CN109048899A - A kind of patrol robot and storage medium - Google Patents
A kind of patrol robot and storage medium Download PDFInfo
- Publication number
- CN109048899A CN109048899A CN201810927399.6A CN201810927399A CN109048899A CN 109048899 A CN109048899 A CN 109048899A CN 201810927399 A CN201810927399 A CN 201810927399A CN 109048899 A CN109048899 A CN 109048899A
- Authority
- CN
- China
- Prior art keywords
- patrol
- robot
- planning
- route
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
Abstract
The present invention provides a kind of patrol robot and storage mediums, wherein, the patrol robot includes memory and processor, memory executes following steps for storing executable program code and data, the executable program code that processor is used to that memory to be called to store: obtaining the location information for the position that robot is presently in；Based on the location information, it is planned using the patrol that patrol plane-generating algorithm generates the robot, the patrol planning includes patrol route and/or patrol time, and when the patrol route is completed and/or the patrol time completes, the robot regenerates the patrol planning of the robot；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 a kind of patrol robot and storage medium.
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 robot patrol method and patrol robots, 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 kind of robot patrol method, comprising:
Obtain the location information for the position that robot is presently in；
Based on the location information, planned using the patrol that patrol plane-generating algorithm generates the robot, it is described to patrol
Patrol planning include patrol route and/or patrol the time, the patrol route complete and/or the patrol time completion when described in
Robot regenerates the patrol planning of the robot；
The robot executes patrol according to patrol planning.
Optionally, the method also includes:
It obtains history patrol route and/or history goes 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 patrol route covering that the patrol planning that the patrol plane-generating algorithm generates includes is whole
A beat, the robot energy in the patrol time that the patrol planning that the patrol plane-generating algorithm generates includes
Enough go on patrol the entire beat.
Optionally, the beat includes emphasis patrol subregion and non-emphasis patrol subregion；The patrol planning
Beat density of the patrol route in emphasis patrol subregion be higher than the beat density of the non-emphasis patrol subregion,
The beat density includes the patrol frequency and/or patrol time.
Optionally, when the beat is room area, the position for obtaining the position that robot is presently in
Information includes:
The location information for the position that the robot is presently in is obtained using indoor positioning technologies.
A kind of patrol robot, comprising:
Position acquisition unit, for obtaining the location information for the position that robot is presently in；
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
When going on patrol time completion, the patrol planning of the robot is regenerated；
Execution unit, for executing patrol according to patrol planning.
Optionally, further includes:
Historical information acquiring unit, for obtaining history patrol route and/or history patrol time；
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 patrol route covering that the patrol planning that the plane-generating unit generates includes entirely is patrolled
Region is patrolled, the robot can go on patrol institute in the patrol time that the patrol planning that the plane-generating unit generates includes
State entire beat.
Optionally, the beat includes emphasis patrol subregion and non-emphasis patrol subregion；The patrol planning
Beat density of the patrol route in emphasis patrol subregion be higher than the beat density of the non-emphasis patrol subregion,
The beat density includes the patrol frequency and/or patrol time.
Optionally, the position acquisition unit is specifically used for when the beat is room area, fixed using interior
Position technology obtains the location information for the position that the robot is presently in.
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
Obtain the location information for the position that robot is presently in；
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
When stating the completion of patrol time, the patrol planning of the robot is regenerated；
Patrol is executed according to patrol planning.
Optionally, it is also performed the steps of when the computer program is executed by processor
It obtains history patrol route and/or history goes 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, the patrol route covering that the patrol planning that the patrol plane-generating algorithm generates includes is whole
A beat, the robot energy in the patrol time that the patrol planning that the patrol plane-generating algorithm generates includes
Enough go on patrol the entire beat.
Optionally, the beat includes emphasis patrol subregion and non-emphasis patrol subregion；The patrol planning
Beat density of the patrol route in emphasis patrol subregion be higher than the beat density of the non-emphasis patrol subregion,
The beat density includes the patrol frequency and/or patrol time.
Optionally, when the beat is room area, the processor obtains the position that robot is presently in
The mode of location information specifically include:
The location information for the position that the robot is presently in is obtained using indoor positioning technologies.
A kind of patrol robot, comprising: memory and processor, wherein the memory is for storing executable program
Code and data, the processor are used to call the executable program code of the memory storage, execute following steps:
Obtain the location information for the position that robot is presently in；
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
When going on patrol time completion, the patrol planning of the robot is regenerated；
Patrol is executed according to patrol planning.
Optionally, the processor is also used to call the executable program code of the memory storage, executes following step
It is rapid:
It obtains history patrol route and/or history goes on patrol the 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 patrol route covering that the patrol planning that the patrol plane-generating algorithm generates includes is whole
A beat, the robot energy in the patrol time that the patrol planning that the patrol plane-generating algorithm generates includes
Enough go on patrol the entire beat.
Optionally, the beat includes emphasis patrol subregion and non-emphasis patrol subregion；The patrol planning
Beat density of the patrol route in emphasis patrol subregion be higher than the beat density of the non-emphasis patrol subregion,
The beat density includes the patrol frequency and/or patrol time.
Optionally, the mode that the processor obtains the location information for the position that robot is presently in specifically includes:
When the beat is room area, the position that the robot is presently in is obtained using indoor positioning technologies
The location information set.
From the above it can be seen that using patrol robot provided in this embodiment, it can be according to the position that robot is presently in certainly
Patrol planning is adaptively generated, and is gone on patrol according to patrol planning, since patrol planning generates in real time, is not advised
Rule can be followed, it is possible to reduce the possibility sought loopholes by criminal, to improve safety；Further, in a kind of embodiment party
In formula, important patrol subregion and insignificant patrol subregion are distinguished, so that important patrol subregion patrols
It patrols the frequency and the patrol time is 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 that robot provided by one embodiment of the present invention goes on patrol method；
Fig. 2 is the structure chart of patrol robot provided by one embodiment of the present invention；
Fig. 3 is the structure chart for the patrol robot 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.
Robot patrol method provided in an embodiment of the present invention is first introduced, Fig. 1 describes one embodiment of the invention offer
Robot patrol method process.As shown in Figure 1, this method may include:
101, the location information for the position that robot is presently in is obtained.
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
The robot regenerates 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:
It obtains history patrol route and/or history goes 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.
103, the robot executes patrol according to patrol planning.
From the above it can be seen that going on patrol method, the position that can be presently according to robot using robot provided in this embodiment
It sets and adaptively generates patrol planning, and gone on patrol according to patrol planning, since patrol planning generates in real time, do not had
It is regular to follow, it is possible to reduce the possibility sought loopholes by criminal, to improve safety；Further, in a kind of reality
It applies in mode, important patrol subregion and insignificant patrol subregion is distinguished, so that important patrol subregion
The patrol frequency and patrol the time it is all relatively some more, can be further ensured that it is important patrol subregion safety.
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)
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 location information；vi-1Indicate history patrol rule
It draws, vi-1It can be expressed as pi-1+ti-1, pi-1Indicate history patrol route, ti-1Indicate that history is gone on patrol the time, what f () was indicated is
The corresponding activation primitive of neuron, A, B and C 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 patrol robot provided by one embodiment of the present invention, which can be with
Robot for executing previous embodiment offer goes on patrol method.As shown in Fig. 2, the patrol robot may include:
Position acquisition unit 201, for obtaining the location information for the position that robot is presently in；
Wherein, the difference for the position being presently according to the robot, the acquisition of position acquisition unit 201 are presently in
The mode of the location information of position has 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
When stating the completion of patrol time, the patrol planning of the robot is regenerated；
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 location information is based in plane-generating unit 202 to calculate using patrol plane-generating
Before method generates the patrol planning of the robot, patrol robot shown in Fig. 2 can also include:
Historical information acquiring unit, for obtaining history patrol route and/or history patrol time；
Correspondingly, when plane-generating unit 202 specifically can be used for going on patrol based on the history patrol route and/or history
Between and the location information, using patrol plane-generating algorithm generate the robot patrol plan.
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.
Execution unit 203, for executing patrol according to patrol planning.
From the above it can be seen that using patrol robot provided in this embodiment, it can be according to the position that robot is presently in certainly
Patrol planning is adaptively generated, and is gone on patrol according to patrol planning, since patrol planning generates in real time, is not advised
Rule can be followed, it is possible to reduce the possibility sought loopholes by criminal, to improve safety；Further, in a kind of embodiment party
In formula, important patrol subregion and insignificant patrol subregion are distinguished, so that important patrol subregion patrols
It patrols the frequency and the patrol time is all relatively some more, can be further ensured that the safety of important patrol subregion.
The embodiment of the present invention also provides a kind of patrol robot, which can be used for executing previous embodiment and mention
The robot of confession goes on patrol method.As shown in figure 3, the patrol robot at least may include: memory 10 and at least one processing
Device 20, such as CPU (Central Processing Unit, central processing unit), wherein memory 10 and processor 20 can be with
It is communicatively coupled by bus.It will be understood by those skilled in the art that the structure of patrol robot shown in Fig. 3 not structure
The restriction of the pairs of embodiment of the present invention, it is also possible to hub-and-spoke configuration either busbar network, can also include than diagram
More or fewer components perhaps combine certain components or different component layouts.
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 patrol robot shown in Fig. 3, processor 20 can be used for calling the executable program of the storage of memory 10
Code executes following steps:
Obtain the location information for the position that robot is presently in；
Based on the location information, advised using the patrol that the patrol plane-generating algorithm stored in memory 10 generates robot
It draws, which planned including patrol route and/or patrol time, when time completion is completed and/or gone on patrol to patrol route, again
Generate the patrol planning of robot；
Patrol is executed according to patrol planning.
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:
It obtains history patrol route and/or history goes on patrol the 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, the patrol route that the patrol planning which generates includes covers entire beat
Domain, the patrol time inner machine people that the patrol planning which generates includes can go on patrol entire beat
Domain.
Optionally, beat may include emphasis patrol subregion and non-emphasis patrol subregion；Patrol planning
Beat density of the patrol route in emphasis patrol subregion is higher than the beat density of non-emphasis patrol subregion, the beat density
It may include the patrol frequency and/or patrol time.
Optionally, the mode that processor 20 obtains the location information for the position that robot is presently in can specifically include:
When beat is room area, the position for the position that robot is presently in is obtained using indoor positioning technologies
Information.
Patrol robot shown in implementing Fig. 3 can adaptively generate patrol according to the position that robot is presently in
Planning, and gone on patrol according to patrol planning, since patrol planning generates in real time, it can follow, can subtract without rule
Few possibility sought loopholes by criminal, to improve safety；Further, in one embodiment, it is patrolled to important
It patrols subregion and insignificant patrol subregion is distinguished, so that when the patrol frequency and patrol of important patrol subregion
Between it is all relatively some more, can be further ensured that it is important patrol subregion safety.
The contents such as the information exchange between each unit module, implementation procedure in above-mentioned patrol robot, due to this hair
Bright embodiment of the method 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:
Obtain the location information for the position that robot is presently in；
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 is executed according to patrol planning.
Optionally, it can also be performed the steps of when which is executed by processor
It obtains history patrol route and/or history goes 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, the patrol route that the patrol planning which generates includes covers entire beat
Domain, the patrol time inner machine people that the patrol planning which generates includes can go on patrol entire beat
Domain.
Optionally, beat may include emphasis patrol subregion and non-emphasis patrol subregion；Patrol planning
Beat density of the patrol route in emphasis patrol subregion is higher than the beat density of non-emphasis patrol subregion, the beat density
It may include the patrol frequency and/or patrol time.
Optionally, when beat is room area, processor obtains the position letter for the position that robot is presently in
The mode of breath can specifically include:
The location information for the position that robot is presently in is obtained using indoor positioning technologies.
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
Obtain the location information for the position that robot is presently in；
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
When patrolling time completion, the patrol planning of the robot is regenerated；
Patrol is executed 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
It obtains history patrol route and/or history goes 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 claimed in claim 1 or 2, which is characterized in that the patrol plane-generating algorithm
The patrol route that the patrol planning generated includes covers entire beat, and the patrol plane-generating algorithm generates
The patrol planning include the patrol time in the robot can go on patrol the entire beat.
4. computer readable storage medium as claimed in claim 3, which is characterized in that the beat includes emphasis patrol
Subregion and non-emphasis go on patrol subregion；Patrol of the patrol route of the patrol planning in emphasis patrol subregion is close
Degree is higher than the beat density of the non-emphasis patrol subregion, and the beat density includes the patrol frequency and/or patrol time.
5. computer readable storage medium as claimed in claim 3, which is characterized in that the beat be room area
When, the mode that the processor obtains the location information for the position that robot is presently in specifically includes:
The location information for the position that the robot is presently in is obtained using indoor positioning technologies.
6. a kind of patrol robot characterized by comprising memory and processor, wherein the memory can for storing
Program code and data are executed, the processor is used to call the executable program code of the memory storage, executes following
Step:
Obtain the location information for the position that robot is presently in；
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
When time completes, the patrol planning of the robot is regenerated；
Patrol is executed according to patrol planning.
7. patrol robot as claimed in claim 6, which is characterized in that the processor is also used to that the memory is called to deposit
The executable program code of storage executes following steps:
It obtains history patrol route and/or history goes on patrol the 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. patrol robot as claimed in claims 6 or 7, which is characterized in that the institute that the patrol plane-generating algorithm generates
It states the patrol route that patrol planning includes and covers entire beat, the described of patrol plane-generating algorithm generation is patrolled
The entire beat can be gone on patrol by patrolling the robot in the patrol time that planning includes.
9. patrol robot as claimed in claim 8, which is characterized in that the beat include emphasis patrol subregion and
Non- emphasis goes on patrol subregion；Beat density of the patrol route of the patrol planning in emphasis patrol subregion is higher than institute
The beat density of non-emphasis patrol subregion is stated, the beat density includes the patrol frequency and/or patrol time.
10. patrol robot as claimed in claim 8, which is characterized in that the processor obtains what robot was presently in
The mode of the location information of position specifically includes:
When the beat is room area, the position that the robot is presently in is obtained using indoor positioning technologies
Location information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810927399.6A CN109048899A (en) | 2018-08-15 | 2018-08-15 | A kind of patrol robot and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810927399.6A CN109048899A (en) | 2018-08-15 | 2018-08-15 | A kind of patrol robot and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109048899A true CN109048899A (en) | 2018-12-21 |
Family
ID=64678484
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810927399.6A Pending CN109048899A (en) | 2018-08-15 | 2018-08-15 | A kind of patrol robot and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109048899A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116300979A (en) * | 2023-05-26 | 2023-06-23 | 君华高科集团有限公司 | Robot cruise path generation system and method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130331988A1 (en) * | 2012-06-08 | 2013-12-12 | Irobot Corporation | Carpet drift estimation using differential sensors or visual measurements |
| CN103576683A (en) * | 2012-08-03 | 2014-02-12 | 中国科学院深圳先进技术研究院 | Scheduling method and system for multiple patrol robots |
| CN104267727A (en) * | 2014-09-30 | 2015-01-07 | 深圳市科松电子有限公司 | Patrol robot and control system thereof |
| CN105261079A (en) * | 2015-11-11 | 2016-01-20 | 国网山东济阳县供电公司 | Portable intelligent electric power inspection device |
| CN106292657A (en) * | 2016-07-22 | 2017-01-04 | 北京地平线机器人技术研发有限公司 | Mobile robot and patrol path setting method thereof |
| CN106444780A (en) * | 2016-11-10 | 2017-02-22 | 速感科技（北京）有限公司 | Robot autonomous navigation method and system based on vision positioning algorithm |
| CN106548231A (en) * | 2016-11-24 | 2017-03-29 | 北京地平线机器人技术研发有限公司 | Mobile controller, mobile robot and the method for moving to optimal interaction point |
| CN107622646A (en) * | 2017-11-12 | 2018-01-23 | 彭耀芬 | A kind of intelligent security guard robot system |
-
2018
- 2018-08-15 CN CN201810927399.6A patent/CN109048899A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130331988A1 (en) * | 2012-06-08 | 2013-12-12 | Irobot Corporation | Carpet drift estimation using differential sensors or visual measurements |
| CN103576683A (en) * | 2012-08-03 | 2014-02-12 | 中国科学院深圳先进技术研究院 | Scheduling method and system for multiple patrol robots |
| CN104267727A (en) * | 2014-09-30 | 2015-01-07 | 深圳市科松电子有限公司 | Patrol robot and control system thereof |
| CN105261079A (en) * | 2015-11-11 | 2016-01-20 | 国网山东济阳县供电公司 | Portable intelligent electric power inspection device |
| CN106292657A (en) * | 2016-07-22 | 2017-01-04 | 北京地平线机器人技术研发有限公司 | Mobile robot and patrol path setting method thereof |
| CN106444780A (en) * | 2016-11-10 | 2017-02-22 | 速感科技（北京）有限公司 | Robot autonomous navigation method and system based on vision positioning algorithm |
| CN106548231A (en) * | 2016-11-24 | 2017-03-29 | 北京地平线机器人技术研发有限公司 | Mobile controller, mobile robot and the method for moving to optimal interaction point |
| CN107622646A (en) * | 2017-11-12 | 2018-01-23 | 彭耀芬 | A kind of intelligent security guard robot system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116300979A (en) * | 2023-05-26 | 2023-06-23 | 君华高科集团有限公司 | Robot cruise path generation system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Shrestha et al. | Learned map prediction for enhanced mobile robot exploration | |
| US10963738B2 (en) | Method for processing input on basis of neural network learning and apparatus therefor | |
| CN107403426B (en) | Target object detection method and device | |
| Katyal et al. | Uncertainty-aware occupancy map prediction using generative networks for robot navigation | |
| Emel’yanov et al. | Multilayer cognitive architecture for UAV control | |
| CN109085833A (en) | A kind of patrol robot and storage medium | |
| Stein et al. | Genesis-rt: Generating synthetic images for training secondary real-world tasks | |
| CN107967513B (en) | Multirobot intensified learning collaboratively searching method and system | |
| KR20200074958A (en) | Neural network learning method and device | |
| Zhang et al. | Interaction graphs for object importance estimation in on-road driving videos | |
| CN109088452A (en) | robot charging method and robot | |
| CN109086731A (en) | It is a kind of for carrying out the robot and storage medium of behavior monitoring | |
| CN109003329A (en) | A kind of target goods heap monitoring device and storage medium | |
| CN109270931A (en) | Control the method and device of robot patrol | |
| Yang et al. | Autonomous UAV navigation in dynamic environments with double deep Q-networks | |
| CN109048899A (en) | A kind of patrol robot and storage medium | |
| CN109101928A (en) | WatchChild method and robot | |
| CN109191633A (en) | Employee's recognition methods and robot | |
| CN109062212A (en) | A kind of robot and storage medium for patrol | |
| CN108981712A (en) | Robot goes on patrol method and robot | |
| CN109141454A (en) | A kind of charging robot and storage medium | |
| CN108958024A (en) | Robot goes on patrol method and robot | |
| Wang et al. | Research on autonomous planning method based on improved quantum Particle Swarm Optimization for Autonomous Underwater Vehicle | |
| CN109015639A (en) | The device and storage medium of a kind of control robot patrol | |
| Huang et al. | A deep reinforcement learning approach to preserve connectivity for multi-robot systems |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181221 |