CN110348626A - A kind of polling path planing method, device, equipment and storage medium - Google Patents
A kind of polling path planing method, device, equipment and storage medium Download PDFInfo
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- CN110348626A CN110348626A CN201910602911.4A CN201910602911A CN110348626A CN 110348626 A CN110348626 A CN 110348626A CN 201910602911 A CN201910602911 A CN 201910602911A CN 110348626 A CN110348626 A CN 110348626A
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- inhibitions
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
- G06Q50/16—Real estate
- G06Q50/163—Property management
Abstract
The invention discloses a kind of polling path planing method, device, equipment and storage mediums.This method comprises: obtaining the passage frequency of at least two gate inhibitions, towards the number on the channel of at least two gate inhibitions and the path distance between robot current location and target area position；By the passage frequency of at least two gate inhibition, target gate inhibition's prediction model trained in advance is input to towards the number on the channel of at least two gate inhibitions and the path distance between robot current location and target area position；Carrying out polling path planning according to the output result of the target gate inhibition prediction model can be avoided according to the technical solution of the present invention and seize current resource with personnel, plan adaptive inspection floor path.
Description
Technical field
The present embodiments relate to computer technology more particularly to a kind of polling path planing method, device, equipment and deposit
Storage media.
Background technique
With the development of intelligent building, more and more building have building service robot at present.Robot is taking
When business building, it is often necessary to plan polling path inspection building.Currently, robot planning polling path is roughly divided into two kinds: one,
Artificial planning polling path in advance；Two, robot is in the case where manual intervention, traversal walking building, intelligence learning inspection road
Diameter.Regardless of that above-mentioned mode, the polling path of robot be all it is unalterable, can not be according to the current equipment of building and channel
Real time status or certain time in situation, adaptive planning polling path.
Summary of the invention
The embodiment of the present invention provides a kind of polling path planing method, device, equipment and storage medium, can be kept away with realizing
Exempt to seize current resource with personnel, plans adaptive inspection floor path.
In a first aspect, the embodiment of the invention provides a kind of polling path planing methods, comprising:
Obtain at least two gate inhibitions passage frequency, towards on the channel of at least two gate inhibitions number and robot work as
Path distance between front position and target area position；
By the passage frequency of at least two gate inhibition, towards the number and robot on the channel of at least two gate inhibitions
Path distance between current location and target area position is input to target gate inhibition's prediction model trained in advance；
Polling path planning is carried out according to the output result of the target gate inhibition prediction model.
Second aspect, the embodiment of the invention also provides a kind of polling path device for planning, which includes:
Module is obtained, for obtaining the passage frequency of at least two gate inhibitions, towards the people on the channel of at least two gate inhibitions
The several and path distance between robot current location and target area position；
Input module, for by the passage frequency of at least two gate inhibition, towards on the channel of at least two gate inhibitions
Path distance between number and robot current location and target area position is input to target door trained in advance
Prohibit prediction model；
Planning module, for carrying out polling path planning according to the output result of the target gate inhibition prediction model.
The third aspect the embodiment of the invention also provides a kind of computer equipment, including memory, processor and is stored in
On memory and the computer program that can run on a processor, the processor are realized when executing described program as the present invention is real
Apply any polling path planing method in example.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program realizes the polling path planing method as described in any in the embodiment of the present invention when program is executed by processor.
The embodiment of the present invention by obtaining the passage frequency of at least two gate inhibitions, towards on the channel of at least two gate inhibitions
Path distance between number and robot current location and target area position；By the logical of at least two gate inhibition
Line frequency, towards on the channel of at least two gate inhibitions number and robot current location and target area position between
Path distance be input in advance trained target gate inhibition's prediction model；According to the output result of the target gate inhibition prediction model
Polling path planning is carried out, can be realized, which can be avoided, seizes current resource with personnel, plans adaptive inspection floor path.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Figure 1A is the flow chart of one of embodiment of the present invention one polling path planing method；
Figure 1B is the polling path planning flow chart in the embodiment of the present invention one；
Fig. 2 is the flow chart of one of embodiment of the present invention two polling path planing method；
Fig. 3 is the structural schematic diagram of one of embodiment of the present invention three polling path device for planning；
Fig. 4 is the structural schematic diagram of one of the embodiment of the present invention four computer equipment.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
Embodiment one
Figure 1A is a kind of flow chart for polling path planing method that the embodiment of the present invention one provides, and the present embodiment is applicable
In polling path planning the case where, this method can be executed by the polling path device for planning in the embodiment of the present invention, the dress
Setting can be used the mode of software and/or hardware and realizes that as shown in Figure 1A, this method specifically comprises the following steps:
S110 obtains the passage frequency of at least two gate inhibitions, towards the number and machine on the channel of at least two gate inhibitions
Path distance between device people current location and target area position.
Wherein, the gate inhibition includes: gate, elevator etc..
Wherein, the passage frequency of at least two gate inhibition can pass through the current note of personnel in the setting time that gets
Record obtains, such as can be, and passes through personnel's number of gate inhibition in a hour if getting as 12 people, the passage frequency of gate inhibition is
12 people/hour.
Wherein, the number towards on the channel of gate inhibition can pass through the video on the corresponding channel of the gate inhibition got
Image analysis obtains the number on the channel by gate inhibition, the number that can also be directly obtained on the corresponding channel of gate inhibition, this
Inventive embodiments are not limited this.
Wherein, the path distance between robot current location and target area position can first pass through in robot
The positioning device set obtains robot current location, then according to robot current location and target area position, determines
Path distance between robot current location and target area position.
Specifically, obtain at least two gate inhibitions passage frequency, towards on the channel of at least two gate inhibitions number and
Path distance between robot current location and target area position.
Optionally, the passage frequency of at least two gate inhibitions of acquisition includes:
Obtain the current record of personnel in the corresponding preset time range of at least two gate inhibitions；
The passage frequency of at least two gate inhibition is determined according to the current record of the personnel.
Wherein, the preset time range can set for user, or default, the embodiment of the present invention is to this
It is not limited.
Wherein, it can be logical for obtaining the mode of the current record of personnel in the corresponding preset time range of at least two gate inhibitions
Cross that obtain at least two gate inhibitions to the video image analysis in the corresponding preset time range of at least two gate inhibitions corresponding default
The current record of personnel in time range, or directly acquire people communication's record in preset time range, the present invention
Embodiment is not limited this.
Specifically, the current record of personnel in the corresponding preset time range of at least two gate inhibitions is obtained, it is logical according to personnel
Letter record calculates the passage frequency of at least two gate inhibitions, that is, number current at least two gate inhibition's unit time.
S120, by the passage frequency of at least two gate inhibition, towards on the channel of at least two gate inhibitions number and
Path distance between robot current location and target area position is input to target gate inhibition trained in advance and predicts mould
Type.
Wherein, the training method of the target gate inhibition prediction model can be to pre-establish an initial gate inhibition to predict mould
Then type obtains the passage frequency samples of at least two gate inhibitions, towards number sample, the machine on the channel of at least two gate inhibitions
Path distance sample and corresponding gate inhibition between people current location and target area position, according at least two gate inhibitions
Passage frequency samples, the number sample towards on the channel of at least two gate inhibitions, robot current location and target area institute
Path distance sample and the initial gate inhibition's prediction model of corresponding gate inhibition training between position.
Specifically, by the passage frequency of at least two gate inhibition, towards the number on the channel of at least two gate inhibitions with
And the path distance between robot current location and target area position is input to target gate inhibition prediction trained in advance
Model obtains corresponding gate inhibition.
Optionally, the training method of the target gate inhibition prediction model, comprising:
Obtain passage frequency samples, the number sample towards on the channel of gate inhibition, robot current location and the mesh of gate inhibition
The path distance sample between the position of region and the practical gate inhibition to pass through of robot are marked, and establishes the first gate inhibition and predicts mould
Type；
According to the passage frequency samples of at least two gate inhibition, towards the number sample on the channel of at least two gate inhibitions
Originally, the path distance sample between robot current location and target area position and the practical gate inhibition to pass through of robot
The first gate inhibition prediction model is trained, target gate inhibition prediction model is generated.
Specifically, pre-establishing first gate inhibition's prediction model, and sample data is obtained, sample data includes: intelligence system
The passage frequency samples of gate inhibition, the number sample towards on the channel of gate inhibition, robot present bit in a large amount of building provided
The path distance sample between the position of target area and the practical gate inhibition to pass through of robot are set, is instructed according to sample data
Practice first gate inhibition's prediction model, and then obtains target gate inhibition's prediction model.
S130 carries out polling path planning according to the output result of the target gate inhibition prediction model.
Wherein, the output result of the target gate inhibition prediction model be with the passage frequency of at least two gate inhibitions of input,
Towards the number on the channel of at least two gate inhibitions and the path between robot current location and target area position
Apart from corresponding gate inhibition.
Specifically, carrying out polling path planning according to the output result of the target gate inhibition prediction model, such as can be,
By the passage frequency of at least two gate inhibitions, towards the number and robot current location and mesh on the channel of at least two gate inhibitions
Path distance between mark region position is input to target gate inhibition's prediction model, corresponding gate inhibition is exported, according to defeated
Gate inhibition out carries out polling path planning.
Specifically, target gate inhibition's prediction model is obtained, according to target gate inhibition after being trained to first gate inhibition's prediction model
Prediction model determines the weight of the passage frequency of at least two gate inhibitions, towards the weight of the number on the channel of at least two gate inhibitions
And the weight of the path distance between robot current location and target area position.
Specifically, by the passage frequency of at least two gate inhibitions, towards the number and machine on the channel of at least two gate inhibitions
Path distance between device people current location and target area position is input to target gate inhibition's prediction model trained in advance,
Polling path planning is carried out according to the output result of target gate inhibition's prediction model.
Optionally, by the passage frequency of at least two gate inhibition, towards the number on the channel of at least two gate inhibitions with
And the path distance between robot current location and target area position is input to target gate inhibition prediction trained in advance
Model includes:
Work as by the passage frequency of at least two gate inhibition, towards the number on the channel of at least two gate inhibitions, robot
Path distance and bias term between front position and target area position are input to target gate inhibition prediction trained in advance
Model.
Wherein, the effect of the bias term i.e. bias unit is, in order to avoid pre- when training sample data
Surveying model can not restrain, and the bias term can be set to 1 for convenience of calculation.
Optionally, further includes:
In getting when calling ladder instruction together of the robot, the real-time status data of elevator in building is obtained, wherein described
Real-time status data includes: floor where elevator, weight in elevator purpose floor and lift car；
Mesh is determined according to floor and the non-inspection floor of the robot where the real-time status data, the robot
Mark elevator and destination.
Specifically, elevator replacement floor inspection is called in robot preparation together, at this point, robot after the completion of entire floor inspection
The real-time status data of all elevators into intelligence system request building.Elevator real-time status data includes building where each elevator
Weight W in layer C, purpose floor D, lift car integrates the floor of robot place floor and non-inspection, calls together after intellectual analysis
It calls out an optimal elevator ride and goes to optimal floor.
In a specific example, as shown in Figure 1B, robot needs target area (region R1) inspection, can pass through
Two paths reach M1 gate inhibition, M2 gate inhibition.Following data: M1 gate inhibition: gate inhibition M1's are calculated according to the data that intelligence system provides
Current frequency is between F1, the number T1 towards on the channel of gate inhibition M1, robot current location and the region RI position
Path distance L1, M2 gate inhibition: the passage frequency of gate inhibition M2 is F2, current towards the number T2 on the channel of gate inhibition M2, robot
Path distance L2 between position and the region RI position.Weight matrix W=is obtained after first passing through data sample training in advance
[W1,W2,W3]；Wherein W1 is the weight of the passage frequency F of gate inhibition；W2 is the weight towards the number T on the channel of gate inhibition；W3
The weight of path distance L between robot current location and target area position, b1, b2 are bias unit
(bias), for convenience of calculation, it is usually arranged as 1.In summary it is as follows to calculate optimal path formula for data: d1=∑ → Z →
A(F1*W1+T1*W2+L1*W3+b1)；D2=∑ → Z → A (F2*W1+T2*W2+L2*W3+b2)；Select the minimum being calculated
Value is the optimal polling path towards region of patrolling and examining, and above-mentioned ∑ → Z → A is the series of computation letter in neural network algorithm
Number.It at the complete region R1 of robot inspection, when going to subsequent region inspection, repeats the above steps, subsequent region is gone in calculating
Optimal polling path；Above-mentioned steps so are repeated, until all areas inspection of entire floor is completed.All region of patrolling and examining
Optimal path connect the optimal polling path as floor.After the completion of entire floor inspection, electricity is called in robot preparation together
Ladder replacement floor inspection, at this point, robot requests the real-time status data of all elevators to intelligence system.Above-mentioned state of elevator number
According to including layer C where each elevator, weight W in target zone D, lift car, floor where comprehensive robot and non-inspection
Floor, one optimal elevator ride of calling goes to optimal floor after intellectual analysis, when robot reaches new floor and starts inspection, weight
Multiple above-mentioned steps.Until entire building inspection is completed.
The technical solution of the present embodiment, by obtaining the passage frequency of at least two gate inhibitions, towards at least two gate inhibitions'
The path distance between number and robot current location and target area position on channel；By described at least two
The passage frequency of gate inhibition, towards on the channel of at least two gate inhibitions number and robot current location and target area where
Path distance between position is input to target gate inhibition's prediction model trained in advance；According to the target gate inhibition prediction model
It exports result and carries out polling path planning, can be realized, which can be avoided, seizes current resource with personnel, plans adaptive inspection building
Layer path.
Embodiment two
Fig. 2 is the flow chart of one of the embodiment of the present invention two polling path planing method, and the present embodiment is with above-mentioned reality
It applies and optimizes based on example, in the present embodiment, obtain the passage frequency of at least two gate inhibitions, towards at least two gate inhibitions'
Before the path distance between number and robot current location and target area position on channel, further includes: obtain
Take the real-time status data of at least two gate inhibitions in target area；Correspondingly, obtaining the passage frequency of at least two gate inhibitions, leading to
The path distance between number and robot current location and target area position on the channel of at least two gate inhibitions
It include: that gate inhibition to be selected is determined according to the real-time status data of at least two gate inhibitions in the target area；Obtain at least two
The passage frequency of gate inhibition to be selected, towards on the channel of at least two gate inhibitions to be selected number and robot current location with
Path distance between the position of target area.
As shown in Fig. 2, the method for the present embodiment specifically comprises the following steps:
S210 obtains the real-time status data of at least two gate inhibitions in target area.
Wherein, the real-time status data includes gate inhibition's prevailing state data and gate inhibition's status data, wherein the gate inhibition
Prevailing state data can permit prevailing state for gate inhibition, or gate inhibition disapproves prevailing state, such as can be, if door
Prohibiting is that VIP is current, then the artificial non-VIP of machine, then robot can not pass through.Gate inhibition's status data can be gate inhibition's event
Barrier, or gate inhibition is normal.
Specifically, when robot accurately goes to the inspection of floor target area, at least into intelligence system request target region
The real-time status data of two gate inhibitions, robot obtain the real-time status data of at least two gate inhibitions in target area.
S220 determines gate inhibition to be selected according to the real-time status data of at least two gate inhibitions in the target area.
Wherein, determine that the mode of gate inhibition to be selected can be with according to the real-time status data of at least two gate inhibitions in target area
If the real-time status data for gate inhibition is that gate inhibition permits prevailing state, gate inhibition is determined as gate inhibition to be selected, or if
The real-time status data of gate inhibition is gate inhibition's failure, then rejects gate inhibition, if can be the real-time status data of gate inhibition being door
Prohibit normally, then gate inhibition is determined as gate inhibition to be selected, it is not limited by the embodiments of the present invention.
Specifically, obtaining all gate inhibitions in target area, determined according to the real-time status data of gate inhibition in target area
Gate inhibition to be selected.
S230 obtains the passage frequency of at least two gate inhibitions to be selected, towards on the channel of at least two gate inhibitions to be selected
Number and robot current location and target area position between path distance.
Specifically, obtaining the passage frequency of at least two gate inhibitions to be selected, towards the channel of at least two gate inhibitions to be selected
On number and robot current location and target area position between path distance, such as can be, if the area RI
There are gate inhibition M1, gate inhibition M2 and gate inhibition M3 in domain, obtain the real-time status data of gate inhibition M1, gate inhibition M2 and gate inhibition M3, gate inhibition M1 is
Normal gate inhibition, P Passable, gate inhibition M2 are the gate inhibition of P Passable, and gate inhibition M3 is failure gate inhibition, then reject gate inhibition M3, by door
Prohibit M1, gate inhibition M2 and be determined as gate inhibition to be selected, obtain gate inhibition M1 passage frequency, towards on the channel of gate inhibition M1 number and
The passage frequency of path distance and gate inhibition M2 between robot current location and target area position, towards gate inhibition M2's
The path distance between number and robot current location and target area position on channel.
S240, by the passage frequency of described at least two gate inhibitions to be selected, towards the channel of at least two gate inhibitions to be selected
On number and robot current location and target area position between path distance be input in advance trained mesh
Mark gate inhibition's prediction model.
S250 carries out polling path planning according to the output result of the target gate inhibition prediction model.
Optionally, determine that gate inhibition to be selected wraps according to the real-time status data of at least two gate inhibitions in the target area
It includes:
Determine that failure gate inhibition and/or lack of competence are logical according to the real-time status data of at least two gate inhibitions in the target area
Row gate inhibition, wherein the real-time status data includes prevailing state data and status data；
Failure gate inhibition and the current gate inhibition of lack of competence will be rejected in gate inhibition in the target area, obtain gate inhibition to be selected.
Wherein, gate inhibition's prevailing state data can be the current gate inhibition of VIP, or permit current gate inhibition, or
It can be to disapprove current gate inhibition, it is not limited by the embodiments of the present invention.
Wherein, gate inhibition's status data can be gate inhibition's failure, or gate inhibition is normal, and the embodiment of the present invention is to this
It is not limited.
Specifically, obtaining the prevailing state data and status data of the gate inhibition in target area, and then logical according to gate inhibition
Row status data and gate inhibition's status data determine whether gate inhibition is failure gate inhibition and/or the current gate inhibition of lack of competence, by target area
Failure gate inhibition and the current gate inhibition of lack of competence are rejected in gate inhibition in domain, obtain gate inhibition to be selected.
The technical solution of the present embodiment, by obtaining the real-time status data of at least two gate inhibitions in target area, according to
The real-time status data of at least two gate inhibitions determines gate inhibition to be selected in the target area, obtains at least two gate inhibitions to be selected
Passage frequency, towards on the channel of at least two gate inhibitions to be selected number and robot current location and target area institute
Path distance between position, by the passage frequency of at least two gate inhibitions to be selected, towards at least two gate inhibitions' to be selected
The path distance between number and robot current location and target area position on channel is input to preparatory training
Target gate inhibition's prediction model, according to the output result of the target gate inhibition prediction model carry out polling path planning, can keep away
Exempt to seize current resource with personnel, plans adaptive inspection floor path.
Embodiment three
Fig. 3 is a kind of structural schematic diagram for polling path device for planning that the embodiment of the present invention three provides.The present embodiment can
The case where suitable for polling path planning, the mode which can be used software and/or hardware is realized, which can integrate in office
What is provided in the equipment of polling path planning function, as shown in figure 3, the polling path device for planning specifically includes: obtaining mould
Block 310, input module 320 and planning module 330.
Wherein, module 310 is obtained, the passage frequency for obtaining at least two gate inhibitions, leading to towards at least two gate inhibitions
The path distance between number and robot current location and target area position on road；
Input module 320, for by the passage frequency of at least two gate inhibition, towards the channel of at least two gate inhibitions
Number and robot current location and target area position between path distance be input in advance trained target
Gate inhibition's prediction model；
Planning module 330, for carrying out polling path planning according to the output result of the target gate inhibition prediction model.
Optionally, the input module 320 is used for:
Obtain the passage frequency samples of at least two gate inhibitions, towards number sample, the machine on the channel of at least two gate inhibitions
The practical gate inhibition to pass through of path distance sample and robot between device people current location and target area position, and build
Vertical first gate inhibition's prediction model；
According to the passage frequency samples of at least two gate inhibition, towards the number sample on the channel of at least two gate inhibitions
Originally, the path distance sample between robot current location and target area position and the practical gate inhibition to pass through of robot
The first gate inhibition prediction model is trained, target gate inhibition prediction model is generated.
Optionally, input module 320 is also used to:
Work as by the passage frequency of at least two gate inhibition, towards the number on the channel of at least two gate inhibitions, robot
Path distance and bias term between front position and target area position are input to target gate inhibition prediction trained in advance
Model.
Optionally, further includes:
Real-time status data obtains module, for obtaining the real-time status data of at least two gate inhibitions in target area；
It is specifically used for correspondingly, obtaining module:
Gate inhibition to be selected is determined according to the real-time status data of at least two gate inhibitions in the target area；
Obtain the passage frequency of at least two gate inhibitions to be selected, towards the number on the channel of at least two gate inhibitions to be selected
And the path distance between robot current location and target area position.
Optionally, module is obtained to be also used to:
Determine that failure gate inhibition and/or lack of competence are logical according to the real-time status data of at least two gate inhibitions in the target area
Row gate inhibition, wherein the real-time status data includes prevailing state data and status data；
Failure gate inhibition and the current gate inhibition of lack of competence will be rejected in gate inhibition in the target area, obtain gate inhibition to be selected.
Optionally, module is obtained to be also used to:
Obtain the current record of personnel in the corresponding preset time range of at least two gate inhibitions；
The passage frequency of at least two gate inhibition is determined according to the current record of the personnel.
Optionally, further includes:
State of elevator obtains module, for obtaining elevator in building in getting when calling ladder instruction together of the robot
Real-time status data, wherein the real-time status data includes: floor, elevator purpose floor and lift car where elevator
Interior weight；
Elevator and floor determining module, for according to floor and institute where the real-time status data, the robot
It states the non-inspection floor of robot and determines target elevator and destination.
Method provided by any embodiment of the invention can be performed in the said goods, has the corresponding functional module of execution method
And beneficial effect.
The technical solution of the present embodiment, by obtaining the passage frequency of at least two gate inhibitions, towards at least two gate inhibitions'
The path distance between number and robot current location and target area position on channel；By described at least two
The passage frequency of gate inhibition, towards on the channel of at least two gate inhibitions number and robot current location and target area where
Path distance between position is input to target gate inhibition's prediction model trained in advance；According to the target gate inhibition prediction model
It exports result and carries out polling path planning, can be realized, which can be avoided, seizes current resource with personnel, plans adaptive inspection building
Layer path.
Example IV
Fig. 4 is the structural schematic diagram of one of the embodiment of the present invention four computer equipment.Fig. 4, which is shown, to be suitable for being used in fact
The block diagram of the exemplary computer device 12 of existing embodiment of the present invention.The computer equipment 12 that Fig. 4 is shown is only one and shows
Example, should not function to the embodiment of the present invention and use scope bring any restrictions.
As shown in figure 4, computer equipment 12 is showed in the form of universal computing device.The component of computer equipment 12 can be with
Including but not limited to: one or more processor or processing unit 16, system storage 28 connect different system components
The bus 18 of (including system storage 28 and processing unit 16).
Bus 18 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.
Computer equipment 12 typically comprises a variety of computer system readable media.These media can be it is any can be by
The usable medium that computer equipment 12 accesses, including volatile and non-volatile media, moveable and immovable medium.
System storage 28 may include the computer system readable media of form of volatile memory, such as arbitrary access
Memory (RAM) 30 and/or cache memory 32.Computer equipment 12 may further include it is other it is removable/can not
Mobile, volatile/non-volatile computer system storage medium.Only as an example, storage system 34 can be used for reading and writing not
Movably, non-volatile magnetic media (Fig. 4 do not show, commonly referred to as " hard disk drive ").It although not shown in fig 4, can be with
The disc driver for reading and writing to removable non-volatile magnetic disk (such as " floppy disk ") is provided, and non-volatile to moving
The CD drive of CD (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driving
Device can be connected by one or more data media interfaces with bus 18.Memory 28 may include that at least one program produces
Product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform of the invention each
The function of embodiment.
Program/utility 40 with one group of (at least one) program module 42 can store in such as memory 28
In, such program module 42 includes --- but being not limited to --- operating system, one or more application program, other programs
It may include the realization of network environment in module and program data, each of these examples or certain combination.Program mould
Block 42 usually executes function and/or method in embodiment described in the invention.
Computer equipment 12 can also be with one or more external equipments 14 (such as keyboard, sensing equipment, display 24
Deng) communication, can also be enabled a user to one or more equipment interact with the computer equipment 12 communicate, and/or with make
The computer equipment 12 any equipment (such as network interface card, the modulatedemodulate that can be communicated with one or more of the other calculating equipment
Adjust device etc.) communication.This communication can be carried out by input/output (I/O) interface 22.In addition, the calculating in the present embodiment
Machine equipment 12, display 24 exist not as independent individual, but are embedded in mirror surface, not aobvious in the display surface of display 24
When showing, the display surface of display 24 visually combines together with mirror surface.Also, computer equipment 12 can also be suitable by network
Orchestration 20 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet)
Communication.As shown, network adapter 20 is communicated by bus 18 with other modules of computer equipment 12.It should be understood that the greatest extent
Pipe is not shown in the figure, and other hardware and/or software module can be used in conjunction with computer equipment 12, including but not limited to: micro- generation
Code, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and data backup are deposited
Storage system etc..
Processing unit 16 by the program that is stored in system storage 28 of operation, thereby executing various function application and
Data processing, such as realize polling path planing method provided by the embodiment of the present invention: obtain the passage of at least two gate inhibitions
Frequency, towards on the channel of at least two gate inhibitions number and robot current location and target area position between
Path distance；By the passage frequency of at least two gate inhibition, towards the number and machine on the channel of at least two gate inhibitions
Path distance between people current location and target area position is input to target gate inhibition's prediction model trained in advance；Root
Polling path planning is carried out according to the output result of the target gate inhibition prediction model.
Embodiment five
The embodiment of the present invention five provides a kind of computer readable storage medium, is stored thereon with computer program, the journey
The polling path planing method provided such as all inventive embodiments of the application is provided when sequence is executed by processor: obtaining at least two
The passage frequency of gate inhibition, towards on the channel of at least two gate inhibitions number and robot current location and target area where
Path distance between position；By the passage frequency of at least two gate inhibition, towards the people on the channel of at least two gate inhibitions
The several and path distance between robot current location and target area position is input to target gate inhibition trained in advance
Prediction model；Polling path planning is carried out according to the output result of the target gate inhibition prediction model.
It can be using any combination of one or more computer-readable media.Computer-readable medium can be calculating
Machine readable signal medium or computer readable storage medium.Computer readable storage medium for example can be --- but it is unlimited
In system, device or the device of --- electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, or any above combination.It calculates
The more specific example (non exhaustive list) of machine readable storage medium storing program for executing includes: electrical connection with one or more conducting wires, just
Taking formula computer disk, hard disk, random access memory (RAM), read-only memory (ROM), erasable type may be programmed read-only storage
Device (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-ROM), light storage device, magnetic memory device,
Or above-mentioned any appropriate combination.In this document, computer readable storage medium can be it is any include or storage journey
The tangible medium of sequence, the program can be commanded execution system, device or device use or in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including --- but
It is not limited to --- electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be
Any computer-readable medium other than computer readable storage medium, which can send, propagate or
Transmission is for by the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In --- wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
It further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as mentioned using Internet service
It is connected for quotient by internet).
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (10)
1. a kind of polling path planing method characterized by comprising
Obtain the passage frequency of at least two gate inhibitions, towards the number and robot present bit on the channel of at least two gate inhibitions
Set the path distance between the position of target area；
By the passage frequency of at least two gate inhibition, towards on the channel of at least two gate inhibitions number and robot it is current
Path distance between position and target area position is input to target gate inhibition's prediction model trained in advance；
Polling path planning is carried out according to the output result of the target gate inhibition prediction model.
2. the method according to claim 1, wherein the training method of the target gate inhibition prediction model, comprising:
Obtain passage frequency samples, the number sample towards on the channel of gate inhibition, robot current location and the target area of gate inhibition
The practical gate inhibition to pass through of path distance sample and robot between the position of domain, and establish first gate inhibition's prediction model；
According to the passage frequency samples of the gate inhibition, the number sample towards on the channel of gate inhibition, robot current location and mesh
The path distance sample and the practical gate inhibition to pass through of robot marked between the position of region predict mould to first gate inhibition
Type is trained, and generates target gate inhibition prediction model.
3. the method according to claim 1, wherein by the passage frequency of at least two gate inhibition, leading to extremely
The path distance between number and robot current location and target area position on the channel of few two gate inhibitions is defeated
Enter to target gate inhibition's prediction model trained in advance and includes:
By the passage frequency of at least two gate inhibition, the number towards on the channel of at least two gate inhibitions, robot present bit
It sets path distance and bias term between the position of target area and is input to target gate inhibition's prediction model trained in advance.
4. the method according to claim 1, wherein obtaining the passage frequency of at least two gate inhibitions, leading at least
Before the path distance between number and robot current location and target area position on the channel of two gate inhibitions,
Further include:
Obtain the real-time status data of at least two gate inhibitions in target area；
Correspondingly, obtaining the passage frequency of at least two gate inhibitions, towards the number and machine on the channel of at least two gate inhibitions
Path distance between people current location and target area position includes:
Gate inhibition to be selected is determined according to the real-time status data of at least two gate inhibitions in the target area；
Obtain at least two gate inhibitions to be selected passage frequency, towards on the channel of at least two gate inhibitions to be selected number and
Path distance between robot current location and target area position.
5. according to the method described in claim 4, it is characterized in that, according in the target area at least two gate inhibitions it is real-time
Status data determines that gate inhibition to be selected includes:
Failure gate inhibition and/or the current door of lack of competence are determined according to the real-time status data of at least two gate inhibitions in the target area
Prohibit, wherein the real-time status data includes prevailing state data and status data；
Failure gate inhibition and the current gate inhibition of lack of competence will be rejected in gate inhibition in the target area, obtain gate inhibition to be selected.
6. the method according to claim 1, wherein the passage frequency for obtaining at least two gate inhibitions includes:
Obtain the current record of personnel in the corresponding preset time range of at least two gate inhibitions；
The passage frequency of at least two gate inhibition is determined according to the current record of the personnel.
7. the method according to claim 1, wherein further include:
In getting when calling ladder instruction together of the robot, the real-time status data of elevator in building is obtained, wherein described real-time
Status data includes: weight in floor, elevator purpose floor and lift car where elevator；
Target electricity is determined according to floor and the non-inspection floor of the robot where the real-time status data, the robot
Ladder and destination.
8. a kind of polling path device for planning characterized by comprising
Obtain module, for obtain at least two gate inhibitions passage frequency, towards the number on the channel of at least two gate inhibitions with
And the path distance between robot current location and target area position；
Input module, for by the passage frequency of at least two gate inhibition, towards the number on the channel of at least two gate inhibitions
And to be input in advance trained target gate inhibition pre- for the path distance between robot current location and target area position
Survey model；
Planning module, for carrying out polling path planning according to the output result of the target gate inhibition prediction model.
9. a kind of computer equipment including memory, processor and stores the meter that can be run on a memory and on a processor
Calculation machine program, which is characterized in that the processor realizes the side as described in any in claim 1-7 when executing described program
Method.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The method as described in any in claim 1-7 is realized when execution.
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Application publication date: 20191018 |