CN106843113A - Robot dispatching method, device and system - Google Patents
Robot dispatching method, device and system Download PDFInfo
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- CN106843113A CN106843113A CN201710157281.5A CN201710157281A CN106843113A CN 106843113 A CN106843113 A CN 106843113A CN 201710157281 A CN201710157281 A CN 201710157281A CN 106843113 A CN106843113 A CN 106843113A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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Abstract
The present invention discloses a kind of robot dispatching method, device and system, wherein, the robot dispatching method includes step：The environmental data of object detection area is obtained, and the environmental data is preserved to ambient parameter data storehouse；According to default early warning project, the environmental data of the correspondence early warning project is obtained in real time, and be weighted according to default weight relationship, when weighing computation results described in real-time judgment exceed alarm threshold value, produce warning message；Corresponding control instruction sequence is obtained in instruction set database according to warning message；Interacted with query translation according to the command sequence, obtain the robot of current executable task, and the command sequence is distributed to the correspondence robot, be used to control robot to cooperate with treatment alarm.The present invention have more efficient effect is scheduled to robot.
Description
Technical field
The present invention relates to robotics, more particularly to robot dispatching method, device and system.
Background technology
In current multirobot management scheduling system, more using the control method of single kind robot, in robot
Control instruction easily causes conflict and the obstruction of instruction when switching, and it is negative to materially increase the work of robot
Lotus, reduces the professional degree and reaction speed of its execution.Existing multirobot integrated management scheduling system flow is complex,
The manpower and materials for needing input more；Interactive interface disunity between the various robots with specific function, gives multiple types machine
The coordination of device people is not easy to the application of fairly large system using bigger difficulty is brought.
The content of the invention
The main object of the present invention is to provide a kind of robot dispatching method, device and system, it is intended to which robot is carried out
Efficiently scheduling.
To achieve the above object, a kind of robot dispatching method proposed by the present invention, the robot dispatching method includes
Step：
The environmental data of object detection area is obtained, and the environmental data is preserved to ambient parameter data storehouse；
According to default early warning project, the environmental data of the correspondence early warning project is obtained in real time, and according to pre-
If weight relationship is weighted, when weighing computation results described in real-time judgment exceed alarm threshold value, warning message is produced；
Corresponding control instruction sequence is obtained in instruction set database according to warning message；
Interacted with query translation according to the command sequence, obtain the robot of current executable task, and
And the command sequence is distributed to the correspondence robot, it is used to control robot to cooperate with treatment alarm.
Preferably, it is described to specifically include the step of the environmental data is preserved to ambient parameter data storehouse：
According to default early warning project, the environmental data is classified, and correspondence early warning classification of the items storage.
Preferably, the early warning project includes：The fire alarm early warning confirmed by obtaining high temperature area accounting, by identification
The article of unmanned belongings loses early warning, and the dangerous material early warning recognized by dangerous material information table feature.
Preferably, the warning message includes the alarm level of alarm project and the alarm project；The sequence of instructions
Row include that multiple substeps of the treatment alarm project are instructed, and are performed with for robot order.
Preferably, the robot dispatching method also includes step：
During the completion information fed back when robot is received in the task of completion, judge whether the alarm can release；
If so, then recycling machine people；
If it is not, then according to the corresponding control instruction sequence of Realtime Alerts information acquisition.
Present invention also offers a kind of robot dispatching device, the robot dispatching device includes：
Data acquisition module, the environmental data for obtaining object detection area；
Data storage module, for the environmental data to be preserved to ambient parameter data storehouse；
Early-warning judgment module, for according to default early warning project, the ring of the correspondence early warning project being obtained in real time
Border data, and be weighted according to default weight relationship, exceed warning level in weighing computation results described in real-time judgment
During value, warning message is produced；
Instruction control module, for obtaining corresponding control instruction sequence in instruction set database according to warning message；
Robot instruction's distribution module, for being interacted with query translation according to the command sequence, is worked as
The robot of preceding executable task, and the command sequence is distributed to the correspondence robot, it is used to control robot to assist
Alarmed with treatment.
Preferably, the data storage module specifically for：
According to default early warning project, the environmental data is classified, and correspondence early warning classification of the items storage.
Preferably, the warning message includes the alarm level of alarm project and the alarm project；The sequence of instructions
Row include that multiple substeps of the treatment alarm project are instructed, and are performed with for robot order.
Preferably, the early-warning judgment module is additionally operable to：
During the completion information fed back when robot is received in the task of completion, judge whether the alarm can release；
If so, then producing all clear information, recycling machine people's command sequence is sent with for the instruction control module；
If it is not, then continuing to produce the warning message, obtained according to Realtime Alerts information with for the instruction control module
Obtain corresponding control instruction sequence.
Present invention also offers a kind of robot scheduling system, the robot scheduling system includes：Ambient parameter data
Storehouse, instruction set database, query translation, robot, and above-mentioned robot dispatching device；
The ambient parameter data storehouse, for Conservation environment data；
The instruction set database, for carrying out preset instructions according to early warning project, is used to store process and alarms corresponding
Control instruction；
The query translation, attribute information and current state information for storing each robot；
The robot, for reception and order execute instruction.
Robot dispatching method provided by the present invention, on the one hand, judge whether to produce alarm in real-time monitoring form, keep away
Exempt from data storage entanglement or stale data and mix the situation appearance for using with available data；On the other hand, warning message is using single
Only flow carries out calculating acquisition by the form that rank is weighted, then before the flow of follow-up acquisition control instruction, completed
Classification and the treatment work of priority, for the flow for subsequently obtaining control instruction provides larger convenient degree, so that more efficient.
Another further aspect, completes the reading of instruction and uses by the real-time, interactive with instruction set database, according to actual treatment alarm thing
The demand of part can set up instruction set, the actual demand of storage robot cooperation, so that significantly in instruction set database
Robot responding efficiency is improve, for the cooperation of multiple types robot provides technical support, with stronger practical value.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Structure according to these accompanying drawings obtains other accompanying drawings.
Fig. 1 is the flow chart of robot dispatching method first embodiment of the present invention；
Fig. 2 is the flow chart of robot dispatching method second embodiment of the present invention；
Fig. 3 is the flow chart of robot dispatching method 3rd embodiment of the present invention；
Fig. 4 is the module diagram that the embodiment of system one is dispatched by robot of the present invention；
Fig. 5 is the module diagram of robot dispatching device in robot scheduling system shown in Fig. 4；
Fig. 6 is that the signal of the scheduling system of robot shown in Fig. 4 flows to schematic diagram.
The realization of the object of the invention, functional characteristics and advantage will be described further referring to the drawings in conjunction with the embodiments.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
Based on above-mentioned mobile terminal hardware configuration and communication system, the inventive method each embodiment is proposed.
Fig. 1 is refer to, robot dispatching method first embodiment of the present invention, the present embodiment robot dispatching method includes step
Suddenly：
Step S100, obtains the environmental data of object detection area, and the environmental data is preserved to ambient parameter number
According to storehouse.Wherein, environmental data includes video data and numerical data, for example, in Target monitoring area, deployment has video monitoring
The robot device of function, 360 degree is the target for checking target area without dead angle；Meanwhile, to be arranged on the machine person
Sensor receive ambient parameter, such as temperature, humidity, oxygen content etc. data.Ambient parameter data storehouse can be by environment number
According to being preserved for a long time, it is easy to inquiry.
Step S101, according to default early warning project, obtains the environmental data of the correspondence early warning project in real time, and
And be weighted according to default weight relationship, when weighing computation results described in real-time judgment exceed alarm threshold value, produce
Warning message.Wherein, the module and ambient parameter data storehouse real-time, interactive for being calculated for early warning, with extremely short interval reading database
In ambient parameter, the alarm threshold value of different early warning projects is set；Early warning project can include that fire alarm, injury to personnel are pre-
Alert, danger early warning etc..According to the characteristics of different early warning projects, different environmental datas are associated, such as fire is then associated
The environmental datas such as temperature, humidity, high temperature area accounting, further, by environment numbers such as temperature, humidity, high temperature area accountings
According to being weighted, so as to obtain current fire value, when acquisition fire value is calculated more than alarm threshold value, then alarm is produced
Information.
Step S102, corresponding control instruction sequence is obtained according to warning message in instruction set database.Wherein, instruct
Collection database carries out data lab setting according to early warning project, is used to all correspondence controls that store warning message and its may use
Instruction.
Step S103, interacts according to the command sequence with query translation, obtains current executable task
Robot, and the command sequence is distributed to the correspondence robot, it is used to control robot to cooperate with treatment alarm.Its
In, query translation stores the attribute information of each specific robotic, such as class code information, the title of robot
Information, number information, power state information, present position coordinate information, holding state information, whether performing task, required
Cooperating robot's species and quantity etc., the information for recording each robot that this type of information can be complete.Wherein, if for that can hold
The judgement of row task equipment people can according to circumstances be set, for example：Low battery, need to repair, be carrying out task dispatching state for not
Executable state.When a command sequence needs multiple robots to perform, then the command sequence is distributed to difference on demand
Robot；For example in fire, No. 1 artificial flight sniffing robot of machine, it is detection life entity and analysis that it receives instruction
The instruction of burning things which may cause a fire disaster；No. 2 artificial fire-fighting robots of machine, it is fire extinguishing that it receives instruction；No. 3 artificial goods and materials of machine support robot,
It receives instruction to carry fire extinguishing goods and materials.
The present embodiment, on the one hand, judge whether to produce alarm in real-time monitoring form, it is to avoid data storage entanglement is expired
Data mix the situation for using with available data to be occurred；On the other hand, the shape that warning message is weighted using independent flow by rank
Formula carries out calculating acquisition, then before the flow of follow-up acquisition control instruction, completed place's science and engineering of good classification and priority
Make, for the flow for subsequently obtaining control instruction provides larger convenient degree, so that more efficient.Another further aspect, by with instruction
The real-time, interactive for collecting database completes the reading of instruction and uses, and the demand according to actual treatment alert event can be in instruction set
Instruction set is set up in database, the actual demand of robot cooperation is stored, so as to substantially increase robot responding efficiency,
For the cooperation of multiple types robot provides technical support, with stronger practical value.
Refer to Fig. 2, robot dispatching method second embodiment of the present invention, the present embodiment based on first embodiment,
To wherein the step of S100 illustrated.It is specific as follows：
Step S200, obtains the environmental data of object detection area；
Step S201, according to default early warning project, classifies to the environmental data, and correspondence early warning project point
Class is stored.
Step S202, it is identical with the step S101 in first embodiment, will not be repeated here.
Step S203, it is identical with the step S102 in first embodiment, will not be repeated here.
Step S204, it is identical with the step S103 in first embodiment, will not be repeated here.
The present embodiment, for issuable accident and disaster, can set early warning project, and associate the ring of correlation
Border supplemental characteristic；Further, in storage, classified storage is carried out according to early warning project, then can be with the data of Erecting and improving
Storehouse, offer that can be precisely complete with data needed for ensuring early warning judgement center, and the early warning project of the database can be by managing
Reason personnel expand.
Preferably, the early warning project includes：The fire alarm early warning confirmed by obtaining high temperature area accounting, by identification
The article of unmanned belongings loses early warning, and the dangerous material early warning recognized by dangerous material information table feature.On every
One early warning project can be according to the related associated environment parameter of the condition setting of monitoring, such as：
A. fire alarm early-warning parameterses：Database table is set up, the temperature parameter of storage environment calculates high temperature point according to distribution area
Cloth area ratio, higher temperatures distribution area ratio, normal temperature distribution area ratio, while can be according to same manner monitoring and storage condition
Aridity index.More specifically：
The temperature parameter of a1, storage environment, including high-temperature area area, high temperature are spent, higher temperatures region area, higher temperatures
Spend, normal temperature region area, normal temperature samming, the parameter such as monitor area gross area；
A2, temperature grade occupied area ratio is calculated according to below equation
High temperature area compares Hs=monitoring high temperature areas/regions S areas；
Higher temperatures area compares Ms=relatively monitoring high temperature areas/regions S areas；
Normal temperature area compares Ls=often control high temperature areas/regions S areas；
A3, while according to the aridity index of same manner monitoring of environmental.
B. article loses parameter：Set up article residence time table, at the train station, subway station etc. implement the public field of monitoring
Institute, identifies the parcel of unmanned carrying, the time that first time detects this parcel is stored, and continue to monitor its stop
Time, carry out article according to residence time section and leave grade classification and storage.
C. dangerous goods early-warning parameterses：Danger information table is set up, for the obvious dangerous goods of feature, it is improved dangerous
Index, by its Item Title, the class of risk, the information such as probability of exclusion is stored.
Preferably, the warning message includes the alarm level of alarm project and the alarm project；For example, alarm signal
It is fire alarm to cease, including 1 grade, 2 grades and 3 grades, the order of severity increases step by step.The present embodiment, by the classification to alarm content,
Then the further refinement of target can be easy to obtain more appropriate control instruction in follow-up process.By taking above-mentioned fire example as an example
Continue to illustrate：
High temperature area is set herein and compares Hs10 are reached as potential fire alarm 3HThe threshold value of warning of rank, weight is set
It is c3 grades；High temperature area compares Hs20 percent is reached as potential fire alarm 2HThe threshold value of warning of rank, weight is set to c2 grades；
High temperature area compares Hs30 percent is reached as potential fire alarm 1HIt is higher that the threshold value of warning of rank, weight is set to c1 grades ...
Temperature similarly sets out 3 with normal temperatureM、2M、1M、3L、2L、1LThreshold value, and c3, c2, c1 weighted value.
The fire integrated warning level for drawing is X=ci*iH+cj*jM+ck*kL, wherein i, j, k represent high temperature early warning respectively
Rank, value is 1,2,3.
If the warning level after weighting reaches fire alarm threshold XH, then will produce 1 grade of warning message of fire and be sent to
Generate the instruction module of instruction；If fire integrated warning level X is XH2 times be defined as the alarm of 2 grades of fire, if fire integrated pre-
Alert rank X is XH3 times be defined as 3 grades of fire alarm etc..
Continue to interact reading monitoring with ambient parameter data storage storehouse if not up to.
Preferably, the command sequence includes that multiple substeps of the treatment alarm project are instructed, with for robot it is suitable
Sequence is performed.The present embodiment, substep instruction is set to by by command sequence, then robot can be performed sequentially, be easy to simplify machine
The degree of intelligence of device people, reaches reduces cost, and strengthening system stability effect.For example, when fire occurs, it is corresponding
Instruction includes：
1st, fire-fighting robot instruction P is startedcode(on), wherein code represents the class number of robot.This is used to start
The power supply of robot device, it is ensured that the armed state of equipment.
2nd, target position information receives instruction T (I, j, k), and wherein i, j, k are represented during with robot location as center of gravity respectively,
The x of target, y, z-axis stereoscopic three-dimensional coordinate.The mode of the instruction utilization space coordinate facilitates robot device to be accurately positioned out mesh
Cursor position.
3rd, fire extinguishing process instruction PoutFire(i), wherein, outFire is instructed for fire extinguishing, and i represents intensity of a fire grade.The instruction can
To change intensity of a fire grade in real time, the degree-of-difficulty factor for calling quantity and collaborative work of firefighting robot is conveniently adjusted.
Refer to Fig. 3, robot dispatching method 3rd embodiment of the present invention, the present embodiment based on second embodiment,
Step is increased newly.It is specific as follows：
Step S300, it is identical with the step S200 in first embodiment, will not be repeated here.
Step S301, it is identical with the step S201 in first embodiment, will not be repeated here.
Step S302, it is identical with the step S202 in first embodiment, will not be repeated here.
Step S303, it is identical with the step S203 in first embodiment, will not be repeated here.
Step S304, it is identical with the step S204 in first embodiment, will not be repeated here.
Step S305, during the completion information fed back when robot is received in the task of completion, judges that whether the alarm may be used
To release.If so, then performing step S306；If it is not, then performing step S302.Wherein, the completion information of feedback, can be only
One information receipt, or portable people environmental data detected at the scene.
Step S306, recycling machine people.Wherein, the step can be produced directly, or by producing relative alarm
Releasing information, then by follow-up process when alarm release information is detected, and the recycling machine people instruction for producing.
The present embodiment, by way of the feed back on-site monitoring information after the completion of robot task carrying out lasting early warning sentences
It is disconnected, to ensure thoroughly to release the purpose of early warning situation, early warning effect is improved conscientiously.
The present embodiment additionally provides a kind of robot dispatching device and robot scheduling system, in order to more clearly
The technical characteristic and beneficial effect of the bright robot dispatching device and system, the present embodiment are filled with employing above-mentioned robot scheduling
Described in detail as a example by the robot scheduling system put.
Incorporated by reference to referring to Fig. 4 to Fig. 6.The embodiment of system one is dispatched by robot of the present invention, and system bag is dispatched by the robot
Include：Ambient parameter data storehouse 1100, instruction set database 1200, query translation 1300, robot 1400, Yi Jiji
Device people dispatching device 1500；
The ambient parameter data storehouse 1100, for Conservation environment data.
The instruction set database 1200, for carrying out preset instructions according to early warning project, is used to store process and alarms right
The control instruction answered.
The information database 1300 of the robot 1400, for storing the attribute information of each robot 1400 and current
Status information.
The robot 1400, for reception and order execute instruction.
The robot dispatching device 1500 includes：
Data acquisition module 1510, the environmental data for obtaining object detection area；Wherein, environmental data includes video
Data and numerical data, for example, in Target monitoring area, deployment has the robot device of video monitoring function, and 360 degree is nothing
The target for checking target area at dead angle；Meanwhile, ambient parameter is received with the sensor being arranged on the machine person, for example temperature
Degree, humidity, oxygen content etc. data.Ambient parameter data storehouse can for a long time be preserved environmental data, be easy to inquiry.
Data storage module 1520, for the environmental data to be preserved to ambient parameter data storehouse 1100.
Early-warning judgment module 1530, for according to default early warning project, the institute of the correspondence early warning project being obtained in real time
Environmental data is stated, and is weighted according to default weight relationship, report is exceeded in weighing computation results described in real-time judgment
During alert threshold value, warning message is produced；Wherein, the module and ambient parameter data storehouse real-time, interactive for being calculated for early warning, with extremely short
Ambient parameter in the reading database of interval, sets the alarm threshold value of different early warning projects；Early warning project can include that fire is pre-
Police, injury to personnel early warning, danger early warning etc..According to the characteristics of different early warning projects, different environmental datas, example are associated
The environmental datas such as temperature, humidity, high temperature area accounting are associated if fire, further, by temperature, humidity, high temperature area
The environmental datas such as accounting are weighted, so as to obtain current fire value, fire value are obtained more than alarm threshold value when calculating
When, then produce warning message.
Instruction control module 1540, refers to for obtaining corresponding control in instruction set database 1200 according to warning message
Make sequence；Wherein, instruction set database carries out data lab setting according to early warning project, is used to store warning message and its may use
The all correspondence control instructions for arriving.
Robot instruction's distribution module 1550, for according to the command sequence and the information database 1300 of robot 1400
Interaction, obtains the robot 1400 of current executable task, and the command sequence is distributed into the correspondence robot
1400, it is used to control robot 1400 to cooperate with treatment alarm.
Wherein, query translation, stores the attribute information of each specific robotic, such as class code of robot
Information, name information, number information, power state information, present position coordinate information, holding state information, whether perform
Task, required cooperating robot's species and quantity etc., the information for recording each robot that this type of information can be complete.Wherein,
Whether it is that the judgement that can perform task equipment people can according to circumstances be set, for example：Low battery, need to repair, be carrying out task
It is not executable state etc. state.When a command sequence needs multiple robots to perform, then by the command sequence on demand
It is distributed to different robots；For example in fire, No. 1 artificial flight sniffing robot of machine, it receives instruction for detection is given birth to
The instruction of life body and analysis burning things which may cause a fire disaster；No. 2 artificial fire-fighting robots of machine, it is fire extinguishing that it receives instruction；No. 3 artificial goods and materials branch of machine
Robot is helped, it receives instruction to carry fire extinguishing goods and materials.
The present embodiment, on the one hand, judge whether to produce alarm in real-time monitoring form, it is to avoid data storage entanglement is expired
Data mix the situation for using with available data to be occurred；On the other hand, warning message is pressed using the independent flow of early-warning judgment module
The form of rank weighting carries out calculating acquisition, then obtain the stream of control instruction to follow-up instruction control module in transmission alarm
Before journey, good classification and the treatment work of priority are completed, be that the flow of subsequent instructions control module acquisition control instruction is carried
Larger convenient degree is supplied.Another further aspect, instruction is completed by the real-time, interactive of instruction control module and instruction set database
Read and use, the demand according to actual treatment alert event can set up instruction set in instruction set database, store machine
The actual demand of people's cooperation, so as to substantially increase robot responding efficiency, for the cooperation of multiple types robot is provided
Technical support, with stronger practical value.
Preferably, the data storage module 1520 specifically for：
According to default early warning project, the environmental data is classified, and correspondence early warning classification of the items storage.This
Embodiment, for issuable accident and disaster, can set early warning project, and associate the ambient parameter number of correlation
According to；Further, in storage, classified storage is carried out according to early warning project, then can be with the database of Erecting and improving, to ensure
Data needed for early warning judgement center can be precisely complete offer, and the early warning project of the database can expand by administrative staff
Increase.
Preferably, the early warning project includes：The fire alarm early warning confirmed by obtaining high temperature area accounting, by identification
The article of unmanned belongings loses early warning, and the dangerous material early warning recognized by dangerous material information table feature.On every
One early warning project can be according to the related associated environment parameter of the condition setting of monitoring, such as：
A. fire alarm early-warning parameterses：Database table is set up, the temperature parameter of storage environment calculates high temperature point according to distribution area
Cloth area ratio, higher temperatures distribution area ratio, normal temperature distribution area ratio, while can be according to same manner monitoring and storage condition
Aridity index.More specifically：
The temperature parameter of a1, storage environment, including high-temperature area area, high temperature are spent, higher temperatures region area, higher temperatures
Spend, normal temperature region area, normal temperature samming, the parameter such as monitor area gross area；
A2, temperature grade occupied area ratio is calculated according to below equation
High temperature area compares Hs=monitoring high temperature areas/regions S areas；
Higher temperatures area compares Ms=relatively monitoring high temperature areas/regions S areas；
Normal temperature area compares Ls=often control high temperature areas/regions S areas；
A3, while according to the aridity index of same manner monitoring of environmental.
B. article loses parameter：Set up article residence time table, at the train station, subway station etc. implement the public field of monitoring
Institute, identifies the parcel of unmanned carrying, the time that first time detects this parcel is stored, and continue to monitor its stop
Time, carry out article according to residence time section and leave grade classification and storage.
C. dangerous goods early-warning parameterses：Danger information table is set up, for the obvious dangerous goods of feature, it is improved dangerous
Index, by its Item Title, the class of risk, the information such as probability of exclusion is stored.
Preferably, the warning message includes the alarm level of alarm project and the alarm project；For example, alarm signal
It is fire alarm to cease, including 1 grade, 2 grades and 3 grades, the order of severity increases step by step.The present embodiment, by the classification to alarm content,
Then the further refinement of target can be easy to obtain more appropriate control instruction in follow-up process.By taking above-mentioned fire example as an example
Continue to illustrate：
High temperature area is set herein and compares Hs10 are reached as potential fire alarm 3HThe threshold value of warning of rank, weight is set
It is c3 grades；High temperature area compares Hs20 percent is reached as potential fire alarm 2HThe threshold value of warning of rank, weight is set to c2 grades；
High temperature area compares Hs30 percent is reached as potential fire alarm 1HIt is higher that the threshold value of warning of rank, weight is set to c1 grades ...
Temperature similarly sets out 3 with normal temperatureM、2M、1M、3L、2L、1LThreshold value, and c3, c2, c1 weighted value.
The fire integrated warning level for drawing is X=ci*iH+cj*jM+ck*kL, wherein i, j, k represent high temperature early warning respectively
Rank, value is 1,2,3.
If the warning level after weighting reaches fire alarm threshold XH, then will produce 1 grade of warning message of fire and be sent to
Generate the instruction module of instruction；If fire integrated warning level X is XH2 times be defined as the alarm of 2 grades of fire, if fire integrated pre-
Alert rank X is XH3 times be defined as 3 grades of fire alarm etc..
Continue to interact reading monitoring with ambient parameter data storage storehouse if not up to.
Preferably, the command sequence includes that multiple substeps of the treatment alarm project are instructed, with for robot
1400 orders are performed.The present embodiment, substep instruction is set to by by command sequence, then robot can be performed sequentially, be easy to
Simplify the degree of intelligence of robot, reach reduces cost, and strengthening system stability effect.For example, when fire occurs,
Corresponding instruction includes：
1st, fire-fighting robot instruction P is startedcode(on), wherein code represents the class number of robot.This is used to start
The power supply of robot device, it is ensured that the armed state of equipment.
2nd, target position information receives instruction T (I, j, k), and wherein i, j, k are represented during with robot location as center of gravity respectively,
The x of target, y, z-axis stereoscopic three-dimensional coordinate.The mode of the instruction utilization space coordinate facilitates robot device to be accurately positioned out mesh
Cursor position.
3rd, fire extinguishing process instruction PoutFire(i), wherein, outFire is instructed for fire extinguishing, and i represents intensity of a fire grade.The instruction can
To change intensity of a fire grade in real time, the degree-of-difficulty factor for calling quantity and collaborative work of firefighting robot is conveniently adjusted.
Preferably, the early-warning judgment module 1530 is additionally operable to：
During the completion information fed back when robot 1400 is received in the task of completion, judge whether the alarm can solve
Remove；Wherein, it is believed that can release when less than threshold value.
If so, then producing all clear information, alarm release message is detected with for the instruction control module 1540
When, send the command sequence of recycling machine people 1400；The present embodiment cancels relative alarm information using by generation, and passes through follow-up
Instruction control module 1540 is when warning message cancellation is detected, and the recycling machine people instruction for producing.In other embodiments,
Recovery command to instruction control module 1540 directly can also be sent by early-warning judgment module 1530.
If it is not, then continuing to produce the warning message, believed according to Realtime Alerts with for the instruction control module 1540
Breath obtains corresponding control instruction sequence.
The present embodiment, by way of the feed back on-site monitoring information after the completion of robot task carrying out lasting early warning sentences
It is disconnected, to ensure thoroughly to release the purpose of early warning situation, early warning effect is improved conscientiously.
This embodiment scheme is by setting up the robot information storage database with multiple types robot, instruction set data
Storehouse, ambient parameter data storehouse realizes the operating system of instruction control module and database real-time, interactive；In early-warning judgment module
And robot it is on duty after information between set up information circuits, construct the mechanism of information feedback of complete set, greatly improve
The sophistication of mechanism of sounding all clear；Warning message after early warning judgement is sent to instruction control module after being weighted according to grade, high
Effect accurately realizes the ranking function of alarm priority, for the treatment of follow-up link provides data source, reduces each link of system
Between be connected complexity.
This embodiment scheme is low further directed to existing robot control method degree of integration, and collaboration capabilities are poor, and resource disappears
A kind of a series of problems, such as consuming many, process problem result sophistication is not high, it is proposed that solution efficiently, intelligent, not only saves
About time resource and human resources, are greatly improved operating efficiency, and effectively improve existing robot can not be same
The problem that one system is dispatched simultaneously, improves the integrated level of control system, largely to multirobot scheduling controlling side
The solution of method is made that exploration.
It should be noted that herein, term " including ", "comprising" or its any other variant be intended to non-row
His property is included, so that process, method, article or device including a series of key elements not only include those key elements, and
And also include other key elements being not expressly set out, or also include for this process, method, article or device institute are intrinsic
Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including this
Also there is other identical element in the process of key element, method, article or device.
The embodiments of the present invention are for illustration only, and the quality of embodiment is not represented.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably implementation method.Based on such understanding, technical scheme is substantially done to prior art in other words
The part for going out contribution can be embodied in the form of software product, and the computer software product is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), including some instructions are used to so that a station terminal equipment (can be mobile terminal, calculate
Machine, server, air-conditioner, or network equipment etc.) perform method described in each embodiment of the invention.
The preferred embodiments of the present invention are these are only, the scope of the claims of the invention is not thereby limited, it is every to utilize this hair
Equivalent structure or equivalent flow conversion that bright specification and accompanying drawing content are made, or directly or indirectly it is used in other related skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of robot dispatching method, it is characterised in that the robot dispatching method includes step：
The environmental data of object detection area is obtained, and the environmental data is preserved to ambient parameter data storehouse；
According to default early warning project, the environmental data of the correspondence early warning project is obtained in real time, and according to default power
Series of fortified passes system is weighted, and when weighing computation results described in real-time judgment exceed alarm threshold value, produces warning message；
Corresponding control instruction sequence is obtained in instruction set database according to warning message；
Interacted with query translation according to the command sequence, obtain the robot of current executable task, and will
The command sequence is distributed to the correspondence robot, is used to control robot to cooperate with treatment alarm.
2. robot dispatching method as claimed in claim 1, it is characterised in that described to preserve to environment the environmental data
The step of parameter database, specifically includes：
According to default early warning project, the environmental data is classified, and correspondence early warning classification of the items storage.
3. robot dispatching method as claimed in claim 1, it is characterised in that the early warning project includes：It is high by obtaining
Warm area accounting loses early warning come the fire alarm early warning for confirming by the article for recognizing unmanned belongings, and by dangerous material
Information table feature is come the dangerous material early warning that recognizes.
4. robot dispatching method as claimed in claim 1, it is characterised in that the warning message include alarm project and
The alarm level of the alarm project；The command sequence includes that multiple substeps of the treatment alarm project are instructed, with for
Robot order is performed.
5. robot dispatching method as claimed in claim 1, it is characterised in that the robot dispatching method also includes step
Suddenly：
During the completion information fed back when robot is received in the task of completion, judge whether the alarm can release；
If so, then recycling machine people；
If it is not, then according to the corresponding control instruction sequence of Realtime Alerts information acquisition.
6. a kind of robot dispatching device, it is characterised in that the robot dispatching device includes：
Data acquisition module, the environmental data for obtaining object detection area；
Data storage module, for the environmental data to be preserved to ambient parameter data storehouse；
Early-warning judgment module, for according to default early warning project, the environment number of the correspondence early warning project being obtained in real time
According to, and be weighted according to default weight relationship, when weighing computation results described in real-time judgment exceed alarm threshold value,
Produce warning message；
Instruction control module, for obtaining corresponding control instruction sequence in instruction set database according to warning message；
Robot instruction's distribution module, for being interacted with query translation according to the command sequence, acquisition currently may be used
The robot of execution task, and the command sequence is distributed to the correspondence robot, it is used to control at robot collaboration
Reason alarm.
7. robot dispatching device as claimed in claim 6, it is characterised in that the data storage module specifically for：
According to default early warning project, the environmental data is classified, and correspondence early warning classification of the items storage.
8. robot dispatching device as claimed in claim 6, it is characterised in that the warning message include alarm project and
The alarm level of the alarm project；The command sequence includes that multiple substeps of the treatment alarm project are instructed, with for
Robot order is performed.
9. robot dispatching device as claimed in claim 6, it is characterised in that the early-warning judgment module is additionally operable to：
During the completion information fed back when robot is received in the task of completion, judge whether the alarm can release；
If so, then producing all clear information, recycling machine people's command sequence is sent with for the instruction control module；
If it is not, then continue to produce the warning message, with so that the instruction control module is according to Realtime Alerts information acquisition pair
The control instruction sequence answered.
10. system is dispatched by a kind of robot, it is characterised in that the robot scheduling system includes：Ambient parameter data storehouse, refer to
Order collection database, query translation, robot, and the robot scheduling dress as described in any one of claim 6 to 9
Put；
The ambient parameter data storehouse, for Conservation environment data；
The instruction set database, for carrying out preset instructions according to early warning project, is used to store the corresponding control for the treatment of alarm
Instruction；
The query translation, attribute information and current state information for storing each robot；
The robot, for reception and order execute instruction.
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