CN109015639A - The device and storage medium of a kind of control robot patrol - Google Patents
The device and storage medium of a kind of control robot patrol Download PDFInfo
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- CN109015639A CN109015639A CN201810927850.4A CN201810927850A CN109015639A CN 109015639 A CN109015639 A CN 109015639A CN 201810927850 A CN201810927850 A CN 201810927850A CN 109015639 A CN109015639 A CN 109015639A
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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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Abstract
The present invention provides the devices and storage medium of a kind of patrol of control robot, wherein the robot that the processor control communication interface of the device receives robot feedback is presently in the location information of position;Based on the location information, it is planned using the patrol that the patrol plane-generating algorithm stored in memory generates the robot, the patrol planning includes patrol route and/or patrol time, and the patrol planning of the robot is regenerated when the patrol route is completed and/or the patrol time completes;It controls communication interface and sends the patrol planning to the robot, so that the robot executes patrol according to patrol planning.Using the present invention, the safety of robot patrol can be improved.
Description
Technical field
The present invention relates to artificial intelligence, and in particular to the device and storage medium of a kind of control robot patrol.
Background technique
As the application demand of robot is continuously increased, 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 mentions
To robot, a word often referred to recently is artificial intelligence.Artificial intelligence is the intelligence realized with computer similar to people
One subject of energy behavior.Robot itself is one of ultimate application target for artificial intelligence.
Traditional artificial intelligence is as a subject, the Dartmouth meeting originating from the 1950s, passes through later
It rises and fall sharply and quickly several times, achievement abundant 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
It include closely more computer vision, voice and natural language processing, there are also intelligent bodies (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 carry out simultaneously 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 navigation
Position technology proposes requirements at the higher level, still needs to further research and develop.
2, visual perception technology.It 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.It 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 text compared with, can by camera come
Carry out the identification of text.
5, cognitive techniques.Robot needs to be done step-by-step the cognitive functions such as planning, reasoning, memory, study and prediction, thus
Become more intelligent.
In terms of current present Research, the key technology that service robot faces has rapid progress, but there are also quite
More problems will solve.
Wherein, a kind of application scenarios of robot are that robot is allowed to be gone on patrol in specific region.A kind of existing machine
Device people patrol mode be pre-set robot patrol route, robot according to the patrol route pre-set into
Row patrol.
Although this method can allow robot realize patrol function, due to route be it is pre-set, hold very much
It is easily sought loopholes by criminal, safety cannot ensure.
Summary of the invention
The embodiment of the invention provides a kind of method and devices of control robot patrol, storage medium, can be improved and patrol
The safety patrolled.
The purpose of the embodiment of the present invention is that be achieved through the following technical solutions:
A method of the patrol of control robot, comprising:
The robot for receiving robot feedback is presently in the location information of position;
Based on the location information, planned using the patrol that patrol plane-generating algorithm generates the robot, it is described to patrol
It patrols planning to include patrol route and/or go on patrol the time, again when the patrol route is completed and/or the patrol time completes
Generate the patrol planning of the robot;
The patrol planning is sent to the robot, is patrolled so that the robot is executed according to patrol planning
It patrols.
Optionally, the method also includes:
The history patrol route and/or history for obtaining storage go on patrol the time;
It is described to be based on the location information, it is planned using the patrol that patrol plane-generating algorithm generates the robot specific
Include:
Based on the history patrol route and/or history patrol time and the location information, patrol planning life is used
The patrol planning of the robot is generated at algorithm.
Optionally, the method also includes:
The instruction information of user's input is received, the instruction information is used to indicate the user and wishes that the robot carries out
The patrol emphasis of patrol;
It is described to be based on the location information, the patrol planning packet of the robot is generated using patrol plane-generating algorithm
It includes:
Based on the location information and the instruction information, the robot is generated using patrol plane-generating algorithm
Patrol planning.
Optionally, the beat of the robot includes emphasis patrol subregion and non-emphasis patrol subregion;It is described
It goes on patrol beat density of the patrol route of planning in emphasis patrol subregion and is higher than the non-emphasis patrol subregion
Beat density, the beat density include the patrol frequency and/or patrol time.
Optionally, the method also includes:
Receive the video passback instruction of user's input;
The video passback instruction is sent to the robot;
Receive and show the real-time patrol video of the robot passback.
A kind of device of control robot patrol, comprising:
Receiving unit, the robot for receiving robot feedback are presently in the location information of position;
Plane-generating unit generates the robot using patrol plane-generating algorithm for being based on the location information
Patrol planning, patrol planning includes patrol route and/or patrol time, in patrol route completion and/or described
The patrol time regenerates the patrol planning of the robot when completing;
Transmission unit, for sending the patrol planning to the robot, so that the robot is patrolled according to described
It patrols planning and executes patrol.
Optionally, further includes:
Historical information acquiring unit, for obtaining history patrol route and/or the history patrol time of storage;
The plane-generating unit is specifically used for: going on patrol time, Yi Jisuo based on the history patrol route and/or history
Location information is stated, is planned using the patrol that patrol plane-generating algorithm generates the robot.
Optionally, the receiving unit, is also used to receive the instruction information of user's input, and the instruction information is used to indicate
The user wishes the patrol emphasis that the robot is gone on patrol;
The plane-generating unit is specifically used for: being based on the location information and the instruction information, is advised using patrol
Draw the patrol planning that generating algorithm generates the robot.
Optionally, the beat of the robot includes emphasis patrol subregion and non-emphasis patrol subregion;It is described
It goes on patrol beat density of the patrol route of planning in emphasis patrol subregion and is higher than the non-emphasis patrol subregion
Beat density, the beat density include the patrol frequency and/or patrol time.
Optionally, the receiving unit is also used to receive the video passback instruction of user's input;
The transmission unit is also used to send the video passback instruction to the robot;
The receiving unit is also used to receive the real-time patrol video of the robot passback;
Described device further include:
Display unit, for showing the real-time patrol video of the robot passback.
A kind of computer readable storage medium, the storage medium are stored with computer program, the computer program quilt
Processor performs the steps of when executing
The robot for receiving robot feedback is presently in the location information of position;
Based on the location information, the machine is generated using the patrol plane-generating algorithm stored in the storage medium
The patrol of people plans that the patrol planning includes patrol route and/or patrol time, in patrol route completion and/or institute
State the patrol planning that the robot is regenerated when the completion of patrol time;
The patrol planning is sent to the robot, is patrolled so that the robot is executed according to patrol planning
It patrols.
Optionally, it is also performed the steps of when the computer program is executed by processor
The history patrol route and/or history for obtaining storage go on patrol the time;
Wherein, the processor is based on the location information, uses the patrol plane-generating stored in the storage medium
The mode that algorithm generates the patrol planning of the robot specifically includes:
Based on the history patrol route and/or history patrol time and the location information, it is situated between using the storage
The patrol plane-generating algorithm stored in matter generates the patrol planning of the robot.
Optionally, it is also performed the steps of when the computer program is executed by processor
The instruction information of user's input is received, the instruction information is used to indicate the user and wishes that the robot carries out
The patrol emphasis of patrol;
Wherein, the processor is based on the location information, uses the patrol plane-generating stored in the storage medium
The mode that algorithm generates the patrol planning of the robot specifically includes:
Based on the location information and the instruction information, the patrol plane-generating stored in the storage medium is used
Algorithm generates the patrol planning of the robot.
Optionally, the beat of the robot includes emphasis patrol subregion and non-emphasis patrol subregion;It is described
It goes on patrol beat density of the patrol route of planning in emphasis patrol subregion and is higher than the non-emphasis patrol subregion
Beat density, the beat density include the patrol frequency and/or patrol time.
Optionally, it is also performed the steps of when the computer program is executed by processor
Receive the video passback instruction of user's input;
The video passback instruction is sent to the robot;
Receive and show the real-time patrol video of the robot passback.
The device of a kind of control robot patrol, comprising: memory, processor and communication interface, wherein the memory
For storing executable program code and data, the communication interface carries out communication interaction, institute for described device and robot
Executable program code of the processor for calling the memory to store is stated, following steps are executed:
It controls the communication interface and receives the location information that the robot that robot is fed back is presently in position;
Based on the location information, the robot is generated using the patrol plane-generating algorithm stored in the memory
Patrol planning, patrol planning includes patrol route and/or patrol time, in patrol route completion and/or described
The patrol time regenerates the patrol planning of the robot when completing;
It controls the communication interface and sends the patrol planning to the robot, so that the robot is according to described
Patrol planning executes patrol.
Optionally, the processor is also used to call the executable program code of the memory storage, executes following step
It is rapid:
Obtain the history patrol route stored in the memory and/or history patrol time;
Wherein, the processor is based on the location information, is calculated using the patrol plane-generating stored in the memory
The mode that method generates the patrol planning of the robot specifically includes:
Based on the history patrol route and/or history patrol time and the location information, the memory is used
The patrol plane-generating algorithm of middle storage generates the patrol planning of the robot.
Optionally, the processor is also used to call the executable program code of the memory storage, executes following step
It is rapid:
The instruction information that the communication interface receives user's input is controlled, it is uncommon that the instruction information is used to indicate the user
The patrol emphasis for hoping the robot be gone on patrol;
Wherein, the processor is based on the location information, is calculated using the patrol plane-generating stored in the memory
The mode that method generates the patrol planning of the robot specifically includes:
Based on the location information and the instruction information, calculated using the patrol plane-generating stored in the memory
Method generates the patrol planning of the robot.
Optionally, the beat of the robot includes emphasis patrol subregion and non-emphasis patrol subregion;It is described
It goes on patrol beat density of the patrol route of planning in emphasis patrol subregion and is higher than the non-emphasis patrol subregion
Beat density, the beat density include the patrol frequency and/or patrol time.
Optionally, the processor is also used to call the executable program code of the memory storage, executes following step
It is rapid:
Control the video passback instruction that the communication interface receives user's input;
It controls the communication interface and sends the video passback instruction to the robot;
Control the real-time patrol video that the communication interface receives the robot passback;
Show the real-time patrol video of the robot passback.
From the above it can be seen that using the device of control robot provided in this embodiment patrol, it can be according to current institute of robot
The position at place adaptively generates patrol planning, and is gone on patrol according to patrol planning, since patrol planning generates in real time,
Therefore it can be followed without rule, it is possible to reduce the possibility sought loopholes by criminal, to improve safety;Further, exist
In a kind of embodiment, important patrol subregion and insignificant patrol subregion are distinguished, so that important patrol
The patrol frequency of subregion and patrol time are all relatively some more, can be further ensured that the safety of important patrol subregion.
Detailed description of the invention
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 any creative labor, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is the flow chart of the method for control robot provided by one embodiment of the present invention patrol;
Fig. 2 is the structure chart of the device of control robot provided by one embodiment of the present invention patrol;
Fig. 3 is the structure chart of the device for the control robot patrol that another embodiment of the present invention provides.
Specific embodiment
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 description, 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, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The method for first introducing control robot provided in an embodiment of the present invention patrol, Fig. 1 describe one implementation of the present invention
The process of the method for the control robot patrol that example provides, this method can be executed by mobile phone.As shown in Figure 1, this method can be with
Include:
101, the robot for receiving robot feedback is presently in the location information of position.
Wherein, received location information can be through mobile communications network transmission, such as can be 4G mobile communication
Mobile mobile communications network of network, 5G mobile communications network or 6G etc.;Received location information can also be by wirelessly protecting
Very (WiFi) network is sent;Received location information can also be what other short distance communication networks were sent, such as formula
ZigBee, bluetooth etc..
Wherein, the difference for the position being presently according to the robot, the robot obtain the position being presently in
The mode of location information have difference.
For example, global position system can be used and obtain the robot when the position being presently in is outdoor area
The position being presently in, the global position system can be global positioning system (GPS:Global Positioning
System), Beidou satellite alignment system, GLONASS satellite positioning system and/or galileo satellite navigation system.
For example, since global position system cannot position, can make when the position being presently in is room area
With indoor positioning technologies, it can be used for example WiFi indoor positioning technologies, UWB indoor positioning technologies, bluetooth indoor positioning technologies,
Infrared ray indoor positioning technologies, RFID indoor positioning technologies and ultrasonic wave indoor positioning technologies etc..
Even if above-mentioned indoor positioning technologies also can be used it is understood that the position being presently in is outdoor area
It is positioned.
102, it is based on the location information, is planned using the patrol that patrol plane-generating algorithm generates the robot, institute
Stating patrol planning includes patrol route and/or patrol time, when the patrol route is completed and/or the patrol time completes
Regenerate the patrol planning of the robot.
Wherein, the patrol plane-generating algorithm can be trained in advance, which specifically can be a kind of number
Model is learned, such as can be convolutional neural networks (CNN:Convolutional Neural Network) model, or circulation mind
Through network (RNN:Recurrent Neural Networks) model, or it is also possible to deep neural network (DNN:Deep
Neural Networks) model.
Wherein, the patrol route that the patrol planning includes can be the patrol route of entire beat, be also possible to
The patrol route of one patrol subregion, the patrol subregion, which can be, to be pre-set, and is also possible to temporarily to generate,
The patrol time refers to the time for completing the patrol route.The length of patrol route and patrol time determine that robot patrols
Patrol speed when patrolling.The area of the patrol subregion can be it is equal, be also possible to it is unequal, such as can root
According to the adaptive division of carry out such as terrain in the surrounding enviroment or subregion of patrol subregion.
The beat includes emphasis patrol subregion and non-emphasis patrol subregion;The patrol road of the patrol planning
Beat density of the line in emphasis patrol subregion is higher than the beat density of the non-emphasis patrol subregion, the patrol
Density includes the patrol frequency and/or patrol time;That is, the patrol frequency of emphasis patrol subregion is higher than non-emphasis and patrols
The patrol time of the patrol frequency and/or emphasis patrol subregion of patrolling subregion will be longer than the patrol of non-emphasis patrol subregion
Time.
Wherein, some patrol subregions for including in the entire beat belong to emphasis patrol subregion, in one kind
In embodiment, if the area of each patrol subregion be it is equal, corresponding in patrol planning is that emphasis patrol is sub
When region, the patrol time will be longer than the non-emphasis patrol subregion corresponding patrol time;It is each patrol subregion area not
When equal, the area that emphasis goes on patrol subregion can be less than the area of non-emphasis patrol subregion, and emphasis goes on patrol subregion at this time
The corresponding patrol time can give up as hopeless equal with the corresponding time with the patrol of non-emphasis, naturally it is also possible to different.
Wherein, it is covered in the patrol route that the patrol planning that the patrol plane-generating algorithm generates includes whole
When a beat, the robot in the patrol time that the patrol planning that the patrol plane-generating algorithm generates includes
The entire beat can be gone on patrol.The robot can determine patrol according to the length of patrol time and patrol route
Speed.It is understood that in some embodiments, the patrol planning can be segmentation, and the patrol planning can
To include each of patrol speed/patrol time.
In one embodiment, the robot is generated using patrol plane-generating algorithm based on the location information
Before patrol planning, the method can also include:
The history patrol route and/or history for obtaining storage go on patrol the time;
Correspondingly, described to be advised based on the location information using the patrol that patrol plane-generating algorithm generates the robot
Drawing can specifically include:
Based on the history patrol route and/or history patrol time and the location information, patrol planning life is used
The patrol planning of the robot is generated at algorithm.
When obtaining history patrol route, if history patrol route is the corresponding patrol route of patrol subregion, patrol
Plane-generating algorithm is patrolled it is known which subregion gone on patrol, so that the patrol planning generated can be more likely to patrol
Patrol the subregion not yet gone on patrol, it should be noted that patrol plane-generating algorithm is only the patrol rule that will increase generation
Drawing is the possibility for corresponding to the subregion not gone on patrol, it is not intended that newly-generated patrol planning is only that correspondence does not carry out
The subregion of patrol;Alternatively, patrol plane-generating algorithm is known that the patrol route of history, so that generating patrol route
It is larger it is possible will not be identical as history patrol route, it should be noted that patrol plane-generating algorithm be only that will increase life
At patrol route and the different possibility of history patrol route, but be not indicate newly-generated patrol route be bound to
History patrol route is not identical.
Obtain history patrol the time when, so that it may know gone on patrol how long, algorithm can be preset
The patrol that how long must carry out entire beat at least once has been got well, therefore can have been known according to the history patrol time
Road has gone on patrol the time that the subregion of unfinished patrol is able to use, to adaptively determine newly-generated patrol planning pair
The patrol time answered.
In one embodiment, the method can also include:
The instruction information of user's input is received, the instruction information is used to indicate the user and wishes that the robot carries out
The patrol emphasis of patrol;The patrol emphasis can be emphasis beat, and being also possible to the patrol object of emphasis, (such as formula is patrolled
Patrol assets important in region).
At this point, described be based on the location information, advised using the patrol that patrol plane-generating algorithm generates the robot
Draw includes: to generate the robot using patrol plane-generating algorithm based on the location information and the instruction information
Patrol planning.
103, the patrol planning is sent to the robot, is executed so that the robot is planned according to the patrol
Patrol.
From the above it can be seen that using the method for control robot provided in this embodiment patrol, it can be according to current institute of robot
The position at place adaptively generates patrol planning, and is gone on patrol according to patrol planning, since patrol planning generates in real time,
Therefore it can be followed without rule, it is possible to reduce the possibility sought loopholes by criminal, to improve safety;Further, exist
In a kind of embodiment, important patrol subregion and insignificant patrol subregion are distinguished, so that important patrol
The patrol frequency of subregion and patrol time are all relatively some more, can be further ensured that the safety of important patrol subregion.
Further, in another embodiment of the present invention, the method can also include:
Receive the video passback instruction of user's input;
The video passback instruction is sent to the robot;The robot is receiving the video passback instruction
Afterwards, camera acquired image is returned into mobile phone;
Receive and show the real-time patrol video of the robot passback.
In one embodiment of the invention, the patrol plane-generating algorithm is deployed in neural network, nerve
Network can be made of multiple neurons.In the neural network, the patrol plane-generating algorithm can be expressed as
The lower calculating formula:
vi=f (vi-1+ w)=f (Api-1+Bti-1+Cw+Dz)
Wherein, viIndicate the current patrol generated planning, viIt can also be expressed as pi+ti, piIndicate current patrol planning pair
The patrol route answered, tiIndicate that the corresponding patrol time is planned in current patrol, w indicates that location information, z indicate the finger of user's input
Show information;vi-1Indicate history patrol planning, vi-1It can be expressed as pi-1+ti-1, pi-1Indicate history patrol route, ti-1Expression is gone through
History is gone on patrol the time, and what f () was indicated is the corresponding activation primitive of neuron, and A, B, C and D are the corresponding module parameters of activation primitive.
In one embodiment, activation primitive f () specifically can be sigmoid function, i.e. the form that f () can be expressed as:
Wherein, the module parameter of activation primitive f () is trained in advance, in one embodiment module parameter A, B
It specifically can be by training function training to obtain as follows with C:
Wherein, M is the parameter of trained function, and N is the quantity that planning is gone on patrol in training set, pnIt is to be gone on patrol in training set
Patrol route in planning, tnIt is the patrol time in training set in patrol planning.
Wherein, after generating current patrol planning, the current patrol planning can be planned with history patrol
It carries out recurrence integration and generates new history patrol planning, in order to generate next patrol planning.In one embodiment, may be used
To carry out recurrence integration using following calculating formula:
vi=avi+bvi-1
Wherein, the v on the left of the calculating formulaiWhat is indicated is the history patrol planning for needing to store after recurrence is integrated, calculating formula
The v on right sideiThat indicate is the current patrol planning, vi-1What is indicated is the preceding stored history patrol planning of recurrence integration;
What a and b were indicated is weighted factor, and a+b=1;Wherein, since the patrol planning before more long is longer apart from the current time,
The time that corresponding patrol subregion is not gone on patrol is also longer, it is therefore desirable to which b is set greater than a.
Fig. 2 describes a kind of structure of the device of control robot patrol provided by one embodiment of the present invention, wherein should
Device can be used for executing the method for the control robot patrol of previous embodiment offer.As shown in Fig. 2, the device can wrap
It includes:
Receiving unit 201, the robot for receiving robot feedback are presently in the location information of position;
Wherein, the difference for the position being presently according to the robot, the robot obtain the position being presently in
The mode of location information have difference.
For example, global position system can be used and obtain the robot when the position being presently in is outdoor area
The position being presently in, the global position system can be global positioning system (GPS:Global Positioning
System), Beidou satellite alignment system, GLONASS satellite positioning system and/or galileo satellite navigation system.
For example, since global position system cannot position, can make when the position being presently in is room area
With indoor positioning technologies, it can be used for example WiFi indoor positioning technologies, UWB indoor positioning technologies, bluetooth indoor positioning technologies,
Infrared ray indoor positioning technologies, RFID indoor positioning technologies and ultrasonic wave indoor positioning technologies etc..
Even if above-mentioned indoor positioning technologies also can be used it is understood that the position being presently in is outdoor area
It is positioned.
Plane-generating unit 202 generates the machine using patrol plane-generating algorithm for being based on the location information
The patrol of people plans that the patrol planning includes patrol route and/or patrol time, in patrol route completion and/or institute
State the patrol planning that the robot is regenerated when the completion of patrol time;
Wherein, the patrol plane-generating algorithm can be trained in advance, which specifically can be a kind of number
Model is learned, such as can be convolutional neural networks (CNN:Convolutional Neural Network) model, or circulation mind
Through network (RNN:Recurrent Neural Networks) model, or it is also possible to deep neural network (DNN:Deep
Neural Networks) model.
Wherein, the patrol route that the patrol planning includes can be the patrol route of entire beat, be also possible to
The patrol route of one patrol subregion, the patrol subregion, which can be, to be pre-set, and is also possible to temporarily to generate,
The patrol time refers to the time for completing the patrol route.The length of patrol route and patrol time determine that robot patrols
Patrol speed when patrolling.The area of the patrol subregion can be it is equal, be also possible to it is unequal, such as can root
According to the adaptive division of carry out such as terrain in the surrounding enviroment or subregion of patrol subregion.
The beat includes emphasis patrol subregion and non-emphasis patrol subregion;The patrol road of the patrol planning
Beat density of the line in emphasis patrol subregion is higher than the beat density of the non-emphasis patrol subregion, the patrol
Density includes the patrol frequency and/or patrol time;That is, the patrol frequency of emphasis patrol subregion is higher than non-emphasis and patrols
The patrol time of the patrol frequency and/or emphasis patrol subregion of patrolling subregion will be longer than the patrol of non-emphasis patrol subregion
Time.
Wherein, some patrol subregions for including in the entire beat belong to emphasis patrol subregion, in one kind
In embodiment, if the area of each patrol subregion be it is equal, corresponding in patrol planning is that emphasis patrol is sub
When region, the patrol time will be longer than the non-emphasis patrol subregion corresponding patrol time;It is each patrol subregion area not
When equal, the area that emphasis goes on patrol subregion can be less than the area of non-emphasis patrol subregion, and emphasis goes on patrol subregion at this time
The corresponding patrol time can give up as hopeless equal with the corresponding time with the patrol of non-emphasis, naturally it is also possible to different.
Wherein, it is covered in the patrol route that the patrol planning that the patrol plane-generating algorithm generates includes whole
When a beat, the robot in the patrol time that the patrol planning that the patrol plane-generating algorithm generates includes
The entire beat can be gone on patrol.The robot can determine patrol according to the length of patrol time and patrol route
Speed.It is understood that in some embodiments, the patrol planning can be segmentation, and the patrol planning can
To include each of patrol speed/patrol time.
Transmission unit 203, for sending the patrol planning to the robot, so that the robot is according to described
Patrol planning executes patrol.
From the above it can be seen that using the device of control robot provided in this embodiment patrol, it can be according to current institute of robot
The position at place adaptively generates patrol planning, and is gone on patrol according to patrol planning, since patrol planning generates in real time,
Therefore it can be followed without rule, it is possible to reduce the possibility sought loopholes by criminal, to improve safety;Further, exist
In a kind of embodiment, important patrol subregion and insignificant patrol subregion are distinguished, so that important patrol
The patrol frequency of subregion and patrol time are all relatively some more, can be further ensured that the safety of important patrol subregion.
In another embodiment, the device of control robot patrol can also include: historical information acquiring unit,
For obtaining history patrol route and/or the history patrol time of storage;The plane-generating unit is specifically used for: based on described
History patrol route and/or history patrol time and the location information generate the machine using patrol plane-generating algorithm
The patrol of device people is planned.
When obtaining history patrol route, if history patrol route is the corresponding patrol route of patrol subregion, patrol
Plane-generating algorithm is patrolled it is known which subregion gone on patrol, so that the patrol planning generated can be more likely to patrol
Patrol the subregion not yet gone on patrol, it should be noted that patrol plane-generating algorithm is only the patrol rule that will increase generation
Drawing is the possibility for corresponding to the subregion not gone on patrol, it is not intended that newly-generated patrol planning is only that correspondence does not carry out
The subregion of patrol;Alternatively, patrol plane-generating algorithm is known that the patrol route of history, so that generating patrol route
It is larger it is possible will not be identical as history patrol route, it should be noted that patrol plane-generating algorithm be only that will increase life
At patrol route and the different possibility of history patrol route, but be not indicate newly-generated patrol route be bound to
History patrol route is not identical.
Obtain history patrol the time when, so that it may know gone on patrol how long, algorithm can be preset
The patrol that how long must carry out entire beat at least once has been got well, therefore can have been known according to the history patrol time
Road has gone on patrol the time that the subregion of unfinished patrol is able to use, to adaptively determine newly-generated patrol planning pair
The patrol time answered.
In another embodiment, the receiving unit is also used to receive the instruction information of user's input, the instruction letter
Breath is used to indicate the user and wishes the patrol emphasis that the robot is gone on patrol;The plane-generating unit is specifically used for:
Based on the location information and the instruction information, advised using the patrol that patrol plane-generating algorithm generates the robot
It draws.
In another embodiment, the receiving unit is also used to receive the video passback instruction of user's input;Institute
Transmission unit is stated, is also used to send the video passback instruction to the robot;The receiving unit is also used to receive described
The real-time patrol video of robot passback;Described device further include: display unit, for showing the real-time of the robot passback
Go on patrol video.
The embodiment of the invention also provides a kind of devices of control robot patrol, can be used for executing previous embodiment and mention
The method of the control robot patrol of confession.As shown in figure 3, the device at least may include: memory 10, at least one processor
20, such as CPU (Central Processing Unit, central processing unit) and at least one communication interface 30, communication connects
Mouth 30 can be used for establishing communication connection between the device and robot, so that the device can carry out information exchange with robot.
Wherein, memory 10, processor 20 and communication interface 30 can be communicatively coupled by one or more bus.This field skill
Art personnel are appreciated that the structure of device shown in Fig. 3 does not constitute the restriction to the embodiment of the present invention, it is either total
Linear structure is also possible to hub-and-spoke configuration, can also include components more more or fewer than diagram, or combine certain components,
Or different component layout.
Wherein, memory 10 can be high speed RAM memory, be also possible to non-labile memory (non-
Volatile memory), a for example, at least magnetic disk storage.It is remote that memory 10 optionally can also be that at least one is located at
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 the device of control robot patrol shown in Fig. 3, what processor 20 can be used for that memory 10 is called to store
Executable program code executes following steps:
The robot that control communication interface 30 receives robot feedback is presently in the location information of position;
Based on the location information, advised using the patrol that the patrol plane-generating algorithm stored in memory 10 generates robot
It draws, patrol planning may include patrol route and/or patrol time, when patrol route is completed and/or the patrol time completes
Regenerate the patrol planning of robot;
Control communication interface 30 sends patrol planning to robot, patrols so that robot is executed according to patrol planning
It patrols.
Optionally, processor 20 can be also used for the executable program code for calling memory 10 to store, and execute following step
It is rapid:
Obtain the history patrol route stored in memory 10 and/or history patrol time;
Wherein, processor 20 is based on the location information, is generated using the patrol plane-generating algorithm stored in memory 10
The mode of the patrol planning of robot can specifically include:
Based on history patrol route and/or history patrol time and the location information, use what is stored in memory 10
Go on patrol the patrol planning that plane-generating algorithm generates robot.
Optionally, processor 20 can be also used for the executable program code for calling memory 10 to store, and execute following step
It is rapid:
The instruction information that communication interface 30 receives user's input is controlled, which is used to indicate user and wishes robot
The patrol emphasis gone on patrol;
Wherein, processor 20 is based on the location information, is generated using the patrol plane-generating algorithm stored in memory 10
The mode of the patrol planning of robot can specifically include:
Based on the location information and the instruction information, generated using the patrol plane-generating algorithm stored in memory 10
The patrol of robot is planned.
Optionally, the beat of robot may include emphasis patrol subregion and non-emphasis patrol subregion;This is patrolled
The beat density that beat density of the patrol route of planning in emphasis patrol subregion is higher than non-emphasis patrol subregion is patrolled, it should
Beat density may include the patrol frequency and/or patrol time.
Optionally, processor 20 can be also used for the executable program code for calling memory 10 to store, and execute following step
It is rapid:
Control the video passback instruction that communication interface 30 receives user's input;
Control communication interface 30 sends video passback instruction to robot;
Control the real-time patrol video that communication interface 30 receives robot passback;
Show the real-time patrol video of robot passback.
The device of control robot patrol, the position that can be presently according to robot shown in implementing Fig. 3 are adaptive
Ground generates patrol planning, and is gone on patrol according to patrol planning, can without rule since patrol planning generates in real time
It follows, it is possible to reduce the possibility sought loopholes by criminal, to improve safety;Further, in one embodiment,
Important patrol subregion and insignificant patrol subregion are distinguished, so that the patrol frequency of important patrol subregion
It is all relatively some more with the patrol time, it can be further ensured that the safety of important patrol subregion.
The contents such as the information exchange between each unit module, implementation procedure in above-mentioned apparatus, due to the method for the present invention
Embodiment is based on same design, and for details, please refer to the description in the embodiment of the method for the present invention, and details are not described herein again.
The embodiment of the invention also 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:
The robot for receiving robot feedback is presently in the location information of position;
Based on the location information, advised using the patrol that the patrol plane-generating algorithm stored in storage medium generates robot
It draws, patrol planning may include patrol route and/or patrol time, when patrol route is completed and/or the patrol time completes
Regenerate the patrol planning of robot;
Patrol planning is sent to robot, so that robot executes patrol according to patrol planning.
Optionally, it can also be performed the steps of when which is executed by processor
The history patrol route and/or history for obtaining storage go on patrol the time;
Wherein, processor is based on the location information, generates machine using the patrol plane-generating algorithm stored in storage medium
The mode of the patrol planning of device people can specifically include:
Based on history patrol route and/or history patrol time and the location information, use what is stored in storage medium
Go on patrol the patrol planning that plane-generating algorithm generates robot.
Optionally, it can also be performed the steps of when which is executed by processor
The instruction information of user's input is received, which is used to indicate user and wishes the patrol that robot is gone on patrol
Emphasis;
Wherein, processor is based on the location information, generates machine using the patrol plane-generating algorithm stored in storage medium
The mode of the patrol planning of device people can specifically include:
Based on the location information and the instruction information, generated using the patrol plane-generating algorithm stored in storage medium
The patrol of robot is planned.
Optionally, the beat of robot may include emphasis patrol subregion and non-emphasis patrol subregion;This is patrolled
The beat density that beat density of the patrol route of planning in emphasis patrol subregion is higher than non-emphasis patrol subregion is patrolled, it should
Beat density may include the patrol frequency and/or patrol time.
Optionally, it can also be performed the steps of when which is executed by processor
The video for receiving user's input returns instruction;
Video passback instruction is sent to robot;
Receive and show the real-time patrol video of robot passback.
Those of ordinary skill in the art will appreciate that realizing all or part of the process 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-readable storage medium
In, the program is when being executed, it may include such as the process 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..
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its thought of the invention;At the same time, for those skilled 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 performs the steps of when being executed by processor
The robot for receiving robot feedback is presently in the location information of position;
Based on the location information, the robot is generated using the patrol plane-generating algorithm stored in the storage medium
Patrol planning, patrol planning include patrol route and/or patrol time, in patrol route completion and/or described are patrolled
Patrol the patrol planning that the robot is regenerated when time completion;
The patrol planning is sent to the robot, so that the robot executes patrol according to patrol planning.
2. computer readable storage medium as described in claim 1, which is characterized in that the computer program is held by processor
It is also performed the steps of when row
The history patrol route and/or history for obtaining storage go on patrol the time;
Wherein, the processor is based on the location information, uses the patrol plane-generating algorithm stored in the storage medium
The mode for generating the patrol planning of the robot specifically includes:
Based on the history patrol route and/or history patrol time and the location information, using in the storage medium
The patrol plane-generating algorithm of storage generates the patrol planning of the robot.
3. computer readable storage medium as described in claim 1, which is characterized in that the computer program is held by processor
It is also performed the steps of when row
The instruction information of user's input is received, the instruction information is used to indicate the user and wishes that the robot is gone on patrol
Patrol emphasis;
Wherein, the processor is based on the location information, uses the patrol plane-generating algorithm stored in the storage medium
The mode for generating the patrol planning of the robot specifically includes:
Based on the location information and the instruction information, the patrol plane-generating algorithm stored in the storage medium is used
Generate the patrol planning of the robot.
4. computer readable storage medium as claimed in claim 3, which is characterized in that the beat of the robot includes
Emphasis goes on patrol subregion and non-emphasis goes on patrol subregion;The patrol route of the patrol planning is in emphasis patrol subregion
Beat density be higher than the beat density of the non-emphasis patrol subregion, the beat density includes the patrol frequency and/or patrols
Patrol the time.
5. the computer readable storage medium as described in claim 1-4 is any, which is characterized in that the computer program is located
Reason device also performs the steps of when executing
Receive the video passback instruction of user's input;
The video passback instruction is sent to the robot;
Receive and show the real-time patrol video of the robot passback.
6. a kind of device of control robot patrol characterized by comprising memory, processor and communication interface, wherein
The memory is led to for described device with robot for storing executable program code and data, the communication interface
Letter interaction, the processor are used to call the executable program code of the memory storage, execute following steps:
It controls the communication interface and receives the location information that the robot that robot is fed back is presently in position;
Based on the location information, patrolling for the robot is generated using the patrol plane-generating algorithm stored in the memory
Planning is patrolled, the patrol planning includes patrol route and/or patrol time, in patrol route completion and/or the patrol
Time regenerates the patrol planning of the robot when completing;
It controls the communication interface and sends the patrol planning to the robot, so that the robot is according to the patrol
Planning executes patrol.
7. the device of control robot patrol as claimed in claim 6, which is characterized in that the processor is also used to call institute
The executable program code of memory storage is stated, following steps are executed:
Obtain the history patrol route stored in the memory and/or history patrol time;
Wherein, the processor is based on the location information, raw using the patrol plane-generating algorithm stored in the memory
It is specifically included at the mode of the patrol planning of the robot:
Based on the history patrol route and/or the history patrol time and location information, using being deposited in the memory
The patrol plane-generating algorithm of storage generates the patrol planning of the robot.
8. the device of control robot patrol as claimed in claim 6, which is characterized in that the processor is also used to call institute
The executable program code of memory storage is stated, following steps are executed:
The instruction information that the communication interface receives user's input is controlled, the instruction information is used to indicate the user and wishes institute
State the patrol emphasis that robot is gone on patrol;
Wherein, the processor is based on the location information, raw using the patrol plane-generating algorithm stored in the memory
It is specifically included at the mode of the patrol planning of the robot:
It is raw using the patrol plane-generating algorithm stored in the memory based on the location information and the instruction information
It is planned at the patrol of the robot.
9. the device of control robot patrol as claimed in claim 8, which is characterized in that the beat packet of the robot
Include emphasis patrol subregion and non-emphasis patrol subregion;The patrol route of the patrol planning goes on patrol subregion in the emphasis
In beat density be higher than the beat density of the non-emphasis patrol subregion, the beat density include the patrol frequency and/or
Go on patrol the time.
10. the device of the control robot patrol as described in claim 6-9 is any, which is characterized in that the processor is also used
In the executable program code for calling the memory storage, following steps are executed:
Control the video passback instruction that the communication interface receives user's input;
It controls the communication interface and sends the video passback instruction to the robot;
Control the real-time patrol video that the communication interface receives the robot passback;
Show the real-time patrol video of the robot passback.
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Cited By (1)
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