CN109229097B - Cruise control method and device - Google Patents
Cruise control method and device Download PDFInfo
- Publication number
- CN109229097B CN109229097B CN201811251092.5A CN201811251092A CN109229097B CN 109229097 B CN109229097 B CN 109229097B CN 201811251092 A CN201811251092 A CN 201811251092A CN 109229097 B CN109229097 B CN 109229097B
- Authority
- CN
- China
- Prior art keywords
- robot
- cruise
- point
- cruising
- distance
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 60
- 238000012544 monitoring process Methods 0.000 claims abstract description 5
- 230000005856 abnormality Effects 0.000 claims description 28
- 238000004458 analytical method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 abstract description 8
- 238000013473 artificial intelligence Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 16
- 230000006870 function Effects 0.000 description 12
- 238000004590 computer program Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 230000003287 optical effect Effects 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses a cruise control method and a cruise control device, which belong to the technical field of artificial intelligence, and comprise the following steps: the method comprises the steps of receiving a robot cruising instruction, controlling the robot to cruise according to a set cruising line, wherein for cruising points which are not cruising end points on a cruising line, monitoring the distance between the robot and the cruising point when the robot drives to the cruising point, and controlling the robot to drive to the next cruising point which is adjacent to the cruising point on the cruising line at a preset speed when determining that the distance between the robot and the cruising point is less than a first preset distance, so that for each cruising point which is not cruising end points on the cruising line, the robot does not decelerate to stop when reaching the cruising point, but moves to the next cruising point which is adjacent to the cruising point at the set speed, thereby improving the phenomenon of uneven speed of the robot in the cruising process and improving the user experience.
Description
Technical Field
The application relates to the technical field of artificial intelligence, in particular to a cruise control method and device.
Background
With the rapid development of artificial intelligence technology and the increasing increase of labor cost, the robot becomes an ideal mobile monitoring device, and the mobile monitoring function of the robot is also called as a cruise function.
In fact, the cruise function can be regarded as an extension of the navigation function, a plurality of cruise points are usually included on a cruise line, each cruise point can be regarded as a navigation position, and the robot can regard each navigation position as a terminal point, so that when the robot is about to reach the navigation position, the robot decelerates to stop, and then slowly accelerates to the next navigation position.
Disclosure of Invention
The embodiment of the application provides a cruise control method and device, which are used for improving the phenomenon of uneven running speed of a robot in the cruise process in the prior art.
In a first aspect, an embodiment of the present application provides a cruise control method, including:
receiving a robot cruising instruction;
the method comprises the steps of controlling a robot to cruise according to a set cruise line, wherein for cruise points which are not cruise endpoints on a cruise line, monitoring the distance between the robot and the cruise points when the robot drives to the cruise points, and controlling the robot to drive to the next cruise point adjacent to the cruise point on the cruise line at a preset speed when the distance between the robot and the cruise points is determined to be smaller than a first preset distance.
In the embodiment of the application, for each cruising point which is not the cruising end point on the cruising line, when the robot is controlled to drive to the cruising point, the distance between the robot and the cruising point can be monitored, and when the distance between the robot and the cruising point is determined to be smaller than the first preset distance, the robot can be controlled to drive to the next cruising point adjacent to the cruising point on the cruising line at the preset speed, so that for each cruising point on the cruising line except the cruising end point, the robot can not decelerate to stop when reaching the cruising point, but moves to the next cruising point at the preset speed, therefore, the phenomenon of uneven speed of the robot in the cruising process can be improved, and the user experience is improved.
Considering that during cruising, the robot may pause on a cruising route, which may result in the current speed of the robot not being necessarily equal to the preset speed when the distance between the robot and the cruising point is less than the first preset distance, the controlling the robot to drive to the next cruising point adjacent to the cruising point on the cruising route at the preset speed includes:
if the current speed of the robot is equal to the preset speed, controlling the robot to drive to the next cruising point adjacent to the cruising point on the cruising line at the current speed;
if the current speed of the robot is smaller than the preset speed, the robot is controlled to accelerate to the preset speed on the cruising route, and the robot is controlled to drive to the next cruising point adjacent to the cruising point on the cruising route at the preset speed.
Under one possible implementation, the method further includes:
when the robot drives to when cruising terminal, monitor the robot with when cruising terminal, when confirming the robot with when the distance between the terminal is less than the second and predetermines the distance, control the robot slows down on the route of patrolling a journey so that the robot reaches speed when cruising terminal is zero.
Under one possible implementation, the method further includes:
controlling the robot to carry out video acquisition on the patrol route;
analyzing each collected video frame, and if abnormality is found in the video frames, sending alarm information to a terminal corresponding to the robot.
In one possible embodiment, the method for controlling the robot to perform video acquisition on the cruising route comprises the following steps:
controlling the robot to carry out video acquisition on the whole patrol route; or
And controlling the robot to perform video acquisition on part of the patrol route.
In one possible embodiment, the robot is controlled to perform video acquisition on a part of the cruising route, and the method comprises the following steps:
for each cruise point on the cruise line, when the robot drives to the cruise point and the distance between the robot and the cruise point is determined to be less than a third preset distance, controlling the robot to start video acquisition; and
and when the robot drives away from the cruise point, controlling the robot to finish video acquisition when the distance between the robot and the cruise point is determined to be greater than a third preset distance.
In one possible embodiment, each captured video frame is analyzed, including:
extracting image features of the video frame;
if the image characteristics of the video frame are analyzed to determine that the video frame meets the stored description of any abnormality, determining that the corresponding abnormality occurs, or if the image characteristics of the video frame are analyzed to determine that the video frame contains a face image, matching the face image with the stored face image, and if the matched face image does not exist, determining that the corresponding abnormality occurs.
Under one possible implementation, the method further includes:
and if the fact that the staying time of the robot at the cruise terminal reaches the preset time is determined, returning to the step of controlling the robot to cruise according to the set cruise line until an instruction for ending the cruise is received.
Under one possible implementation, the method further includes:
for each cruise point on the cruise line, when the distance between the robot and the cruise point is determined to be smaller than a fourth preset distance, marking the cruise point as a cruise state, wherein the fourth preset distance is smaller than or equal to the first preset distance; and
before returning to the step of controlling the robot to cruise according to the set cruise line, the method further comprises the following steps:
and modifying the state of each cruise point from the cruising state to the non-cruising state.
In a second aspect, an embodiment of the present application provides a robot cruise control apparatus, including:
the receiving module is used for receiving a robot cruising instruction;
the control module is used for controlling the robot to cruise according to the set cruise line, wherein the cruise point which is not the cruise terminal point on the cruise line is monitored when the robot drives to the cruise point, and when the distance between the robot and the cruise point is determined to be smaller than a first preset distance, the robot is controlled to drive to the next cruise point adjacent to the cruise point on the cruise line at a preset speed.
In a possible implementation, the control module is specifically configured to:
if the current speed of the robot is equal to the preset speed, controlling the robot to drive to the next cruising point adjacent to the cruising point on the cruising line at the current speed;
if the current speed of the robot is smaller than the preset speed, the robot is controlled to accelerate to the preset speed on the cruising route, and the robot is controlled to drive to the next cruising point adjacent to the cruising point on the cruising route at the preset speed.
In one possible embodiment, the control module is further configured to:
when the robot drives to when cruising terminal, monitor the robot with when cruising terminal, when confirming the robot with when the distance between the terminal is less than the second and predetermines the distance, control the robot slows down on the route of patrolling a journey so that the robot reaches speed when cruising terminal is zero.
Under one possible implementation, the method further includes:
the acquisition module is used for controlling the robot to acquire videos on the patrol route;
and the analysis module is used for analyzing each acquired video frame, and sending alarm information to a terminal corresponding to the robot if abnormality is found in the video frames.
In a possible implementation, the acquisition module is specifically configured to:
controlling the robot to carry out video acquisition on the whole patrol route; or
Controlling the robot to partially patrol
In a possible implementation, the acquisition module is specifically configured to:
for each cruise point on the cruise line, when the robot drives to the cruise point and the distance between the robot and the cruise point is determined to be less than a third preset distance, controlling the robot to start video acquisition; and
and when the robot drives away from the cruise point, controlling the robot to finish video acquisition when the distance between the robot and the cruise point is determined to be greater than a third preset distance.
In a possible implementation, the analysis module is specifically configured to:
extracting image features of the video frame;
if the image characteristics of the video frame are analyzed to determine that the video frame meets the stored description of any abnormality, determining that the corresponding abnormality occurs, or if the image characteristics of the video frame are analyzed to determine that the video frame contains a face image, matching the face image with the stored face image, and if the matched face image does not exist, determining that the corresponding abnormality occurs.
Under one possible implementation, the method further includes:
and the resetting module is used for returning to the step of controlling the robot to cruise according to the set cruise line until an instruction for ending the cruise is received if the fact that the stay time of the robot at the cruise terminal reaches the preset time is determined.
In one possible embodiment of the method according to the invention,
the control module is further used for marking each cruise point on the cruise line as a cruising state when the distance between the robot and the cruise point is determined to be smaller than a fourth preset distance, and the fourth preset distance is smaller than or equal to the first preset distance; and
and the resetting module is also used for modifying the state of each cruise point from the cruise state to the cruise-free state before returning to the step of controlling the robot to cruise according to the set cruise line.
In a third aspect, an electronic device provided in an embodiment of the present application includes: at least one processor, and a memory communicatively coupled to the at least one processor, wherein:
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the cruise control method described above.
In a fourth aspect, embodiments of the present application provide a computer-readable medium storing computer-executable instructions for performing the cruise control method described above.
In addition, for technical effects brought by any one of the design manners in the second aspect to the fourth aspect, reference may be made to technical effects brought by different implementation manners in the first aspect, and details are not described here.
These and other aspects of the present application will be more readily apparent from the following description of the embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic diagram illustrating a control robot for cruising according to an embodiment of the present disclosure;
FIG. 2 is a flow chart of a cruise control method provided by an embodiment of the present application;
fig. 3 is a schematic hardware structure diagram of an electronic device for implementing a cruise control method according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a cruise control device according to an embodiment of the present application.
Detailed Description
In order to improve the phenomenon that the running speed of a robot is uneven in the cruising process in the prior art, the embodiment of the application provides a cruising control method and device.
The preferred embodiments of the present application will be described below with reference to the accompanying drawings of the specification, it should be understood that the preferred embodiments described herein are merely for illustrating and explaining the present application, and are not intended to limit the present application, and that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
An application scenario of the cruise control method provided in the embodiment of the present application is first described below.
Such as for use in a factory.
Generally, the area of mill is bigger, the overall arrangement is also more complicated, the camera input cost of all installing and carrying out the control in each place of mill is higher, so generally only install the camera in some important positions, if utilize the robot to cruise to the mill, then can set up the point of patrolling at the place that does not install the camera, and like this, the robot can gather video information on every side when passing through this point of cruising, in addition, compare in the people, the robot is when patrolling, can not lazily, also need not rest, the advantage is also more obvious.
As another example, in an office.
When the boss is not at the company, if the boss wants to know the working state of the staff in time, a plurality of cruise points can be arranged in an office area, the robot can collect video information around when passing through each cruise point and sends the video to the terminal, and the boss can remotely know the working state of the staff on the terminal.
Therefore, the cruise control method provided by the embodiment of the application is applicable to all scenes needing mobile monitoring, and is not exemplified here.
In the embodiment of the present application, the execution main body of the cruise control method may be a controller provided inside the robot, or may be an external device that can communicate with the robot, such as a server. The cruise control method can be realized by one device or by a plurality of devices in combination.
Referring to fig. 1, fig. 1 shows a schematic diagram of controlling a robot to cruise according to an embodiment of the present application, where a cruise route is set as a cruise point a — > cruise point B — > cruise point C — > cruise point D, the cruise point a is a cruise starting point, and the cruise point D is a cruise ending point, and it is assumed that an upper limit speed for the robot to travel along the cruise route is 0.7 m/s.
In specific implementation, when a robot cruise command is received, the robot can be controlled to start from the current position and drive to a cruise point A, the speed of the robot is 0m/s initially, therefore, the robot can be controlled to accelerate to 0.7m/s along a cruise line gradually, then the robot can be controlled to drive to the cruise point A at a speed of 0.7m/s, in addition, when the robot drives to the cruise point A, the distance between the robot and the cruise point A can also be monitored, and when the distance between the robot and the cruise point A is determined to be smaller than a first preset distance, such as 1.5m, if the current speed of the robot is determined to be equal to 0.7m/s, the robot can be controlled to drive to the next cruise point B adjacent to the cruise point A at a speed of 0.7 m/s.
When the robot drives to the cruising point B, the robot can be controlled to stop, and after the conversation is finished, the robot is controlled to drive to the cruising point B at the speed of 0.7m/s, so that when the robot drives to the cruising point B and the distance between the robot and the cruising point B is less than 1.5m, the current speed of the robot can be less than 0.7m/s, such as 0.2m/s, at the moment, the robot can be controlled to accelerate to 0.7m/s on the cruising road, and then the speed of 0.7m/s is kept to drive to the next cruising point C adjacent to the cruising point B.
While the robot is driving to the cruise point C, the distance between the robot and the cruise point C is still monitored, and when it is determined that the distance between the robot and the cruise point C is less than 1.5m, the robot is also controlled to move to the next cruise point D adjacent to the cruise point C at a speed of 0.7 m/s.
Since the cruise point D is the cruise end point, when the robot drives to the cruise point D, the distance between the robot and the cruise point D may be monitored, and when it is determined that the distance between the robot and the cruise point D is less than a second preset distance, such as 2m, the robot may be controlled to decelerate on the cruise line road so that the speed at which the robot reaches the cruise point D is zero, that is, the robot is controlled to finally stop at the cruise point D.
In the process, for each cruise point on the cruise line, when the distance between the robot and the cruise point is determined to be smaller than a fourth preset distance, such as 1.5m, the cruise point can be marked as a cruise state, the robot can be controlled to only perform cruise once when a cruise command of the robot is received, the robot can also be controlled to perform cruise for multiple times, when the cruise is performed for multiple times, the stay duration of the robot on the cruise point D can be calculated, the stay duration of the robot on the cruise point D is determined to reach the preset duration, the state of each cruise point on the cruise line can be changed from the cruise state to the cruise state, the cruise is returned to the cruise point A to start the next cruise, and the cruise is stopped when the cruise command is received.
In specific implementation, the robot can be controlled to perform video acquisition on the line, and optionally, if more comprehensive video information needs to be acquired, the robot can be controlled to perform video acquisition on the whole route patrol line; if only the safety condition of partial line needs to be concerned, the robot can be controlled to carry out video acquisition on partial patrol route. For example, for each cruise point on the cruise line, when the robot drives to the cruise point and the distance between the robot and the cruise point is determined to be less than a third preset distance, such as 2 meters, the robot is controlled to start video acquisition; and when the robot drives away from the cruise point, controlling the robot to finish video acquisition when the distance between the robot and the cruise point is determined to be more than 2 meters.
Further, for each collected video frame, the image features of the video frame can be extracted, if the video frame meets the stored description of any abnormality, it is determined that a corresponding abnormality occurs, or if the image features of the video frame are analyzed to determine that the video frame contains a face image, the face image is matched with the stored face image, and if no matched face image exists, it is determined that a corresponding abnormality occurs.
For example, if a large-amplitude moving object is found out, analyzing the image features of the video frame to determine that the video frame has a large-amplitude shake phenomenon, it is indicated that the large-amplitude moving object appears in the video frame, and at this time, it is determined that a corresponding abnormality occurs.
For another example, a face image of an office worker is stored in advance, if the image features of the video frame are analyzed to determine that the video frame contains the face image, the face image can be matched with the stored face image, and if the matched face image does not exist, it is indicated that the office enters a stranger, and a corresponding abnormality can also be determined.
Further, if an abnormality is found in the video frame, an alarm message may be sent to a terminal corresponding to the robot, where the alarm message may carry abnormality description information or an abnormal video frame, so that the user may find and solve the problem occurring in the cruise area in time.
In specific implementation, the robot can also periodically or in real time acquire the cruise progress information and send the cruise progress information to a terminal corresponding to the robot, so that a user can master the cruise progress of the robot.
In addition, in order to improve user experience, the cruise route can be changed according to user requirements, in specific implementation, a layout of a cruise area can be drawn in advance, cruise points capable of cruising are preset in the layout, the layout is stored in the robot, the terminal and the server at the same time, a user can select the cruise points needing cruising by using the terminal, identification information of the cruise points is sent to the server, and position information and cruise sequence information of the cruise points are sent to the robot by the server, so that the robot takes the cruise route specified by the user, and then cruising can be carried out according to the cruise route specified by the user.
For example, a user may select a layout diagram currently used by the robot on the applet, select some or all of the cruise points in the layout diagram as points at which the robot is to cruise, and click and store the points, and the applet may issue the position information and sequence information of the cruise points selected by the user to the robot through the server, so that the robot takes the cruise route specified by the user, and the subsequent robot cruises according to the cruise route.
And the small program can also control the on and off of the cruise function, when a user presses an on or off button, the small program can control the robot to establish Message Queue Telemetry Transport (MQTT) connection, then sends a corresponding instruction, the server transfers the instruction to the robot, and the robot can execute corresponding operation after taking the instruction.
In the embodiment of the application, the robot can be controlled to cruise on the cruising route connected with each cruising point smoothly, compared with the method that the speed of the robot is reduced when the robot reaches each cruising point in the prior art, and then the speed is slowly increased, the walking of the robot better accords with the characteristics of a person, therefore, the whole cruising experience can be greatly improved, in addition, the robot can be controlled to carry out video acquisition on the cruising route, each acquired video frame is analyzed, if the abnormality is found in the video frame, the abnormal condition can be sent to a terminal user in time, so that the user can be ensured to find and solve the problem of the appearance of the cruising area in time, and the user experience is also better.
As shown in fig. 2, a flowchart of a cruise control method provided in an embodiment of the present application includes the following steps:
s201: and receiving a robot cruise command.
S202: and cruising according to the set cruising line.
In specific implementation, for each cruising point which is not the cruising end point on the cruising line, when the robot drives to the cruising point, the distance between the robot and the cruising point can be monitored, and when the distance between the robot and the cruising point is determined to be smaller than a first preset distance, the robot is controlled to drive to the next cruising point adjacent to the cruising point on the cruising line at a preset speed.
Specifically, when the distance between the robot and the cruise point is determined to be smaller than a first preset distance, if the current speed of the robot is equal to a preset speed, the robot can be controlled to drive to the next cruise point adjacent to the cruise point on the cruise line at the current speed; and if the current speed of the robot is less than the preset speed, the robot can be controlled to accelerate to the preset speed on the cruising line, and the robot is controlled to drive to the next cruising point adjacent to the cruising point on the cruising line at the preset speed.
In addition, for the cruise terminal point on the cruise line, when the robot drives to the cruise terminal point, the distance between the robot and the cruise terminal point is monitored, and when the distance between the robot and the cruise terminal point is determined to be smaller than a second preset distance, the robot can be controlled to decelerate on the cruise line so that the speed of the robot reaching the cruise terminal point is zero.
If the control robot carries out a plurality of times of cruising, the method further comprises the following steps:
s203: judging whether a command of cruise ending is received or not, if not, entering S204; if yes, the process proceeds to S205.
S204: and if the fact that the staying time of the robot at the cruising terminal reaches the preset time is determined, returning to the step S202.
In the above process, for each cruising point on the cruising line, when it is determined that the distance between the robot and the cruising point is less than a fourth preset distance, the cruising point may be marked as the cruising state, and at this time, before returning to the step of controlling the robot to cruise according to the set cruising line, the state of each cruising point may be further modified from the cruising state to the non-cruising state, wherein the fourth preset distance is less than or equal to the first preset distance.
S205: and finishing the cruising.
In specific implementation, the robot can be controlled to perform video acquisition on the patrol route, for example, the robot is controlled to perform video acquisition on the whole patrol route, or the robot is controlled to perform video acquisition on part of the patrol route.
Specifically, for each cruise point on a cruise line, when the robot drives to the cruise point and the distance between the robot and the cruise point is determined to be smaller than a third preset distance, controlling the robot to start video acquisition; and when the robot drives away from the cruise point, controlling the robot to finish video acquisition when the distance between the robot and the cruise point is determined to be greater than a third preset distance.
And analyzing each collected video frame, specifically, extracting image features of the video frame, if analyzing the image features of the video frame to determine that the video frame meets the stored description of any abnormality, determining that the corresponding abnormality occurs, or if analyzing the image features of the video frame to determine that the video frame contains a face image, matching the face image with the stored face image, and if no matched face image exists, determining that the corresponding abnormality occurs.
Furthermore, when the video frame is abnormal, the warning information can be sent to the terminal corresponding to the robot, so that the user can know the problems in the cruise area in time and take corresponding measures.
Referring to fig. 3, a schematic structural diagram of an electronic device provided in this embodiment of the present disclosure includes a transceiver 301 and a processor 302, where the processor 302 may be a Central Processing Unit (CPU), a microprocessor, an application specific integrated circuit, a programmable logic circuit, a large scale integrated circuit, or a digital processing unit. The transceiver 301 is used for data transmission and reception between the electronic device and other devices.
The electronic device may further comprise a memory 303 for storing software instructions executed by the processor 302, but may also store some other data required by the electronic device, such as identification information of the electronic device, encryption information of the electronic device, user data, etc. The memory 303 may be a volatile memory (volatile memory), such as a random-access memory (RAM); the memory 303 may also be a non-volatile memory (non-volatile memory) such as a read-only memory (ROM), a flash memory (flash memory), a Hard Disk Drive (HDD) or a solid-state drive (SSD), or the memory 303 may be any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to this. The memory 303 may be a combination of the above.
The specific connection medium between the processor 302, the memory 303 and the transceiver 301 is not limited in the embodiments of the present application. In fig. 3, the embodiment of the present application is described by taking only the case where the memory 303, the processor 302, and the transceiver 301 are connected by the bus 304 as an example, the bus is shown by a thick line in fig. 3, and the connection manner between other components is merely illustrative and not limited. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 3, but this does not mean only one bus or one type of bus.
The processor 302 may be dedicated hardware or a processor running software, and when the processor 302 can run software, the processor 302 reads software instructions stored in the memory 303 and executes the methods involved in the foregoing embodiments under the drive of the software instructions.
When the method provided in the embodiments of the present application is implemented in software or hardware or a combination of software and hardware, a plurality of functional modules may be included in the electronic device, and each functional module may include software, hardware or a combination of software and hardware. Specifically, referring to fig. 4, a schematic structural diagram of a cruise control device provided in an embodiment of the present application includes a receiving module 401 and a control module 402.
The receiving module 401 is used for receiving a robot cruising instruction;
the control module 402 is configured to control the robot to cruise according to a set cruise line, where, for a cruise point that is not a cruise destination on the cruise line, when the robot drives to the cruise point, the distance between the robot and the cruise point is monitored, and when it is determined that the distance between the robot and the cruise point is less than a first preset distance, the robot is controlled to drive to a next cruise point adjacent to the cruise point on the cruise line at a preset speed.
In a possible implementation, the control module 402 is specifically configured to:
if the current speed of the robot is equal to the preset speed, controlling the robot to drive to the next cruising point adjacent to the cruising point on the cruising line at the current speed;
if the current speed of the robot is smaller than the preset speed, the robot is controlled to accelerate to the preset speed on the cruising route, and the robot is controlled to drive to the next cruising point adjacent to the cruising point on the cruising route at the preset speed.
In one possible implementation, the control module 402 is further configured to:
when the robot drives to when cruising terminal, monitor the robot with when cruising terminal, when confirming the robot with when the distance between the terminal is less than the second and predetermines the distance, control the robot slows down on the route of patrolling a journey so that the robot reaches speed when cruising terminal is zero.
Under one possible implementation, the method further includes:
an acquisition module 403, configured to control the robot to perform video acquisition on an itinerant road;
an analysis module 404, configured to analyze each acquired video frame, and if an abnormality is found in the video frame, send alarm information to a terminal corresponding to the robot.
In a possible implementation, the acquisition module 403 is specifically configured to:
controlling the robot to carry out video acquisition on the whole patrol route; or
And controlling the robot to perform video acquisition on part of the patrol route.
In a possible implementation, the acquisition module 403 is specifically configured to:
for each cruise point on the cruise line, when the robot drives to the cruise point and the distance between the robot and the cruise point is determined to be less than a third preset distance, controlling the robot to start video acquisition; and
and when the robot drives away from the cruise point, controlling the robot to finish video acquisition when the distance between the robot and the cruise point is determined to be greater than a third preset distance.
In a possible implementation, the analysis module 404 is specifically configured to:
extracting image features of the video frame;
if the image characteristics of the video frame are analyzed to determine that the video frame meets the stored description of any abnormality, determining that the corresponding abnormality occurs, or if the image characteristics of the video frame are analyzed to determine that the video frame contains a face image, matching the face image with the stored face image, and if the matched face image does not exist, determining that the corresponding abnormality occurs.
Under one possible implementation, the method further includes:
and the resetting module 405 is used for returning to the step of controlling the robot to cruise according to the set cruise line until an instruction for ending the cruise is received if the staying time of the robot at the cruise terminal reaches the preset time.
In one possible embodiment of the method according to the invention,
the control module 402 is further configured to mark, for each cruise point on the cruise line, a cruise point as a cruising state when it is determined that the distance between the robot and the cruise point is less than a fourth preset distance, where the fourth preset distance is less than or equal to the first preset distance; and
the reset module 405 is further configured to modify the state of each cruise point from a cruise state to an cruise state before returning to the step of controlling the robot to cruise according to the set cruise line.
The division of the modules in the embodiments of the present application is schematic, and only one logical function division is provided, and in actual implementation, there may be another division manner, and in addition, each functional module in each embodiment of the present application may be integrated in one processor, may also exist alone physically, or may also be integrated in one module by two or more modules. The coupling of the various modules to each other may be through interfaces that are typically electrical communication interfaces, but mechanical or other forms of interfaces are not excluded. Thus, modules described as separate components may or may not be physically separate, may be located in one place, or may be distributed in different locations on the same or different devices. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.
The embodiment of the present application further provides a computer-readable storage medium, which stores computer-executable instructions required to be executed by the processor, and includes a program required to be executed by the processor.
In some possible embodiments, the aspects of the cruise control method provided herein may also be implemented in the form of a program product comprising program code for causing an electronic device to perform the steps of the cruise control method according to various exemplary embodiments of the present application described above in this specification, when said program product is run on the electronic device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The program product for robotic navigation of embodiments of the present application may employ a portable compact disk read only memory (CD-ROM) and include program code, and may be run on a computing device. However, the program product of the present application is not limited thereto, and in this document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations of the present application may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device over any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., over the internet using an internet service provider).
It should be noted that although several units or sub-units of the apparatus are mentioned in the above detailed description, such division is merely exemplary and not mandatory. Indeed, the features and functions of two or more units described above may be embodied in one unit, according to embodiments of the application. Conversely, the features and functions of one unit described above may be further divided into embodiments by a plurality of units.
Further, while the operations of the methods of the present application are depicted in the drawings in a particular order, this does not require or imply that these operations must be performed in this particular order, or that all of the illustrated operations must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (11)
1. A cruise control method, characterized by comprising:
receiving a robot cruising instruction;
the method comprises the steps that a robot is controlled to cruise according to a set cruise line, wherein for a cruise point which is not a cruise terminal point on a cruise line, when the robot drives to the cruise point, the distance between the robot and the cruise point is monitored, when the distance between the robot and the cruise point is determined to be smaller than a first preset distance, the robot is controlled to drive to the next cruise point adjacent to the cruise point on the cruise line at a preset speed, and when the distance between the robot and the cruise point is determined to be not smaller than the first preset distance, the robot is controlled to drive to the cruise point at the preset speed;
further comprising:
controlling the robot to carry out video acquisition on the patrol route;
analyzing each collected video frame, and if abnormality is found in the video frames, sending alarm information to a terminal corresponding to the robot.
2. The method of claim 1, wherein controlling the robot to travel at a preset speed to a next waypoint on the waypoint adjacent to the waypoint comprises:
if the current speed of the robot is equal to the preset speed, controlling the robot to drive to the next cruising point adjacent to the cruising point on the cruising line at the current speed;
if the current speed of the robot is smaller than the preset speed, the robot is controlled to accelerate to the preset speed on the cruising route, and the robot is controlled to drive to the next cruising point adjacent to the cruising point on the cruising route at the preset speed.
3. The method of claim 1, further comprising:
when the robot drives to when cruising terminal, monitor the robot with when cruising terminal, when confirming the robot with when the distance between the terminal is less than the second and predetermines the distance, control the robot slows down on the route of patrolling a journey so that the robot reaches speed when cruising terminal is zero.
4. The method of claim 1, wherein controlling the robot to perform video capture on the airway road comprises:
controlling the robot to carry out video acquisition on the whole patrol route; or
And controlling the robot to perform video acquisition on part of the patrol route.
5. The method of claim 4, wherein controlling the robot to perform video capture on a portion of the enroute route comprises:
for each cruise point on the cruise line, when the robot drives to the cruise point and the distance between the robot and the cruise point is determined to be less than a third preset distance, controlling the robot to start video acquisition; and
and when the robot drives away from the cruise point, controlling the robot to finish video acquisition when the distance between the robot and the cruise point is determined to be greater than a third preset distance.
6. The method of claim 1, wherein analyzing each captured video frame comprises:
extracting image features of the video frame;
if the image characteristics of the video frame are analyzed to determine that the video frame meets the stored description of any abnormality, determining that the corresponding abnormality occurs, or if the image characteristics of the video frame are analyzed to determine that the video frame contains a face image, matching the face image with the stored face image, and if the matched face image does not exist, determining that the corresponding abnormality occurs.
7. The method of claim 1, further comprising:
and if the fact that the staying time of the robot at the cruise terminal reaches the preset time is determined, returning to the step of controlling the robot to cruise according to the set cruise line until an instruction for ending the cruise is received.
8. The method of claim 7, further comprising:
for each cruise point on the cruise line, when the distance between the robot and the cruise point is determined to be smaller than a fourth preset distance, marking the cruise point as a cruise state, wherein the fourth preset distance is smaller than or equal to the first preset distance; and
before returning to the step of controlling the robot to cruise according to the set cruise line, the method further comprises the following steps:
and modifying the state of each cruise point from the cruising state to the non-cruising state.
9. A cruise control apparatus, characterized by comprising:
the receiving module is used for receiving a robot cruising instruction;
the control module is used for controlling the robot to cruise according to a set cruise line, monitoring the distance between the robot and a cruise point when the robot drives to the cruise point at the cruise point which is not a cruise terminal point on the cruise line, controlling the robot to drive to the next cruise point adjacent to the cruise point on the cruise line at a preset speed when determining that the distance between the robot and the cruise point is less than a first preset distance, and controlling the robot to drive to the cruise point at the preset speed when determining that the distance between the robot and the cruise point is not less than the first preset distance;
further comprising:
the acquisition module is used for controlling the robot to acquire videos on the patrol route;
and the analysis module is used for analyzing each acquired video frame, and sending alarm information to a terminal corresponding to the robot if abnormality is found in the video frames.
10. An electronic device, comprising: at least one processor, and a memory communicatively coupled to the at least one processor, wherein:
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 8.
11. A computer-readable medium having stored thereon computer-executable instructions for performing the method of any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811251092.5A CN109229097B (en) | 2018-10-25 | 2018-10-25 | Cruise control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811251092.5A CN109229097B (en) | 2018-10-25 | 2018-10-25 | Cruise control method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109229097A CN109229097A (en) | 2019-01-18 |
| CN109229097B true CN109229097B (en) | 2020-11-03 |
Family
ID=65082089
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811251092.5A Active CN109229097B (en) | 2018-10-25 | 2018-10-25 | Cruise control method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109229097B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110554697A (en) * | 2019-08-15 | 2019-12-10 | 北京致行慕远科技有限公司 | Travel method, travel-enabled device, and storage medium |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102183959B (en) * | 2011-04-21 | 2013-08-07 | 深圳市银星智能科技股份有限公司 | Self-adaptive path control method of mobile robot |
| CN102495631B (en) * | 2011-12-09 | 2013-08-21 | 中国科学院合肥物质科学研究院 | Intelligent control method of driverless vehicle tracking desired trajectory |
| CN103294054B (en) * | 2012-02-24 | 2016-03-30 | 联想(北京)有限公司 | A kind of robot navigation method and system |
| CN104571112B (en) * | 2015-01-14 | 2017-02-22 | 中国科学院合肥物质科学研究院 | Pilotless automobile lateral control method based on turning curvature estimation |
| BR112017022470B1 (en) * | 2015-05-20 | 2023-05-16 | Scania Cv Ab | METHOD AND SYSTEM FOR ADJUSTING THE ACCELERATION OF A VEHICLE OVER A COURSE AND VEHICLE PROVIDED WITH SUCH SYSTEM |
| CN105116902A (en) * | 2015-09-09 | 2015-12-02 | 北京进化者机器人科技有限公司 | Mobile robot obstacle avoidance navigation method and system |
| CN106708062B (en) * | 2017-03-10 | 2020-10-09 | 信阳农林学院 | Driving control method of intelligent pesticide applying ship |
-
2018
- 2018-10-25 CN CN201811251092.5A patent/CN109229097B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109229097A (en) | 2019-01-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110238850A (en) | A kind of robot control method and device | |
| KR102126584B1 (en) | Charging apparatus, operation method of charging apparatus, charging station control server | |
| CN113011323B (en) | Method for acquiring traffic state, related device, road side equipment and cloud control platform | |
| CN111988524A (en) | Unmanned aerial vehicle and camera collaborative obstacle avoidance method, server and storage medium | |
| JP6949196B2 (en) | Servers that implement automatic remote control of mobile transportation and methods of automatic remote control of mobile transportation | |
| CN110765223A (en) | Map updating processing method, device, equipment and storage medium | |
| CN112863001A (en) | Power distribution room patrol inspection method, device and system | |
| CN112464859B (en) | Platform guidance system and method | |
| CN108288281A (en) | Visual tracking method, vision tracks of device, unmanned plane and terminal device | |
| CN113392793A (en) | Method, device, equipment, storage medium and unmanned vehicle for identifying lane line | |
| WO2024146294A1 (en) | Method and apparatus for performing unmanned driving by using manual driving trajectory layer information | |
| CN109229097B (en) | Cruise control method and device | |
| CN107819793B (en) | Collecting method and device for robot operating system | |
| JPWO2020039897A1 (en) | Station monitoring system and station monitoring method | |
| US20150039372A1 (en) | Real-time prediction and correction of scheduled service bunching | |
| CN112712608B (en) | System and method for collecting performance data by a vehicle | |
| CN109819026B (en) | Method and device for transmitting information | |
| KR101533272B1 (en) | Apparatus and method for providing traffic information | |
| CN114326721B (en) | Picture construction method and device, cloud server and robot | |
| CN116016175A (en) | OTA (over the air) upgrading method and device for automatic driving operation vehicle | |
| US20170293292A1 (en) | Rule based real-time data stream-processing method and apparatus thereof | |
| CN115061386A (en) | Intelligent driving automatic simulation test system and related equipment | |
| CN113190835A (en) | Application program violation detection method, device, equipment and storage medium | |
| CN113353072A (en) | Driving control method, device, server and medium | |
| CN110691321A (en) | Terminal control method, device and equipment |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |