CN111060104A - Method, device, medium and equipment for determining inspection area of robot - Google Patents
Method, device, medium and equipment for determining inspection area of robot Download PDFInfo
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- CN111060104A CN111060104A CN201911299997.4A CN201911299997A CN111060104A CN 111060104 A CN111060104 A CN 111060104A CN 201911299997 A CN201911299997 A CN 201911299997A CN 111060104 A CN111060104 A CN 111060104A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The invention discloses a method, a device, a medium and equipment for determining a robot patrol area, which comprises the steps of obtaining a rectangular planning map of an area to be patrolled, wherein the planning map of the area to be patrolled comprises the positions of all target buildings in the area to be patrolled, the target buildings comprise built buildings, and the buildings to be built and the buildings in the building are planned; generating a patrol base map according to the to-be-patrol area planning map, wherein the patrol base map is composed of a binarization matrix, each pixel of the matrix corresponds to a fixed area in the to-be-patrol area planning map, and the value of the pixel represents whether a target building exists in the fixed area; generating a topological graph according to the tour base graph, wherein each vertex in the topological graph corresponds to each element in the tour base graph, and each vertex with an element value different from 0 has one and only one connecting line; and determining the patrol area of the robot according to the topological graph. The invention can improve the inspection efficiency and reduce the labor cost.
Description
Technical Field
The invention relates to the field of path planning, in particular to a method, a device, a medium and equipment for determining a patrol area of a robot.
Background
The robot is tourd and is replaced manpower to patrol and can greatly promote and patrol efficiency, reduces the human cost, but the robot is tourd and also has the problem of regional planning difficulty, if it is too complicated to patrol the region, the robot control cost is originally increased, if patrol the regional simple but the patrol target that includes too few, the robot is tourd and again has the problem of too high cost.
Disclosure of Invention
In order to solve technical problems in the prior art, embodiments of the present invention provide a method, an apparatus, a medium, and a device for determining a patrol area of a robot.
A robot patrol area determination method, the method comprising:
acquiring a rectangular planning map of an area to be patrolled, wherein the planning map of the area to be patrolled comprises the positions of all target buildings in the area to be patrolled, the target buildings comprise built buildings, and the building to be built and the building in construction are planned;
generating a patrol base map according to the to-be-patrol area planning map, wherein the patrol base map is composed of a binarization matrix, each pixel of the matrix corresponds to a fixed area in the to-be-patrol area planning map, and the value of the pixel represents whether a target building exists in the fixed area;
generating a topological graph according to the tour base graph, wherein each vertex in the topological graph corresponds to each element in the tour base graph, and each vertex with an element value different from 0 has one and only one connecting line;
and determining the patrol area of the robot according to the topological graph.
Preferably, the generating a patrol base map according to the planning map of the area to be patrolled includes:
carrying out grid division on the planning map of the area to be patrolled to obtain a grid matrix;
and constructing a patrol base map corresponding to the grid matrix, wherein if the grid comprises at least one target building, the element in the patrol base map corresponding to the grid is 1, otherwise, the element in the patrol base map corresponding to the grid is 0.
Preferably, the determining the patrol area of the robot according to the topological graph includes:
generating a whole set of routing trees according to the topological graph, wherein the whole set of routing trees comprises routing trees constructed by taking any vertex in the topological graph as a starting point;
counting the number of nodes of each routing tree in the routing tree complete set;
determining the routing tree with the maximum number of nodes as a target routing tree;
and determining the patrol area of the robot in the area formed by the grids corresponding to each node in the target routing tree.
Preferably, the method for constructing the routing tree with a certain target vertex as a starting point includes:
setting identification attributes for each vertex in the patrol base map, wherein the identification attributes comprise a first state, a second state or a third state; if the identification attribute is in a first state, the vertex is not accessed yet, if the identification attribute is in a second state, the vertex is being accessed, and if the identification attribute is in a third state, the vertex is accessed completely;
generating a path-finding tree generating queue, accessing the patrol base map by taking the target vertex as a starting point according to a preset algorithm, and dynamically changing the path-finding tree generating queue in the accessing process, wherein the path-finding tree generating queue is used for recording the accessing sequence of each vertex;
and generating a routing tree according to the access result.
Preferably, the accessing the patrol base map by using the target vertex as a starting point according to a preset algorithm, and dynamically changing the way-finding tree generation queue in the accessing process, includes:
initializing the route-finding tree generating queue to be empty, pressing the target vertex into the route-finding tree generating queue, and modifying the identification attribute of the target vertex from a first state to a second state;
if the way-finding tree generating queue is not empty, popping up a head vertex of the way-finding tree generating queue, and taking the head vertex as a current node;
for the related node of each current vertex in the patrol base graph, if the identification attribute of the related node is in a first state, pressing the related vertex into the tail of the routing tree generation queue, modifying the identification attribute of the related vertex from the first state to a second state, and marking the current node as a father node of the related node;
and modifying the identification attribute of the current node into a third state, and repeatedly executing the steps of: and if the way-finding tree generating queue is not empty, popping up a head vertex of the way-finding tree generating queue, and taking the head vertex as a current node.
A robot patrol area determination apparatus, the apparatus comprising:
the system comprises a to-be-patrolled area planning acquisition module, a to-be-patrolled area planning acquisition module and a data processing module, wherein the to-be-patrolled area planning acquisition module is used for acquiring a rectangular to-be-patrolled area planning map, the to-be-patrolled area planning map comprises the positions of all target buildings in the to-be-patrolled area, the target buildings comprise built buildings, and the buildings to be built and the buildings in the building;
the inspection base map acquisition module is used for generating an inspection base map according to the to-be-inspected region planning map, wherein the inspection base map is composed of a binarization matrix, each pixel of the matrix corresponds to a fixed region in the to-be-inspected region planning map, and the value of the pixel represents whether a target building exists in the fixed region;
the topological graph generating module is used for generating a topological graph according to the tour base graph, wherein each vertex in the topological graph corresponds to each element in the tour base graph, and each vertex with an element value different from 0 has one and only one connecting line;
and the robot patrol area determining module is used for determining the robot patrol area according to the topological graph.
A computer storage medium having stored therein at least one instruction, at least one program, set of codes, or set of instructions that is loaded and executed by a processor to implement a robot patrol area determination method.
A robot patrol area determination apparatus, the apparatus comprising a processor and a memory, the memory having stored therein at least one instruction, at least one program, set of codes, or set of instructions, the at least one instruction, the at least one program, set of codes, or set of instructions being loaded by the processor and performing a robot patrol area determination method.
The invention provides a method, a device, a medium and equipment for determining a patrol area of a robot. The patrol base map is generated aiming at the planning map of the area to be patrolled, the patrol base map is subjected to map topology analysis to obtain the patrol area of the robot, each grid in the patrol area has connectivity and contains more buildings, so that the robot is suitable for being used for patrolling, the superiority of the robot patrol can be fully exerted, the patrol efficiency is improved, and the labor cost is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions and advantages of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of a method for determining a patrol area of a robot according to the present invention;
FIG. 2 is a flowchart for generating a tour base map according to the planning map of the area to be tourd, provided by the present invention;
FIG. 3 is a flow chart for determining a patrol area of the robot according to the topological graph provided by the invention;
FIG. 4 is a flowchart of a method for constructing a routing tree using a target vertex as a starting point according to the present invention;
fig. 5 is a block diagram of a robot patrol area determination apparatus provided in the present invention;
fig. 6 is a hardware structural diagram of an apparatus for implementing the method provided by the embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In order to make the objects, technical solutions and advantages disclosed in the embodiments of the present invention more clearly apparent, the embodiments of the present invention are described in further detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the embodiments of the invention and are not intended to limit the embodiments of the invention.
In the following, the terms "first", "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present embodiment, "a plurality" means two or more unless otherwise specified. In order to facilitate understanding of the technical solutions and the technical effects thereof described in the embodiments of the present invention, the embodiments of the present invention first explain related terms: an embodiment of the present invention provides a method for determining a patrol area of a robot, which may include, as shown in fig. 1: s101, a rectangular planning map of an area to be patrolled is obtained, the planning map of the area to be patrolled comprises the positions of all target buildings in the area to be patrolled, the target buildings comprise built buildings, and the buildings to be built and the buildings in the building are planned.
And S103, generating a patrol base map according to the to-be-patrol area planning map, wherein the patrol base map is composed of a binarization matrix, each pixel of the matrix corresponds to a fixed area in the to-be-patrol area planning map, and the value of the pixel represents whether a target building exists in the fixed area.
Specifically, the generating of the patrol base map according to the planning map of the area to be patrolled, as shown in fig. 2, includes:
and S1031, carrying out grid division on the planning map of the area to be patrolled to obtain a grid matrix.
And S1033, constructing a patrol base map corresponding to the grid matrix, wherein if the grid comprises at least one target building, the element in the patrol base map corresponding to the grid is 1, otherwise, the element in the patrol base map corresponding to the grid is 0.
And S105, generating a topological graph according to the tour base graph, wherein each vertex in the topological graph corresponds to each element in the tour base graph, and each vertex with the corresponding element value different from 0 has one and only one connecting line.
And S107, determining a robot patrol area according to the topological graph.
Specifically, the determining a patrol area of the robot according to the topological graph, as shown in fig. 3, includes:
s1071, generating a whole set of the routing trees according to the topological graph, wherein the whole set of the routing trees comprises the routing trees which are constructed by taking any vertex in the topological graph as a starting point.
S1073, counting the number of the nodes of each routing tree in the routing tree complete set.
S1075, determining the routing tree with the maximum number of nodes as the target routing tree.
And S1077, determining the patrol area of the robot in the area formed by the grids corresponding to each node in the target routing tree.
In fact, the area formed by the grids corresponding to the nodes in the target routing tree obtained according to the embodiment of the present invention is the area with the largest information amount, and the area contains as many buildings as possible in a connected form, which is also convenient for the robot to patrol.
Specifically, an embodiment of the present invention further provides a method for constructing a routing tree using a certain target vertex as a starting point, as shown in fig. 4, including:
s1, setting identification attributes for each vertex in the patrol base map, wherein the identification attributes comprise a first state, a second state or a third state; if the identification attribute is in a first state, the vertex is not accessed, if the identification attribute is in a second state, the vertex is being accessed, and if the identification attribute is in a third state, the vertex is accessed completely.
And S3, generating a path-finding tree generating queue, accessing the patrol base map by taking the target vertex as a starting point according to a preset algorithm, and dynamically changing the path-finding tree generating queue in the accessing process, wherein the path-finding tree generating queue is used for recording the accessing sequence of each vertex.
Specifically, the accessing the patrol base map by using the target vertex as a starting point according to a preset algorithm, and dynamically changing the way-finding tree generation queue in the accessing process includes:
s31, initializing the route-finding tree generating queue to be empty, pressing the target vertex into the route-finding tree generating queue, and modifying the identification attribute of the target vertex from the first state to the second state.
S33, if the way-finding tree generating queue is not empty, popping up a head vertex of the way-finding tree generating queue, and taking the head vertex as a current node.
And S35, for the related node of each current vertex in the patrol base graph, if the identification attribute of the related node is in the first state, pressing the related vertex into the tail of the routing tree generation queue, modifying the identification attribute of the related vertex from the first state to the second state, and marking the current node as the father node of the related node.
S37, modifying the identification attribute of the current node into a third state, and repeating the step S33.
And S5, generating a road searching tree according to the access result.
The embodiment of the invention provides a method for determining a patrol area of a robot, which is characterized in that a patrol base map is generated aiming at a planning map of an area to be patrolled, and the map topology analysis is carried out on the patrol base map to obtain the patrol area of the robot, wherein each grid in the patrol area has connectivity and contains more buildings, so that the patrol area is very suitable for patrolling by using the robot, the patrol superiority of the robot can be fully exerted, the patrol efficiency is improved, and the labor cost is reduced.
The embodiment of the invention discloses a robot inspection area determining device, as shown in fig. 5, the device comprises:
a to-be-patrolled area planning acquisition module 201, configured to acquire a rectangular to-be-patrolled area planning map, where the to-be-patrolled area planning map includes positions of all target buildings in a to-be-patrolled area, the target buildings include already-built buildings, and a building to be built and a building in construction are planned;
the patrol base map obtaining module 203 is configured to generate a patrol base map according to the to-be-patrolled area planning map, where the patrol base map is composed of a binarization matrix, each pixel of the matrix corresponds to a fixed area in the to-be-patrolled area planning map, and a value of the pixel represents whether a target building exists in the fixed area;
a topological graph generating module 205, configured to generate a topological graph according to the tour base graph, where each vertex in the topological graph corresponds to each element in the tour base graph, and there is one and only one connection line between vertices whose corresponding element values are not 0;
and the robot patrol area determining module 207 is configured to determine a robot patrol area according to the topological graph.
Specifically, the embodiment of the device and the method for determining the patrol area of the robot are based on the same inventive concept. For details, please refer to the method embodiment, which is not described herein.
The embodiment of the invention also provides a computer storage medium, and the computer storage medium can store a plurality of instructions. The instructions may be adapted to be loaded by a processor and to perform a method for determining a patrol area of a robot according to an embodiment of the present invention, which please refer to method embodiments.
Further, fig. 6 shows a hardware structure diagram of an apparatus for implementing the method provided by the embodiment of the present invention, and the apparatus may participate in forming or containing the device or system provided by the embodiment of the present invention. As shown in fig. 6, the device 10 may include one or more (shown as 102a, 102b, … …, 102 n) processors 102 (the processors 102 may include, but are not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 104 for storing data, and a transmission device 106 for communication functions. Besides, the method can also comprise the following steps: a display, an input/output interface (I/O interface), a Universal Serial Bus (USB) port (which may be included as one of the ports of the I/O interface), a network interface, a power source, and/or a camera. It will be understood by those skilled in the art that the structure shown in fig. 6 is only an illustration and is not intended to limit the structure of the electronic device. For example, device 10 may also include more or fewer components than shown in FIG. 6, or have a different configuration than shown in FIG. 6.
It should be noted that the one or more processors 102 and/or other data processing circuitry described above may be referred to generally herein as "data processing circuitry". The data processing circuitry may be embodied in whole or in part in software, hardware, firmware, or any combination thereof. Further, the data processing circuitry may be a single, stand-alone processing module, or incorporated in whole or in part into any of the other elements in the device 10 (or mobile device). As referred to in the embodiments of the application, the data processing circuit acts as a processor control (e.g. selection of a variable resistance termination path connected to the interface).
The memory 104 may be used to store software programs and modules of application software, such as program instructions/data storage devices corresponding to the methods described in the embodiments of the present invention, and the processor 102 executes various functional applications and data processing by executing the software programs and modules stored in the memory 104, so as to implement one of the above-described methods for determining the patrol area of the robot. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, memory 104 may further include memory located remotely from processor 102, which may be connected to device 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of such networks may include wireless networks provided by the communication provider of the device 10. In one example, the transmission device 106 includes a network adapter (NIC) that can be connected to other network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 can be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
The display may be, for example, a touch screen type Liquid Crystal Display (LCD) that may enable a user to interact with a user interface of the device 10 (or mobile device).
It should be noted that: the precedence order of the above embodiments of the present invention is only for description, and does not represent the merits of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the device and server embodiments, since they are substantially similar to the method embodiments, the description is simple, and the relevant points can be referred to the partial description of the method embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A robot patrol area determining method, characterized by comprising:
acquiring a rectangular planning map of an area to be patrolled, wherein the planning map of the area to be patrolled comprises the positions of all target buildings in the area to be patrolled, the target buildings comprise built buildings, and the building to be built and the building in construction are planned;
generating a patrol base map according to the to-be-patrol area planning map, wherein the patrol base map is composed of a binarization matrix, each pixel of the matrix corresponds to a fixed area in the to-be-patrol area planning map, and the value of the pixel represents whether a target building exists in the fixed area;
generating a topological graph according to the tour base graph, wherein each vertex in the topological graph corresponds to each element in the tour base graph, and each vertex with an element value different from 0 has one and only one connecting line;
and determining the patrol area of the robot according to the topological graph.
2. The method according to claim 1, wherein the generating of the tour base map according to the plan map of the area to be toured comprises:
carrying out grid division on the planning map of the area to be patrolled to obtain a grid matrix;
and constructing a patrol base map corresponding to the grid matrix, wherein if the grid comprises at least one target building, the element in the patrol base map corresponding to the grid is 1, otherwise, the element in the patrol base map corresponding to the grid is 0.
3. The method of claim 1, wherein determining the robot tour area from the topology map comprises:
generating a whole set of routing trees according to the topological graph, wherein the whole set of routing trees comprises routing trees constructed by taking any vertex in the topological graph as a starting point;
counting the number of nodes of each routing tree in the routing tree complete set;
determining the routing tree with the maximum number of nodes as a target routing tree;
and determining the patrol area of the robot in the area formed by the grids corresponding to each node in the target routing tree.
4. The method of claim 3, further comprising a method of constructing a routing tree starting from a target vertex, comprising:
setting identification attributes for each vertex in the patrol base map, wherein the identification attributes comprise a first state, a second state or a third state; if the identification attribute is in a first state, the vertex is not accessed yet, if the identification attribute is in a second state, the vertex is being accessed, and if the identification attribute is in a third state, the vertex is accessed completely;
generating a path-finding tree generating queue, accessing the patrol base map by taking the target vertex as a starting point according to a preset algorithm, and dynamically changing the path-finding tree generating queue in the accessing process, wherein the path-finding tree generating queue is used for recording the accessing sequence of each vertex;
and generating a routing tree according to the access result.
5. The method according to claim 3, wherein said accessing the patrol base map according to a preset algorithm with the target vertex as a starting point, and dynamically changing the way-finding tree generation queue during the accessing process, comprises:
initializing the route-finding tree generating queue to be empty, pressing the target vertex into the route-finding tree generating queue, and modifying the identification attribute of the target vertex from a first state to a second state;
if the way-finding tree generating queue is not empty, popping up a head vertex of the way-finding tree generating queue, and taking the head vertex as a current node;
for the related node of each current vertex in the patrol base graph, if the identification attribute of the related node is in a first state, pressing the related vertex into the tail of the routing tree generation queue, modifying the identification attribute of the related vertex from the first state to a second state, and marking the current node as a father node of the related node;
and modifying the identification attribute of the current node into a third state, and repeatedly executing the steps of: and if the way-finding tree generating queue is not empty, popping up a head vertex of the way-finding tree generating queue, and taking the head vertex as a current node.
6. A robot patrol area determining apparatus, characterized in that the apparatus comprises:
the system comprises a to-be-patrolled area planning acquisition module, a to-be-patrolled area planning acquisition module and a data processing module, wherein the to-be-patrolled area planning acquisition module is used for acquiring a rectangular to-be-patrolled area planning map, the to-be-patrolled area planning map comprises the positions of all target buildings in the to-be-patrolled area, the target buildings comprise built buildings, and the buildings to be built and the buildings in the building;
the inspection base map acquisition module is used for generating an inspection base map according to the to-be-inspected region planning map, wherein the inspection base map is composed of a binarization matrix, each pixel of the matrix corresponds to a fixed region in the to-be-inspected region planning map, and the value of the pixel represents whether a target building exists in the fixed region;
the topological graph generating module is used for generating a topological graph according to the tour base graph, wherein each vertex in the topological graph corresponds to each element in the tour base graph, and each vertex with an element value different from 0 has one and only one connecting line;
and the robot patrol area determining module is used for determining the robot patrol area according to the topological graph.
7. A computer storage medium having stored therein at least one instruction, at least one program, set of codes, or set of instructions, which is loaded and executed by a processor to implement a method of robot tour area determination as claimed in any one of claims 1 to 5.
8. A robot patrol area determination apparatus, comprising a processor and a memory, the memory having stored therein at least one instruction, at least one program, a set of codes, or a set of instructions, the at least one instruction, the at least one program, the set of codes, or the set of instructions being loaded by the processor and performing a robot patrol area determination method according to any of claims 1-5.
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Application publication date: 20200424 |