperature sensor.
Optionally, which is scene of fire；Processor obtain danger sources information mode may include：
The danger sources information that cooperation robot is sent is received, which at least may include：The figure of scene of fire
The temperature of picture, the smog of scene of fire, and cooperation robot position.
Optionally, following steps can also be realized when which is executed by processor：
The evacuation route is sent to cooperation robot, personnel are carried out so that cooperation robot is based on the evacuation route
It guides.
Optionally, the mode of processor acquisition peripheral map may include：
The peripheral map is obtained from map server；Or
Surrounding terrain is scanned based on imaging sensor, to generate the peripheral map.
One of ordinary skill in the art will appreciate that realizing all or part of flow in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, above-mentioned program can be stored in a computer read/write memory medium
In, the program is when being executed, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, above-mentioned storage medium can be magnetic
Dish, CD, read-only memory (ROM：Read-Only Memory) or random access memory (RAM：Random
Access Memory) etc..
Principle and implementation of the present invention are described for specific case used herein, and above example is said
The bright method and its thought for being merely used to help understand the present invention；Meanwhile for those of ordinary skill in the art, according to this hair
Bright thought, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not manage
Solution is limitation of the present invention.
Claims (10)
1. a kind of computer readable storage medium, which is characterized in that the storage medium is stored with computer program, the calculating
Machine program realizes following steps when being executed by processor：
Obtain danger sources information；
Obtain peripheral map；
Evacuation route is generated according to the danger sources information and the peripheral map；
Personnel are guided based on the evacuation route.
2. computer readable storage medium as described in claim 1, which is characterized in that the danger source is scene of fire；Institute
State processor obtain danger sources information mode include：
The image of the scene of fire is obtained using imaging sensor；
The smog of the scene of fire is incuded based on smoke sensor device；
The temperature of current location is obtained based on temperature sensor.
3. computer readable storage medium as described in claim 1, which is characterized in that the danger source is scene of fire；Institute
State processor obtain danger sources information mode include：
The danger sources information that cooperation robot is sent is received, the danger sources information includes：The image of the scene of fire, it is described
The temperature of the smog of scene of fire and the cooperation robot position.
4. computer readable storage medium as described in any one of claims 1-3, which is characterized in that the computer program is by institute
It states when processor executes and also realizes following steps：
The evacuation route is sent to cooperation robot, so that the cooperation robot is based on the evacuation route to personnel
It is guided.
5. computer readable storage medium as described in any one of claims 1-3, which is characterized in that the processor obtains periphery
The mode of map includes：
The peripheral map is obtained from map server；Or
Surrounding terrain is scanned based on imaging sensor, to generate the peripheral map.
6. it is a kind of when causing danger for evacuating the robot guided, which is characterized in that including：Memory and processor, wherein
The memory is used to call holding for the memory storage for storing executable program code and data, the processor
Line program code executes following steps：
Obtain danger sources information；
Obtain peripheral map；
Evacuation route is generated according to the danger sources information and the peripheral map；
Personnel are guided based on the evacuation route.
7. robot as claimed in claim 6, which is characterized in that the robot further includes imaging sensor, smog sensing
Device and temperature sensor, the danger source are scene of fire；The mode that the processor obtains danger sources information includes：
The image of the scene of fire is obtained using described image sensor；
The smog of the scene of fire is incuded based on the smoke sensor device；
The temperature of current location is obtained based on the temperature sensor.
8. robot as claimed in claim 6, which is characterized in that the robot further includes signal receiving device, the danger
Dangerous source is scene of fire；The mode that the processor obtains danger sources information includes：
It controls the signal receiving device and receives the danger sources information that cooperation robot is sent, the danger sources information includes：Institute
State the image of scene of fire, the temperature of the smog of the scene of fire and the cooperation robot position.
9. the robot as described in claim 6-8 is any, which is characterized in that the robot further includes sender unit,
The processor is additionally operable to call the executable program code of the memory storage, executes following steps：
It controls the sender unit and the evacuation route is sent to cooperation robot, so that cooperation robot base
Personnel are guided in the evacuation route.
10. the robot as described in claim 6-8 is any, which is characterized in that the processor obtains the mode of peripheral map
Including：
The peripheral map is obtained from map server；Or
Surrounding terrain is scanned based on imaging sensor, to generate the peripheral map.
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